Vision Based Neuro-Fuzzy Controller for a Two Axes Gimbal System with Small UAV

This paper presents the development of a vision-based neuro-fuzzy controller for a two axes gimbal system mounted on a small Unmanned Aerial Vehicle (UAV). The controller uses vision-based object detection as input and generates pan and tilt motion and velocity commands for the gimbal in order to keep the interest object at the center of the image frame. A readial basis function based neuro-fuzzy system and a learning algorithm is developed for the controller to address the dynamic and non-linear characteristics of the gimbal movement. The controller uses two separate, but identical radial basis function networks, one for pan and one for tilt motion of the gimbal. Each system is initialized with a fixed number of neurons that act as rules basis for the fuzzy inference system. The membership functions and rule strengths are then adjusted with the feedback from the visual tracking system. The controller is trained off-line until a desired error level is achieved. Training is then continued on-line to allow the system to accommodate air speed changes. The algorithm learns from the error computed from the detected position of the object in image frame and generates position and velocity commands for the gimbal movement. Several tests including lab tests and actual flight tests of the UAV have been carried out to demonstrate the effectiveness of the controller. Test results show that the controller is able to converge effectively and generate accurate position and velocity commands to keep the object at the center of the image frame.     

Fuzzy decision support system for fertilizer

Fuzzy geographic information systems is a newly emerging field of computational intelligence. It combines fuzzy logic with spatial context. Most of the natural phenomena are fuzzy in nature. They show a degree of uncertainty or vagueness in their extent and attribute, which cannot be expressed by a crisp value. Agriculture is one of the fields of the spatial domain that needs to be described in fuzzy terms. Fertilizer is a key input for the agriculture sector. In this article, the spatial surfaces of fertilizers are developed for the wheat crop using a fuzzy decision support system. The algorithm of our system takes soil nutrients and cropping time as input, applies fuzzy logic on the input values, defuzzifies the fuzzy output to crisp value, and generates a fertilizer surface. The resultant output surface of fertilizer describes the amount of fertilizer needed to cultivate a specific crop in a specified area. The complexity of our algorithm is \(O(mnr)\) , where \(m\) is the height of the raster, \(n\) is the width of the raster, and \(r\) is the number of expert rules.     

Miscibility behavior of blend of polyesteramides of linseed oil and dehydrated castor oil with poly(methacrylic acid)

Blending of two polymers in solution is a simple and cost‐effective technique to improve upon the physical and mechanical properties of the component polymers through synergism. To obtain maximum synergy in their properties, the component polymers should be miscible with each other on molecular scale. Polymer blends of complex physicomechanical properties are being actively investigated. Poly(methacrylic acid) (PMAA), a commercial polymer, yields transparent, hard, brittle, and water‐sensitive films. It has been blended with natural polymers like dextran, collagen, and gelatin to obtain films with improved physical and mechanical characteristics. Polyesteramides, which are easily synthesized from vegetable seeds oil, a sustainable resource, have found application in surface coatings. These oligomeric products do not make free standing films in the ambient condition. The polyesteramides from vegetable seeds oil can be used to obtain blend with PMMA of improved mechanical and water absorption properties. In this study, linseed oil polyesteramide (LOPEA) and dehydrated castor oil polyesteramide (DCPEA), the source oils with different unsaturation in their fatty acid chains, were blended with PMAA through mixing in solution in the ratio DCPEA/LOPEA: PMAA as 80/20, 70/30, 60/40, 50/50, 40/60, 30/70, and 20/80. In the first instance, the miscibility of the two components was investigated in solution by viscosity and ultrasonic measurements and in solid phase through differential scanning calorimetry (DSC) and scanning electron microscopy (SEM). Moisture absorption by the blend was also studied. DCPEA and LOPEA show immiscibility with PMAA in solution phase while LOPEA with more unsaturation in the fatty acid chain of the oil was found more immiscible than DCPEA. DCPEA shows a narrow miscibility window in the solid phase while LOPEA was found immiscible with PMAA in the solid phase too. Uptake of moisture was found to be markedly reduced in the blends of DCPEA/LOPEA with PMAA. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 103: 1367–1374, 2007:     

Some effects of silt contents on the strength of all-in-aggregate concrete

The paper briefly reviews the concepts of dry lean concrete (DLC), roller compacted concrete (RCC) and Econocrete and their possible applications for the construction of subbase in pavement, concrete gravity dam and fill etc. The effects of differing quantities of fraction passing 75 μm on the strength and workability of concrete are reported. The 28 days compressive strength of all-in-aggregate concrete decreased at 1 and 5% silt contents whereas it increased at 10% silt as compared to the silt free concrete exposed to continuous air curing. It was observed that the water curing of all-in-aggregate concrete dramatically improved the compressive strength of the concrete as compared to the air curing. It is also reported that the variations in the pulse velocity on the concrete with differing silt content and curing regimes followed similar pattern of that of the variations in the compressive strength.     

Transport of phosphorus forms and of nitrate through a clay soil under grass and cereal production

Many nutrients are lost from soil to water viatile drains. However, there are very few reliable studies of such phosphorus(P)losses under Swedish agriculture practices, especially in connection tofertiliser and slurry applications and related to nutrient balances. Tile drainlosses were measured from nine experimental plots in south-west Sweden; fourplots were measured for 7 years and five plots for 2–3 years. Cereals,mainly spring barley (Hordeum vulgare, L.) and oats(Avena sativa, L.), were grown in six plots, while oneplotwas cultivated with grass, timothy (Phleum pratense L.)andmeadow fescue (Festuca pratensis, L.), one with lucerne(Medicago sativa, L.) and meadow fescue (F.pratensis, L.), and the last one was a set-aside withgrass (Lolium perenne, L. and Trifoliumrepens, L.) that was neither fertilised nor used for crop removal.Attention was paid to the forms in which P was transported to water since thishas important ecological implications. Average losses of particulate P (PP)fromthe set-aside land was significantly lower than from the cerealproduction, but the average losses of soluble reactive P (SRP) and dissolvednonreactive P (DUP) were the same. Average loss of PP from the grass ley during 3years (0.09 kg per ha^–1 y^–1) wassignificantly less than the losses from cereal production. Total P loss of 0.3kg per ha^–1 y^–1 was equal to the averagelossfrom the Swedish monitoring network of observation fields. Compared to theaverage nitrate-nitrogen (NO₃-N) leaching, which was 7 kg perha^–1 y^–1 from cereals, the NO₃-Nleaching was very low from the plots with lucerne-grass and set-aside.After applying and directly ploughing in 80 kg ha^–1 ofsuperphosphate for cereal production in November 1998, 0.6–1.8 kgSRP ha^–1 y^–1 was lost through the drain tiles.Surface application of cattle slurry in spring 1999 to the grass ley alsoresulted in a very pronounced increased base level of SRP. This paper documentsthe importance of applying slurry during dry conditions and of placingfertiliser into the soil according to crop requirements in the time perspectiveof one year.     

Synthesis of nitrogen incorporated diamond-like carbon thin films using microwave surface-wave plasma CVD

Nitrogenated diamond-like (DLC:N) carbon thin films have been deposited by microwave surface wave plasma chemical vapor deposition on silicon and quartz substrates, using argon gas, camphor dissolved in ethyl alcohol composition and nitrogen as plasma source. The deposited DLC:N films were characterized for their chemical, optical, structural and electrical properties through X-ray photoelectron spectroscopy, UV/VIS/NIR spectroscopy, Raman spectroscopy, atomic force microscope and current–voltage characteristics. Optical band gap decreased (2.7 to 2.4 eV) with increasing Ar gas flow rate. The photovoltaic measurements of DLC:N / p-Si structure show that the open-circuit voltage (V_oc) of 168.8 mV and a short-circuit current density (J_sc) of 8.4 μA/cm² under light illumination (AM 1.5 100 mW/cm²). The energy conversion efficiency and fill factor were found to be 3.4 × 10^{− 4}% and 0.238 respectively.     

Inhibitory Effect of Monoterpenes on Response of Pityogenes bidentatus to Aggregation Pheromone Released by Piezoelectric Sprayer for Precision Release of Semiochemicals

A piezoelectric sprayer for dispensing semiochemicals was developed and used for a field test of bark beetle semiochemicals. The sprayer consists of a geared pump that pushes a syringe slowly to dispense semiochemicals in solvents through a microtube to a glass micropipet fixed to a piezoelectric high-frequency vibrator. The frequency is adjusted via a function generator to about 120 kHz until the harmonic properties of the glass micropipet, drawn by an electrophysiological pipet puller, cause vibrations that atomize the solvent from the micropipet tip. The sprayer, syringe, pump, function generator, and power supply were hung on one arm of a rotating trap pair (traps 6 m apart) that was slowly rotated at 2 revolutions per hour (rph) to even out the position effects on trap catches. The aggregation pheromone components of Pityogenes bidentatus, grandisol and cis-verbenol, were released by standard tube dispensers in one trap and compared to the release of similar amounts by the sprayer in the other trap. No significant differences in catch were observed. No effect of the solvent hexane on aggregation could be observed. The trap pair also caught approximately equal numbers of bark beetles when the baits were identical. The release of (+)and (–)--pinene, (+)-3-carene, and terpinolene, monoterpenes of host Scotch pine, Pinus sylvestris, at increasing rates from 0.01 to 10 log-equivalents in decadic steps (each at 0.1–100 g/min) resulted in decreasing responses to aggregation pheromone (only 9% at highest rate). Inhibition by the individual monoterpenes tested at the 100 g/min rate was significant for (+)and (–)--pinene and terpinolene (12, 13, and 15% of control, respectively). The inhibition by the host Scotch pine monoterpenes may allow P. bidentatus to avoid resistant trees that release large amounts of toxic monoterpenes in their resin and instead colonize dying and diseased limbs or slash, the usual host substrate. The piezoelectric sprayer should prove generally useful to dispense precise amounts of semiochemicals in field and laboratory experiments.     

Characterization of Pheromone Blend for Grapevine Moth, Lobesia botrana by Using Flight Track Recording

The behavioral responses of Lobesia botrana males to calling females, pheromone gland extracts, and synthetic sex pheromones were recorded in a wind tunnel. Gland extracts and synthetic pheromones were released from a pheromone evaporator. The numbers of males reaching the source and their flight tracks in response to calling females and pheromone gland extracts were compared to those of synthetic blends. Upwind flights to natural sex pheromone were straighter and faster than to a three-component blend of (E)-7,(Z)-9-dodecadienyl acetate (E7,Z9–12:Ac), (E)-7,(Z)-9-dodecadien-1-ol (E7,Z9–12:OH), and (Z)-9-docecenyl acetate (Z9–12:Ac) (100:20:5). The optimum ratio of E7,Z9–12:OH and Z9–12:Ac to E7,Z9–12:Ac was found to be 5% and 1%, respectively. An additional seven compounds identified in the sex pheromone gland were investigated for their biological activity. Two unsaturated acetates, i.e., (E)-9-dodecenyl acetate (E9–12:Ac) and 11-dodecenyl acetate (11–12:Ac), increased the number of males reaching the source as well as straightness, linear velocity, and decreased the track angle of upwind flight. Optimum response was obtained by releasing 10 pg/min E7,Z9–12:Ac in a mixture with 0.5 pg/min E7,Z9–12:OH, 0.1 pg/min Z9–12:Ac, 0.1 pg/min E9– 12:Ac and 1 pg/min 11-12–Ac. The saturated acetates previously identified in the female glands were biologically inactive.     

A secure and improved multi server authentication protocol using fuzzy commitment

Multimedia Tools and Applications - The advancement in communication and computation technologies has paved a way for connecting large number of heterogeneous devices to offer specified services....     

Light weight model for intra mode selection in HEVC

Multimedia Tools and Applications - The High Efficiency Video Coding (HEVC) efficiently reduces the size of the multimedia contents, but at the cost of high computation complexity. In order to make...