This paper proposes a sensor fusion algorithm by complementary filter technique for attitude
estimation of quadrotor UAV using low-cost MEMS IMU. Angular rate from gyroscope tend to drift over a
time while accelerometer data is commonly effected with environmental noise. Therefore, high frequency
gyroscope signal and low frequency accelerometer signal is fused using complementary filter algorithm.
The complementary filter scaling factor K1=0.98 and K2=0.02 are used to merge both gyro and
accelerometer. The results show that the smooth roll, pitch and yaw attitude angle can be obtained from
the low cost IMU by using proposed sensor fusion algorithm.
Slide for Multi Object Tracking by Md. Minhazul Haque, Rajshahi University of Engineering and Technology
* Object
* Object Tracking
* Application
* Background Study
* How it works
* Multi-Object Tracking
* Solution
* Future Works
Slide for Multi Object Tracking by Md. Minhazul Haque, Rajshahi University of Engineering and Technology
* Object
* Object Tracking
* Application
* Background Study
* How it works
* Multi-Object Tracking
* Solution
* Future Works
PyTorch Python Tutorial | Deep Learning Using PyTorch | Image Classifier Usin...Edureka!
( ** Deep Learning Training: https://www.edureka.co/ai-deep-learning-with-tensorflow ** )
This Edureka PyTorch Tutorial (Blog: https://goo.gl/4zxMfU) will help you in understanding various important basics of PyTorch. It also includes a use-case in which we will create an image classifier that will predict the accuracy of an image data-set using PyTorch.
Below are the topics covered in this tutorial:
1. What is Deep Learning?
2. What are Neural Networks?
3. Libraries available in Python
4. What is PyTorch?
5. Use-Case of PyTorch
6. Summary
Follow us to never miss an update in the future.
Instagram: https://www.instagram.com/edureka_learning/
Facebook: https://www.facebook.com/edurekaIN/
Twitter: https://twitter.com/edurekain
LinkedIn: https://www.linkedin.com/company/edureka
PyTorch is one of the most widely used deep learning library in python community. In this talk I will cover the basic to advanced guide to implement deep learning model using PyTorch. My goal is to introduce PyTorch and show how to use it for deep learning project.
This presentation covers Decision Tree as a supervised machine learning technique, talking about Information Gain method and Gini Index method with their related Algorithms.
This file contains the slides for the topic "Representing Knowledge using Rules". The slides focus mainly on difference b/w declarative and procedural knowledge, and forward & backward reasoning. In addition, the role of control knowledge in problem solving is depicted.
Comparative Study of Machine Learning Algorithms for Sentiment Analysis with ...Sagar Deogirkar
Comparing the State-of-the-Art Deep Learning with Machine Learning algorithms performance on TF-IDF vector creation for Sentiment Analysis using Airline Tweeter Data Set.
Introduction to Statistical Machine Learningmahutte
This course provides a broad introduction to the methods and practice
of statistical machine learning, which is concerned with the development
of algorithms and techniques that learn from observed data by
constructing stochastic models that can be used for making predictions
and decisions. Topics covered include Bayesian inference and maximum
likelihood modeling; regression, classi¯cation, density estimation,
clustering, principal component analysis; parametric, semi-parametric,
and non-parametric models; basis functions, neural networks, kernel
methods, and graphical models; deterministic and stochastic
optimization; over¯tting, regularization, and validation.
An Approach For Predicting Road Accident SeverityBilalSikander3
M.Tech Final Year Presentation on predicting the road accident severity. The presentation is about proposing a model for predicting the road accidents severity based on road environment condition
Action Trajectory Reconstruction for Controlling of Vehicle Using SensorsIOSR Journals
Abstract: Inertial sensors, such as accelerometers and gyro-scopes, are rarely used by themselves to compute
velocity and position as each requires the integration of very noisy data. The variance and bias in the resulting
position and velocity estimates grow un-bounded in time. This paper proposes a solution to provide a de-biased
and de-noised estimation of position and velocity of moving vehicle actions from accelerometer measurements.
The method uses a continuous wavelet transform applied to the measurements recursively to provide reliable
action trajectory reconstruction. The results are presented from experiments performed with a MEMS accelerometer
and gyroscope.
Keywords: Action trajectory, continuous wavelet transform, inertial measurement unit.
PyTorch Python Tutorial | Deep Learning Using PyTorch | Image Classifier Usin...Edureka!
( ** Deep Learning Training: https://www.edureka.co/ai-deep-learning-with-tensorflow ** )
This Edureka PyTorch Tutorial (Blog: https://goo.gl/4zxMfU) will help you in understanding various important basics of PyTorch. It also includes a use-case in which we will create an image classifier that will predict the accuracy of an image data-set using PyTorch.
Below are the topics covered in this tutorial:
1. What is Deep Learning?
2. What are Neural Networks?
3. Libraries available in Python
4. What is PyTorch?
5. Use-Case of PyTorch
6. Summary
Follow us to never miss an update in the future.
Instagram: https://www.instagram.com/edureka_learning/
Facebook: https://www.facebook.com/edurekaIN/
Twitter: https://twitter.com/edurekain
LinkedIn: https://www.linkedin.com/company/edureka
PyTorch is one of the most widely used deep learning library in python community. In this talk I will cover the basic to advanced guide to implement deep learning model using PyTorch. My goal is to introduce PyTorch and show how to use it for deep learning project.
This presentation covers Decision Tree as a supervised machine learning technique, talking about Information Gain method and Gini Index method with their related Algorithms.
This file contains the slides for the topic "Representing Knowledge using Rules". The slides focus mainly on difference b/w declarative and procedural knowledge, and forward & backward reasoning. In addition, the role of control knowledge in problem solving is depicted.
Comparative Study of Machine Learning Algorithms for Sentiment Analysis with ...Sagar Deogirkar
Comparing the State-of-the-Art Deep Learning with Machine Learning algorithms performance on TF-IDF vector creation for Sentiment Analysis using Airline Tweeter Data Set.
Introduction to Statistical Machine Learningmahutte
This course provides a broad introduction to the methods and practice
of statistical machine learning, which is concerned with the development
of algorithms and techniques that learn from observed data by
constructing stochastic models that can be used for making predictions
and decisions. Topics covered include Bayesian inference and maximum
likelihood modeling; regression, classi¯cation, density estimation,
clustering, principal component analysis; parametric, semi-parametric,
and non-parametric models; basis functions, neural networks, kernel
methods, and graphical models; deterministic and stochastic
optimization; over¯tting, regularization, and validation.
An Approach For Predicting Road Accident SeverityBilalSikander3
M.Tech Final Year Presentation on predicting the road accident severity. The presentation is about proposing a model for predicting the road accidents severity based on road environment condition
Action Trajectory Reconstruction for Controlling of Vehicle Using SensorsIOSR Journals
Abstract: Inertial sensors, such as accelerometers and gyro-scopes, are rarely used by themselves to compute
velocity and position as each requires the integration of very noisy data. The variance and bias in the resulting
position and velocity estimates grow un-bounded in time. This paper proposes a solution to provide a de-biased
and de-noised estimation of position and velocity of moving vehicle actions from accelerometer measurements.
The method uses a continuous wavelet transform applied to the measurements recursively to provide reliable
action trajectory reconstruction. The results are presented from experiments performed with a MEMS accelerometer
and gyroscope.
Keywords: Action trajectory, continuous wavelet transform, inertial measurement unit.
Massive Sensors Array for Precision Sensingoblu.io
More than a billion smartphones being sold annually and growing with CAGR of 16%, the smartphone industry has become a driving force in the development of ultralow-cost inertial sensors. Unfortunately, these ultra low-cost sensors do not yet meet the needs of more demanding applications like inertial navigation and biomedical motion tracking systems. However, by adapting a wisdom of the crowd’s thinking and design arrays consisting of hundreds of sensing elements, one can capitalize on the decreasing cost, size, and power-consumption of the sensors to construct virtual high-performance low-cost inertial sensors. Team at KTH, Sweden and WUSTL, USA share findings and challenges.
Performance assessment of antenna array for an unmanned air vehicle IJECEIAES
In this paper, the performance of Linear Antenna Array Element (LAAE) has been evaluated at the Base Station (BS) with a different number of elements for Unmanned Air Vehicle UAV application. The Switched Beam (SB) and Phase Array (PA) have been used as a steering beam mechanism. The beam steering tracker is based on the GPS points of the UAV and the BS. In addition, the Misalignment angle has been analyzed for SB and PA corresponding to the maximum speed of the UAV. The compression between SB and PA in term of Bit Error Rate (BER) vs. Signal to Noise Ratio (SNR) and BER vs. Misalignment angle have been examined by using Matlab. The results show that the PA has better performance than SB in both terms under Additive White Gaussian Noise (AWGN) channel with an interference signal. When the number of the elements is eight provides longer distance than four by the factor (1.5 in SB case and 2 in PA case) and wider Misalignment angle range than twelve by factor (2 in SW case and 3 in PA case). Therefore, it is becoming a useful option for many applications.
Inertial Navigation for Quadrotor Using Kalman Filter with Drift Compensation IJECEIAES
The main disadvantage of an Inertial Navigation System is a low accuracy due to noise, bias, and drift error in the inertial sensor. This research aims to develop the accelerometer and gyroscope sensor for quadrotor navigation system, bias compensation, and Zero Velocity Compensation (ZVC). Kalman Filter is designed to reduce the noise on the sensor while bias compensation and ZVC are designed to eliminate the bias and drift error in the sensor data. Test results showed the Kalman Filter design is acceptable to reduce the noise in the sensor data. Moreover, the bias compensation and ZVC can reduce the drift error due to integration process as well as improve the position estimation accuracy of the quadrotor. At the time of testing, the system provided the accuracy above 90 % when it tested indoor.
Design and Implementation of Spatial Localization Based on Six -axis MEMS SensorIJRES Journal
This paper focuses on the 3-axis MEMS gyroscope, 3-axis MEMS accelerometer study spatial
orientation. In order to avoid the influence of the environment on the positioning of the text based on physical
principles established sports model, combining coordinate transformation method, the microcontroller STM32
platform with integrated 3-axis MEMS gyroscope, 3-axis MEMS accelerometer chip MPU60x0 designed a new
space positioning system, and using I2C protocol to transfer information. The system is highly integrated, simple
circuit, small size, low power consumption, easy expansion, easy maintenance, etc., can be used as an adjunct to
a wireless network based positioning, improve positioning accuracy, precision can also be positioned relatively
low areas applications.
Three-dimensional structure from motion recovery of a moving object with nois...IJECEIAES
In this paper, a Nonlinear Unknown Input Observer (NLUIO) based approach is proposed for three-dimensional (3-D) structure from motion identification. Unlike the previous studies that require prior knowledge of either the motion parameters or scene geometry, the proposed approach assumes that the object motion is imperfectly known and considered as an unknown input to the perspective dynamical system. The reconstruction of the 3-D structure of the moving objects can be achieved using just twodimensional (2-D) images of a monocular vision system. The proposed scheme is illustrated with a numerical example in the presence of measurement noise for both static and dynamic scenes. Those results are used to clearly demonstrate the advantages of the proposed NLUIO.
Waypoint Flight Parameter Comparison of an Autonomous Uavijaia
The present paper compares the effect of different waypoint parameters on the flight performance of a
special autonomous indoor UAV (unmanned aerial vehicle) fusing ultrasonic, inertial, pressure and optical
sensors for 3D positioning and controlling. The investigated parameters are the acceptance threshold for
reaching a waypoint as well as the maximal waypoint step size or block size. The effect of these parameters
on the flight time and accuracy of the flight path is investigated. Therefore the paper addresses how the
acceptance threshold and step size influence the speed and accuracy of the autonomous flight and thus
influence the performance of the presented autonomous quadrocopter under real indoor navigation
circumstances. Furthermore the paper demonstrates a drawback of the standard potential field method for
navigation of such autonomous quadrocopters and points to an improvement
27 9134 direction finding scheme for multi edit septianIAESIJEECS
In GPS denied conditions Unpretentious course structures that work especially with an excessive number of philosophies required after a colossal test that in the imaginative work gathering. The paper proposed an idea to overcome a occurring due to GPS denied condition in view of 3D inertial course system. The system would track the location for further improvement of an officer continuously in a multi-floor building of a particular area. In the midst of an urban fight situation an operation of lobbyist or putting out flames is really essential. The considerable number of fighters would be known about the area and development among themselves and to the military troop outside the building. This framework is valuable to lead the group appropriately in urban to protect the harmed individuals and it will demonstrate the change of overview.
Integral Backstepping Approach for Mobile Robot ControlTELKOMNIKA JOURNAL
This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control.
Neural Network Control Based on Adaptive Observer for Quadrotor HelicopterIJITCA Journal
A neural network control scheme with an adaptive observer is proposed in this paper to Quadrotor helicopter stabilization. The unknown part in Quadrotor dynamical model was estimated on line by a
Single Hidden Layer network. To solve the non measurable states problem a new adaptive observer was proposed. The main purpose here is to reduce the measurement noise amplification caused by conventional
high gain observer by introducing some changes in observer’s original structure that can minimize the variance and the amplitude of the noisy signal without increasing tracking error. The stability analysis of the overall closed-loop system/ observer is performed using the Lyapunov direct method. Simulation results are given to highlight the performances of the proposed scheme.
A SWITCHED-ANTENNA NADIR-LOOKING INTERFEROMETRIC SAR ALTIMETER FOR TERRAIN-AI...cscpconf
Conventional terrain-aided navigation (TAN) technique uses an altimeter to locate the position of an aerial vehicle. However, a major problem with a radar altimeter is that its beam (or pulse) footprint on the ground could be large, and therefore the nadir altitude cannot be estimated accurately. To overcome this difficulty, one may use the nadir-looking synthetic aperture radar (SAR) technique to reduce the along-track beam width, while the cross-track ambiguity is resolved with the interferometry technique. However, the cross-track resolution is still far from satisfactory, because of the limited aperture size of antennas. Therefore, the usual three-antenna array cannot resolve multiple terrain points in a same range bin, effectively. In this paper, we propose a technique that can increase the cross-track resolution using a large number of antennas, but in a switched fashion, not raising hardware cost.
A SWITCHED-ANTENNA NADIR-LOOKING INTERFEROMETRIC SAR ALTIMETER FOR TERRAIN-AI...csandit
Conventional terrain-aided navigation (TAN) technique uses an altimeter to locate the position of an aerial vehicle. However, a major problem with a radar altimeter is that its beam (or pulse) footprint on the ground could be large, and therefore the nadir altitude cannot be estimated
accurately. To overcome this difficulty, one may use the nadir-looking synthetic aperture radar (SAR) technique to reduce the along-track beam width, while the cross-track ambiguity is
resolved with the interferometry technique. However, the cross-track resolution is still far from satisfactory, because of the limited aperture size of antennas. Therefore, the usual three-antenna array cannot resolve multiple terrain points in a same range bin, effectively. In this paper, we
propose a technique that can increase the cross-track resolution using a large number of antennas, but in a switched fashion, not raising hardware cost.
TOTAL STATION: THEORY, USES AND APPLICATIONS. Ahmed Nassar
TOTAL STATION: THEORY, USES AND APPLICATIONS.
The total station, (also known as electronic tacheometer) is an instrument that can measure horizontal and vertical angles together with slope distance and can be considered as combined EDM plus electronic theodolite. In common with other electronic surveying equipment, total stations are operated using a multi-function keyboard which is connected to a microprocessor built into the instrument. The microprocessor not only controls both the angle and distance measuring systems but is also used as a small computer that can calculate slope corrections, vertical components, rectangular coordinates and, in some cases, can also store observations directly using an internal memory. Nowadays surveying systems are available which can be use in an integrated manner with Global Positioning System (GPS). so, future total stations may have integrated GPS receivers as part of the measurement unit.
Similar to Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of Quadrotor with Low-cost IMU (20)
Amazon products reviews classification based on machine learning, deep learni...TELKOMNIKA JOURNAL
In recent times, the trend of online shopping through e-commerce stores and websites has grown to a huge extent. Whenever a product is purchased on an e-commerce platform, people leave their reviews about the product. These reviews are very helpful for the store owners and the product’s manufacturers for the betterment of their work process as well as product quality. An automated system is proposed in this work that operates on two datasets D1 and D2 obtained from Amazon. After certain preprocessing steps, N-gram and word embedding-based features are extracted using term frequency-inverse document frequency (TF-IDF), bag of words (BoW) and global vectors (GloVe), and Word2vec, respectively. Four machine learning (ML) models support vector machines (SVM), logistic regression (RF), logistic regression (LR), multinomial Naïve Bayes (MNB), two deep learning (DL) models convolutional neural network (CNN), long-short term memory (LSTM), and standalone bidirectional encoder representations (BERT) are used to classify reviews as either positive or negative. The results obtained by the standard ML, DL models and BERT are evaluated using certain performance evaluation measures. BERT turns out to be the best-performing model in the case of D1 with an accuracy of 90% on features derived by word embedding models while the CNN provides the best accuracy of 97% upon word embedding features in the case of D2. The proposed model shows better overall performance on D2 as compared to D1.
Design, simulation, and analysis of microstrip patch antenna for wireless app...TELKOMNIKA JOURNAL
In this study, a microstrip patch antenna that works at 3.6 GHz was built and tested to see how well it works. In this work, Rogers RT/Duroid 5880 has been used as the substrate material, with a dielectric permittivity of 2.2 and a thickness of 0.3451 mm; it serves as the base for the examined antenna. The computer simulation technology (CST) studio suite is utilized to show the recommended antenna design. The goal of this study was to get a more extensive transmission capacity, a lower voltage standing wave ratio (VSWR), and a lower return loss, but the main goal was to get a higher gain, directivity, and efficiency. After simulation, the return loss, gain, directivity, bandwidth, and efficiency of the supplied antenna are found to be -17.626 dB, 9.671 dBi, 9.924 dBi, 0.2 GHz, and 97.45%, respectively. Besides, the recreation uncovered that the transfer speed side-lobe level at phi was much better than those of the earlier works, at -28.8 dB, respectively. Thus, it makes a solid contender for remote innovation and more robust communication.
Design and simulation an optimal enhanced PI controller for congestion avoida...TELKOMNIKA JOURNAL
In this paper, snake optimization algorithm (SOA) is used to find the optimal gains of an enhanced controller for controlling congestion problem in computer networks. M-file and Simulink platform is adopted to evaluate the response of the active queue management (AQM) system, a comparison with two classical controllers is done, all tuned gains of controllers are obtained using SOA method and the fitness function chose to monitor the system performance is the integral time absolute error (ITAE). Transient analysis and robust analysis is used to show the proposed controller performance, two robustness tests are applied to the AQM system, one is done by varying the size of queue value in different period and the other test is done by changing the number of transmission control protocol (TCP) sessions with a value of ± 20% from its original value. The simulation results reflect a stable and robust behavior and best performance is appeared clearly to achieve the desired queue size without any noise or any transmission problems.
Improving the detection of intrusion in vehicular ad-hoc networks with modifi...TELKOMNIKA JOURNAL
Vehicular ad-hoc networks (VANETs) are wireless-equipped vehicles that form networks along the road. The security of this network has been a major challenge. The identity-based cryptosystem (IBC) previously used to secure the networks suffers from membership authentication security features. This paper focuses on improving the detection of intruders in VANETs with a modified identity-based cryptosystem (MIBC). The MIBC is developed using a non-singular elliptic curve with Lagrange interpolation. The public key of vehicles and roadside units on the network are derived from number plates and location identification numbers, respectively. Pseudo-identities are used to mask the real identity of users to preserve their privacy. The membership authentication mechanism ensures that only valid and authenticated members of the network are allowed to join the network. The performance of the MIBC is evaluated using intrusion detection ratio (IDR) and computation time (CT) and then validated with the existing IBC. The result obtained shows that the MIBC recorded an IDR of 99.3% against 94.3% obtained for the existing identity-based cryptosystem (EIBC) for 140 unregistered vehicles attempting to intrude on the network. The MIBC shows lower CT values of 1.17 ms against 1.70 ms for EIBC. The MIBC can be used to improve the security of VANETs.
Conceptual model of internet banking adoption with perceived risk and trust f...TELKOMNIKA JOURNAL
Understanding the primary factors of internet banking (IB) acceptance is critical for both banks and users; nevertheless, our knowledge of the role of users’ perceived risk and trust in IB adoption is limited. As a result, we develop a conceptual model by incorporating perceived risk and trust into the technology acceptance model (TAM) theory toward the IB. The proper research emphasized that the most essential component in explaining IB adoption behavior is behavioral intention to use IB adoption. TAM is helpful for figuring out how elements that affect IB adoption are connected to one another. According to previous literature on IB and the use of such technology in Iraq, one has to choose a theoretical foundation that may justify the acceptance of IB from the customer’s perspective. The conceptual model was therefore constructed using the TAM as a foundation. Furthermore, perceived risk and trust were added to the TAM dimensions as external factors. The key objective of this work was to extend the TAM to construct a conceptual model for IB adoption and to get sufficient theoretical support from the existing literature for the essential elements and their relationships in order to unearth new insights about factors responsible for IB adoption.
Efficient combined fuzzy logic and LMS algorithm for smart antennaTELKOMNIKA JOURNAL
The smart antennas are broadly used in wireless communication. The least mean square (LMS) algorithm is a procedure that is concerned in controlling the smart antenna pattern to accommodate specified requirements such as steering the beam toward the desired signal, in addition to placing the deep nulls in the direction of unwanted signals. The conventional LMS (C-LMS) has some drawbacks like slow convergence speed besides high steady state fluctuation error. To overcome these shortcomings, the present paper adopts an adaptive fuzzy control step size least mean square (FC-LMS) algorithm to adjust its step size. Computer simulation outcomes illustrate that the given model has fast convergence rate as well as low mean square error steady state.
Design and implementation of a LoRa-based system for warning of forest fireTELKOMNIKA JOURNAL
This paper presents the design and implementation of a forest fire monitoring and warning system based on long range (LoRa) technology, a novel ultra-low power consumption and long-range wireless communication technology for remote sensing applications. The proposed system includes a wireless sensor network that records environmental parameters such as temperature, humidity, wind speed, and carbon dioxide (CO2) concentration in the air, as well as taking infrared photos.The data collected at each sensor node will be transmitted to the gateway via LoRa wireless transmission. Data will be collected, processed, and uploaded to a cloud database at the gateway. An Android smartphone application that allows anyone to easily view the recorded data has been developed. When a fire is detected, the system will sound a siren and send a warning message to the responsible personnel, instructing them to take appropriate action. Experiments in Tram Chim Park, Vietnam, have been conducted to verify and evaluate the operation of the system.
Wavelet-based sensing technique in cognitive radio networkTELKOMNIKA JOURNAL
Cognitive radio is a smart radio that can change its transmitter parameter based on interaction with the environment in which it operates. The demand for frequency spectrum is growing due to a big data issue as many Internet of Things (IoT) devices are in the network. Based on previous research, most frequency spectrum was used, but some spectrums were not used, called spectrum hole. Energy detection is one of the spectrum sensing methods that has been frequently used since it is easy to use and does not require license users to have any prior signal understanding. But this technique is incapable of detecting at low signal-to-noise ratio (SNR) levels. Therefore, the wavelet-based sensing is proposed to overcome this issue and detect spectrum holes. The main objective of this work is to evaluate the performance of wavelet-based sensing and compare it with the energy detection technique. The findings show that the percentage of detection in wavelet-based sensing is 83% higher than energy detection performance. This result indicates that the wavelet-based sensing has higher precision in detection and the interference towards primary user can be decreased.
A novel compact dual-band bandstop filter with enhanced rejection bandsTELKOMNIKA JOURNAL
In this paper, we present the design of a new wide dual-band bandstop filter (DBBSF) using nonuniform transmission lines. The method used to design this filter is to replace conventional uniform transmission lines with nonuniform lines governed by a truncated Fourier series. Based on how impedances are profiled in the proposed DBBSF structure, the fractional bandwidths of the two 10 dB-down rejection bands are widened to 39.72% and 52.63%, respectively, and the physical size has been reduced compared to that of the filter with the uniform transmission lines. The results of the electromagnetic (EM) simulation support the obtained analytical response and show an improved frequency behavior.
Deep learning approach to DDoS attack with imbalanced data at the application...TELKOMNIKA JOURNAL
A distributed denial of service (DDoS) attack is where one or more computers attack or target a server computer, by flooding internet traffic to the server. As a result, the server cannot be accessed by legitimate users. A result of this attack causes enormous losses for a company because it can reduce the level of user trust, and reduce the company’s reputation to lose customers due to downtime. One of the services at the application layer that can be accessed by users is a web-based lightweight directory access protocol (LDAP) service that can provide safe and easy services to access directory applications. We used a deep learning approach to detect DDoS attacks on the CICDDoS 2019 dataset on a complex computer network at the application layer to get fast and accurate results for dealing with unbalanced data. Based on the results obtained, it is observed that DDoS attack detection using a deep learning approach on imbalanced data performs better when implemented using synthetic minority oversampling technique (SMOTE) method for binary classes. On the other hand, the proposed deep learning approach performs better for detecting DDoS attacks in multiclass when implemented using the adaptive synthetic (ADASYN) method.
The appearance of uncertainties and disturbances often effects the characteristics of either linear or nonlinear systems. Plus, the stabilization process may be deteriorated thus incurring a catastrophic effect to the system performance. As such, this manuscript addresses the concept of matching condition for the systems that are suffering from miss-match uncertainties and exogeneous disturbances. The perturbation towards the system at hand is assumed to be known and unbounded. To reach this outcome, uncertainties and their classifications are reviewed thoroughly. The structural matching condition is proposed and tabulated in the proposition 1. Two types of mathematical expressions are presented to distinguish the system with matched uncertainty and the system with miss-matched uncertainty. Lastly, two-dimensional numerical expressions are provided to practice the proposed proposition. The outcome shows that matching condition has the ability to change the system to a design-friendly model for asymptotic stabilization.
Implementation of FinFET technology based low power 4×4 Wallace tree multipli...TELKOMNIKA JOURNAL
Many systems, including digital signal processors, finite impulse response (FIR) filters, application-specific integrated circuits, and microprocessors, use multipliers. The demand for low power multipliers is gradually rising day by day in the current technological trend. In this study, we describe a 4×4 Wallace multiplier based on a carry select adder (CSA) that uses less power and has a better power delay product than existing multipliers. HSPICE tool at 16 nm technology is used to simulate the results. In comparison to the traditional CSA-based multiplier, which has a power consumption of 1.7 µW and power delay product (PDP) of 57.3 fJ, the results demonstrate that the Wallace multiplier design employing CSA with first zero finding logic (FZF) logic has the lowest power consumption of 1.4 µW and PDP of 27.5 fJ.
Evaluation of the weighted-overlap add model with massive MIMO in a 5G systemTELKOMNIKA JOURNAL
The flaw in 5G orthogonal frequency division multiplexing (OFDM) becomes apparent in high-speed situations. Because the doppler effect causes frequency shifts, the orthogonality of OFDM subcarriers is broken, lowering both their bit error rate (BER) and throughput output. As part of this research, we use a novel design that combines massive multiple input multiple output (MIMO) and weighted overlap and add (WOLA) to improve the performance of 5G systems. To determine which design is superior, throughput and BER are calculated for both the proposed design and OFDM. The results of the improved system show a massive improvement in performance ver the conventional system and significant improvements with massive MIMO, including the best throughput and BER. When compared to conventional systems, the improved system has a throughput that is around 22% higher and the best performance in terms of BER, but it still has around 25% less error than OFDM.
Reflector antenna design in different frequencies using frequency selective s...TELKOMNIKA JOURNAL
In this study, it is aimed to obtain two different asymmetric radiation patterns obtained from antennas in the shape of the cross-section of a parabolic reflector (fan blade type antennas) and antennas with cosecant-square radiation characteristics at two different frequencies from a single antenna. For this purpose, firstly, a fan blade type antenna design will be made, and then the reflective surface of this antenna will be completed to the shape of the reflective surface of the antenna with the cosecant-square radiation characteristic with the frequency selective surface designed to provide the characteristics suitable for the purpose. The frequency selective surface designed and it provides the perfect transmission as possible at 4 GHz operating frequency, while it will act as a band-quenching filter for electromagnetic waves at 5 GHz operating frequency and will be a reflective surface. Thanks to this frequency selective surface to be used as a reflective surface in the antenna, a fan blade type radiation characteristic at 4 GHz operating frequency will be obtained, while a cosecant-square radiation characteristic at 5 GHz operating frequency will be obtained.
Reagentless iron detection in water based on unclad fiber optical sensorTELKOMNIKA JOURNAL
A simple and low-cost fiber based optical sensor for iron detection is demonstrated in this paper. The sensor head consist of an unclad optical fiber with the unclad length of 1 cm and it has a straight structure. Results obtained shows a linear relationship between the output light intensity and iron concentration, illustrating the functionality of this iron optical sensor. Based on the experimental results, the sensitivity and linearity are achieved at 0.0328/ppm and 0.9824 respectively at the wavelength of 690 nm. With the same wavelength, other performance parameters are also studied. Resolution and limit of detection (LOD) are found to be 0.3049 ppm and 0.0755 ppm correspondingly. This iron sensor is advantageous in that it does not require any reagent for detection, enabling it to be simpler and cost-effective in the implementation of the iron sensing.
Impact of CuS counter electrode calcination temperature on quantum dot sensit...TELKOMNIKA JOURNAL
In place of the commercial Pt electrode used in quantum sensitized solar cells, the low-cost CuS cathode is created using electrophoresis. High resolution scanning electron microscopy and X-ray diffraction were used to analyze the structure and morphology of structural cubic samples with diameters ranging from 40 nm to 200 nm. The conversion efficiency of solar cells is significantly impacted by the calcination temperatures of cathodes at 100 °C, 120 °C, 150 °C, and 180 °C under vacuum. The fluorine doped tin oxide (FTO)/CuS cathode electrode reached a maximum efficiency of 3.89% when it was calcined at 120 °C. Compared to other temperature combinations, CuS nanoparticles crystallize at 120 °C, which lowers resistance while increasing electron lifetime.
In place of the commercial Pt electrode used in quantum sensitized solar cells, the low-cost CuS cathode is created using electrophoresis. High resolution scanning electron microscopy and X-ray diffraction were used to analyze the structure and morphology of structural cubic samples with diameters ranging from 40 nm to 200 nm. The conversion efficiency of solar cells is significantly impacted by the calcination temperatures of cathodes at 100 °C, 120 °C, 150 °C, and 180 °C under vacuum. The fluorine doped tin oxide (FTO)/CuS cathode electrode reached a maximum efficiency of 3.89% when it was calcined at 120 °C. Compared to other temperature combinations, CuS nanoparticles crystallize at 120 °C, which lowers resistance while increasing electron lifetime.
A progressive learning for structural tolerance online sequential extreme lea...TELKOMNIKA JOURNAL
This article discusses the progressive learning for structural tolerance online sequential extreme learning machine (PSTOS-ELM). PSTOS-ELM can save robust accuracy while updating the new data and the new class data on the online training situation. The robustness accuracy arises from using the householder block exact QR decomposition recursive least squares (HBQRD-RLS) of the PSTOS-ELM. This method is suitable for applications that have data streaming and often have new class data. Our experiment compares the PSTOS-ELM accuracy and accuracy robustness while data is updating with the batch-extreme learning machine (ELM) and structural tolerance online sequential extreme learning machine (STOS-ELM) that both must retrain the data in a new class data case. The experimental results show that PSTOS-ELM has accuracy and robustness comparable to ELM and STOS-ELM while also can update new class data immediately.
Electroencephalography-based brain-computer interface using neural networksTELKOMNIKA JOURNAL
This study aimed to develop a brain-computer interface that can control an electric wheelchair using electroencephalography (EEG) signals. First, we used the Mind Wave Mobile 2 device to capture raw EEG signals from the surface of the scalp. The signals were transformed into the frequency domain using fast Fourier transform (FFT) and filtered to monitor changes in attention and relaxation. Next, we performed time and frequency domain analyses to identify features for five eye gestures: opened, closed, blink per second, double blink, and lookup. The base state was the opened-eyes gesture, and we compared the features of the remaining four action gestures to the base state to identify potential gestures. We then built a multilayer neural network to classify these features into five signals that control the wheelchair’s movement. Finally, we designed an experimental wheelchair system to test the effectiveness of the proposed approach. The results demonstrate that the EEG classification was highly accurate and computationally efficient. Moreover, the average performance of the brain-controlled wheelchair system was over 75% across different individuals, which suggests the feasibility of this approach.
Adaptive segmentation algorithm based on level set model in medical imagingTELKOMNIKA JOURNAL
For image segmentation, level set models are frequently employed. It offer best solution to overcome the main limitations of deformable parametric models. However, the challenge when applying those models in medical images stills deal with removing blurs in image edges which directly affects the edge indicator function, leads to not adaptively segmenting images and causes a wrong analysis of pathologies wich prevents to conclude a correct diagnosis. To overcome such issues, an effective process is suggested by simultaneously modelling and solving systems’ two-dimensional partial differential equations (PDE). The first PDE equation allows restoration using Euler’s equation similar to an anisotropic smoothing based on a regularized Perona and Malik filter that eliminates noise while preserving edge information in accordance with detected contours in the second equation that segments the image based on the first equation solutions. This approach allows developing a new algorithm which overcome the studied model drawbacks. Results of the proposed method give clear segments that can be applied to any application. Experiments on many medical images in particular blurry images with high information losses, demonstrate that the developed approach produces superior segmentation results in terms of quantity and quality compared to other models already presented in previeous works.
Automatic channel selection using shuffled frog leaping algorithm for EEG bas...TELKOMNIKA JOURNAL
Drug addiction is a complex neurobiological disorder that necessitates comprehensive treatment of both the body and mind. It is categorized as a brain disorder due to its impact on the brain. Various methods such as electroencephalography (EEG), functional magnetic resonance imaging (FMRI), and magnetoencephalography (MEG) can capture brain activities and structures. EEG signals provide valuable insights into neurological disorders, including drug addiction. Accurate classification of drug addiction from EEG signals relies on appropriate features and channel selection. Choosing the right EEG channels is essential to reduce computational costs and mitigate the risk of overfitting associated with using all available channels. To address the challenge of optimal channel selection in addiction detection from EEG signals, this work employs the shuffled frog leaping algorithm (SFLA). SFLA facilitates the selection of appropriate channels, leading to improved accuracy. Wavelet features extracted from the selected input channel signals are then analyzed using various machine learning classifiers to detect addiction. Experimental results indicate that after selecting features from the appropriate channels, classification accuracy significantly increased across all classifiers. Particularly, the multi-layer perceptron (MLP) classifier combined with SFLA demonstrated a remarkable accuracy improvement of 15.78% while reducing time complexity.
TECHNICAL TRAINING MANUAL GENERAL FAMILIARIZATION COURSEDuvanRamosGarzon1
AIRCRAFT GENERAL
The Single Aisle is the most advanced family aircraft in service today, with fly-by-wire flight controls.
The A318, A319, A320 and A321 are twin-engine subsonic medium range aircraft.
The family offers a choice of engines
Cosmetic shop management system project report.pdfKamal Acharya
Buying new cosmetic products is difficult. It can even be scary for those who have sensitive skin and are prone to skin trouble. The information needed to alleviate this problem is on the back of each product, but it's thought to interpret those ingredient lists unless you have a background in chemistry.
Instead of buying and hoping for the best, we can use data science to help us predict which products may be good fits for us. It includes various function programs to do the above mentioned tasks.
Data file handling has been effectively used in the program.
The automated cosmetic shop management system should deal with the automation of general workflow and administration process of the shop. The main processes of the system focus on customer's request where the system is able to search the most appropriate products and deliver it to the customers. It should help the employees to quickly identify the list of cosmetic product that have reached the minimum quantity and also keep a track of expired date for each cosmetic product. It should help the employees to find the rack number in which the product is placed.It is also Faster and more efficient way.
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
Democratizing Fuzzing at Scale by Abhishek Aryaabh.arya
Presented at NUS: Fuzzing and Software Security Summer School 2024
This keynote talks about the democratization of fuzzing at scale, highlighting the collaboration between open source communities, academia, and industry to advance the field of fuzzing. It delves into the history of fuzzing, the development of scalable fuzzing platforms, and the empowerment of community-driven research. The talk will further discuss recent advancements leveraging AI/ML and offer insights into the future evolution of the fuzzing landscape.
Water scarcity is the lack of fresh water resources to meet the standard water demand. There are two type of water scarcity. One is physical. The other is economic water scarcity.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
Event Management System Vb Net Project Report.pdfKamal Acharya
In present era, the scopes of information technology growing with a very fast .We do not see any are untouched from this industry. The scope of information technology has become wider includes: Business and industry. Household Business, Communication, Education, Entertainment, Science, Medicine, Engineering, Distance Learning, Weather Forecasting. Carrier Searching and so on.
My project named “Event Management System” is software that store and maintained all events coordinated in college. It also helpful to print related reports. My project will help to record the events coordinated by faculties with their Name, Event subject, date & details in an efficient & effective ways.
In my system we have to make a system by which a user can record all events coordinated by a particular faculty. In our proposed system some more featured are added which differs it from the existing system such as security.
2. TELKOMNIKA ISSN: 1693-6930
Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of… (A. Noordin)
869
experiments arrangement and present the outcomes, and finally, Section 4 concludes the paper
by summarizing the findings.
1.1. Quadrotor UAV
Quadrotor is an aerial vehicle that has capabilities in vertical take-off and landing
(VTOL), omni-directional flying, and easy hovering performances in limited spaces. Compare to
terrain mobile robot, quadrotor can cover mission at most range due to capable of mobilizing in
environment with many obstacles. Furthermore, advances in MEMS technology [24-28] and
rapid prototyping technology makes quadrotor has a simplest electronics and mechanical
structures design. Therefore, quadrotor always being considered in research with wide
applications and various tasks such as civil commercial, calamity and meteorological
observation, agricultural and military purpose such as surveillances, reconnaissance and
communication [29-31] also educational purposes [32].
Quadrotor is a helicopter kind that can be controlled by varying the rotor speeds. It is an
under-actuated, dynamic vehicle with four input forces and six output coordinates. To eliminate
the anti-torque during manuaver, quadrotor configuration is setup as follows; 1) two diagonal
motors (1 and 2) are running in the same direction, 2) the others set of motors (3 and 4) in the
other direction [33-35].
1.2. Quadrotor Dynamics Movement
On varying the rotor speeds altogether with the same rate, the forces will enable VTOL
in altitude z of the quadrotor either hovering (by increasing speeds) as Figure 1a or landing (by
decreasing speeds) as Figure 1b. Manipulate roll angle, ϕ allows the quadrotor to move toward
y direction as shown in Figure 1c and 1d. Manipulate pitch angle, θ allows the quadrotor to
move toward x direction as shown in Figure 1e and 1f. To able the quadrotor to rotate in yaw
angle ψ direction, the diagonal motors need to be speed up/slow down depending on desired
direction as shown in Figure 1g and 1h [31], [34], [33].
(a) Vertical up (c) Moving right (e) Moving forward (g) Rotate right
(b) Vertical down (d) Moving left (f) Moving backward (h) Rotate left
Figure 1. Quadrotor dynamics manoeuvres
2. Research Method
With advanced in MEMS, combination of 3-axis gyroscopes and a 3-axis accelerometer
in one chip able to provide a full 6 degree-of-freedom (DOF) motion tracking system for many
applications [36]. With 3-axis digital compass additional of 3-DOF can assist on a heading for a
3. ISSN: 1693-6930
TELKOMNIKA Vol. 16, No. 2, April 2018 : 868 – 875
870
system for correct orientation during locomotion. Figure 2 shows 6-DOF MPU6000 comprise of
gyro and accelerometer. 3-axis compass can be attached as auxiliary sensor for attitude
estimator system such used in APM2.6.
Figure 2. A 6-DOF–Gyro/Accelerometer
2.1. Accelerometer
An accelerometer sensor as shown in Figure 3 is a dynamic MEMS sensor used to
measure acceleration forces up to three orthogonal axes. Measurement unit of accelerometer
typically in gravitational motion (g) where 1g is equivalent to 9.8m/s2 which is acceleration
cause of earth gravity. However, for linear displacement measurement, recorded data need to
be integrated two times which tend to drift over a time and very sensitive to environmental
noise [5],[18].
Figure 3. A 3-Axis accelerometer sensor (source: Adafruit Industries, 2017)
In other way, from an accelerometer, a tilt angle can be sensed and estimated as
described on Freescale Semiconductor Application Note used by [37]. Figure 4a shows
technique using two axes from an accelerometer to measure tilt angle. As shown in Figure 4b, a
basic trigonometry can be applied to determine tilt angle (𝜃) as:
𝜃 = tan−1
(
𝐴𝑥
𝐴𝑦
) (1)
Where magnitude of acceleration is always 1g can be determined by:
𝐴 = √ 𝐴 𝑥
2 + 𝐴 𝑦
2 = 1𝑔 (2)
a) Tilt Angle Sensing (b) Rotate about y-axis
Figure 5. Three axes tilt sensing for (a) roll angle and (b)
pitch angle
4. TELKOMNIKA ISSN: 1693-6930
Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of… (A. Noordin)
871
2.2. Gyroscope
A gyroscope is a device typically used for navigation by measurement of angular
velocity and estimated changing in orientation [38]. However, for a long term, gyroscope reading
tends to drift from static condition. Gyroscopes can measure rotational velocity up to three
directions. In IMU, a gyroscope or gyros sensor as shown in Figure 6 is used to detect rotation
speed to measure angular velocity or in other term called angular rate with measurement unit
degree per second (°/s) or revolution per second (RPS).
Figure 6. A 3-axis gyro sensor (Source: Adafruit Industries, 2017)
By integrating the angular rate (reading from sensor) of each axis, the roll angle (ϕ), the pitch
angle (θ), and the yaw angle (ψ) can be obtained using Equation 5:
𝜙 𝑔𝑦 = ∫ 𝜔 𝑥 𝑑𝑡
𝜃𝑔𝑦 = ∫ 𝜔 𝑦 𝑑𝑡
𝜓 𝑔𝑦 = ∫ 𝜔𝑧 𝑑𝑡 (5)
Standard control range of angle in aviation system is between -180 to 180 degrees. Therefore,
result from Equation 5 need to be adjusted within this range.
2.3. Magnetometer
A magnetometer as shown in Figure 7 can sense where the strongest magnetic force is
coming from, generally used to detect magnetic north. Therefore, as for digital compass,
magnetometer sensor is used to provide heading information where the heading system
calculation depending to magnetic data (mx, my, mz) therefore the compass orientation can be
mathematically rotated to horizontal plane as shown in Figure 8. Based on this figure, mx, my,
and mz from magnetic sensor reading can be transformed to the horizontal plane (Xh, Yh) by
applying the rotation as Equation 6 and Equation 7 with aided from tilt sensing roll (𝜙) and pitch
(𝜃) from an accelerometer sensor. As such it is useful to determine absolute orientation in the
north-east-west-south (NEWS) plane of any systems during navigation [37].
Figure 7. A 3-Axis magnetometer sensor
(source: adafruit industries, 2017)
Figure 8. Tilt sensing angle in local horizontal
plane defined by gravity (caruso, 2000)
𝑋ℎ = mx cos(𝜙 𝑎𝑐𝑐) + my sin(𝜙 𝑎𝑐𝑐) − mz cos(𝜃 𝑎𝑐𝑐) sin(𝜙 𝑎𝑐𝑐) (6)
𝑌ℎ = my cos(𝜃 𝑎𝑐𝑐) + mzsin(𝜃 𝑎𝑐𝑐) (7)
5. ISSN: 1693-6930
TELKOMNIKA Vol. 16, No. 2, April 2018 : 868 – 875
872
From Equation 6 and Equation 7 then, the heading information can be calculated as:
𝐻𝑒𝑎𝑑𝑖𝑛𝑔 = 𝜓ℎ = tan−1
(
𝑌ℎ
𝑋ℎ
) (8)
2.4. Sensor Fusion Algorithm
There are two ways to generate attitude estimation for quadrotor; from gyroscopes by
integrating it values or from accelerometer vector and magnetometer vector. Attitude estimation
using gyroscope provides a good dynamics performance. While fusion using accelerometer
vector and magnetometer vector give better steady-state performances [18].
In this attitude estimation, a fusion by high frequency gyroscope signal and low
frequency accelerometer signal and magnetometer signal is used. This technique called
complementary filter (CF) used by most researcher in [18], [20], [21]. This fusion provides
reliable roll (ϕ) and pitch (θ) reading from gyroscope and accelerometer. While fusion tilt sensing
roll (ϕ) and pitch (θ) from accelerometer with magnetic vector, (mx, my, mz) provide yaw (ψ)
which is heading direction of the system [20]. Figure 9 shows a block diagram to illustrate
proposed CF technique used in this attitude estimation.
Figure 9. Complementary filter for attitude estimation
In complementary filter system, the angles will be updated with new gyroscope
measurement by integral (summing) over a time and tilt sensing from accelerometer
measurement with scaling factor K. The mathematic expressions to represent complementary
filter used in this study
𝜙 𝐶𝐹 = 𝐾1(𝜙 𝐶𝐹 + 𝜙 𝑔𝑦) + 𝐾2 𝜙 𝑎𝑐𝑐 (9)
𝜃 𝐶𝐹 = 𝐾1(𝜃 𝐶𝐹 + 𝜃𝑔𝑦) + 𝐾2 𝜃 𝑎𝑐𝑐 (10)
𝐾1 + 𝐾2 = 1 (11)
3. Results and Analysis
Gyroscope, accelerometer, and magnetometer data from APM2.6 System is recorded
and captured by serial oscilloscope. The system is program to record sensors data with
sampling period of 50Hz for gyroscope and accelerometer while 10Hz for magnetometer. Figure
10 shows the measurement of accelerometer and gyroscope after scaling but before filtering.
Plotted angle of gyroscope shows a tend to drift over a time, while accelerometer angle very
sensitive to noise. In static condition both angles supposed to be at zero angle. Hence, a
complementary filter is utilized to overcome the interference.
6. TELKOMNIKA ISSN: 1693-6930
Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of… (A. Noordin)
873
Figure 10. Gyroscope and accelerometer data converted to angle
Figure 11a and 11b show comparisons for roll angle (ϕ) and pitch angle (θ) respectively
between gyroscope, accelerometer and after complementary filter is implemented. For Figure
11a, the spikes at time 4s and 8.4s are roll angle recorded when the systems are manually
rotate for positive roll angle and negative roll angle as expected the quadrotor will move to the
right and left (refer to Figure 1c and 1d respectively). While in Figure 11b, spike at 6.8s and 9.2s
are pitch angle during quadrotor move forward and backward (refer to Figure 1e and 1f
respectively). All rotation angles follow right hand rule orientation.
(a) roll (𝜙) angle (b) pitch (𝜃) angle
Figure 11. Real-time roll (ϕ) angle measurement and pitch (θ) angle measurement
From both graphs, gyro roll (𝜙) and pitch (𝜃) signal drift over a time and not return to
zero in static condition due to integral (summation) calculated from gyroscope angle reading.
Accelerator roll (𝜙) and pitch (𝜃) signal from both graphs consist of noise as can be seen in
Figure 10 since low cost MEMS sensor sensitive to environment. The complementary filter
signal for both graph which is the estimated roll and pitch angle are the combine of gyro and
accelerometer with scaling factor 𝐾1 = 0.98 and 𝐾2 = 0.02.
4. Conclusion
In this work, a complementary filter was implemented with low cost IMU to obtain
attitude estimation for quadrotor system. 3-axis gyroscope and 3-axis accelerometer in
MPU6000 of APM2.6 is recorded for angular rate by integrating gyros data and tilt sensing from
accelerometer. Angular rate from gyros tend to drift over a time due to summing function
(integral) while accelerometer is commonly effected to environmental noise. Hence a
complementary filter algorithm is applied to update attitude roll (𝜙) and pitch (𝜃) by merging
angular rate and tilt sensing data with appropriate scaling factor. Experiment result shows
7. ISSN: 1693-6930
TELKOMNIKA Vol. 16, No. 2, April 2018 : 868 – 875
874
complementary filter technique can overcome drift problem by gyroscope which is easy to
implement for quadrotor attitude estimation of low cost IMU.
Acknowledgements
The authors would like to thank Universiti Teknologi Malaysia (UTM) under the
Fundamental Research Grant Scheme (R.J130000.7823.4F761), Research University Grant
(Q.J130000.2523.15H39), Universiti Teknikal Malaysia Melaka (UTeM), and Ministry of Higher
Education for supporting this research.
References
[1] Y Hu, Y Yan, J Liang, L Wang. A Miniature, Low-cost MEMS AHRS with Application to Posture
Control of Robotic Fish. Conf. Rec.-IEEE Instrum. Meas. Technol. Conf. 2013: 1392–1395
[2] B Allotta, R Costanzi, F Fanelli. An Attitude Estimation Algorithm for Underwater Mobile Robots.
IEEE/ASME Trans. Mechatronics. 2016; 21(4): 1900–1911.
[3] DR Santoso, S Maryanto, A Nadhir. Application of Single MEMS-Accelerometer to Measure 3-Axis
Vibrations and 2-Axis Tilt-Angle Simultaneously. TELKOMNIKA (Telecommunication, Computing,
Electronics and Control) . 2015; 13(2): 442–450.
[4] K Badshah, Q Yongyuan. Integration and Simulations of INS/GNSS System Using the Approach of
Carrier Phase Measurements. Int. J. Robot. Autom. 2015; 4 (4): 243–253.
[5] U Guner, H Canbolat, A Unluturk. Design and Implementation of adaptive vibration filter for MEMS
based low cost IMU. 2015 9th Int. Conf. Electr. Electron. Eng. 2015; 130–134.
[6] W Lingling, F Li, H Xioguang, Z Guofeng. Attitude Estimation for UAV with Low-Cost IMU/ADS Based
on Adaptive-Gain Complementary Filter. 2016; 54: 673–680.
[7] Z Wu, Z Sun, W Zhang, Q Chen. Attitude and gyro bias estimation by the rotation of an inertial
measurement unit. Meas. Sci. Technol. 2015; 26(12): 125102.
[8] DQ Duong, J Sun, TP Nguyen, L Luo. Attitude estimation by using MEMS IMU with Fuzzy Tuned
Complementary Filter. Proc. 2016 IEEE Int. Conf. Electron. Inf. Commun. Technol. ICEICT 2016, no.
Iceict. 2017: 372–378.
[9] BH Prasetio, AA Supianto, GE Setiawan. Earth Image Classification Design Using Unmanned Aerial
Vehicle. TELKOMNIKA (Telecommunication, Computing, Electronics and Control). 2015; 13(3): 1021–
1028.
[10] Y Wang, N Li, X Chen, M Liu. Design and implementation of an AHRS based on MEMS sensors and
complementary filtering. Adv. Mech. Eng. 2014.
[11] S Sabatelli, M Galgani, L Fanucci, A Rocchi. A double-stage kalman filter for orientation tracking with
an integrated processor in 9-D IMU. IEEE Trans. Instrum. Meas. 2013; 62(3): 590–598.
[12] D Veillard, F Mailly, P Fraisse. EKF-based state estimation for train localization. Proc. IEEE Sensors.
2017; 2(2): 5–7.
[13] P Yutthaa, J Tatsawan, P Chotikunnan, T Nuntachi, L Wanichsara, T Atimon. The Effect of Average
Filter for Complementary Filter and Kalman Filter Based on Measurement Angle. Biomed. Eng. Int.
Conf. 2016: 1–4.
[14] SA Maged, AA Abouelsoud, AMRF El Bab, T Namerikawa. Stewart Platform Manipulator: State
Estimation Using Inertia Sensors and Unscented Kalman Filter. Proc-2016 3rd Int. Conf. Inf. Sci.
Control Eng. ICISCE 2016: 1136–1140.
[15] WU Zhonghong, SHI Zhangsong, LIU Jian. Multi-sensor Fusion Based Unscented Attitude Estimation
Method for MAVs. 2016: 5138–5142.
[16] D Yuan, X Ma, Y Liu, C Zhang. Dynamic initial alignment of the MEMS-based low-cost SINS for AUV
based on unscented Kalman filter. Ocean. Shanghai, 2016.
[17] Z Lin, X Linlin, L Fanming, C Yi. Application of UKF for MEMS IMUs and fluxgate sensors based
attitude and heading reference system of carriers. ICIEA 2007 2007 Second IEEE Conf. Ind. Electron.
Appl. 2007; 0: 2278–2283.
[18] NH Ariffin, N Arsad, B Bais. Low cost MEMS gyroscope and accelerometer implementation without
Kalman Filter for angle estimation. Int. Conf. Adv. Electr. Electron. Syst. Eng. 2016: 77–82.
[19] IMUW Kalman, TC Filter. Reading a IMU without Kalman : The Complementary Filter. 2013: 1–9.
[20] X Lu, J Li, W Liu. Study of Complementary Filter Algorithm for Four-rotor Helicopters Attitude Control
System. 2014; 174(7): 298–306.
[21] O De Silva, GKI Mann, RG Gosine. Automated tuning of the nonlinear complementary filter for an
Attitude Heading Reference observer. IEEE Work. Robot Vision, WORV. 2013: 171–176.
[22] M Faiz, B Ramli, SS Shamsudin, A Legowo. Obstacle Detection Technique Using Multi Sensor
Integration for Small Unmanned Aerial Vehicle. Indonesian Journal of Electrical Engineering and
Computer Science (IJEECS). 2017; 8(2): 441–449.
8. TELKOMNIKA ISSN: 1693-6930
Sensor Fusion Algorithm by Complementary Filter for Attitude Estimation of… (A. Noordin)
875
[23] RC Luo, CC Chang, CC Lai. Multisensor fusion and integration: Theories, applications, and its
perspectives. IEEE Sens. J. 2011; 11(12): 3122–3138.
[24] A Cahyadi, S Herdjunanto, R Hidayat. Inertial Navigation for Quadrotor Using Kalman Filter with Drift
Compensation. International Journal of Electrical and Computer Engineering (IJECE). 2017; 7(5):
2596–2604.
[25] J Chang, J Cieslak, A Zolghadri, J Dávila, J Zhou. Quadrotor attitude estimation with gyroscope bias
reconstruction capabilities. IFAC-PapersOnLine. 2016; 49(5): 260–265.
[26] V Kriz, P Gabrlik. UranusLink-Communication protocol for UAV with small overhead and encryption
ability. in IFAC Proceedings Volumes (IFAC-PapersOnline). 2015; 48(4): 474–479.
[27] PJ Bristeau, F Callou, D Vissière, N Petit. The Navigation and Control technology inside the AR.Drone
micro UAV. in IFAC Proceedings Volumes (IFAC-PapersOnline). 2011; 18(PART 1): 1477–1484.
[28] H Jafari, M Zareh, J Roshanian, A Nikkhah. An Optimal Guidance Law Applied to Quadrotor Using
LQR Method. Trans. Jpn. Soc. Aeronaut. Space Sci. 2010; 53(179): 32–39.
[29] J Ajmera, V Sankaranarayanan. Point-to-point control of a quadrotor: Theory and experiment. IFAC-
PapersOnLine. 2016; 49(1): 401–406.
[30] J Bazin, T Fields, AJ Smith. Feasibility of In-Flight Quadrotor Individual Motor Thrust Measurements.
AIAA Atmos. Flight Mech. Conf., no. January 2016: 1–12.
[31] DBBVL, P Singh. A survey on design and development of an unmanned aerial vehicle (quadcopter).
Int. J. Intell. Unmanned Syst. 2016; 4(2): 70–106.
[32] J Števek, M Fikar. Teaching Aids for Laboratory Experiments with AR.Drone2 Quadrotor**The authors
gratefully acknowledge the financial support of the Slovak Research and Development Agency under
the project APVV 0551-11 and the Scientific Grant Agency of the Slovak Republic. IFAC-
PapersOnLine. 2016; 49(6): 236–241.
[33] SK Phang, C Cai, BM Chen, TH Lee. Design and mathematical modeling of a 4-standard-propeller
(4SP) quadrotor. in Proceedings of the World Congress on Intelligent Control and Automation
(WCICA). 2012: 3270–3275.
[34] D Domingos, G Camargo, F Gomide. Autonomous Fuzzy Control and Navigation of Quadcopters.
IFAC-PapersOnLine. 2016; 49(5): 73–78.
[35] S Bouabdallah, P Murrieri, R Siegwart, B Ghder, PR Bud. Design and Control of an Indoor Micro
Quadrotor. Proc. 2004 IEEE Int. Conf. Robot. 8 Autom. New Orleans, LA April 2004: 4393–4398.
[36] S Amin, M Bin, I Reaz, SS Nasir. Integrated Vehicle Accident Detection and Location System.
TELKOMNIKA (Telecommunication, Computing, Electronics and Control). 2014; 12(1): 73–78.
[37] D Derawi, J Kim. Real-time Nonlinear Complementary Observer for Low-cost Inertial Attitude System.
Int. Glob. Navig. Satell. Syst. Soc. IGNSS Symp. 2013.
[38] H Fourati, N Manamanni, L Afilal, Y Handrich. Complementary observer for body segments motion
capturing by inertial and magnetic sensors. IEEE/ASME Trans. Mechatronics. 2014; 19(1): 149–157.