Issue 1, Volume 5,
January 2008
Title of the Paper: Development of Autonomous and Active Monitoring Fish Robots for Water Pollution Using GPS and Ubiquitous Sensor Networks
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Authors: Seung Y. Na, Daejung Shin, Jin Y. Kim, Yong-Gwan Won, Bae-Ho Lee
Abstract: We introduce and develop an autonomous monitoring system for water pollution that searches the sources of water pollution and makes measurements of relevant data using a fish robot. Fish robots search actively by themselves and monitor various areas in a real-time mode using GPS receivers, ubiquitous sensor networks and directional sensors. A fish robot has three microcontrollers which provide full functions, for example, motor operations for the sw Localization imming of a fish robot, analog sensor data acquisition including temperature and infrared distance sensors, decoding GPS information, counting the time of sonar in ultrasound sensors and a directional sensor, collecting information of water pollution measurement sensors from Vernier Labpro, and communications. A fish robot swims autonomously in predefined areas and collects the water pollution indexes. Collected information by a fish robot is sent to data collecting nodes by USN motes and Bluetooth, and the data are accessible on the Internet by Ethernet devices.
Keywords: Fish Robot, Water Pollution, Autonomous Tracking System, Active monitoring
Title of the Paper: Efficient Implementation of Fault-Tolerant Data Structures in Embedded Control Software
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Authors: Michael Short, Michael Schwarz and Josef Boercsoek
Abstract: This paper presents a methodology and small software library which is intended to reduce the impact of transient data errors that may affect the software executing on commercial-of-the-shelf (COTS) embedded processors. The methodology involves duplication of data in disparate areas of memory (referred to as “mirror arrays”), and the complexity of the processing required to manage these areas is hidden by means of a library exporting new basic data types. Results are reported from three case studies in which the library was employed (a matrix multiplication program, a list-sorting program and a real-time control application): the findings obtained suggest that the methodology is highly effective in the presence of memory errors, the code changes required in order to use the library are very limited, and the impact on code readability is minimal.
Keywords: Software Fault Tolerance, Embedded Systems, Critical Systems.
Issue 2, Volume 5,
February 2008
Title of the Paper: Operational Amplifiers in Discrete Time Control Systems: Influence of
the Rail-to-Rail Feature on their Performance
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Authors: Alvaro Llaria, Jaime Jimenez, Unai Bidarte, Octavian Curea
Abstract: One of the usual features that an operational amplifier may offer is the rail-to-rail capability. This
means that its output range is equal to the power voltages (positive and negative or zero) without any offset. In
some cases this feature does not concern with the performance of the system because it does not operate in the
limits of the output range or the offsets are small enough not to care about them. Nevertheless, when an accurate
instrumentation system must be used, as in this article, the rail-to-rail capability is crucial not to degrade the
performance. For instance, the circuit may loose linearity and resolution if the operational amplifiers are not
adequate. In our case, a circuit to perform some discrete time control algorithms needed a maximum output
range for the system to work properly. With the initial operational amplifiers, the performance was not adequate.
After setting rail-to-rail ones the problem has been resolved.
Keywords: Operational amplifier, rail-to-rail, output range, linearity, RST discrete time controller.
Title of the Paper: Examination of Non-Uniform Distribution of Current on Worst-Case Crosstalk Noise for Distributed RLC Interconnect
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Authors: Hj Kadim
Abstract: Considering circuit designs at the deep sub-micron level, the more that interconnect wires of small cross section are packed closer together, coupled with longer length of interconnect and an increase in the number of layers of interconnect may cause different parts of an interconnect line to experience a varying degree of coupling effect from other interconnects, with the consequent variation in the induced-current across the interconnect. An analytical model to examine the effect of non-uniform distribution of current on the mutual inductance and capacitance between on-chip interconnects is presented.
Keywords: Interconnect, crosstalk, noise, distributed RLC
Title of the Paper: Adaptive Wiener Filter Based Numerical Filter with an
Application to Beam Position Monitoring
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Authors: Khuanjai Nachaiyaphum, Sarawut Sujitjorn
and Supakorn Rugmai
Abstract: This article proposes a numerical filter having an adaptive Wiener filter (AWF) as its main component. It
presents detailed investigation of the performances of the Savitzky-Golay filter (SGF) and the AWF. As a result, the
AWF is superior to the SGF in terms of less distortion of the filtered waveform. The desired signal fed to the AWF can
be selectively generated by using a Butterworth filter, a Savitzky-Golay filter, and a downloaded waveform,
respectively. User can easily choose filter’s parameters to suit their applications via a user-interface module. The
proposed filter is simple, rapidly computable, and efficient to suppress noise. An application to the Siam Photon
Source (Synchrotron Radiation Unit on Thailand) is also described. The filters coded in C are listed in the appendices
and downloadable from our web site.
Keywords: noise, adaptive Wiener filter, Butterworth filter, Savitzky-Golay filter, Siam Photon Source
Issue 3, Volume 5,
March 2008
Special Issue: Real-time Applications with 3D Sensors
Guest Editor: Prof. Marius Otesteanu
Title of the Paper: 3D Image Sensors, an Overview
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Authors: Marius Otesteanu and Vasile Gui
Abstract: We briefly introduce the current state in the most widely used 3D image sensors in computer
vision today. Passive and active sensing methods are discussed, with highlight on difficult computer vision
problems that can be avoided by using active methods. Active optoelectronic imaging methods like time of
flight, interferometry and triangulation are presented. The 3D image processing applications included in this
issue are reviewed and some conclusions drown.
Title of the Paper: 3D Avatar Modeling and Transmission using Cylinder Mapping
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Authors: Shin-Ichiro Takahashi, Ishtiaq Rasool Khan,
Masahiro Okuda and Masaaki Ikehara
Abstract: In this paper, we propose a real time 3D imaging system. Existing techniques for construction of 3D
models require multiple cameras and complex calculations. In our proposed system, the 3D shape is captured by
integrating multiple range images obtained simultaneously from different directions. It can accomplish the real
time processing by generating the range images quickly and continuously. Moreover, the obtained 3D shape is
treated as ”Point Cloud”, and therefore, the connectivity information of vertices and the calculation of connection
topology become unnecessary. Giving importance to transmission efficiency is the advantage of our system. The
obtained 3D shape is transmitted to the remote location, and it is reconstructed and depicted immediately. By
repeating this procedure continuously, a 3D sequence can be generated in real time. The 3D shape is constructed
by integration of multiple range images, causing overlap and annoying artifacts between adjacent images. We
apply a cylindrical method to each frame of the 3D sequence to get rid of the artifact and improve the image
quality. Our algorithm can remove the invalid points quickly and efficiently, and can be implemented in real time.
Keywords: Real Time Systems, Stereo Vision, Point Cloud
Title of the Paper: Real Time Representation of 3D Sensor Depth Images
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Authors: I. Jivet and A. Brindusescu
Abstract: The paper presents a representation model for 3D sensors depth images for use in independent sub
system real time action. Field of view depth images obtained with recently developed CMOS 3D sensors are
analyzed on their usability in real time perception applications. Based on the characteristic features of the 3D
depth image an abstract model with an associated segmented representation is proposed. The objective of the
global segmentation method proposed is real time scene perception. The segmentation robustness and the
computation cost are the central constraints considered. Classic segmentation methods in use are used as reference
since the use pixel or edge criteria have been found insufficiently efficient due to their intensive processing needs
and susceptibility to local noise. A model of the depth image in terms of object area and mean center location is
proposed as a real time local depth image representation. The results of the use of the proposed model in
independent action oriented applications is also presented. The representation method proposed is analyzed in its
performance in terms of estimated computation time and semantic relevance for the sample applications.
Keywords: 3D sensor depth image, segmentation, real time perception, action oriented sensor data model.
modelvi1vtemp
Title of the Paper: A New Morphological Image Segmentation with Application in
3D Echographic Images
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Authors: Mihaela Lascu and Dan Lascu
Abstract: This paper reviews ultrasound segmentation methods, in a broad sense, focusing on techniques
developed for medical ultrasound images. Segmenting abnormal from normal myocardium using highfrequency
intracardiac echocardiography (ICE) the 3D real-time images present new challenges for image
processing in LabVIEW. Gray-level intensity and texture features of ICE images of myocardium with the same
structural/perfusion properties differ. There are significant limitation conflicts with the existing segmentation
techniques. The novelty of this paper consists of a new seeded region growing method to overcome the
limitations of the existing segmentation techniques. The segmentation techniques are implemented using
graphical programming LabVIEW and Vision. We use three criteria for region growing control: First, each
voxel is merged into the globally closest region in the multifeature space. Second structural similarity is
introduced to overcome the problem that myocardial tissue, despite having the same property, may be
segmented into several different regions using existing segmentation methods. Third equal opportunity
competence criterion is employed making results independent of processing order. This novel watershed
segmentation method is applied to in vivo intracardiac ultrasound images using pathology as the reference
method for the ground truth. The corresponding results demonstrate that this method is reliable and effective.
Keywords: ultrasound, echocardiography, graphical programming, watershed transform, watershed
segmentation, image processing, LabVIEW, Vision.
Title of the Paper: Fast Object Localization with Real Time 3D Laser
Range Sensor Simulation
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Authors: Kay Boehnke
Abstract: 3D laser range sensors provide range data of objects in a scene. Most of the known approaches for object
recognition and localization in range data try to extract features and determine the position of the object
from this information. In opposite we create a virtual scene, make a virtual range image with a virtual 3D
laser range sensor and compare the result with range data of the real 3D laser range sensor. This idea is
integrated in a system for automated robotic bin picking. Our simulation process is combined with a
hierarchical registration process using the iterative closest point algorithm and Progressive meshes to refine
our simulation results.
Keywords: 3D laser range sensors, Real time object localization, Iterative Closest Points, Surface registration,
Progressive Mesh, Robotic bin picking
Title of the Paper: A Flexible Multi-Sensor Positioning
System for Industrial Robots
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Authors: Philipp Roebrock
Abstract: This paper offers an approach for a sensor-based robot positioning system which solves the problem of
positioning the tool of an industrial robot relative to a work object for a subsequent assembly or application in the
same way as it was done once during setup with a reference work object. The approach takes sensors as abstract
data sources and is therefore able to use different kinds of sensors at the same time to fulfill its task. The proposed
solution focusses on a flexible system that suits the needs of the industry in respect of good maintainability, good
robustness and high accuracy.
Keywords: Visual Servoing, Robot Positioning System, Multi-Sensor System
Issue 4, Volume 5,
April 2008
Title of the Paper: Oxide Charges Densities Determination Using
Charge-Pumping Technique With BTS
in MOS Structures
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Authors: Hamid Bentarzi, Abdelkader zitouni
and Youces Kribes
Abstract: A New electrical method, using charge-pumping (CP) technique under bias thermal stress (BTS), has been described in this paper. This technique is based on the charge-pumping measurement which in turn used to extract the flat-band voltage before and after an applied bias voltage at high temperature. The obtained flat band voltage shift, that is due to redistribution of the mobile ionic charges, or to generation of the oxide trapped charge or both, may be used to determine their densities.
Keywords: Oxide charges, charge pumping technique, bias thermal stress technique, flat-band voltage, oxide charge, mobile ionic charge density, oxide trapped charge density.
Title of the Paper: Current-Mode Filters Advanced Synthesis Methods,
Based on Intermediate Transfer Function Algorithm
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Authors: Elena Doicaru, Mircea Bodea
and Claudius Dan
Abstract: In this paper are presented two current mode techniques for low-voltage, continuous-time,
analogue filter implementation. The first presented technique is adequate for very low power application and is
based on a translinear approach. The second presented technique is adequate for high frequency application. In
the paper, firstly, the state-space description and the used synthesis techniques of current-mode filters are
presented. Then the two different current-mode integrators are presented and analyzed. Finally, as a test
vehicle for the proposed techniques, two low voltage, third order, continuous-time filters, for low power
applications structure implementation are described and analyzed.
Keywords: Analogue signal processing circuits, CMOS analogue filters, low power and voltage circuits.
Title of the Paper: Visual Motorcycle Detection and Tracking Algorithms
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Authors: Min-Yu Ku, Chung-Cheng Chiu,
Hung-Tsung Chen and Shun-Huang Hong
Abstract: Although the motorcycle is a popular and convenient means of transportation, it is difficult for
researchers in intelligent transportation systems to detect and recognize, and there has been little published
work on the subject. This paper describes a real-time motorcycle monitoring system to detect, recognize, and
track moving motorcycles in sequences of traffic images. Because a motorcycle may overlap other vehicles in
some image sequences, the system proposes an occlusive detection and segmentation method to separate and
identify motorcycles. Since motorcycle riders in many countries must wear helmets, helmet detection and
search methods are used to ensure that a helmet exists on the moving object identified as a motorcycle. The
performance of the proposed system was evaluated using test video data collected under various weather and
lighting conditions. Experimental results show that the proposed method is effective for traffic images captured
any time of the day or night with an average correct motorcycle detection rate of greater than 90% under
various weather conditions.
Keywords: Motorcycle detection, Visual, Tracking, Occlusion, Segmentation, Traffic monitoring.
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