Advanced Technologies in Practical Applications for National Security (eBook)

Aleksander Nawrat, Damian Bereska, Karol Jędrasiak (Herausgeber)

eBook Download: PDF

2017 | 1st ed. 2018
XIII, 363 Seiten
Springer International Publishing (Verlag)
978-3-319-64674-9 (ISBN)

Infos

This book presents advanced technologies used in practice to enable early recognition and tracking of various threats to national security. It discusses practical applications, examples and recent challenges in the application fields using sophisticated sensory devices, embedded designs and airborne and ground unmanned vehicles. Undeniably rapid advances in the development of sophisticated sensory devices, significant increases of computing power available to embedded designs and the development of airborne and ground unmanned vehicles offer almost unlimited possibilities for fighting various types of pathologies affecting our societies. The book provides scientists, researchers, engineers and graduate students involved in computer vision, image processing, data fusion, control algorithms, mechanics, data mining, navigation and integrated circuit (IC) with numerous valuable, useful and practical suggestions and solutions.

Inhalt

Preface 7
Acknowledgements 9
Contents 10
Practical Applications of Object Tracking Algorithms 13
Accurate Tracking of Fast Objects with a Weak Video Input Signal 15
1 Introduction 15
2 The Main Algorithm 18
2.1 Correction of Radial Distortion 19
2.2 Motion Mask 20
2.3 Computation of Deviation from Background 21
2.4 Blur 21
2.5 Thresholding 22
2.6 Box-Minimum Filter 23
2.7 Round Mean Sequences 24
2.8 Searching for Best Fitting 25
2.9 Modifications and Final Selection 26
2.10 Stabilization 26
2.11 Distance Limit 26
2.12 Background Model Extraction 27
3 Results 27
3.1 Tracking Reliability 27
3.2 Robot Tracking 27
3.3 Tracking Accuracy 28
3.4 Straight Line 29
3.5 Direction Estimation 30
4 Conclusions 31
References 32
Applying Colour Image-Based Indicator for Object Tracking 34
1 Introduction 34
2 The Theoretical Basis for the Developed Method 35
3 Examples 37
4 Conclusion 42
References 43
3 Image Processing in Thermal Cameras 45
1 Introduction 45
2 The General Structure of the Infrared Camera—Algorithms and Methods for Image Processing in Infrared Cameras 46
3 Basic Thermal Image Processing Algorithms 48
4 Initial Image Processing—Image Enhancement 50
4.1 Context-Free (Point) Image Processing Methods 50
4.2 Contextual Image Processing 52
4.3 Histogram Modification 54
5 Detection, Recognition and Object Tracking Algorithms 56
5.1 Object Detection Method 58
5.2 Objects Recognition by Means of Radial Shape Function 60
5.3 Object Tracking Algorithm 63
6 Conclusion 66
References 66
Nystagmus Detection System 68
1 Introduction 68
2 Test Stand 69
3 myGaze API LabVIEW Tools Palette 70
4 Using myGaze System for Gaze Tracking 70
5 Gaze Tracking in Medical Researches 75
6 Using myGaze System During Optokinetic Stimulation 76
7 Beats Separation Algorithm 77
8 Fundamental OKN Nystagmus Signal Factors 79
9 Safety Aspect 81
10 Conclusion 81
References 81
Weighted Pattern Vector for Object Tracking with the Use of Thermal Images 83
1 Introduction 83
2 The Method of Determining the Values of Weights for the Visual and Thermal Parts of the Features Vector 84
3 Examples 84
4 Conclusions 91
References 91
Pixel Classification for Skin Detection in Color Images 94
1 Introduction 94
2 Data Description 95
3 Description of Algorithms 95
3.1 Logistic Regression with Regularization 95
3.2 Artificial Neural Network Model with Regularization 96
4 Error Model Evaluation 97
4.1 Learning Curves 98
4.2 Tuning of Regularized Logistic Regression Model 98
4.3 Tuning of Artificial Neural Network Model 100
5 Results 102
6 Conclusions 104
References 105
Design of Control Algorithms for Unmanned Mobile Robots 107
Combining Data from Vision and Odometry Systems for More Accurate Control of Mobile Robot 109
1 Introduction 109
2 Odometry 111
2.1 Results of Position Estimation 113
3 Combining Data from both Positioning Systems 114
3.1 Implemented Solution 114
4 Wheels' Speed Controller 119
4.1 Noise Filtering 121
4.2 Windup Protection 122
5 Acceleration Control 123
5.1 Acceleration Limiting 126
5.2 Turning Radius Control 131
6 Rotation by Given Angle 132
7 Moving by Given Distance 134
8 Reaching Given Destination Point 134
9 Conclusions 136
References 137
8 Hierarchical Game Approach to Solve Conflicts in Multiagent Systems 140
1 Introduction 140
2 Problem Definition—Assumptions 141
2.1 STRIPS System 142
2.2 STRIPS System for Planning Problem for the Environment with Many Agents as a Problem Inverse to the World of Block with Ambiguous Initial Situation 143
3 The Solution of the Conflict with Use of Non-cooperative Equilibrium 144
3.1 Non-cooperative Equilibrium in Pure Strategies 145
3.2 The Method of Solving the Problem 145
4 Conclusions 148
References 149
Suppressing Disturbances in the UAV's Control System Based on the Modified BLT Method 151
1 Introduction 151
2 The Linear Multivariable Model for the UAV Taking into Account Disturbances 151
3 Modified BLT Method for the Control System with Disturbances 153
4 An Example of the Suppression of Disturbances in the UAV's Control System 154
5 Conclusions 159
References 160
10 The Airspeed Automatic Control Algorithm for Small Aircraft 161
1 Introduction 161
2 The Plant 162
3 The Control Algorithm 163
4 The Implementation Case 169
5 Summary 171
References 172
11 UAV Swarm Management Using Prepar3D 173
1 Introduction 173
2 System Architecture 174
2.1 Agent 174
2.2 Server 175
2.3 GUI Application 178
3 Tests and Results 179
3.1 Single Object 179
3.2 Multiple Objects 181
3.3 The Impact of the Number of Objects and Their Initial Positions 184
3.4 Research on the Influence of Area’s Shape 187
3.5 Research on the Influence of Multiple UAVs Participation 192
3.6 Impact of the Loss of Communication with UAV 192
4 Conclusions 194
References 195
Computer Models and Simulations 197
12 Advanced Ballistic Model and Its Experimental Evaluation for Professional Simulation Systems 198
1 Introduction 198
2 External Ballistics 201
2.1 External Forces Acting on an Object 202
2.1.1 Gravity Force 202
2.1.2 Aerodynamic Drag 202
2.1.3 Wind Force 203
2.1.4 Coriolis Effect 203
2.1.5 Magnus Effect 204
2.1.6 Gyroscope Drift 204
2.1.7 Summary 204
3 Mathematical Model of Projectile Motion 205
3.1 Coordinate Systems 205
3.2 Fixed Coordinate System Related to Earth 205
3.3 Coordinate System Related to Trajectory 206
3.4 Mathematical Model of Atmosphere 206
3.5 Mathematical Model of Projectile Motion 208
4 Implementation of Mathematical Model of Projectile Motion in the Matlab Simulation Environment 212
4.1 Selection of Calculation Step 213
4.2 Implementation of Aerodynamic Drag Model 214
4.3 Implementation of Wind Force Model 215
4.4 Implementation of Coriolis Force 216
4.5 Comparison of Effects Affecting the Projectile Motion 219
5 Simulation Verification 220
5.1 Trajectory Verification for Lapua Magnum 0.338 Naturalis 222
5.2 Trajectory Verification for Federal American Eagle Ammunition 0.308 Winchester 223
5.3 Trajectory Verification for 0.50 BMG M33 224
5.4 Trajectory Verification for American Eagle 9 × 19 mm Parabellum 225
5.5 Verification Summary 227
6 Conclusions 229
References 230
13 Manual Calibration of System of the Image Projection Based on DLP Projectors 232
1 Introduction 232
2 Manual Geometric and Photometric Calibration 233
2.1 Texture Mapping 235
2.2 Image Blending 236
2.3 Scaling Colour Manually 237
3 Tests 237
3.1 Texture Mapping in the Virtual and the Real Environment 237
3.2 Blending in Real Application 239
4 Summary 240
References 240
The Mathematical Model of the Human Arm 243
1 Introduction 243
2 The Synthesis of a Mathematical Model of the Human Arm 244
2.1 Kinematics 244
2.2 Dynamics 247
2.3 Non Linear Model of Arm 249
2.4 Linear Model of the Arm 249
3 2link-3DoF Arm Model 251
4 Kinematics 251
5 Dynamics 254
6 Non Linear Model of Arm 257
7 Linear Model of Arm 257
8 Results of the Simulation 259
9 Summary 267
References 267
15 Interactive Application Using Augmented Reality and Photogrammetric Scanning 269
1 Introduction 269
2 Existing Solutions 271
3 Photogrammetry Scanning 276
3.1 Stereovision as a Method of 3D Reconstruction 276
3.2 System Architecture 281
3.3 Application Goal 283
4 Tests 284
5 Conclusions 290
References 291
Experimental Investigation of Dynamic Characteristics 293
16 Proving Ground Tests of Selected Energy Absorbing Structure Variants Under a Shock Wave Load 295
1 Introduction 295
2 Threats to an Armoured Vehicle’s Crew During an IED Explosion 296
3 Origin of Using Energy-Absorbing Panels 297
4 Assumptions, Conception and Aim of Shock Wave Effect Proving Ground Tests 297
5 Description of the Test Rig and Study Methodology 298
6 Protective Panel Description 300
7 Study Results 300
8 Study Result Analysis and Conclusions 307
Acknowledgements 311
References 312
17 Temperature Correction of Measurements Results of 3-Axis Accelerometers in IMU Modules 313
1 Introduction 313
2 Temperature Correction of Acceleration Measurement 316
3 Approximation of the Temperature Characteristics by Polynomial Functions 316
4 Results and Discussion 320
5 Summary and Conclusions 320
Acknowledgements 321
References 321
18 Experimental Investigation of IED Interrogation Arm During Normal Operation and Mine Flail Structure Subjected to Blast Loading 322
1 Introduction 322
2 Goal of the Experiments 324
3 Experimental Tests 326
4 Anti-mine Vehicle Experimental Research 328
5 Experimental Results 330
6 Conclusions 335
References 335
Indoor Navigation with Micro Inertial Navigation Technology 337
1 Introduction 337
2 Literature Review 338
3 Indoor Navigation Algorithm 339
4 Results and Conclusions 342
References 344
20 The Concept of RFID-Based Positioning System for Operational Use 347
1 Introduction 347
2 System Architecture 351
3 Conclusions 358
References 358
About the Book 360
Author Index 361

Produkt-Details

• Erscheint lt. Verlag: 15.9.2017
• Reihe/Serie: Studies in Systems, Decision and Control
• Reihe/Serie: Studies in Systems, Decision and Control
• Zusatzinfo: XIII, 363 p. 278 illus., 224 illus. in color.
• Verlagsort: Cham
• Sprache: englisch
• Themenwelt: Sozialwissenschaften ► Politik / Verwaltung
• Themenwelt: Technik ► Bauwesen
• Themenwelt: Technik ► Maschinenbau
• Schlagworte: object tracking • Robotic Security Systems • Security Threat Detection • Thermal Cameras • Threat Recognition • Tracking Algorithm • Unmanned Mobile Robots
• ISBN-10: 3-319-64674-5 / 3319646745
• ISBN-13: 978-3-319-64674-9 / 9783319646749