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maritime vehicle</title> <meta name="description" content="Search results for: Autonomous maritime vehicle"> <meta name="keywords" content="Autonomous maritime vehicle"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img src="https://cdn.waset.org/static/images/wasetc.png" alt="Open Science Research Excellence" title="Open Science Research Excellence" /> </a> <button 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action="https://publications.waset.org/search"> <div id="custom-search-input"> <div class="input-group"> <i class="fas fa-search"></i> <input type="text" class="search-query" name="q" placeholder="Author, Title, Abstract, Keywords" value="Autonomous maritime vehicle"> <input type="submit" class="btn_search" value="Search"> </div> </div> </form> </div> </div> <div class="row mt-3"> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Commenced</strong> in January 2007</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Frequency:</strong> Monthly</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Edition:</strong> International</div> </div> </div> <div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 828</div> </div> </div> </div> <h1 class="mt-3 mb-3 text-center" style="font-size:1.6rem;">Search results for: Autonomous maritime vehicle</h1> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">828</span> A Feasibility-study of a Micro- Communications Sonobuoy Deployable by UAV Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=B.%20Munro">B. Munro</a>, <a href="https://publications.waset.org/search?q=D.%20Lim"> D. Lim</a>, <a href="https://publications.waset.org/search?q=A.%20Anvar"> A. Anvar</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper describes a feasibility study that is included with the research, development and testing of a micro communications sonobuoy deployable by Maritime Fixed wing Unmanned Aerial Vehicles (M-UAV) and rotor wing Quad Copters which are both currently being developed by the University of Adelaide. The micro communications sonobuoy is developed to act as a seamless communication relay between an Autonomous Underwater Vehicle (AUV) and an above water human operator some distance away. Development of such a device would eliminate the requirement of physical communication tethers attached to submersible vehicles for control and data retrieval. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20Underwater%20Vehicle" title="Autonomous Underwater Vehicle">Autonomous Underwater Vehicle</a>, <a href="https://publications.waset.org/search?q=AUV" title=" AUV"> AUV</a>, <a href="https://publications.waset.org/search?q=Maritime" title=" Maritime"> Maritime</a>, <a href="https://publications.waset.org/search?q=Unmanned%20Aerial%20Vehicle" title=" Unmanned Aerial Vehicle"> Unmanned Aerial Vehicle</a>, <a href="https://publications.waset.org/search?q=UAV" title=" UAV"> UAV</a>, <a href="https://publications.waset.org/search?q=Micro%20Sonobuoy" title=" Micro Sonobuoy"> Micro Sonobuoy</a>, <a href="https://publications.waset.org/search?q=Communication." title=" Communication."> Communication.</a> </p> <a href="https://publications.waset.org/9088/a-feasibility-study-of-a-micro-communications-sonobuoy-deployable-by-uav-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9088/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9088/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9088/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9088/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9088/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9088/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9088/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9088/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9088/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9088/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9088.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2052</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">827</span> Challenges in Video Based Object Detection in Maritime Scenario Using Computer Vision</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Dilip%20K.%20Prasad">Dilip K. Prasad</a>, <a href="https://publications.waset.org/search?q=C.%20Krishna%20Prasath"> C. Krishna Prasath</a>, <a href="https://publications.waset.org/search?q=Deepu%20Rajan"> Deepu Rajan</a>, <a href="https://publications.waset.org/search?q=Lily%20Rachmawati"> Lily Rachmawati</a>, <a href="https://publications.waset.org/search?q=Eshan%20Rajabally"> Eshan Rajabally</a>, <a href="https://publications.waset.org/search?q=Chai%20Quek"> Chai Quek</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper discusses the technical challenges in maritime image processing and machine vision problems for video streams generated by cameras. Even well documented problems of horizon detection and registration of frames in a video are very challenging in maritime scenarios. More advanced problems of background subtraction and object detection in video streams are very challenging. Challenges arising from the dynamic nature of the background, unavailability of static cues, presence of small objects at distant backgrounds, illumination effects, all contribute to the challenges as discussed here. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20maritime%20vehicle" title="Autonomous maritime vehicle">Autonomous maritime vehicle</a>, <a href="https://publications.waset.org/search?q=object%20detection" title=" object detection"> object detection</a>, <a href="https://publications.waset.org/search?q=situation%20awareness" title=" situation awareness"> situation awareness</a>, <a href="https://publications.waset.org/search?q=tracking." title=" tracking."> tracking.</a> </p> <a href="https://publications.waset.org/10006110/challenges-in-video-based-object-detection-in-maritime-scenario-using-computer-vision" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10006110/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10006110/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10006110/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10006110/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10006110/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10006110/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10006110/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10006110/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10006110/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10006110/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10006110.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1329</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">826</span> Data Recording for Remote Monitoring of Autonomous Vehicles</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Rong-Terng%20Juang">Rong-Terng Juang</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Autonomous vehicles offer the possibility of significant benefits to social welfare. However, fully automated cars might not be going to happen in the near further. To speed the adoption of the self-driving technologies, many governments worldwide are passing laws requiring data recorders for the testing of autonomous vehicles. Currently, the self-driving vehicle, (e.g., shuttle bus) has to be monitored from a remote control center. When an autonomous vehicle encounters an unexpected driving environment, such as road construction or an obstruction, it should request assistance from a remote operator. Nevertheless, large amounts of data, including images, radar and lidar data, etc., have to be transmitted from the vehicle to the remote center. Therefore, this paper proposes a data compression method of in-vehicle networks for remote monitoring of autonomous vehicles. Firstly, the time-series data are rearranged into a multi-dimensional signal space. Upon the arrival, for controller area networks (CAN), the new data are mapped onto a time-data two-dimensional space associated with the specific CAN identity. Secondly, the data are sampled based on differential sampling. Finally, the whole set of data are encoded using existing algorithms such as Huffman, arithmetic and codebook encoding methods. To evaluate system performance, the proposed method was deployed on an in-house built autonomous vehicle. The testing results show that the amount of data can be reduced as much as 1/7 compared to the raw data.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20vehicle" title="Autonomous vehicle">Autonomous vehicle</a>, <a href="https://publications.waset.org/search?q=data%20recording" title=" data recording"> data recording</a>, <a href="https://publications.waset.org/search?q=remote%20monitoring" title=" remote monitoring"> remote monitoring</a>, <a href="https://publications.waset.org/search?q=controller%20area%20network." title=" controller area network."> controller area network.</a> </p> <a href="https://publications.waset.org/10009933/data-recording-for-remote-monitoring-of-autonomous-vehicles" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10009933/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10009933/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10009933/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10009933/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10009933/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10009933/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10009933/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10009933/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10009933/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10009933/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10009933.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1352</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">825</span> Motion Control of an Autonomous Surface Vessel for Enhanced Situational Awareness</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Igor%20Astrov">Igor Astrov</a>, <a href="https://publications.waset.org/search?q=Mikhail%20Pikkov"> Mikhail Pikkov</a>, <a href="https://publications.waset.org/search?q=Rein%20Paluoja"> Rein Paluoja</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper focuses on the critical components of the situational awareness (SA), the controls of position and orientation of an autonomous surface vessel (ASV). Moving of vessel into desired area in particular sea is a challenging but important task for ASVs to achieve high level of autonomy under adverse conditions. With the SA strategy, the approach motion by neural control of an initial stage of an ASV trajectory using neural network predictive controller and the circular motion by control of yaw moment in the final stage of trajectory were proposed. This control system has been demonstrated and evaluated by simulation of maritime maneuvers using software package Simulink. From the simulation results it can be seen that the fast SA of similar ASVs with economy in energy can be asserted during the maritime missions in search-and-rescue operations.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20surface%20vessels" title="Autonomous surface vessels">Autonomous surface vessels</a>, <a href="https://publications.waset.org/search?q=neurocontrollers" title=" neurocontrollers"> neurocontrollers</a>, <a href="https://publications.waset.org/search?q=situational%20awareness." title=" situational awareness."> situational awareness.</a> </p> <a href="https://publications.waset.org/9996569/motion-control-of-an-autonomous-surface-vessel-for-enhanced-situational-awareness" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9996569/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9996569/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9996569/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9996569/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9996569/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9996569/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9996569/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9996569/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9996569/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9996569/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9996569.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1976</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">824</span> Autonomous Vehicle Navigation Using Harmonic Functions via Modified Arithmetic Mean Iterative Method</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Azali%20Saudi">Azali Saudi</a>, <a href="https://publications.waset.org/search?q=Jumat%20Sulaiman"> Jumat Sulaiman</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Harmonic functions are solutions to Laplace’s equation that are known to have an advantage as a global approach in providing the potential values for autonomous vehicle navigation. However, the computation for obtaining harmonic functions is often too slow particularly when it involves very large environment. This paper presents a two-stage iterative method namely Modified Arithmetic Mean (MAM) method for solving 2D Laplace’s equation. Once the harmonic functions are obtained, the standard Gradient Descent Search (GDS) is performed for path finding of an autonomous vehicle from arbitrary initial position to the specified goal position. Details of the MAM method are discussed. Several simulations of vehicle navigation with path planning in a static known indoor environment were conducted to verify the efficiency of the MAM method. The generated paths obtained from the simulations are presented. The performance of the MAM method in computing harmonic functions in 2D environment to solve path planning problem for an autonomous vehicle navigation is also provided. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Modified%20Arithmetic%20Mean%20method" title="Modified Arithmetic Mean method">Modified Arithmetic Mean method</a>, <a href="https://publications.waset.org/search?q=Harmonic%0D%0Afunctions" title=" Harmonic functions"> Harmonic functions</a>, <a href="https://publications.waset.org/search?q=Laplace%E2%80%99s%20equation" title=" Laplace’s equation"> Laplace’s equation</a>, <a href="https://publications.waset.org/search?q=path%20planning." title=" path planning."> path planning.</a> </p> <a href="https://publications.waset.org/10010273/autonomous-vehicle-navigation-using-harmonic-functions-via-modified-arithmetic-mean-iterative-method" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10010273/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10010273/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10010273/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10010273/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10010273/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10010273/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10010273/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10010273/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10010273/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10010273/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10010273.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">862</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">823</span> Planar Tracking Control of an Underactuated Autonomous Underwater Vehicle</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Santhakumar%20M.">Santhakumar M.</a>, <a href="https://publications.waset.org/search?q=Asokan%20T."> Asokan T.</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper addresses the problem of trajectory tracking control of an underactuated autonomous underwater vehicle (AUV) in the horizontal plane. The underwater vehicle under consideration is not actuated in the sway direction, and the system matrices are not assumed to be diagonal and linear, as often found in the literature. In addition, the effect of constant bias of environmental disturbances is considered. Using backstepping techniques and the tracking error dynamics, the system states are stabilized by forcing the tracking errors to an arbitrarily small neighborhood of zero. The effectiveness of the proposed control method is demonstrated through numerical simulations. Simulations are carried out for an experimental vehicle for smooth, inertial, two dimensional (2D) reference trajectories such as constant velocity trajectory (a circle maneuver – constant yaw rate), and time varying velocity trajectory (a sinusoidal path – sinusoidal yaw rate). <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=autonomous%20underwater%20vehicle" title="autonomous underwater vehicle">autonomous underwater vehicle</a>, <a href="https://publications.waset.org/search?q=system%20matrices" title=" system matrices"> system matrices</a>, <a href="https://publications.waset.org/search?q=tracking%20control" title="tracking control">tracking control</a>, <a href="https://publications.waset.org/search?q=time%20%E2%80%93%20varying%20feed%20back" title=" time – varying feed back"> time – varying feed back</a>, <a href="https://publications.waset.org/search?q=underactuated%20control." title=" underactuated control."> underactuated control.</a> </p> <a href="https://publications.waset.org/14506/planar-tracking-control-of-an-underactuated-autonomous-underwater-vehicle" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/14506/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/14506/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/14506/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/14506/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/14506/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/14506/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/14506/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/14506/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/14506/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/14506/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/14506.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2145</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">822</span> Autonomous Underwater Vehicle (AUV) Dynamics Modeling and Performance Evaluation</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=K.%20M.%20Tan">K. M. Tan</a>, <a href="https://publications.waset.org/search?q=A.%20Anvar"> A. Anvar</a>, <a href="https://publications.waset.org/search?q=T.F.%20Lu"> T.F. Lu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>A sophisticated simulator provides a cost-effective measure to carry out preliminary mission testing and diagnostic while reducing potential failures for real life at sea trials. The presented simulation framework covers three key areas: AUV modeling, sensor modeling, and environment modeling. AUV modeling mainly covers the area of AUV dynamics. Sensor modeling deals with physics and mathematical models that govern each sensor installed onto the AUV. Environment model incorporates the hydrostatic, hydrodynamics, and ocean currents that will affect the AUV in a real-time mission. Based on this designed simulation framework, custom scenarios provided by the user can be modeled and its corresponding behaviors can be observed. This paper focuses on the accuracy of the simulated data from AUV model and environmental model derived from a developed AUV test-bed which was jointly upgraded by DSTO and the University of Adelaide. The main contribution of this paper is to experimentally verify the accuracy of the proposed simulation framework.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20Underwater%20Vehicle%20%28AUV%29" title="Autonomous Underwater Vehicle (AUV)">Autonomous Underwater Vehicle (AUV)</a>, <a href="https://publications.waset.org/search?q=simulator" title=" simulator"> simulator</a>, <a href="https://publications.waset.org/search?q=framework" title=" framework"> framework</a>, <a href="https://publications.waset.org/search?q=robotics" title=" robotics"> robotics</a>, <a href="https://publications.waset.org/search?q=maritime%20robot" title=" maritime robot"> maritime robot</a>, <a href="https://publications.waset.org/search?q=modeling." title=" modeling."> modeling.</a> </p> <a href="https://publications.waset.org/9586/autonomous-underwater-vehicle-auv-dynamics-modeling-and-performance-evaluation" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9586/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9586/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9586/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9586/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9586/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9586/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9586/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9586/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9586/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9586/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9586.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">4732</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">821</span> Depth Controls of an Autonomous Underwater Vehicle by Neurocontrollers for Enhanced Situational Awareness</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Igor%20Astrov">Igor Astrov</a>, <a href="https://publications.waset.org/search?q=Andrus%20Pedai"> Andrus Pedai</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper focuses on a critical component of the situational awareness (SA), the neural control of autonomous constant depth flight of an autonomous underwater vehicle (AUV). Autonomous constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. The fundamental requirement for constant depth flight is the knowledge of the depth, and a properly designed controller to govern the process. The AUV, named VORAM, is used as a model for the verification of the proposed hybrid control algorithm. Three neural network controllers, named NARMA-L2 controllers, are designed for fast and stable diving maneuvers of chosen AUV model. This hybrid control strategy for chosen AUV model has been verified by simulation of diving maneuvers using software package Simulink and demonstrated good performance for fast SA in real-time searchand- rescue operations.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20underwater%20vehicles" title="Autonomous underwater vehicles">Autonomous underwater vehicles</a>, <a href="https://publications.waset.org/search?q=depth%20control" title=" depth control"> depth control</a>, <a href="https://publications.waset.org/search?q=neurocontrollers" title=" neurocontrollers"> neurocontrollers</a>, <a href="https://publications.waset.org/search?q=situational%20awareness." title=" situational awareness."> situational awareness.</a> </p> <a href="https://publications.waset.org/12293/depth-controls-of-an-autonomous-underwater-vehicle-by-neurocontrollers-for-enhanced-situational-awareness" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/12293/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/12293/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/12293/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/12293/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/12293/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/12293/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/12293/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/12293/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/12293/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/12293/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/12293.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1870</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">820</span> An Algorithm for Autonomous Aerial Navigation using MATLAB® Mapping Tool Box</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Mansoor%20Ahsan">Mansoor Ahsan</a>, <a href="https://publications.waset.org/search?q=Suhail%20Akhtar"> Suhail Akhtar</a>, <a href="https://publications.waset.org/search?q=Adnan%20Ali"> Adnan Ali</a>, <a href="https://publications.waset.org/search?q=Farrukh%20Mazhar"> Farrukh Mazhar</a>, <a href="https://publications.waset.org/search?q=Muddssar%20Khalid"> Muddssar Khalid</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In the present era of aviation technology, autonomous navigation and control have emerged as a prime area of active research. Owing to the tremendous developments in the field, autonomous controls have led today’s engineers to claim that future of aerospace vehicle is unmanned. Development of guidance and navigation algorithms for an unmanned aerial vehicle (UAV) is an extremely challenging task, which requires efforts to meet strict, and at times, conflicting goals of guidance and control. In this paper, aircraft altitude and heading controllers and an efficient algorithm for self-governing navigation using MATLAB® mapping toolbox is presented which also enables loitering of a fixed wing UAV over a specified area. For this purpose, a nonlinear mathematical model of a UAV is used. The nonlinear model is linearized around a stable trim point and decoupled for controller design. The linear controllers are tested on the nonlinear aircraft model and navigation algorithm is subsequently developed for for autonomous flight of the UAV. The results are presented for trajectory controllers and waypoint based navigation. Our investigation reveals that MATLAB® mapping toolbox can be exploited to successfully deliver an efficient algorithm for autonomous aerial navigation for a UAV.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Navigation" title="Navigation">Navigation</a>, <a href="https://publications.waset.org/search?q=trajectory-control" title=" trajectory-control"> trajectory-control</a>, <a href="https://publications.waset.org/search?q=unmanned%20aerial%20vehicle" title=" unmanned aerial vehicle"> unmanned aerial vehicle</a>, <a href="https://publications.waset.org/search?q=PID-control" title=" PID-control"> PID-control</a>, <a href="https://publications.waset.org/search?q=MATLAB%C2%AE%20mapping%20toolbox." title=" MATLAB® mapping toolbox."> MATLAB® mapping toolbox.</a> </p> <a href="https://publications.waset.org/4066/an-algorithm-for-autonomous-aerial-navigation-using-matlab-mapping-tool-box" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/4066/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/4066/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/4066/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/4066/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/4066/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/4066/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/4066/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/4066/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/4066/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/4066/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/4066.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">4380</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">819</span> Optimization Based Obstacle Avoidance</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=R.%20Dariani">R. Dariani</a>, <a href="https://publications.waset.org/search?q=S.%20Schmidt"> S. Schmidt</a>, <a href="https://publications.waset.org/search?q=R.%20Kasper"> R. Kasper</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Based on a non-linear single track model which describes the dynamics of vehicle, an optimal path planning strategy is developed. Real time optimization is used to generate reference control values to allow leading the vehicle alongside a calculated lane which is optimal for different objectives such as energy consumption, run time, safety or comfort characteristics. Strict mathematic formulation of the autonomous driving allows taking decision on undefined situation such as lane change or obstacle avoidance. Based on position of the vehicle, lane situation and obstacle position, the optimization problem is reformulated in real-time to avoid the obstacle and any car crash.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20driving" title="Autonomous driving">Autonomous driving</a>, <a href="https://publications.waset.org/search?q=Obstacle%20avoidance" title=" Obstacle avoidance"> Obstacle avoidance</a>, <a href="https://publications.waset.org/search?q=Optimal%0D%0Acontrol" title=" Optimal control"> Optimal control</a>, <a href="https://publications.waset.org/search?q=Path%20planning." title=" Path planning."> Path planning.</a> </p> <a href="https://publications.waset.org/9999297/optimization-based-obstacle-avoidance" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/9999297/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/9999297/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/9999297/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/9999297/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/9999297/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/9999297/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/9999297/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/9999297/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/9999297/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/9999297/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/9999297.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">3008</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">818</span> Anticipating Action Decisions of Automated Guided Vehicle in an Autonomous Decentralized Flexible Manufacturing System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Rizauddin%20Ramli">Rizauddin Ramli</a>, <a href="https://publications.waset.org/search?q=Jaber%20Abu%20Qudeiri"> Jaber Abu Qudeiri</a>, <a href="https://publications.waset.org/search?q=Hidehiko%20Yamamoto"> Hidehiko Yamamoto</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Nowadays the market for industrial companies is becoming more and more globalized and highly competitive, forcing them to shorten the duration of the manufacturing system development time in order to reduce the time to market. In order to achieve this target, the hierarchical systems used in previous manufacturing systems are not enough because they cannot deal effectively with unexpected situations. To achieve flexibility in manufacturing systems, the concept of an Autonomous Decentralized Flexible Manufacturing System (AD-FMS) is useful. In this paper, we introduce a hypothetical reasoning based algorithm called the Algorithm for Future Anticipative Reasoning (AFAR) which is able to decide on a conceivable next action of an Automated Guided Vehicle (AGV) that works autonomously in the AD-FMS.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Flexible%20Manufacturing%20System" title="Flexible Manufacturing System">Flexible Manufacturing System</a>, <a href="https://publications.waset.org/search?q=Automated%20GuidedVehicle" title=" Automated GuidedVehicle"> Automated GuidedVehicle</a>, <a href="https://publications.waset.org/search?q=Hypothetical%20Reasoning" title=" Hypothetical Reasoning"> Hypothetical Reasoning</a>, <a href="https://publications.waset.org/search?q=Autonomous%20Decentralized." title=" Autonomous Decentralized."> Autonomous Decentralized.</a> </p> <a href="https://publications.waset.org/15175/anticipating-action-decisions-of-automated-guided-vehicle-in-an-autonomous-decentralized-flexible-manufacturing-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/15175/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/15175/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/15175/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/15175/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/15175/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/15175/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/15175/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/15175/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/15175/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/15175/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/15175.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2088</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">817</span> Flight Control of a Trirotor Mini-UAV for Enhanced Situational Awareness</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Igor%20Astrov">Igor Astrov</a>, <a href="https://publications.waset.org/search?q=Andrus%20Pedai"> Andrus Pedai</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for an unmanned aerial vehicle (UAV). Autonomous vertical flight is a challenging but important task for tactical UAVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for a nontrivial nonlinear trirotor mini-UAV model. This control strategy for chosen mini-UAV model has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast SA in realtime search-and-rescue operations.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Flight%20control" title="Flight control">Flight control</a>, <a href="https://publications.waset.org/search?q=trirotor%20aircraft" title=" trirotor aircraft"> trirotor aircraft</a>, <a href="https://publications.waset.org/search?q=situational%20awareness" title=" situational awareness"> situational awareness</a>, <a href="https://publications.waset.org/search?q=unmanned%20aerial%20vehicle." title="unmanned aerial vehicle.">unmanned aerial vehicle.</a> </p> <a href="https://publications.waset.org/5209/flight-control-of-a-trirotor-mini-uav-for-enhanced-situational-awareness" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/5209/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/5209/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/5209/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/5209/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/5209/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/5209/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/5209/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/5209/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/5209/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/5209/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/5209.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2165</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">816</span> Disturbance Observer for Lateral Trajectory Tracking Control for Autonomous and Cooperative Driving</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Christian%20Rathgeber">Christian Rathgeber</a>, <a href="https://publications.waset.org/search?q=Franz%20Winkler"> Franz Winkler</a>, <a href="https://publications.waset.org/search?q=Dirk%20Odenthal"> Dirk Odenthal</a>, <a href="https://publications.waset.org/search?q=Steffen%20Muller"> Steffen Muller</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The implemented algorithms are tested in real world scenarios.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Disturbance%20observer" title="Disturbance observer">Disturbance observer</a>, <a href="https://publications.waset.org/search?q=trajectory%20tracking" title=" trajectory tracking"> trajectory tracking</a>, <a href="https://publications.waset.org/search?q=robust%0D%0Acontrol" title=" robust control"> robust control</a>, <a href="https://publications.waset.org/search?q=autonomous%20driving" title=" autonomous driving"> autonomous driving</a>, <a href="https://publications.waset.org/search?q=cooperative%20driving" title=" cooperative driving"> cooperative driving</a> </p> <a href="https://publications.waset.org/10001304/disturbance-observer-for-lateral-trajectory-tracking-control-for-autonomous-and-cooperative-driving" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10001304/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10001304/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10001304/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10001304/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10001304/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10001304/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10001304/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10001304/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10001304/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10001304/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10001304.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">3025</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">815</span> Smart Trust Management for Vehicular Networks</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Amel%20Ltifi">Amel Ltifi</a>, <a href="https://publications.waset.org/search?q=Ahmed%20Zouinkhi"> Ahmed Zouinkhi</a>, <a href="https://publications.waset.org/search?q=Med%20Salim%20Bouhlel"> Med Salim Bouhlel</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Spontaneous networks such as VANET are in general deployed in an open and thus easily accessible environment. Therefore, they are vulnerable to attacks. Trust management is one of a set of security solutions dedicated to this type of networks. Moreover, the strong mobility of the nodes (in the case of VANET) makes the establishment of a trust management system complex. In this paper, we present a concept of ‘Active Vehicle’ which means an autonomous vehicle that is able to make decision about trustworthiness of alert messages transmitted about road accidents. The behavior of an “Active Vehicle” is modeled using Petri Nets.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Component" title="Component">Component</a>, <a href="https://publications.waset.org/search?q=active%20vehicle" title=" active vehicle"> active vehicle</a>, <a href="https://publications.waset.org/search?q=cooperation" title=" cooperation"> cooperation</a>, <a href="https://publications.waset.org/search?q=petri%20nets" title=" petri nets"> petri nets</a>, <a href="https://publications.waset.org/search?q=trust%20management" title=" trust management"> trust management</a>, <a href="https://publications.waset.org/search?q=VANET." title=" VANET."> VANET.</a> </p> <a href="https://publications.waset.org/10005824/smart-trust-management-for-vehicular-networks" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10005824/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10005824/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10005824/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10005824/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10005824/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10005824/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10005824/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10005824/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10005824/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10005824/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10005824.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1124</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">814</span> Statistical Analysis of the Impact of Maritime Transport Gross Domestic Product on Nigeria’s Economy</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=K.%20P.%20Oyeduntan">K. P. Oyeduntan</a>, <a href="https://publications.waset.org/search?q=K.%20Oshinubi"> K. Oshinubi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Nigeria is referred as the ‘Giant of Africa’ due to high population, land mass and large economy. However, it still trails far behind many smaller economies in the continent in terms of maritime operations. As we have seen that the maritime industry is the sparkplug for national growth, because it houses the most crucial infrastructure that generates wealth for a nation, it is worrisome that a nation with six seaports lag in maritime activities. In this research, we have studied how the Gross Domestic Product (GDP) of the maritime transport influences the Nigerian economy. To do this, we applied Simple Linear Regression (SLR), Support Vector Machine (SVM), Polynomial Regression Model (PRM), Generalized Additive Model (GAM) and Generalized Linear Mixed Model (GLMM) to model the relationship between the nation’s Total GDP (TGDP) and the Maritime Transport GDP (MGDP) using a time series data of 20 years. The result showed that the MGDP is statistically significant to the Nigerian economy. Amongst the statistical tool applied, the PRM of order 4 describes the relationship better when compared to other methods. The recommendations presented in this study will guide policy makers and help improve the economy of Nigeria.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Economy" title="Economy">Economy</a>, <a href="https://publications.waset.org/search?q=GDP" title=" GDP"> GDP</a>, <a href="https://publications.waset.org/search?q=maritime%20transport" title=" maritime transport"> maritime transport</a>, <a href="https://publications.waset.org/search?q=port" title=" port"> port</a>, <a href="https://publications.waset.org/search?q=regression." title=" regression."> regression.</a> </p> <a href="https://publications.waset.org/10013573/statistical-analysis-of-the-impact-of-maritime-transport-gross-domestic-product-on-nigerias-economy" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10013573/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10013573/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10013573/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10013573/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10013573/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10013573/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10013573/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10013573/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10013573/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10013573/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10013573.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">142</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">813</span> Winged Test Rocket with Fully Autonomous Guidance and Control for Realizing Reusable Suborbital Vehicle</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Koichi%20Yonemoto">Koichi Yonemoto</a>, <a href="https://publications.waset.org/search?q=Hiroshi%20Yamasaki"> Hiroshi Yamasaki</a>, <a href="https://publications.waset.org/search?q=Masatomo%20Ichige"> Masatomo Ichige</a>, <a href="https://publications.waset.org/search?q=Yusuke%20Ura"> Yusuke Ura</a>, <a href="https://publications.waset.org/search?q=Guna%20S.%20Gossamsetti"> Guna S. Gossamsetti</a>, <a href="https://publications.waset.org/search?q=Takumi%20Ohki"> Takumi Ohki</a>, <a href="https://publications.waset.org/search?q=Kento%20Shirakata"> Kento Shirakata</a>, <a href="https://publications.waset.org/search?q=Ahsan%20R.%20Choudhuri"> Ahsan R. Choudhuri</a>, <a href="https://publications.waset.org/search?q=Shinji%20Ishimoto"> Shinji Ishimoto</a>, <a href="https://publications.waset.org/search?q=Takashi%20Mugitani"> Takashi Mugitani</a>, <a href="https://publications.waset.org/search?q=Hiroya%20Asakawa"> Hiroya Asakawa</a>, <a href="https://publications.waset.org/search?q=Hideaki%20Nanri"> Hideaki Nanri</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper presents the strategic development plan of winged rockets WIRES (WInged REusable Sounding rocket) aiming at unmanned suborbital winged rocket for demonstrating future fully reusable space transportation technologies, such as aerodynamics, Navigation, Guidance and Control (NGC), composite structure, propulsion system, and cryogenic tanks etc., by universities in collaboration with government and industries, as well as the past and current flight test results. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20guidance%20and%20control" title="Autonomous guidance and control">Autonomous guidance and control</a>, <a href="https://publications.waset.org/search?q=reusable%20rocket" title=" reusable rocket"> reusable rocket</a>, <a href="https://publications.waset.org/search?q=space%20transportation%20system" title=" space transportation system"> space transportation system</a>, <a href="https://publications.waset.org/search?q=suborbital%20vehicle" title=" suborbital vehicle"> suborbital vehicle</a>, <a href="https://publications.waset.org/search?q=winged%20rocket." title=" winged rocket."> winged rocket.</a> </p> <a href="https://publications.waset.org/10003422/winged-test-rocket-with-fully-autonomous-guidance-and-control-for-realizing-reusable-suborbital-vehicle" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10003422/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10003422/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10003422/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10003422/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10003422/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10003422/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10003422/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10003422/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10003422/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10003422/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10003422.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2553</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">812</span> Motion Control of TUAV having Eight Rotors for Enhanced Situational Awareness</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Igor%20Astrov">Igor Astrov</a>, <a href="https://publications.waset.org/search?q=Andrus%20Pedai"> Andrus Pedai</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for a nontrivial nonlinear eight-rotor helicopter model. This control strategy for chosen model of mini-TUAV has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast stabilization of engines in hovering, consequently, fast SA with economy in energy of batteries can be asserted during search-andrescue operations. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Flight%20control" title="Flight control">Flight control</a>, <a href="https://publications.waset.org/search?q=eight-rotor%20helicopter" title=" eight-rotor helicopter"> eight-rotor helicopter</a>, <a href="https://publications.waset.org/search?q=situational%20awareness" title=" situational awareness"> situational awareness</a>, <a href="https://publications.waset.org/search?q=tactical%20unmanned%20aerial%20vehicle" title=" tactical unmanned aerial vehicle"> tactical unmanned aerial vehicle</a> </p> <a href="https://publications.waset.org/8026/motion-control-of-tuav-having-eight-rotors-for-enhanced-situational-awareness" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/8026/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/8026/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/8026/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/8026/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/8026/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/8026/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/8026/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/8026/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/8026/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/8026/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/8026.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1738</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">811</span> Using Mean-Shift Tracking Algorithms for Real-Time Tracking of Moving Images on an Autonomous Vehicle Testbed Platform</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Benjamin%20Gorry">Benjamin Gorry</a>, <a href="https://publications.waset.org/search?q=Zezhi%20Chen"> Zezhi Chen</a>, <a href="https://publications.waset.org/search?q=Kevin%20Hammond"> Kevin Hammond</a>, <a href="https://publications.waset.org/search?q=Andy%20Wallace"> Andy Wallace</a>, <a href="https://publications.waset.org/search?q=Greg%20Michaelson"> Greg Michaelson</a> </p> <p class="card-text"><strong>Abstract:</strong></p> This paper describes new computer vision algorithms that have been developed to track moving objects as part of a long-term study into the design of (semi-)autonomous vehicles. We present the results of a study to exploit variable kernels for tracking in video sequences. The basis of our work is the mean shift object-tracking algorithm; for a moving target, it is usual to define a rectangular target window in an initial frame, and then process the data within that window to separate the tracked object from the background by the mean shift segmentation algorithm. Rather than use the standard, Epanechnikov kernel, we have used a kernel weighted by the Chamfer distance transform to improve the accuracy of target representation and localization, minimising the distance between the two distributions in RGB color space using the Bhattacharyya coefficient. Experimental results show the improved tracking capability and versatility of the algorithm in comparison with results using the standard kernel. These algorithms are incorporated as part of a robot test-bed architecture which has been used to demonstrate their effectiveness. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Hume" title="Hume">Hume</a>, <a href="https://publications.waset.org/search?q=functional%20programming" title=" functional programming"> functional programming</a>, <a href="https://publications.waset.org/search?q=autonomous%20vehicle" title=" autonomous vehicle"> autonomous vehicle</a>, <a href="https://publications.waset.org/search?q=pioneer%20robot" title="pioneer robot">pioneer robot</a>, <a href="https://publications.waset.org/search?q=vision." title=" vision."> vision.</a> </p> <a href="https://publications.waset.org/1611/using-mean-shift-tracking-algorithms-for-real-time-tracking-of-moving-images-on-an-autonomous-vehicle-testbed-platform" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/1611/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/1611/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/1611/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/1611/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/1611/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/1611/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/1611/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/1611/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/1611/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/1611/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/1611.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1652</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">810</span> Adaptive Neural Network Control of Autonomous Underwater Vehicles</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Ahmad%20Forouzantabar">Ahmad Forouzantabar</a>, <a href="https://publications.waset.org/search?q=Babak%20Gholami"> Babak Gholami</a>, <a href="https://publications.waset.org/search?q=Mohammad%20Azadi"> Mohammad Azadi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> An adaptive neural network controller for autonomous underwater vehicles (AUVs) is presented in this paper. The AUV model is highly nonlinear because of many factors, such as hydrodynamic drag, damping, and lift forces, Coriolis and centripetal forces, gravity and buoyancy forces, as well as forces from thruster. In this regards, a nonlinear neural network is used to approximate the nonlinear uncertainties of AUV dynamics, thus overcoming some limitations of conventional controllers and ensure good performance. The uniform ultimate boundedness of AUV tracking errors and the stability of the proposed control system are guaranteed based on Lyapunov theory. Numerical simulation studies for motion control of an AUV are performed to demonstrate the effectiveness of the proposed controller. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20Underwater%20Vehicle%20%28AUV%29" title="Autonomous Underwater Vehicle (AUV)">Autonomous Underwater Vehicle (AUV)</a>, <a href="https://publications.waset.org/search?q=Neural%0ANetwork%20Controller" title=" Neural Network Controller"> Neural Network Controller</a>, <a href="https://publications.waset.org/search?q=Composite%20Adaptation." title=" Composite Adaptation."> Composite Adaptation.</a> </p> <a href="https://publications.waset.org/6416/adaptive-neural-network-control-of-autonomous-underwater-vehicles" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/6416/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/6416/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/6416/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/6416/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/6416/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/6416/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/6416/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/6416/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/6416/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/6416/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/6416.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2529</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">809</span> Non-Linear Control Based on State Estimation for the Convoy of Autonomous Vehicles</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=M-M.%20Mohamed%20Ahmed">M-M. Mohamed Ahmed</a>, <a href="https://publications.waset.org/search?q=Nacer%20K.%20M%E2%80%99Sirdi"> Nacer K. M’Sirdi</a>, <a href="https://publications.waset.org/search?q=Aziz%20Naamane"> Aziz Naamane</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, a longitudinal and lateral control approach based on a nonlinear observer is proposed for a convoy of autonomous vehicles to follow a desired trajectory. To authors best knowledge, this topic has not yet been sufficiently addressed in the literature for the control of multi vehicles. The modeling of the convoy of the vehicles is revisited using a robotic method for simulation purposes and control design. With these models, a sliding mode observer is proposed to estimate the states of each vehicle in the convoy from the available sensors, then a sliding mode control based on this observer is used to control the longitudinal and lateral movement. The validation and performance evaluation are done using the well-known driving simulator Scanner-Studio. The results are presented for different maneuvers of 5 vehicles. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20vehicles" title="Autonomous vehicles">Autonomous vehicles</a>, <a href="https://publications.waset.org/search?q=convoy" title=" convoy"> convoy</a>, <a href="https://publications.waset.org/search?q=nonlinear%20control" title=" nonlinear control"> nonlinear control</a>, <a href="https://publications.waset.org/search?q=nonlinear%20observer" title=" nonlinear observer"> nonlinear observer</a>, <a href="https://publications.waset.org/search?q=sliding%20mode." title=" sliding mode."> sliding mode.</a> </p> <a href="https://publications.waset.org/10011221/non-linear-control-based-on-state-estimation-for-the-convoy-of-autonomous-vehicles" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10011221/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10011221/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10011221/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10011221/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10011221/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10011221/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10011221/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10011221/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10011221/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10011221/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10011221.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">726</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">808</span> Driver Readiness in Autonomous Vehicle Take-Overs</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Abdurrahman%20Arslanyilmaz">Abdurrahman Arslanyilmaz</a>, <a href="https://publications.waset.org/search?q=Salman%20Al%20Matouq"> Salman Al Matouq</a>, <a href="https://publications.waset.org/search?q=Durmus%20V.%20Doner"> Durmus V. Doner</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Level 3 autonomous vehicles are able to take full responsibility over the control of the vehicle unless a system boundary is reached or a system failure occurs, in which case, the driver is expected to take-over the control of the vehicle. While this happens, the driver is often not aware of the traffic situation or is engaged in a secondary task. Factors affecting the duration and quality of take-overs in these situations have included secondary task type and nature, traffic density, take-over request (TOR) time, and TOR warning type and modality. However, to the best of the authors’ knowledge, no prior study examined time buffer for TORs when a system failure occurs immediately before intersections. The first objective of this study is to investigate the effect of time buffer (3 and 7 seconds) on the duration and quality of take-overs when a system failure occurs just prior to intersections. In addition, eye-tracking has become one of the most popular methods to report what individuals view, in what order, for how long, and how often, and it has been utilized in driving simulations with various objectives. However, to the extent of authors’ knowledge, none has compared drivers’ eye gaze behavior in the two different time buffers in order to examine drivers’ attention and comprehension of salient information. The second objective is to understand the driver’s attentional focus on comprehension of salient traffic-related information presented on different parts of the dashboard and on the roads. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20vehicles" title="Autonomous vehicles">Autonomous vehicles</a>, <a href="https://publications.waset.org/search?q=driving%20simulation" title=" driving simulation"> driving simulation</a>, <a href="https://publications.waset.org/search?q=eye%20gaze" title=" eye gaze"> eye gaze</a>, <a href="https://publications.waset.org/search?q=attention" title=" attention"> attention</a>, <a href="https://publications.waset.org/search?q=comprehension" title=" comprehension"> comprehension</a>, <a href="https://publications.waset.org/search?q=take-over%20duration" title=" take-over duration"> take-over duration</a>, <a href="https://publications.waset.org/search?q=take-over%20quality" title=" take-over quality"> take-over quality</a>, <a href="https://publications.waset.org/search?q=time%20buffer." title=" time buffer. "> time buffer. </a> </p> <a href="https://publications.waset.org/10011354/driver-readiness-in-autonomous-vehicle-take-overs" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10011354/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10011354/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10011354/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10011354/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10011354/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10011354/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10011354/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10011354/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10011354/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10011354/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10011354.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">888</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">807</span> An Application of Path Planning Algorithms for Autonomous Inspection of Buried Pipes with Swarm Robots</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Richard%20Molyneux">Richard Molyneux</a>, <a href="https://publications.waset.org/search?q=Christopher%20Parrott"> Christopher Parrott</a>, <a href="https://publications.waset.org/search?q=Kirill%20Horoshenkov"> Kirill Horoshenkov</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper aims to demonstrate how various algorithms can be implemented within swarms of autonomous robots to provide continuous inspection within underground pipeline networks. Current methods of fault detection within pipes are costly, time consuming and inefficient. As such, solutions tend toward a more reactive approach, repairing faults, as opposed to proactively seeking leaks and blockages. The paper presents an efficient inspection method, showing that autonomous swarm robotics is a viable way of monitoring underground infrastructure. Tailored adaptations of various Vehicle Routing Problems (VRP) and path-planning algorithms provide a customised inspection procedure for complicated networks of underground pipes. The performance of multiple algorithms is compared to determine their effectiveness and feasibility. Notable inspirations come from ant colonies and <em>stigmergy</em>, graph theory, the k-Chinese Postman Problem ( -CPP) and traffic theory. Unlike most swarm behaviours which rely on fast communication between agents, underground pipe networks are a highly challenging communication environment with extremely limited communication ranges. This is due to the extreme variability in the pipe conditions and relatively high attenuation of acoustic and radio waves with which robots would usually communicate. This paper illustrates how to optimise the inspection process and how to increase the frequency with which the robots pass each other, without compromising the routes they are able to take to cover the whole network.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20inspection" title="Autonomous inspection">Autonomous inspection</a>, <a href="https://publications.waset.org/search?q=buried%20pipes" title=" buried pipes"> buried pipes</a>, <a href="https://publications.waset.org/search?q=stigmergy" title=" stigmergy"> stigmergy</a>, <a href="https://publications.waset.org/search?q=swarm%20intelligence" title=" swarm intelligence"> swarm intelligence</a>, <a href="https://publications.waset.org/search?q=vehicle%20routing%20problem." title=" vehicle routing problem."> vehicle routing problem.</a> </p> <a href="https://publications.waset.org/10010712/an-application-of-path-planning-algorithms-for-autonomous-inspection-of-buried-pipes-with-swarm-robots" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10010712/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10010712/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10010712/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10010712/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10010712/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10010712/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10010712/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10010712/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10010712/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10010712/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10010712.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1014</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">806</span> Master in Maritime Logistics: An Industry-Driven Design</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Marco%20Sernaglia">Marco Sernaglia</a>, <a href="https://publications.waset.org/search?q=Augusto%20M.%20P.%20Carreira"> Augusto M. P. Carreira</a>, <a href="https://publications.waset.org/search?q=Helena%20M.%20L.%20Carvalho"> Helena M. L. Carvalho</a>, <a href="https://publications.waset.org/search?q=Pedro%20B.%20%C3%81gua"> Pedro B. Água</a>, <a href="https://publications.waset.org/search?q=Armindo%20Frias"> Armindo Frias</a>, <a href="https://publications.waset.org/search?q=Manuel%20Carrasqueira"> Manuel Carrasqueira</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>The existence of mismatches between the qualification requirements of professionals in the maritime industry and existing higher education offers was verified within the scope of the European project MarLEM (Maritime Logistics Engineering and Management). Professionals in the maritime industry today and in the future face additional obstacles as a result of the sector's global nature as well as the sector's rapid technological and social evolution. As a result, they feel the need to update their skills and knowledge. A professional-oriented master's program was developed to fill this gap. The NOVA School of Science and Technology and the Portuguese Naval School co-developed this Master's program with the active participation of MarLEM project partners from academia and industry. In this work, the principles and approach used to design the master's program are presented. Its design and a concise synopsis of the courses' content are shown. In addition, other international courses covering the same topic are compared. As a result of this work, the teaching materials related to maritime logistics are improved and the assumptions and methodology that guided the creation of an international master's program in maritime logistics are disseminated. </p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Education" title="Education">Education</a>, <a href="https://publications.waset.org/search?q=maritime%20logistics" title=" maritime logistics"> maritime logistics</a>, <a href="https://publications.waset.org/search?q=shipping" title=" shipping"> shipping</a>, <a href="https://publications.waset.org/search?q=industrial%20engineering" title=" industrial engineering"> industrial engineering</a>, <a href="https://publications.waset.org/search?q=management" title=" management"> management</a>, <a href="https://publications.waset.org/search?q=soft%20skills." title=" soft skills."> soft skills.</a> </p> <a href="https://publications.waset.org/10013071/master-in-maritime-logistics-an-industry-driven-design" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10013071/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10013071/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10013071/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10013071/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10013071/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10013071/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10013071/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10013071/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10013071/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10013071/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10013071.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">508</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">805</span> Current Situation of Maritime Transport and Logistics in Myanmar</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=S.%20N.%20S.%20Thein">S. N. S. Thein</a>, <a href="https://publications.waset.org/search?q=H.%20L.%20Yang"> H. L. Yang</a>, <a href="https://publications.waset.org/search?q=Z.%20B.%20Liu"> Z. B. Liu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>There are many modes of transport. Among them, maritime transport is a major transportation mode of international trade. In the Republic of the Union of Myanmar (Burma), water transportation served as one of the most important modes of transport for country's exports and imports. Getting the accurate information and data-gathering activity are the most important aspects for any study field. Therefore, in this research, a historical review of the development of ports in Myanmar and how they have changed had been carried out. All the relevant literature and documents have also been reviewed, studied, and organized. The sources of collected data are from reports, journals, internet, as well as from the publications of authorized organizations and international associations. To get better understanding about real situation of maritime transport and logistics in Myanmar; current condition of existing ports, expansion and on-going projects, and future port development plans are described successively. Hence, the main purpose of this study is to build up a comprehensive picture of maritime transport and logistics, in addition to border trade within ASEAN and Myanmar. It will help for academic researchers, decision makers, and stakeholders for national planning as well as for the local and foreign investors to recognize current situation of maritime transport and logistics in Myanmar.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=ASEAN" title="ASEAN">ASEAN</a>, <a href="https://publications.waset.org/search?q=border%20trade" title=" border trade"> border trade</a>, <a href="https://publications.waset.org/search?q=logistics" title=" logistics"> logistics</a>, <a href="https://publications.waset.org/search?q=maritime%20transport" title=" maritime transport"> maritime transport</a>, <a href="https://publications.waset.org/search?q=ports%20of%20Myanmar." title=" ports of Myanmar."> ports of Myanmar.</a> </p> <a href="https://publications.waset.org/10010231/current-situation-of-maritime-transport-and-logistics-in-myanmar" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10010231/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10010231/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10010231/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10010231/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10010231/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10010231/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10010231/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10010231/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10010231/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10010231/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10010231.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1350</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">804</span> A Simple Autonomous Hovering and Operating Control of Multicopter Using Only Web Camera</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Kazuya%20Sato">Kazuya Sato</a>, <a href="https://publications.waset.org/search?q=Toru%20Kasahara"> Toru Kasahara</a>, <a href="https://publications.waset.org/search?q=Junji%20Kuroda"> Junji Kuroda</a>, <a href="https://publications.waset.org/search?q=Tomoyuki%20Izu"> Tomoyuki Izu</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, an autonomous hovering control method of multicopter using only Web camera is proposed. Recently, various control method of an autonomous flight for multicopter are proposed. But, in the previous proposed methods, a motion capture system (i. e., OptiTrack) and laser range finder are often used to measure the position and posture of multicopter. To achieve an autonomous flight control of multicopter with simple equipments, we propose an autonomous flight control method using AR marker and Web camera. AR marker can measure the position of multicopter with Cartesian coordinate in three dimensional, then its position connects with aileron, elevator, and accelerator throttle operation. A simple PID control method is applied to the each operation and adjust the controller gains. Experimental results are given to show the effectiveness of our proposed method. Moreover, another simple operation method for autonomous flight control multicopter is also proposed. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Autonomous%20hovering%20control" title="Autonomous hovering control">Autonomous hovering control</a>, <a href="https://publications.waset.org/search?q=multicopter" title=" multicopter"> multicopter</a>, <a href="https://publications.waset.org/search?q=Web%0D%0Acamera." title=" Web camera."> Web camera.</a> </p> <a href="https://publications.waset.org/10002009/a-simple-autonomous-hovering-and-operating-control-of-multicopter-using-only-web-camera" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10002009/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10002009/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10002009/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10002009/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10002009/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10002009/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10002009/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10002009/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10002009/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10002009/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10002009.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">1830</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">803</span> Autonomous Flight Performance Improvement of Load-Carrying Unmanned Aerial Vehicles by Active Morphing</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Tugrul%20Oktay">Tugrul Oktay</a>, <a href="https://publications.waset.org/search?q=Mehmet%20Konar"> Mehmet Konar</a>, <a href="https://publications.waset.org/search?q=Mohamed%20Abdallah%20Mohamed"> Mohamed Abdallah Mohamed</a>, <a href="https://publications.waset.org/search?q=Murat%20Aydin"> Murat Aydin</a>, <a href="https://publications.waset.org/search?q=Firat%20Sal"> Firat Sal</a>, <a href="https://publications.waset.org/search?q=Murat%20Onay"> Murat Onay</a>, <a href="https://publications.waset.org/search?q=Mustafa%20Soylak"> Mustafa Soylak</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, it is aimed to improve autonomous flight performance of a load-carrying (payload: 3 kg and total: 6kg) unmanned aerial vehicle (UAV) through active wing and horizontal tail active morphing and also integrated autopilot system parameters (i.e. P, I, D gains) and UAV parameters (i.e. extension ratios of wing and horizontal tail during flight) design. For this purpose, a loadcarrying UAV (i.e. ZANKA-II) is manufactured in Erciyes University, College of Aviation, Model Aircraft Laboratory is benefited. Optimum values of UAV parameters and autopilot parameters are obtained using a stochastic optimization method. Using this approach autonomous flight performance of UAV is substantially improved and also in some adverse weather conditions an opportunity for safe flight is satisfied. Active morphing and integrated design approach gives confidence, high performance and easy-utility request of UAV users. <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Unmanned%20aerial%20vehicles" title="Unmanned aerial vehicles">Unmanned aerial vehicles</a>, <a href="https://publications.waset.org/search?q=morphing" title=" morphing"> morphing</a>, <a href="https://publications.waset.org/search?q=autopilots" title=" autopilots"> autopilots</a>, <a href="https://publications.waset.org/search?q=autonomous%20performance." title=" autonomous performance."> autonomous performance.</a> </p> <a href="https://publications.waset.org/10003444/autonomous-flight-performance-improvement-of-load-carrying-unmanned-aerial-vehicles-by-active-morphing" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10003444/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10003444/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10003444/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10003444/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10003444/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10003444/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10003444/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10003444/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10003444/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10003444/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10003444.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2269</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">802</span> Flight Control of TUAV with Coaxial Rotor and Ducted Fan Configuration by NARMA-L2 Controllers for Enhanced Situational Awareness</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Igor%20Astrov">Igor Astrov</a>, <a href="https://publications.waset.org/search?q=Andrus%20Pedai"> Andrus Pedai</a>, <a href="https://publications.waset.org/search?q=Boris%20Gordon"> Boris Gordon</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for an unmanned helicopter model with coaxial rotor and ducted fan configuration. This control strategy for chosen model of TUAV has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast stabilization of engines in hovering, consequently, fast SA with economy in energy can be asserted during search-and-rescue operations.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Coaxial%20rotors" title="Coaxial rotors">Coaxial rotors</a>, <a href="https://publications.waset.org/search?q=ducted%20fan" title=" ducted fan"> ducted fan</a>, <a href="https://publications.waset.org/search?q=NARMA-L2%0D%0Aneurocontroller" title=" NARMA-L2 neurocontroller"> NARMA-L2 neurocontroller</a>, <a href="https://publications.waset.org/search?q=situational%20awareness" title=" situational awareness"> situational awareness</a>, <a href="https://publications.waset.org/search?q=tactical%20unmanned%20aerial%0D%0Avehicle." title=" tactical unmanned aerial vehicle."> tactical unmanned aerial vehicle.</a> </p> <a href="https://publications.waset.org/13553/flight-control-of-tuav-with-coaxial-rotor-and-ducted-fan-configuration-by-narma-l2-controllers-for-enhanced-situational-awareness" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/13553/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/13553/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/13553/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/13553/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/13553/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/13553/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/13553/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/13553/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/13553/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/13553/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/13553.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2313</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">801</span> Statistical Analysis and Impact Forecasting of Connected and Autonomous Vehicles on the Environment: Case Study in the State of Maryland</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Alireza%20Ansariyar">Alireza Ansariyar</a>, <a href="https://publications.waset.org/search?q=Safieh%20Laaly"> Safieh Laaly</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>Over the last decades, the vehicle industry has shown increased interest in integrating autonomous, connected, and electrical technologies in vehicle design with the primary hope of improving mobility and road safety while reducing transportation’s environmental impact. Using the State of Maryland (M.D.) in the United States as a pilot study, this research investigates Connected and Autonomous Vehicles (CAVs) fuel consumption and air pollutants including Carbon Monoxide (CO), Particulate Matter (PM), and Nitrogen Oxides (NOx) and utilizes meaningful linear regression models to predict CAV’s environmental effects. Maryland transportation network was simulated in VISUM software, and data on a set of variables were collected through a comprehensive survey. The number of pollutants and fuel consumption were obtained for the time interval 2010 to 2021 from the macro simulation. Eventually, four linear regression models were proposed to predict the amount of C.O., NOx, PM pollutants, and fuel consumption in the future. The results highlighted that CAVs’ pollutants and fuel consumption have a significant correlation with the income, age, and race of the CAV customers. Furthermore, the reliability of four statistical models was compared with the reliability of macro simulation model outputs in the year 2030. The error of three pollutants and fuel consumption was obtained at less than 9% by statistical models in SPSS. This study is expected to assist researchers and policymakers with planning decisions to reduce CAV environmental impacts in M.D.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Connected%20and%20autonomous%20vehicles" title="Connected and autonomous vehicles">Connected and autonomous vehicles</a>, <a href="https://publications.waset.org/search?q=statistical%20model" title=" statistical model"> statistical model</a>, <a href="https://publications.waset.org/search?q=environmental%20effects" title=" environmental effects"> environmental effects</a>, <a href="https://publications.waset.org/search?q=pollutants%20and%20fuel%20consumption" title=" pollutants and fuel consumption"> pollutants and fuel consumption</a>, <a href="https://publications.waset.org/search?q=VISUM" title=" VISUM"> VISUM</a>, <a href="https://publications.waset.org/search?q=linear%20regression%20models." title=" linear regression models."> linear regression models.</a> </p> <a href="https://publications.waset.org/10012997/statistical-analysis-and-impact-forecasting-of-connected-and-autonomous-vehicles-on-the-environment-case-study-in-the-state-of-maryland" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10012997/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10012997/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10012997/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10012997/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10012997/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10012997/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10012997/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10012997/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10012997/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10012997/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10012997.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">462</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">800</span> Sliding Mode Control of Autonomous Underwater Vehicles</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Ahmad%20Forouzan%20Tabar">Ahmad Forouzan Tabar</a>, <a href="https://publications.waset.org/search?q=Mohammad%20Azadi"> Mohammad Azadi</a>, <a href="https://publications.waset.org/search?q=Alireza%20Alesaadi"> Alireza Alesaadi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper describes a sliding mode controller for autonomous underwater vehicles (AUVs). The dynamic of AUV model is highly nonlinear because of many factors, such as hydrodynamic drag, damping, and lift forces, Coriolis and centripetal forces, gravity and buoyancy forces, as well as forces from thruster. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of AUV and improve trajectory tracking. Moreover, the proposed controller can profoundly attenuate the effects of uncertainties and external disturbances in the closed-loop system. Using the Lyapunov theory the boundedness of AUV tracking errors and the stability of the proposed control system are also guaranteed. Numerical simulation studies of an AUV are included to illustrate the effectiveness of the presented approach.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Lyapunov%20stability" title="Lyapunov stability">Lyapunov stability</a>, <a href="https://publications.waset.org/search?q=autonomous%20underwater%20vehicle%20%28AUV%29" title=" autonomous underwater vehicle (AUV)"> autonomous underwater vehicle (AUV)</a>, <a href="https://publications.waset.org/search?q=sliding%20mode%20controller" title=" sliding mode controller"> sliding mode controller</a>, <a href="https://publications.waset.org/search?q=electronics%20engineering." title=" electronics engineering."> electronics engineering.</a> </p> <a href="https://publications.waset.org/10002595/sliding-mode-control-of-autonomous-underwater-vehicles" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10002595/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10002595/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10002595/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10002595/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10002595/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10002595/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10002595/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10002595/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10002595/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10002595/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10002595.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">2599</span> </span> </div> </div> <div class="card publication-listing mb-3 mt-3"> <h5 class="card-header" style="font-size:.9rem"><span class="badge badge-info">799</span> A Holographic Infotainment System for Connected and Driverless Cars: An Exploratory Study of Gesture Based Interaction </h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/search?q=Nicholas%20Lambert">Nicholas Lambert</a>, <a href="https://publications.waset.org/search?q=Seungyeon%20Ryu"> Seungyeon Ryu</a>, <a href="https://publications.waset.org/search?q=Mehmet%20Mulla"> Mehmet Mulla</a>, <a href="https://publications.waset.org/search?q=Albert%20Kim"> Albert Kim</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>In this paper, an interactive in-car interface called HoloDash is presented. It is intended to provide information and infotainment in both autonomous vehicles and ‘connected cars’, vehicles equipped with Internet access via cellular services. The research focuses on the development of interactive avatars for this system and its gesture-based control system. This is a case study for the development of a possible human-centred means of presenting a connected or autonomous vehicle’s On-Board Diagnostics through a projected ‘holographic’ infotainment system. This system is termed a Holographic Human Vehicle Interface (HHIV), as it utilises a dashboard projection unit and gesture detection. The research also examines the suitability for gestures in an automotive environment, given that it might be used in both driver-controlled and driverless vehicles. Using Human Centred Design methods, questions were posed to test subjects and preferences discovered in terms of the gesture interface and the user experience for passengers within the vehicle. These affirm the benefits of this mode of visual communication for both connected and driverless cars.</p> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Holographic%20interface" title="Holographic interface">Holographic interface</a>, <a href="https://publications.waset.org/search?q=human-computer%20interaction" title=" human-computer interaction"> human-computer interaction</a>, <a href="https://publications.waset.org/search?q=user-centered%20design" title=" user-centered design"> user-centered design</a>, <a href="https://publications.waset.org/search?q=Gesture." title=" Gesture. "> Gesture. </a> </p> <a href="https://publications.waset.org/10009705/a-holographic-infotainment-system-for-connected-and-driverless-cars-an-exploratory-study-of-gesture-based-interaction" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10009705/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10009705/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10009705/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10009705/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10009705/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10009705/json" target="_blank" rel="nofollow" class="btn btn-primary 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