This document describes a vision-based system for autonomous landing of unmanned aerial vehicles (UAVs) on runways. It uses a single forward-facing camera and image processing algorithms to locate the runway and estimate the vehicle's attitude in order to guide the UAV to a safe landing. The system was tested in a flight simulator and implemented partially on a real UAV for tasks like horizon stabilization and road following. The overall approach uses image processing techniques like dilation, thresholding, edge detection and Hough transforms to detect runway features. A cascaded linear feedback controller then estimates the UAV's pitch, bank, elevation and course to guide it toward the runway while maintaining the proper glide slope for landing.
This document provides information about various aircraft instruments including:
- The airspeed indicator which uses ram air from the pitot tube and static air, and displays airspeeds like Vso and Vfe. Blockages of the pitot tube or static vent can cause errors.
- The altimeter which uses only static air input and displays various altitudes like indicated, pressure, and density altitude. Not updating the altimeter setting can cause errors.
- Gyroscopic instruments like the attitude indicator and heading indicator which function based on the principles of rigidity in space and precession.
- The turn coordinator and inclinometer which indicate aircraft bank and slip/skid.
- The magnetic compass
2008 tech Attitude for Precise Positioning...CHENHuiMei
This document discusses Tayhwa Tech Co., Ltd and their products for precise positioning including piezo actuators, sensors, stages, drive and control systems. It summarizes key characteristics of piezo actuators like hysteresis, creep, generated force and displacement reduction. It also describes different sensor types, stage structures using hinge mechanisms and FEM analysis, as well as drive and control block diagrams. The document provides details on various precise stage and objective lens positioner products and their specifications.
This document discusses sonographical instruments used in ultrasound imaging. It describes different types of ultrasound displays including A-mode, B-mode, and M-mode. It explains how real-time B-mode ultrasound uses a probe containing a crystal to convert ultrasound pulses to electrical signals integrated by a computer called a scan converter. The document also outlines the key components of an ultrasound transducer, including the transducer crystal, matching layer, damping material, transducer case, and electrical cable.
This document describes a project to develop a pedestrian detection system and lane detection and warning system for medium-class cars. It is created by group members Sanket R. Borhade, Manthan N. Shah, and Pravin D. Jadhav.
The document outlines the need for such systems to reduce traffic accidents and pedestrian fatalities. It then describes the existing technologies for lane detection and pedestrian detection systems. The document provides detailed explanations of the methods and algorithms used in their proposed lane detection system, including Hough transforms and lane identification. It also explains the use of Haar features, AdaBoost, and edgelet features in their proposed pedestrian detection system. Finally, it presents results from testing their systems and
An Image Based Method of Finding Better Walking Strategies for Hexapod on Dis...Kazi Mostafa
The document proposes an image-based method for finding better walking strategies for a hexapod robot on discontinuous terrains. It simulates a terrain environment, develops a hexapod walking model with different gaits, and defines an intelligent walking strategy. The strategy selects the optimal gait based on terrain analysis from images and parameters like stride length. It enables the hexapod to traverse rugged terrain by adapting its gait selection and switching between tripod and symmetrical walking patterns when needed.
dso is use for measurement ac as well as dc voltage and current.
and also use for faulty components in various circuit .it stored wave form in digital memory.it easy to operate. cursor measurement is possible.
This document summarizes a low-cost 2D stage system designed for use with an inverted microscope. The stage uses a piezo stage with 0.06nm resolution for precise X-Y positioning. Linear actuators provide 100nm resolution over 28mm of travel in the X and Y dimensions. The total cost of the stage was around $2300, without the piezo stage. A joystick and LabVIEW software were used to control the stage and allow efficient scanning of large sample areas under the microscope. The stage was designed to support experiments using optical tweezers to manipulate and study DNA samples.
This document provides information about various aircraft instruments including:
- The airspeed indicator which uses ram air from the pitot tube and static air, and displays airspeeds like Vso and Vfe. Blockages of the pitot tube or static vent can cause errors.
- The altimeter which uses only static air input and displays various altitudes like indicated, pressure, and density altitude. Not updating the altimeter setting can cause errors.
- Gyroscopic instruments like the attitude indicator and heading indicator which function based on the principles of rigidity in space and precession.
- The turn coordinator and inclinometer which indicate aircraft bank and slip/skid.
- The magnetic compass
2008 tech Attitude for Precise Positioning...CHENHuiMei
This document discusses Tayhwa Tech Co., Ltd and their products for precise positioning including piezo actuators, sensors, stages, drive and control systems. It summarizes key characteristics of piezo actuators like hysteresis, creep, generated force and displacement reduction. It also describes different sensor types, stage structures using hinge mechanisms and FEM analysis, as well as drive and control block diagrams. The document provides details on various precise stage and objective lens positioner products and their specifications.
This document discusses sonographical instruments used in ultrasound imaging. It describes different types of ultrasound displays including A-mode, B-mode, and M-mode. It explains how real-time B-mode ultrasound uses a probe containing a crystal to convert ultrasound pulses to electrical signals integrated by a computer called a scan converter. The document also outlines the key components of an ultrasound transducer, including the transducer crystal, matching layer, damping material, transducer case, and electrical cable.
This document describes a project to develop a pedestrian detection system and lane detection and warning system for medium-class cars. It is created by group members Sanket R. Borhade, Manthan N. Shah, and Pravin D. Jadhav.
The document outlines the need for such systems to reduce traffic accidents and pedestrian fatalities. It then describes the existing technologies for lane detection and pedestrian detection systems. The document provides detailed explanations of the methods and algorithms used in their proposed lane detection system, including Hough transforms and lane identification. It also explains the use of Haar features, AdaBoost, and edgelet features in their proposed pedestrian detection system. Finally, it presents results from testing their systems and
An Image Based Method of Finding Better Walking Strategies for Hexapod on Dis...Kazi Mostafa
The document proposes an image-based method for finding better walking strategies for a hexapod robot on discontinuous terrains. It simulates a terrain environment, develops a hexapod walking model with different gaits, and defines an intelligent walking strategy. The strategy selects the optimal gait based on terrain analysis from images and parameters like stride length. It enables the hexapod to traverse rugged terrain by adapting its gait selection and switching between tripod and symmetrical walking patterns when needed.
dso is use for measurement ac as well as dc voltage and current.
and also use for faulty components in various circuit .it stored wave form in digital memory.it easy to operate. cursor measurement is possible.
This document summarizes a low-cost 2D stage system designed for use with an inverted microscope. The stage uses a piezo stage with 0.06nm resolution for precise X-Y positioning. Linear actuators provide 100nm resolution over 28mm of travel in the X and Y dimensions. The total cost of the stage was around $2300, without the piezo stage. A joystick and LabVIEW software were used to control the stage and allow efficient scanning of large sample areas under the microscope. The stage was designed to support experiments using optical tweezers to manipulate and study DNA samples.
- The document describes a new imaging workflow called eGWM that uses a one-way wave equation algorithm to output pre-stack image gathers from wave equation migration.
- eGWM pre-stack gathers can be used for AVO and pre-stack inversion analysis to robustly understand amplitudes and reduce drilling risk in complex areas like below salt or basalt.
- eGWM fully preserves amplitudes through multi-path and multi-arrival imaging, making quantitative amplitude analysis achievable in complex areas.
The document discusses using a fleet of 8 small remote-controlled helicopters to research emergent behaviors through autonomous control. Each helicopter has 4 actuators and can carry a 100g payload for 10 minutes of flight. The project aims to develop autonomy using sensors and control methods while addressing the nonlinear instability of the helicopters. Evolutionary computing is used to optimize PID controllers. Future work includes coordinated swarm flight, obstacle avoidance, and applications in research and performance art by analyzing the intrinsic sound signatures of the helicopters.
Identify those parts of a scene that are visible from a chosen viewing position.
Visible-surface detection algorithms are broadly classified according to whether
they deal with object definitions directly or with their projected images.
These two approaches are called object-space methods and image-space methods, respectively
An object-space method compares
objects and parts of objects to each other within the scene definition to determine which surfaces, as a whole, we should label as visible.
In an image-space algorithm, visibility is decided point by point at each pixel position on the projection plane.
The Precision Approach Path Indicator (PAPI) provides visual guidance for pilots during approaches and landings. It uses a combination of red and white lights to indicate the aircraft's positioning relative to the ideal glidepath. The PAPI was developed to be more accurate than its predecessor, the VASI system. It generates lighting from a single wing bar rather than two longitudinal bars. In 1995, the PAPI was accepted internationally by ICAO as the standard visual approach indicator.
Final Year Engineering Project Seminar
For more information, check out my papers online:
Command controlled robot:
http://www.ijtre.com/manuscript/2014010976.pdf
Self controlled robot:
http://www.ijtre.com/manuscript/2014011008.pdf
Gesture controlled robot:
http://www.ijtre.com/manuscript/2014011107.pdf
In recent years, there has been a significant maturation in ray tracing technology. With Vulkan officially embracing ray tracing within its specifications, and mobile device GPUs beginning to offer support, the landscape is evolving rapidly. This agenda promises to delve into the foundational principles of ray tracing, the integration of ray tracing into Vulkan, and the essential rendering pipeline of Lumen in UE5. Furthermore, it will offer invaluable insights from content creators on the most effective strategies for maximizing the performance of Lumen on mobile.
Visual odometry & slam utilizing indoor structured environmentsNAVER Engineering
Visual odometry (VO) and simultaneous localization and mapping (SLAM) are fundamental building blocks for various applications from autonomous vehicles to virtual and augmented reality (VR/AR).
To improve the accuracy and robustness of the VO & SLAM approaches, we exploit multiple lines and orthogonal planar features, such as walls, floors, and ceilings, common in man-made indoor environments.
We demonstrate the effectiveness of the proposed VO & SLAM algorithms through an extensive evaluation on a variety of RGB-D datasets and compare with other state-of-the-art methods.
I designed and built this stable, precise and very maneuverable 3D stage (controlled through Joystick) for any upright microscope configuration. The stage uses Physik Instrumente linear stage, piezo and a Logitech joystick.
Artificial Neural Network Based Object Recognizing RobotJaison Sabu
Main Project Presentation - Computer Science Department, College of Engineering Chengannur 2003-2007, Affiliated to Cochin University of Science and Technology, Kerala, India
The document discusses the optimization of autolevellers on drawframes in spinning processes. It describes how autolevellers help maintain consistent count CV% by continuously adjusting the draft to compensate for thickness variations in sliver feed. The document outlines the types of autolevellers, important parameters for quality levelling, calibration procedures, and advantages of autolevellers for obtaining good yarn quality with low thin places and higher process efficiencies.
Nadia Figueroa's document discusses 3D computer vision applications in robotics and multimedia. It first provides background on 3D computer vision and describes sensing devices like LIDAR, radar and sonar that are used. Applications in robotics discussed include object recognition, mapping and navigation for mobile manipulation platforms. Figueroa's master's thesis at DLR focused on developing a verification routine to identify positioning errors in the upper body kinematics of the humanoid Justin robot using an onboard stereo vision system and 3D point cloud registration.
We performed the project on Lane detection by using canny edge and Hough transform at the University of Windsor. In this presentation, all the code used in Python are perfectly presented for reference.
The International Journal of Engineering and Science (IJES)theijes
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
The International Journal of Engineering and Sciencetheijes
This document summarizes research on automatic landing control methods for jumbo jets. It establishes a six degree-of-freedom nonlinear model of a Boeing 707 and designs control laws for glide beam guidance, lateral beam guidance, auto-flare guidance, and lateral deviation control using classical control methods. Three-dimensional simulations of the full automatic landing control process indicate the designed control system can meet performance requirements and achieve accurate attitude and trajectory control to ensure safety and comfort during automatic landing.
This document introduces PIRF-Nav, an online incremental appearance-based localization and mapping system for dynamic environments. PIRF-Nav uses Position-invariant Robust Features (PIRFs) to represent places, which are extracted from image sequences and are robust against changes like illumination and camera position. PIRF-Nav can perform simultaneous localization and mapping incrementally and in real-time without needing an offline dictionary generation process. It achieves higher recall rates than previous methods at 100% precision even with significant dynamic changes in environments. The document outlines the basic concept and processing steps of PIRF-Nav.
This paper presents a vision-based method for autonomous landing of a quadcopter UAV. An onboard camera and NVIDIA Jetson TK1 processor are used to detect the landing platform using SIFT feature extraction and match keypoints between the detected image and a training image. The distance and position of the landing platform relative to the UAV is then estimated. This information is used by the ROS framework to generate control signals to maneuver the UAV's roll and pitch and autonomously land it precisely on the target platform. Experiments show the method can achieve precise landing within 10 cm under steady wind conditions.
The document discusses autoencoders, an unsupervised machine learning technique. It provides an overview of different types of autoencoders including sparse, denoising, contractive, stacked and deep autoencoders. Autoencoders learn an efficient compressed representation of input data in an unsupervised manner by training the network to ignore noise or corruptions in the input data. They are commonly used for dimensionality reduction, feature learning and compression.
The document discusses different types of scanning systems used to collect remote sensing data. It describes whiskbroom scanners that use rotating mirrors to scan perpendicular to the flight path, building up images line-by-line. Pushbroom scanners use linear detector arrays that collect entire lines of pixels simultaneously as the sensor moves. Circular scanners employ rotating mirrors to scan in circular patterns, while side-scanning uses active radar to illuminate terrain to one side of the flight path. The characteristics of Landsat, SPOT, and sensor technologies are also overviewed.
Use PyCharm for remote debugging of WSL on a Windo cf5c162d672e4e58b4dde5d797...shadow0702a
This document serves as a comprehensive step-by-step guide on how to effectively use PyCharm for remote debugging of the Windows Subsystem for Linux (WSL) on a local Windows machine. It meticulously outlines several critical steps in the process, starting with the crucial task of enabling permissions, followed by the installation and configuration of WSL.
The guide then proceeds to explain how to set up the SSH service within the WSL environment, an integral part of the process. Alongside this, it also provides detailed instructions on how to modify the inbound rules of the Windows firewall to facilitate the process, ensuring that there are no connectivity issues that could potentially hinder the debugging process.
The document further emphasizes on the importance of checking the connection between the Windows and WSL environments, providing instructions on how to ensure that the connection is optimal and ready for remote debugging.
It also offers an in-depth guide on how to configure the WSL interpreter and files within the PyCharm environment. This is essential for ensuring that the debugging process is set up correctly and that the program can be run effectively within the WSL terminal.
Additionally, the document provides guidance on how to set up breakpoints for debugging, a fundamental aspect of the debugging process which allows the developer to stop the execution of their code at certain points and inspect their program at those stages.
Finally, the document concludes by providing a link to a reference blog. This blog offers additional information and guidance on configuring the remote Python interpreter in PyCharm, providing the reader with a well-rounded understanding of the process.
- The document describes a new imaging workflow called eGWM that uses a one-way wave equation algorithm to output pre-stack image gathers from wave equation migration.
- eGWM pre-stack gathers can be used for AVO and pre-stack inversion analysis to robustly understand amplitudes and reduce drilling risk in complex areas like below salt or basalt.
- eGWM fully preserves amplitudes through multi-path and multi-arrival imaging, making quantitative amplitude analysis achievable in complex areas.
The document discusses using a fleet of 8 small remote-controlled helicopters to research emergent behaviors through autonomous control. Each helicopter has 4 actuators and can carry a 100g payload for 10 minutes of flight. The project aims to develop autonomy using sensors and control methods while addressing the nonlinear instability of the helicopters. Evolutionary computing is used to optimize PID controllers. Future work includes coordinated swarm flight, obstacle avoidance, and applications in research and performance art by analyzing the intrinsic sound signatures of the helicopters.
Identify those parts of a scene that are visible from a chosen viewing position.
Visible-surface detection algorithms are broadly classified according to whether
they deal with object definitions directly or with their projected images.
These two approaches are called object-space methods and image-space methods, respectively
An object-space method compares
objects and parts of objects to each other within the scene definition to determine which surfaces, as a whole, we should label as visible.
In an image-space algorithm, visibility is decided point by point at each pixel position on the projection plane.
The Precision Approach Path Indicator (PAPI) provides visual guidance for pilots during approaches and landings. It uses a combination of red and white lights to indicate the aircraft's positioning relative to the ideal glidepath. The PAPI was developed to be more accurate than its predecessor, the VASI system. It generates lighting from a single wing bar rather than two longitudinal bars. In 1995, the PAPI was accepted internationally by ICAO as the standard visual approach indicator.
Final Year Engineering Project Seminar
For more information, check out my papers online:
Command controlled robot:
http://www.ijtre.com/manuscript/2014010976.pdf
Self controlled robot:
http://www.ijtre.com/manuscript/2014011008.pdf
Gesture controlled robot:
http://www.ijtre.com/manuscript/2014011107.pdf
In recent years, there has been a significant maturation in ray tracing technology. With Vulkan officially embracing ray tracing within its specifications, and mobile device GPUs beginning to offer support, the landscape is evolving rapidly. This agenda promises to delve into the foundational principles of ray tracing, the integration of ray tracing into Vulkan, and the essential rendering pipeline of Lumen in UE5. Furthermore, it will offer invaluable insights from content creators on the most effective strategies for maximizing the performance of Lumen on mobile.
Visual odometry & slam utilizing indoor structured environmentsNAVER Engineering
Visual odometry (VO) and simultaneous localization and mapping (SLAM) are fundamental building blocks for various applications from autonomous vehicles to virtual and augmented reality (VR/AR).
To improve the accuracy and robustness of the VO & SLAM approaches, we exploit multiple lines and orthogonal planar features, such as walls, floors, and ceilings, common in man-made indoor environments.
We demonstrate the effectiveness of the proposed VO & SLAM algorithms through an extensive evaluation on a variety of RGB-D datasets and compare with other state-of-the-art methods.
I designed and built this stable, precise and very maneuverable 3D stage (controlled through Joystick) for any upright microscope configuration. The stage uses Physik Instrumente linear stage, piezo and a Logitech joystick.
Artificial Neural Network Based Object Recognizing RobotJaison Sabu
Main Project Presentation - Computer Science Department, College of Engineering Chengannur 2003-2007, Affiliated to Cochin University of Science and Technology, Kerala, India
The document discusses the optimization of autolevellers on drawframes in spinning processes. It describes how autolevellers help maintain consistent count CV% by continuously adjusting the draft to compensate for thickness variations in sliver feed. The document outlines the types of autolevellers, important parameters for quality levelling, calibration procedures, and advantages of autolevellers for obtaining good yarn quality with low thin places and higher process efficiencies.
Nadia Figueroa's document discusses 3D computer vision applications in robotics and multimedia. It first provides background on 3D computer vision and describes sensing devices like LIDAR, radar and sonar that are used. Applications in robotics discussed include object recognition, mapping and navigation for mobile manipulation platforms. Figueroa's master's thesis at DLR focused on developing a verification routine to identify positioning errors in the upper body kinematics of the humanoid Justin robot using an onboard stereo vision system and 3D point cloud registration.
We performed the project on Lane detection by using canny edge and Hough transform at the University of Windsor. In this presentation, all the code used in Python are perfectly presented for reference.
The International Journal of Engineering and Science (IJES)theijes
The International Journal of Engineering & Science is aimed at providing a platform for researchers, engineers, scientists, or educators to publish their original research results, to exchange new ideas, to disseminate information in innovative designs, engineering experiences and technological skills. It is also the Journal's objective to promote engineering and technology education. All papers submitted to the Journal will be blind peer-reviewed. Only original articles will be published.
The International Journal of Engineering and Sciencetheijes
This document summarizes research on automatic landing control methods for jumbo jets. It establishes a six degree-of-freedom nonlinear model of a Boeing 707 and designs control laws for glide beam guidance, lateral beam guidance, auto-flare guidance, and lateral deviation control using classical control methods. Three-dimensional simulations of the full automatic landing control process indicate the designed control system can meet performance requirements and achieve accurate attitude and trajectory control to ensure safety and comfort during automatic landing.
This document introduces PIRF-Nav, an online incremental appearance-based localization and mapping system for dynamic environments. PIRF-Nav uses Position-invariant Robust Features (PIRFs) to represent places, which are extracted from image sequences and are robust against changes like illumination and camera position. PIRF-Nav can perform simultaneous localization and mapping incrementally and in real-time without needing an offline dictionary generation process. It achieves higher recall rates than previous methods at 100% precision even with significant dynamic changes in environments. The document outlines the basic concept and processing steps of PIRF-Nav.
This paper presents a vision-based method for autonomous landing of a quadcopter UAV. An onboard camera and NVIDIA Jetson TK1 processor are used to detect the landing platform using SIFT feature extraction and match keypoints between the detected image and a training image. The distance and position of the landing platform relative to the UAV is then estimated. This information is used by the ROS framework to generate control signals to maneuver the UAV's roll and pitch and autonomously land it precisely on the target platform. Experiments show the method can achieve precise landing within 10 cm under steady wind conditions.
The document discusses autoencoders, an unsupervised machine learning technique. It provides an overview of different types of autoencoders including sparse, denoising, contractive, stacked and deep autoencoders. Autoencoders learn an efficient compressed representation of input data in an unsupervised manner by training the network to ignore noise or corruptions in the input data. They are commonly used for dimensionality reduction, feature learning and compression.
The document discusses different types of scanning systems used to collect remote sensing data. It describes whiskbroom scanners that use rotating mirrors to scan perpendicular to the flight path, building up images line-by-line. Pushbroom scanners use linear detector arrays that collect entire lines of pixels simultaneously as the sensor moves. Circular scanners employ rotating mirrors to scan in circular patterns, while side-scanning uses active radar to illuminate terrain to one side of the flight path. The characteristics of Landsat, SPOT, and sensor technologies are also overviewed.
Use PyCharm for remote debugging of WSL on a Windo cf5c162d672e4e58b4dde5d797...shadow0702a
This document serves as a comprehensive step-by-step guide on how to effectively use PyCharm for remote debugging of the Windows Subsystem for Linux (WSL) on a local Windows machine. It meticulously outlines several critical steps in the process, starting with the crucial task of enabling permissions, followed by the installation and configuration of WSL.
The guide then proceeds to explain how to set up the SSH service within the WSL environment, an integral part of the process. Alongside this, it also provides detailed instructions on how to modify the inbound rules of the Windows firewall to facilitate the process, ensuring that there are no connectivity issues that could potentially hinder the debugging process.
The document further emphasizes on the importance of checking the connection between the Windows and WSL environments, providing instructions on how to ensure that the connection is optimal and ready for remote debugging.
It also offers an in-depth guide on how to configure the WSL interpreter and files within the PyCharm environment. This is essential for ensuring that the debugging process is set up correctly and that the program can be run effectively within the WSL terminal.
Additionally, the document provides guidance on how to set up breakpoints for debugging, a fundamental aspect of the debugging process which allows the developer to stop the execution of their code at certain points and inspect their program at those stages.
Finally, the document concludes by providing a link to a reference blog. This blog offers additional information and guidance on configuring the remote Python interpreter in PyCharm, providing the reader with a well-rounded understanding of the process.
Batteries -Introduction – Types of Batteries – discharging and charging of battery - characteristics of battery –battery rating- various tests on battery- – Primary battery: silver button cell- Secondary battery :Ni-Cd battery-modern battery: lithium ion battery-maintenance of batteries-choices of batteries for electric vehicle applications.
Fuel Cells: Introduction- importance and classification of fuel cells - description, principle, components, applications of fuel cells: H2-O2 fuel cell, alkaline fuel cell, molten carbonate fuel cell and direct methanol fuel cells.
Introduction- e - waste – definition - sources of e-waste– hazardous substances in e-waste - effects of e-waste on environment and human health- need for e-waste management– e-waste handling rules - waste minimization techniques for managing e-waste – recycling of e-waste - disposal treatment methods of e- waste – mechanism of extraction of precious metal from leaching solution-global Scenario of E-waste – E-waste in India- case studies.
Optimizing Gradle Builds - Gradle DPE Tour Berlin 2024Sinan KOZAK
Sinan from the Delivery Hero mobile infrastructure engineering team shares a deep dive into performance acceleration with Gradle build cache optimizations. Sinan shares their journey into solving complex build-cache problems that affect Gradle builds. By understanding the challenges and solutions found in our journey, we aim to demonstrate the possibilities for faster builds. The case study reveals how overlapping outputs and cache misconfigurations led to significant increases in build times, especially as the project scaled up with numerous modules using Paparazzi tests. The journey from diagnosing to defeating cache issues offers invaluable lessons on maintaining cache integrity without sacrificing functionality.
Electric vehicle and photovoltaic advanced roles in enhancing the financial p...IJECEIAES
Climate change's impact on the planet forced the United Nations and governments to promote green energies and electric transportation. The deployments of photovoltaic (PV) and electric vehicle (EV) systems gained stronger momentum due to their numerous advantages over fossil fuel types. The advantages go beyond sustainability to reach financial support and stability. The work in this paper introduces the hybrid system between PV and EV to support industrial and commercial plants. This paper covers the theoretical framework of the proposed hybrid system including the required equation to complete the cost analysis when PV and EV are present. In addition, the proposed design diagram which sets the priorities and requirements of the system is presented. The proposed approach allows setup to advance their power stability, especially during power outages. The presented information supports researchers and plant owners to complete the necessary analysis while promoting the deployment of clean energy. The result of a case study that represents a dairy milk farmer supports the theoretical works and highlights its advanced benefits to existing plants. The short return on investment of the proposed approach supports the paper's novelty approach for the sustainable electrical system. In addition, the proposed system allows for an isolated power setup without the need for a transmission line which enhances the safety of the electrical network
Null Bangalore | Pentesters Approach to AWS IAMDivyanshu
#Abstract:
- Learn more about the real-world methods for auditing AWS IAM (Identity and Access Management) as a pentester. So let us proceed with a brief discussion of IAM as well as some typical misconfigurations and their potential exploits in order to reinforce the understanding of IAM security best practices.
- Gain actionable insights into AWS IAM policies and roles, using hands on approach.
#Prerequisites:
- Basic understanding of AWS services and architecture
- Familiarity with cloud security concepts
- Experience using the AWS Management Console or AWS CLI.
- For hands on lab create account on [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
# Scenario Covered:
- Basics of IAM in AWS
- Implementing IAM Policies with Least Privilege to Manage S3 Bucket
- Objective: Create an S3 bucket with least privilege IAM policy and validate access.
- Steps:
- Create S3 bucket.
- Attach least privilege policy to IAM user.
- Validate access.
- Exploiting IAM PassRole Misconfiguration
-Allows a user to pass a specific IAM role to an AWS service (ec2), typically used for service access delegation. Then exploit PassRole Misconfiguration granting unauthorized access to sensitive resources.
- Objective: Demonstrate how a PassRole misconfiguration can grant unauthorized access.
- Steps:
- Allow user to pass IAM role to EC2.
- Exploit misconfiguration for unauthorized access.
- Access sensitive resources.
- Exploiting IAM AssumeRole Misconfiguration with Overly Permissive Role
- An overly permissive IAM role configuration can lead to privilege escalation by creating a role with administrative privileges and allow a user to assume this role.
- Objective: Show how overly permissive IAM roles can lead to privilege escalation.
- Steps:
- Create role with administrative privileges.
- Allow user to assume the role.
- Perform administrative actions.
- Differentiation between PassRole vs AssumeRole
Try at [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
Advanced control scheme of doubly fed induction generator for wind turbine us...IJECEIAES
This paper describes a speed control device for generating electrical energy on an electricity network based on the doubly fed induction generator (DFIG) used for wind power conversion systems. At first, a double-fed induction generator model was constructed. A control law is formulated to govern the flow of energy between the stator of a DFIG and the energy network using three types of controllers: proportional integral (PI), sliding mode controller (SMC) and second order sliding mode controller (SOSMC). Their different results in terms of power reference tracking, reaction to unexpected speed fluctuations, sensitivity to perturbations, and resilience against machine parameter alterations are compared. MATLAB/Simulink was used to conduct the simulations for the preceding study. Multiple simulations have shown very satisfying results, and the investigations demonstrate the efficacy and power-enhancing capabilities of the suggested control system.
Generative AI leverages algorithms to create various forms of content
Autonomous UAV Landing
1. Vision – based RunwayVision – based Runway
Recognition foR uaVRecognition foR uaV
autonomous Landingautonomous Landing
Neeraj TiwariNeeraj Tiwari
INDIAN INSTITUTE OF SPACE SCIENCEINDIAN INSTITUTE OF SPACE SCIENCE
AND TECHNOLOGYAND TECHNOLOGY
15May201715May2017
2. objectiVe and goaLobjectiVe and goaL
►Low cost for UAV.Low cost for UAV.
►Light weight.Light weight.
►Unmanned System.Unmanned System.
►Easily Installation.Easily Installation.
4. Human operator
for high level
control
Laptop Computer for
Vision Processing
and Control
Algorithms
Ground Station
bLock diagRambLock diagRam
RC Plane with Camera
30 frames per second
720x480 pixels RGB
Downsample to 360x240
Remote Control
(72 Mhz)
Analog Video
(NTSC 900 Mhz)
5. oVeRViewoVeRView
►System for landing a UAV on a runwaySystem for landing a UAV on a runway
Small RC airplaneSmall RC airplane
Only sensor is a fixed, forward-looking cameraOnly sensor is a fixed, forward-looking camera
Finds the runway using Hough Transform.Finds the runway using Hough Transform.
Linear control systemLinear control system
►ExperimentsExperiments
Microsoft Flight Simulator (no flight model)Microsoft Flight Simulator (no flight model)
Partial implementation on a real UAVPartial implementation on a real UAV
7. HoRiZon detectionHoRiZon detection
►The horizon profile shape can be used forThe horizon profile shape can be used for
attitude determination and other localizationattitude determination and other localization
process.process.
►This method is based on edge basedThis method is based on edge based
horizon detection or image segmentationhorizon detection or image segmentation
based horizon detection methodbased horizon detection method
►This technique work when vehicle is closeThis technique work when vehicle is close
to the Ground and there is a strong horizonto the Ground and there is a strong horizon
edge.edge.
8. HoRiZon detectionHoRiZon detection
►An edge strength histogram is computedAn edge strength histogram is computed
based on the edge strength produced by thebased on the edge strength produced by the
canny edge detector and the top p% of thecanny edge detector and the top p% of the
points are obtained as possible points thatpoints are obtained as possible points that
comprise the horizon.comprise the horizon.
►The Standard Hough Transform is thenThe Standard Hough Transform is then
applied to fit probable lines in the binaryapplied to fit probable lines in the binary
edge map.edge map.
►The horizon will be the largest edgeThe horizon will be the largest edge
strength.strength.
11. HORIZON DETECTION WITH HIGHHORIZON DETECTION WITH HIGH
PROCESSING SYSTEMPROCESSING SYSTEM
12. MaIN STEPSMaIN STEPS
1.1. Locate the runway in each video frameLocate the runway in each video frame
2.2. Estimate the attitude of the UAVEstimate the attitude of the UAV
3.3. Steer the UAV towards the runwaySteer the UAV towards the runway
maintaining the correct glideslopemaintaining the correct glideslope
13. LOCaTE THE RuNWaYLOCaTE THE RuNWaY
IMAGE
DILATION
IMAGE
THRESHOL
DING
EDGE
DETECTIO
N
SMALL
REGION
RMOVAL
CONVOLUTIO
N
OPERATION
HOUGH
TRANSFOR
M
IDENTIFY PEAK
AND EXTRACT
LINES
RUNWAY
IMAGE
SUPERIMPOS
E LINES ON
THE
ORIGINAL
RUNWAY
IMAGE
14. IMaGE DILaTIONIMaGE DILaTION
►Dilation adds pixels to the boundaries of theDilation adds pixels to the boundaries of the
objects in an image.objects in an image.
►The number of pixels added or removedThe number of pixels added or removed
from the objects in an image depends onfrom the objects in an image depends on
the size and shape of the structuringthe size and shape of the structuring
element used in image process.element used in image process.
►The runway markings are highlighted usingThe runway markings are highlighted using
this technique.this technique.
16. IMaGE THRESHOLDINGIMaGE THRESHOLDING
►Thresholding is the process of mappingThresholding is the process of mapping
pixels to produce a two level image.pixels to produce a two level image.
►Here OTSU’s thresholding appears moreHere OTSU’s thresholding appears more
appropriate.appropriate.
►OTSU’s method chooses the thresholdOTSU’s method chooses the threshold
value in such a way that the intra classvalue in such a way that the intra class
variance of black and white pixels isvariance of black and white pixels is
minimized.minimized.
19. EDGE DETECTIONEDGE DETECTION
►Sobel edge operator is selected for thisSobel edge operator is selected for this
operation because of its optimal solution foroperation because of its optimal solution for
low defective edge rate , localization oflow defective edge rate , localization of
edge and giving one response for singleedge and giving one response for single
edge.edge.
21. REMOVAL OF SMALL REGIONREMOVAL OF SMALL REGION
MAGE BEFORE SMALL REGION REMOVAL
AFTER SMALL REGION REMOVAL
22. LINE DETECTION TECHNIQUESLINE DETECTION TECHNIQUES
►It used to extract the pair of linesIt used to extract the pair of lines
representing the runway boundaries.representing the runway boundaries.
►Once the runway boundaries are roughlyOnce the runway boundaries are roughly
obtained, straight line detection is to beobtained, straight line detection is to be
performed.performed.
►Image convolution can be used to easilyImage convolution can be used to easily
detect lines, only vertical, 45’ and 135’detect lines, only vertical, 45’ and 135’
masks are sufficient.masks are sufficient.
24. LINE FITTING USING HOUGHLINE FITTING USING HOUGH
TRANSFORMTRANSFORM
►Hough transform is a robust method used toHough transform is a robust method used to
extract arbitrary shapes such as lines ,extract arbitrary shapes such as lines ,
circles, ellipses, out of an image.circles, ellipses, out of an image.
►Straight lines are parameterized in the formStraight lines are parameterized in the form
ρ = x.cos= x.cos ɵ + y.sin+ y.sin ɵ
► In Hough space , lines are mapped to aIn Hough space , lines are mapped to a
point such that a point represents allpoint such that a point represents all
possible lines.possible lines.
27. ESTIMATE THE UAV ATTITUDEESTIMATE THE UAV ATTITUDE
► 6 Degrees of Freedom6 Degrees of Freedom
Pitch, Bank, Heading, Elevation, Distance, CoursePitch, Bank, Heading, Elevation, Distance, Course
► StrategyStrategy
IgnoreIgnore DistanceDistance
FindFind PitchPitch andand BankBank from the horizon line (x-axis)from the horizon line (x-axis)
FindFind ElevationElevation,, HeadingHeading,, CourseCourse from the runwayfrom the runway
28. INTUITIVE GEOMETRyINTUITIVE GEOMETRy
►Relationship between runway appearanceRelationship between runway appearance
and UAV attitudeand UAV attitude
This is how human pilots land visuallyThis is how human pilots land visually
Too High On Target Too Far Right
29. FORMAL GEOMETRyFORMAL GEOMETRy
► 3D Projection3D Projection
C = Internal CalibrationC = Internal Calibration
R = External CalibrationR = External Calibration
► Small Angle ApproximationSmall Angle Approximation
Assume the UAV is flying smooth and levelAssume the UAV is flying smooth and level
30. ESTIMATE THE UAV ATTITUDEESTIMATE THE UAV ATTITUDE
►Recover the orientation parametersRecover the orientation parameters
►Vanishing point of the runwayVanishing point of the runway
►Beginning of the runwayBeginning of the runway
31. Control the UAVControl the UAV
► Cascaded Linear FeedbackCascaded Linear Feedback
ControllerController
Two separate chainsTwo separate chains
Two gainsTwo gains
► ProportionalProportional
► IntegralIntegral
► IntuitiveIntuitive
If UAV is too far right, steer leftIf UAV is too far right, steer left
If UAV is too high, pitch downIf UAV is too high, pitch down
Bank angle is derivative ofBank angle is derivative of
heading, heading is derivativeheading, heading is derivative
of courseof course
Pitch is derivative of elevationPitch is derivative of elevation
PI 1
PI 1
PI 2
PI 3
PI 2
Course
Heading
Bank
Elevation
Pitch
33. AlGorithm performAnCeAlGorithm performAnCe
►Multiple stagesMultiple stages
Control loops run at 50 HzControl loops run at 50 Hz
►Integrates smoothly even while input stays sameIntegrates smoothly even while input stays same
Horizon detection runs at 10 HzHorizon detection runs at 10 Hz
►Pitch and bank are the most sensitivePitch and bank are the most sensitive
Runway detection runs at 2 HzRunway detection runs at 2 Hz
►Elevation and course are the least sensitiveElevation and course are the least sensitive
36. ACtUAl UAV experimentSACtUAl UAV experimentS
►Only using partial implementationOnly using partial implementation
Horizon stabilizationHorizon stabilization
Road following (no runway available)Road following (no runway available)
Only brief periods of autonomous controlOnly brief periods of autonomous control
38. ConClUSionSConClUSionS
►Successful but imprecise landingsSuccessful but imprecise landings
►Performance is applicable to ARDUINOPerformance is applicable to ARDUINO
Slower and more stable than actual UAVsSlower and more stable than actual UAVs
►Assumption of linear system is notAssumption of linear system is not
applicable near the runwayapplicable near the runway
This is why the aircraft oscillates before landingThis is why the aircraft oscillates before landing
►Future workFuture work
Incorporate flight model into controller designIncorporate flight model into controller design