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Accepted Papers 

    Yang Hongyu, Wang Yandong, School of Automation Science and Electrical Engineering,Beihang University, Beijing, China

    Recently, the application of DGPS relative navigation on formation flight has become a hot research area. In this paper, two linear models for UAV formation flight are designed respectively to simplify system equipment, reduce complexity of algorithm, and most importantly, weaken the effect of spatial correlated errors such as satellite ephemeris error, ionosphere delay and troposphere delay. Above errors are analysed and simulated to verify the feasibility of the method. Moreover, positioning deviation of lead plane is also under consideration in the system without base-station, demonstrating the effect of leader's deviation on position accuracy for the system. Both theoretical and practical results of the two models conclude that the system without base-station can reach a better precision and is more cost-effectively.
  • Modeling and Designe of Cruise Control System with Feedforward for all Terrain Vehicles
    Khaled sailan and Kuhnert,Siegen university .electrical engineering department Real time system institute Siegen, Germany
    In this paper, presents PID controller with feedforward control. The cruise control system is one of the most enduringly popular and important models for control system engineering. The system is widely used because it is very simple to understand and yet the control techniques cover many important classical and modern design methods. In this paper,the mathematical modeling for PID with feed-forward controller is proposed for nonlinear model with disturbance effect. Feedforward controller is proposed in this study in order to eliminate the gravitational and wind disturbance effect. Simulation will be
    carried out . Finally, a C++ program written and feed to the microcontroller type AMR on our robot
  • Design and Construction of a Twinrotor-type U.A.V
    ShlokAgarwal, Apoorva Mohan,Manipal University,Manipal, India
    There have been many advancements in the field of aerospace and avionics. Scientists have increasingly started to focus on VTOL (vertical take - off and landing) aircrafts. We have also tried to build a VTOL twincopter. The inspiration of the design came from the movie AVATAR. We made many changes in the design to make it a practically feasible project. It is a kind of a helicopter having two main propellers instead of one and no tail fin. All three important motion of the aircraft i.e. roll, pitch, yaw are controlled by thrust vectoring using servo motors and changing the magnitude of thrust using electronics speed controllers..
  • Accurate GPS/Geomagnetic Integrated Measurement System for UAVs
    Taner Mutlu and Chinghiz Hadjiyev ,Istanbul Technical University, Ayazaga, Istanbul,TURKEY
  • In this paper sensors used for navigation are simulated and integrated using kalman filter.Sensorsused for simulation and integration are GPS,IMU an Magnometer.The magnetmeter sensor is corrected using Earth magnetic error mode before integration.Earth magnetic model is used to obtain magnetic deviation at coordinates obtained from GPS Sensor.with this method magnetometer is calibrated real time during on flight. In many UAV applications and navigation applications( i.e. prayer direction for muslims) the accurate measurement of heading and position is both required and sufficient. This study aims to provide both heading and position measurements within required and satisfactory margins.
    Hoshang Kolivand, Mohd Shahrizal SunarUniversiti Teknologi Malaysia, Malaysia
    Global illumination is a one of the main factors which can make the environments more realistic. Sky color is the main resource which must be taken into account for outdoor rendering environments. In this research sky the luminance is calculated based on Dobashi method. A new idea which is called Radiosity Caster Culling is applied to exert the energy of outdoor environments onto the virtual objects. Pre-Computed Radiance Transfer is applied to calculate the patches division. Sky color is generated based on Perez model which can be used for clear sky. By Pre-calculating the sky color energy and outdoor illumination the energy of whole outdoor is calculated in advance. The outdoor energy is shared on virtual objects to make the environments more realistic. Commercial games and cartoon makers are those who can use the technique to generate realistic outdoor environments in the case of real-time.
    Abdelkader Benameur and Baghdad Atmani,University of Oran,Algeria
    Today, maintenance management is one of the most interesting research areas in the industrial sector, particularly, in terms of software design and development. Several computer systems and platforms have been proposed during the last two decades, offering to the different maintenance actors a set of services
    that allow the automatic management of parts of the entire process of maintaining complex systems.However, most of these solutions enable, mainly and only, a decision support for few particular activities (diagnosis, prognosis) or for particular actors (operators, managers). We propose in this paper, a first step in the design of a decision support fully oriented maintenance platform. The platform provides a set of generic tools, supporting data analysis and knowledge extraction and management, which could be used in the various decision making tasks involving in the maintenance process.
  • Comparison between Artificial Bee Colony Algorithm, Shuffled Frog Leaping Algorithm and Nero-Fuzzy System in Design of Optimal PID Controllers
    Fatemeh Masoudnia,Somayyeh Nalan Ahmadabad and Maryam Kouzehgar,Sofian Islamic Azad University Tabriz, Iran
    In this paper three optimum approaches to design PID controller for a Gryphon Robot are presented. The three applied approaches are Artificial Bee Colony, Shuffled Frog Leaping algorithms and nero-fuzzy system. The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot, settling time and rise time of step response. An Objective function of these indexes is defined and minimized applying Shuffled Frog Leaping (SFL) algorithm, Artificial Bee Colony (ABC) algorithm and Nero-Fuzzy System (FNN). After optimization of the objective function, the optimal parameters for the PID controller are adjusted. Simulation results show that FNN has a remarkable effect on decreasing the amount of settling time and rise-time and eliminating of steady-state error while the SFL algorithm performs better on steady-state error and the ABC algorithm is better on decreasing of overshoot. In steady state manner all of the methods react robustly to the disturbance, but FNN shows more stability in transient response.
  • Relaxed LMI Stability Conditions Based Fuzzy Control Design for Dynamic Positioning of Ships
    M.R.L. Daalache, D. Addou and M. Boudraa, University of Sciences and Technology, Algeria
    In this paper we propose a linear matrix inequality (LMI) based fuzzy control system design for dynamic positioning (DP) of surface ships. The stability conditions satisfying decay rate using relaxed stability conditions and theory of parallel distributed compensation (PDC) are used. The nonlinear DP system is firstly transformed into Takagi-Sugeno (T-S) fuzzy model. Then the PDC is employed to design the fuzzy control system from the T-S fuzzy model. The stability analysis used in this paper is reduced to a problem of finding a common Lyapunov function for the set of LMIs. The convex optimization method involving LMIs are applied to find a common Lyapunov function and stable feedback gains which satisfy the decay rate. Then the resulting fuzzy control system is simulated using ship parameters provided and result are analysed. Simulation results obtained show the validity of the proposed fuzzy control technique.
  • Detection and Analysis of Hidden Activities in Social Networks
    Subu Surendran & Divya Prakash,SCT College of Engineering,Thiruvananthapuram,India
  • Social networks are flourishing because of fast growing Internet and the World Wide Web, and more research efforts have been put on Social Network Analysis (SNA). A social network can be modeled like a graph, where the nodes represent persons, and an edge between nodes indicates that a direct relationship between the persons. One of the issues in
    SNA is to identifying criminals from groups of individuals. In a real social network, there must have various relationships between individuals, like friendships, business relationships, and common interest relationships etc. The internet itself is a huge social network. To model such a network, link analysis
    need to be proposed. A page in web may treat as a node, and hyperlink between them can be represented as relationships. After social network graph is constructed, link analysis and graph partitioning algorithms may be applied to identify the hidden links in that network. Most of the existing algorithms related to social network analysis assume that their existing
    only one single social network, with relatively multiple relationship like Web page linkage. In typical social networks, there always have various kinds of relations. Every relation can be identified as a relation network. These different types of relations play different tasks in different roles.
  • Low Power Reduced Instruction Set Architecture Using Clock Gating Technique
    M.Kamaraju and G.Chinavenkateswararao, Gudlavalleru Engineering College, Gudlavalleru - India
    Low power processors are to be realization of portable electronic devices, in which power consumption is an important consideration of today. Low power consumption helps to reduce heat dissipation, increases battery life and also reliability. In this paper a 16-bit Reduced Instruction set Architecture (RISA) presented. This architecture can handle multiple interrupts and performing serial communication effectively. It can supported RISC (Reduced Instruction Set Computer) concepts. A popular technique of Clock gating is applied to the proposed architecture and then reduce power also. This entire architecture captured using VerilogHDL and implemented on FPGA using Xilinx tools.
  • Shipbuilding Cost Control Technique for New Construction and Overhaul: Modeling Final Cost at Completion Utilizing Monte-Carlo Simulation for Uncompleted Work
    Thomas Hammock and Han Bao,Old Dominion University,USA
    The purpose of this paper is to clearly illustrate a model proposed by LCDR Randall S. Fairman in his paper "A Model for Predicting Availability End Quantities Using Monte Carlo Simulations" for predicting the final cost at completion (FCAC) of overhauling or maintenance of a ship. The illustration in this paper compares the general practiced method of predicting FCAC to the proposed model. The general practice for predicting the final cost at completion is multiplying the budgeted cost by the cumulative actual cost to date divided by the cumulative earned value. Two weaknesses of this practice is that it has a high percentage of error and also that it doesn't give any measurement or evaluation of managements cost control actions as a function of reducing costs. The proposed model for predicting FCAC ignores initial cost allocated for estimating the project budget uses Monte Carlo method for unfinished work, and the level of effort costs are predicted as a function of time that takes to complete the maintenance or overhaul.
    Bahram Lavi Sefidgari, Eastern Mediterranean University, Cyprus
    Image-processing is one the challenging issue in robotic as well as electrical engineering research contexts. This study proposes a system for extract and tracking objects by a quadcopter's flying robot and how to extract the human body. It is observed in image taken from real-time camera that is embedded bottom of the quadcopter, there is a variance in human behaviour being tracked or recorded such as position and, size, of the human. In the regard, the paper tries to investigate an image-processing method for tracking humans' body, concurrently. For this process, an extraction method, which defines features to distinguish a human body, is proposed. The proposed method creates a virtual shape of bodies for recognizing the body of humans, also, generate an extractor according to its edge information. This method shows better performance in term of precision as well as speed experimentally
    Michala Drozdova, Petr Rapant and Jan Plucar, Technical University of Ostrava, Ostrava, Czech Republic
    The intensive development of traffic engineering and technologies that are integrated into vehicles, roads and their surroundings, bring opportunities of real time transport mobility modeling. Based on such model it is then possible to establish a predictive layer that is capable of predicting short and long term traffic flow behavior. It is possible to create the real time model of traffic mobility based on generated data. However, data may have different geographical, temporal or other constraints, or failures. It is therefore appropriate to develop tools that artificially create missing data, which can then be assimilated with real data. This paper presents a mechanism describing strategies of generating artificial data using microsimulations. It describes traffic microsimulation based on our solution of multiagent framework over which a system for generating traffic data is built. The system generates data of a structure corresponding to the data acquired in the real world.