Cascaded Kalman and particle filters for photogrammetry based gyroscope drift and robot attitude estimation

Based on a cascaded Kalman–Particle Filtering, gyroscope drift and robot attitude estimation method is proposed in this paper. Due to noisy and erroneous measurements of MEMS gyroscope, it is combined with Photogrammetry based vision navigation scenario. Quaternions kinematics and robot angular velocity dynamics with augmented drift dynamics of gyroscope are employed as system state space model. Nonlinear attitude kinematics, drift and robot angular movement dynamics each in 3 dimensions result in a nonlinear high dimensional system. To reduce the complexity, we propose a decomposition of system to cascaded subsystems and then design separate cascaded observers. This design leads to an easier tuning and more precise debugging from the perspective of programming and such a setting is well suited for a cooperative modular system with noticeably reduced computation time. Kalman Filtering (KF) is employed for the linear and Gaussian subsystem consisting of angular velocity and drift dynamics together with gyroscope measurement. The estimated angular velocity is utilized as input of the second Particle Filtering (PF) based observer in two scenarios of stochastic and deterministic inputs. Simulation results are provided to show the efficiency of the proposed method. Moreover, the experimental results based on data from a 3D MEMS IMU and a 3D camera system are used to demonstrate the efficiency of the method.     

A new time-delay estimation in multipath

This paper addresses a new approach to time-delay estimation based upon the autocorrelation estimator (AE). The primary aim of this paper is to estimate time-delays in a multipath environment in absence of prior knowledge of the channel. The maximum likelihood estimator (MLE) and AE are two computational tools that are used to determine the parameters of a multipath channel. MLE requires some priori knowledge of the source signal and the channel; AE can be a blind estimator but it is more suitable for a simple propagation model (one extra path). Under the multipath assumption we prove that if the observation sequence is zero padded the performance of MLE exceeds that of AE, however, at the price of higher computational efforts. The general autocorrelator estimator (GAE), based on autocorrelation of the received signal, is introduced. The GAE is formulated as a blind estimator, and the pertinent Cramer-Rao lower bounds (CRLB) are derived. We also develop an algorithm to estimate the parameters of a multipath environment based on the new generalization. The performance of this algorithm is examined for different signal-noise scenarios. Our results show that the time-delays are estimated accurately based on the proposed algorithm.     

Development of degradation model for urban asphalt pavement

There is a lack of a profound understanding of urban pavement deterioration pattern. This is due to the complexity of traffic conditions and the variety of pavement structures in urban roads. The lack of a suitable deterioration model for the urban pavements limits the possibility of making any scientific and cost-effective repair and maintenance strategy. There is a need for a better understanding of the long-term behaviour of urban pavements by which predictive pavement condition models can be derived and consequently a suitable maintenance management system can be built. In response to this need, a comprehensive field study was performed in three Iranian cosmopolitan cities. Pervasive pavement damages were defined and an urban pavement condition index was established. A deterioration model was developed by monitoring and analysing the conditions of road pavements in a period of four years. This model varies as the structural and loading conditions of the pavement change. The efficiency and practicability of the model in predicting the conditions of the pavements were illustrated.     

A learning framework for the optimization and automation of document binarization methods

Almost all binarization methods have a few parameters that require setting. However, they do not usually achieve their upper-bound performance unless the parameters are individually set and optimized for each input document image. In this work, a learning framework for the optimization of the binarization methods is introduced, which is designed to determine the optimal parameter values for a document image. The framework, which works with any binarization method, has a standard structure, and performs three main steps: (i) extracts features, (ii) estimates optimal parameters, and (iii) learns the relationship between features and optimal parameters. First, an approach is proposed to generate numerical feature vectors from 2D data. The statistics of various maps are extracted and then combined into a final feature vector, in a nonlinear way. The optimal behavior is learned using support vector regression (SVR). Although the framework works with any binarization method, two methods are considered as typical examples in this work: the grid-based Sauvola method, and Lu’s method, which placed first in the DIBCO’09 contest. The experiments are performed on the DIBCO’09 and H-DIBCO’10 datasets, and combinations of these datasets with promising results.     

A skewed unscented Kalman filter

State estimation of nonlinear systems is a challenging task, especially when the Gaussian approximation fails. The unscented Kalman filter was proposed to deal with state estimation of nonlinear systems. We modify the traditional unscented Kalman filter to capture the third-order moment (skewness) of the state vector. Methods are also proposed to reduce the computation time of the suggested approach, and showing that the proposed algorithm is as fast as the unscented Kalman filter. Simulation results confirm that the method is better than, or at least as good as, the unscented Kalman filter.     

Short‐Time Linear Quadratic Form Technique for Estimating Fast‐Varying Parameters in Feedback Loops

The precision of a closed‐loop controller system designed for an uncertain plant depends strongly upon the maximum extent to which it is possible to track the trend of time‐varying parameters of the plant. The aim of this study is to describe a new parameter estimation algorithm that is able to follow fast‐varying parameters in closed‐loop systems. The short‐time linear quadratic form (STLQF) estimation algorithm introduced in this paper is a technique for tracking time‐varying parameters based on short‐time analysis of the regressing variables in order to minimize locally a linear quadratic form cost function. The established cost function produces a linear combination of errors with several delays. To meet this objective, mathematical development of the STLQF estimation algorithm is described. To implement the STLQF algorithm, the algorithm is applied to a planar mobile robot with fast‐varying parameters of inertia and viscous and coulomb frictions. Next, performance of the proposed algorithm is assessed against noise effects and variation in the type of parameters.     

Performance Evaluation of ANN and ANFIS Models for Estimating Garlic Crop Evapotranspiration

Estimation of evapotranspiration (ET) is necessary in water resources management, farm irrigation scheduling, and environmental assessment. Hence, in practical hydrology, it is often necessary to reliably and consistently estimate evapotranspiration. In this study, two artificial intelligence (AI) techniques, including artificial neural network (ANN) and adaptive neuro-fuzzy inference system (ANFIS), were used to compute garlic crop water requirements. Various architectures and input combinations of the models were compared for modeling garlic crop evapotranspiration. A case study in a semiarid region located in Hamedan Province in Iran was conducted with lysimeter measurements and weather daily data, including maximum temperature, minimum temperature, maximum relative humidity, minimum relative humidity, wind speed, and solar radiation during 2008–2009. Both ANN and ANFIS models produced reasonable results. The ANN, with 6-6-1 architecture, presented a superior ability to estimate garlic crop evapotranspiration. The estimates of the ANN and ANFIS models were compared with the garlic crop evapotranspiration (ETc) values measured by lysimeter and those of the crop coefficient approach. Based on these comparisons, it can be concluded that the ANN and ANFIS techniques are suitable for simulation of ETc.     

Green synthesis of zinc oxide nanoparticles using Amygdalus scoparia Spach stem bark extract and their applications as an alternative antimicrobial,anticancer, and anti-diabetic agent

For the first time in this study, Zinc oxide nanoparticles were biosynthesized by the eco-friendly and cost-effective procedure using Amygdalus scoparia stem bark extract then used as antibacterial, antifungal, anticancer, and anti-diabetic agents. The characterization techniques confirmed the biosynthesis, crystalline nature, structure, size, elemental composition of ZnO NPs and bioactive compounds that exist in A. scoparia extract accounting for Zn²⁺ ion reduction, capping and stabilization of ZnO NPs. The ZnO NPs displayed remarkable inhibitory activity against E. coli, E. aerigenes, S. aureus, P. oryzae, F. thapsinum, and F. semitectum compared to antibiotic standards. The ZnO NPs showed significant inhibitory effects on cancer cell lines, while it had no toxic effect on Vero normal cell line. The ZnO NPs (30 mg/kg)-treated diabetic rats showed significantly higher levels of insulin and lower AST, ALT and blood glucose compared with the STZ induced diabetic group and other treated groups (P < 0.05). The ZnO NPs- and extract-treated rats showed significantly higher levels of IR, GluT2, and GCK expression and lower TNFα expression compared with the STZ induced diabetic rats. Our findings showed that ZnO NPs represented an outstanding performance for biological applications.