With the rapid development of mechatronics, systems in package (SiP), in particular the MPU-9250 inertial measurement Unit 9DOF (MPU-6050 6DOF and AK8963 3DOF), are becoming ubiquitous in applications for autonomous navigation purposes. Nevertheless, they suffer from some accuracy problems related to axis misalignment, disturbances, and deviation over time that make them unable to work autonomously for a long time. This paper will present a simple and practical calibration method using a least-squares based ellipsoid fitting method to calibrate and compensate for the error interference of the AK8963 sensor. Towards the end of this paper, a comparison between before and after the calibration is presented to study the software compensation effect and the stability of the magnetic sensor under study.
Dokumen tersebut membahas tentang peranan guru dalam mencapai tujuan pendidikan kebangsaan Malaysia. Ia menjelaskan falsafah pendidikan kebangsaan, peranan guru, ciri-ciri yang perlu dimiliki guru untuk menghadapi tantangan globalisasi pendidikan, dan penutup serta refleksi tentang topik tersebut.
Dokumen tersebut memberikan ringkasan singkat tentang Syarikat Ceramikraf Malaysia Enterprise yang memproduksi barangan tembikar tradisional seperti Labu Sayong. Ia menjelaskan latar belakang syarikat, proses pembuatan Labu Sayong, peralatan yang digunakan, carta organisasi dan laporan pengeluaran harian syarikat.
Presentation during my study at UniKL BMI.
Lecturer: Sir. Roy [https://www.facebook.com/azroy.arman]
Thank you Sir, you are so dedicated and caring lecturer ever.
Dokumen tersebut membahas tentang peranan guru dalam mencapai tujuan pendidikan kebangsaan Malaysia. Ia menjelaskan falsafah pendidikan kebangsaan, peranan guru, ciri-ciri yang perlu dimiliki guru untuk menghadapi tantangan globalisasi pendidikan, dan penutup serta refleksi tentang topik tersebut.
Dokumen tersebut memberikan ringkasan singkat tentang Syarikat Ceramikraf Malaysia Enterprise yang memproduksi barangan tembikar tradisional seperti Labu Sayong. Ia menjelaskan latar belakang syarikat, proses pembuatan Labu Sayong, peralatan yang digunakan, carta organisasi dan laporan pengeluaran harian syarikat.
Presentation during my study at UniKL BMI.
Lecturer: Sir. Roy [https://www.facebook.com/azroy.arman]
Thank you Sir, you are so dedicated and caring lecturer ever.
Kerajaan Melayu Melaka merupakan asas pembentukan budaya politik Melayu. Sultan memegang kuasa mutlak sebagai pemimpin tertinggi, dibantu empat orang pembesar utama. Ekonomi Melaka berpusat pada perdagangan laut yang menjadikannya pusat perdagangan penting. Masyarakatnya bersifat kosmopolitan dengan berbagai bangsa.
Dokumen ini membahas kurikulum standar matematika untuk tingkat satu sekolah menengah di Malaysia. Dokumen ini menjelaskan tujuan, objektif, dan kerangka kurikulum standar serta organisasi konten matematika untuk tingkat satu. Dokumen ini juga membahas strategi pengajaran dan pembelajaran serta penilaian yang sesuai untuk mencapai tujuan kurikulum.
Teks ini berisi soalan ujian semester pertama mata pelajaran Reka Bentuk dan Teknologi di SMA Latifah. Terdapat 20 soalan berbentuk pilihan ganda dan esei yang meliputi berbagai aspek reka bentuk seperti unsur-unsur desain, prinsip-prinsip desain, proses desain, manajemen proyek, dan pengurusan biaya. Teks ini memberikan gambaran menyeluruh tentang materi-materi yang diajarkan dalam mata pelajaran tersebut.
Ringkasan dokumen tersebut adalah:
1. Dokumen tersebut merangkum pelan pemasaran untuk telepon genggam Sony Ericsson model K816i, termasuk analisis pasar, sasaran pengguna, kelebihan produk, dan strategi pemasaran.
Dokumen tersebut membahas tentang survival Melayu dan Bumiputera dari berbagai perspektif seperti Islam, konstitusi, cabaran ekonomi, politik, dan sosial. Beberapa cabaran utama yang dihadapi meliputi dominasi ekonomi oleh kaum lain, rendahnya taraf hidup, serta ancaman terhadap bahasa dan agama Melayu akibat pengaruh asing. Untuk memperkuat survival, diperlukan kerjasama politik dan peningkatan taraf pendidikan.
1. Modul Pembelajaran Membuat Animasi Menggunakan Teknik
Animasi Slaid
2. Folder yang mengandungi objek magnet dan besi
Kreativiti: Menghasilkan persembahan digital yang mengandungi pelbagai
teknik animasi slaid.
Nota: 1. Pastikan komputer murid telah dihidupkan
2. Pastikan objek tersedia di folder My Pictures
Cadangan 1. Guru memaparkan contoh animasi slaid
Aktiviti: 2. Murid menaip teks "
The document compares the economies of Singapore and Malaysia and analyzes their strategies and challenges over time. It discusses:
1. Singapore achieved rapid economic growth through strategic government policies that attracted foreign investment, developed infrastructure, and mobilized human capital.
2. Malaysia transitioned from an export-based economy focused on raw materials like tin and rubber to industrialization in the late 20th century. It aimed to diversify its economy and reduce dependence on commodity exports.
3. Both countries face ongoing challenges in maintaining competitiveness against rising economies like China and India, and in addressing issues like aging populations and low birth rates. They continue investing in high-tech industries and developing skilled workforces.
Hari kemerdekaan is the independence day of malaysiaLOGHA ANBARASU
Hari Kemerdekaan, or Independence Day, is celebrated annually in Malaysia on August 31st to commemorate the country's independence from British rule in 1957. It marks the formation of Malaysia and is celebrated throughout the country with parades, festivities, and displays of national pride. The holiday commemorates the efforts of early Malaysian leaders like Tunku Abdul Rahman Putra Al-Haj who negotiated with Britain for independence and proclaimed it on August 31st, 1957 after years of work to establish a new Malaysian constitution and defeat communist threats.
A calibration technique for a two axis magnetic compass in telematics devicesPham van Tang
This paper presents an algorithm for calculating azimuth using a two-axis magnetic compass. The algorithm compensates for tilt error using just the two-axis magnetic compass and two-axis accelerometer by estimating the third magnetic compass axis. It does this by searching for the extended dip angle during normalization. This allows for accurate tilt-compensated heading information to be provided to small portable devices.
Depth Estimation and Source Location of Magnetic Anomalies from a Basement Co...IOSR Journals
Source locations and depths to magnetic contacts were estimated from the total intensity magnetic
field of an area of 3,025.25 square kilometres on geographical latitude 7o00' N to N o ' 7 30 and longitude
E o ' 3 00 to E o ' 3 30 within Abeokuta area, using local wavenumber method. This study was carried out using
digitised airborne magnetic data of basement complex formation. Structural interpretation of the magnetic data
was achieved through applying advanced processing techniques that provide automatic delineation and depth
estimation of the magnetic structures. Local wavenumber method was used for locating and estimating depth to
magnetic contact. The magnetic contact depth ranges from 0.145km to 2.692km.
Kerajaan Melayu Melaka merupakan asas pembentukan budaya politik Melayu. Sultan memegang kuasa mutlak sebagai pemimpin tertinggi, dibantu empat orang pembesar utama. Ekonomi Melaka berpusat pada perdagangan laut yang menjadikannya pusat perdagangan penting. Masyarakatnya bersifat kosmopolitan dengan berbagai bangsa.
Dokumen ini membahas kurikulum standar matematika untuk tingkat satu sekolah menengah di Malaysia. Dokumen ini menjelaskan tujuan, objektif, dan kerangka kurikulum standar serta organisasi konten matematika untuk tingkat satu. Dokumen ini juga membahas strategi pengajaran dan pembelajaran serta penilaian yang sesuai untuk mencapai tujuan kurikulum.
Teks ini berisi soalan ujian semester pertama mata pelajaran Reka Bentuk dan Teknologi di SMA Latifah. Terdapat 20 soalan berbentuk pilihan ganda dan esei yang meliputi berbagai aspek reka bentuk seperti unsur-unsur desain, prinsip-prinsip desain, proses desain, manajemen proyek, dan pengurusan biaya. Teks ini memberikan gambaran menyeluruh tentang materi-materi yang diajarkan dalam mata pelajaran tersebut.
Ringkasan dokumen tersebut adalah:
1. Dokumen tersebut merangkum pelan pemasaran untuk telepon genggam Sony Ericsson model K816i, termasuk analisis pasar, sasaran pengguna, kelebihan produk, dan strategi pemasaran.
Dokumen tersebut membahas tentang survival Melayu dan Bumiputera dari berbagai perspektif seperti Islam, konstitusi, cabaran ekonomi, politik, dan sosial. Beberapa cabaran utama yang dihadapi meliputi dominasi ekonomi oleh kaum lain, rendahnya taraf hidup, serta ancaman terhadap bahasa dan agama Melayu akibat pengaruh asing. Untuk memperkuat survival, diperlukan kerjasama politik dan peningkatan taraf pendidikan.
1. Modul Pembelajaran Membuat Animasi Menggunakan Teknik
Animasi Slaid
2. Folder yang mengandungi objek magnet dan besi
Kreativiti: Menghasilkan persembahan digital yang mengandungi pelbagai
teknik animasi slaid.
Nota: 1. Pastikan komputer murid telah dihidupkan
2. Pastikan objek tersedia di folder My Pictures
Cadangan 1. Guru memaparkan contoh animasi slaid
Aktiviti: 2. Murid menaip teks "
The document compares the economies of Singapore and Malaysia and analyzes their strategies and challenges over time. It discusses:
1. Singapore achieved rapid economic growth through strategic government policies that attracted foreign investment, developed infrastructure, and mobilized human capital.
2. Malaysia transitioned from an export-based economy focused on raw materials like tin and rubber to industrialization in the late 20th century. It aimed to diversify its economy and reduce dependence on commodity exports.
3. Both countries face ongoing challenges in maintaining competitiveness against rising economies like China and India, and in addressing issues like aging populations and low birth rates. They continue investing in high-tech industries and developing skilled workforces.
Hari kemerdekaan is the independence day of malaysiaLOGHA ANBARASU
Hari Kemerdekaan, or Independence Day, is celebrated annually in Malaysia on August 31st to commemorate the country's independence from British rule in 1957. It marks the formation of Malaysia and is celebrated throughout the country with parades, festivities, and displays of national pride. The holiday commemorates the efforts of early Malaysian leaders like Tunku Abdul Rahman Putra Al-Haj who negotiated with Britain for independence and proclaimed it on August 31st, 1957 after years of work to establish a new Malaysian constitution and defeat communist threats.
A calibration technique for a two axis magnetic compass in telematics devicesPham van Tang
This paper presents an algorithm for calculating azimuth using a two-axis magnetic compass. The algorithm compensates for tilt error using just the two-axis magnetic compass and two-axis accelerometer by estimating the third magnetic compass axis. It does this by searching for the extended dip angle during normalization. This allows for accurate tilt-compensated heading information to be provided to small portable devices.
Depth Estimation and Source Location of Magnetic Anomalies from a Basement Co...IOSR Journals
Source locations and depths to magnetic contacts were estimated from the total intensity magnetic
field of an area of 3,025.25 square kilometres on geographical latitude 7o00' N to N o ' 7 30 and longitude
E o ' 3 00 to E o ' 3 30 within Abeokuta area, using local wavenumber method. This study was carried out using
digitised airborne magnetic data of basement complex formation. Structural interpretation of the magnetic data
was achieved through applying advanced processing techniques that provide automatic delineation and depth
estimation of the magnetic structures. Local wavenumber method was used for locating and estimating depth to
magnetic contact. The magnetic contact depth ranges from 0.145km to 2.692km.
The document discusses Earth's magnetic field, which is generated in the liquid outer core by electrical currents. It can be observed to vary in space and time due to processes within Earth and from the Sun. Observations are made at geomagnetic observatories, through surveys on land and from aircraft/satellites, and by studying rocks' magnetic properties. The field can both aid navigation/drilling and interfere with satellite operations.
1) The document analyzes potential mechanisms for forming ionospheric precursors to earthquakes, including internal gravity waves (IGWs) and electric fields. Modeling results support the hypothesis that seismogenic electric fields in the ionosphere can cause changes preceding strong quakes.
2) Factors examined that could generate such fields include small-scale IGWs near the epicenter and vertical electric fields penetrating from the atmosphere. Modeling experiments combining these factors with data from a Greece earthquake achieved similarities to observations.
3) Further research on ionospheric precursors through increased experimental data collection and statistical analysis could help verify their existence before earthquakes. This report was presented with funding from the International Disaster and Risk Conference
1) Thermal waves in Saturn's atmosphere were analyzed using infrared observations from 2003-2013.
2) Maps were compiled from multiple instruments and analyzed using power spectral analysis to detect thermal waves.
3) Waves with different wavelengths were found to trace chemical species at different altitudes in Saturn's atmosphere. Large wave trains were detected in late 2003 and 2004.
GPS data is used to calculate strain and rotation rates in three continental plateaus: Tibet, Anatolia, and the Altiplano. For Tibet and Anatolia, the results show large regions of quasi-rigid body rotation bounded by strike-slip faults, with positive dilatation on the outboard sides. The Altiplano has higher internal shortening and negative dilatation everywhere. Vertical axis rotation changes sign across its topographic symmetry axis. Comparing the GPS and geological data provides insights into how interseismic and permanent deformation relate in each region over time.
A study on severe geomagnetic storms and earth’s magnetic field H variations,...IJERA Editor
For our study, we have selected ten severe geomagnetic storms. Which occurred during the years 1994 to 2015. Here great geomagnetic storm of Dst index from -422 nT to -17 nT are taken. These storms are significant not only because of the extremely high magnetic activity but also due to their great impact on the geomagnetosphere. We have studied the relation between severe geomagnetic storms with Earth’s magnetic field in horizontal component (H constant) and also studied the relation between Dst index with sunspots number. The H constant data from Kyoto data centre and Dst index, Ap index, Kp index from OMNI data centre. We have found that the Dst is at very lowest level in this storm period, Ap index Kp index are increased in severe geomagnetic storm period and H Constant is at very lowest level in storm period. We have found that geomagnetic storms were induced to form the cyclones within 29 days. The Sunspots numbers are increased to induce to geomagnetic storm within 5 – 15 days
DETERMINATION OF BURIED MAGNETIC MATERIAL’S GEOMETRIC DIMENSIONSsipij
It is important to find buried magnetic material’s geometric features that are parallel to the soil surface in
order to determine anti-tank and anti-personnel mine compatible to standards. So that it is possible to
decrease the number of false alarms by separating the samples that have got non-standard geometries. For
this purpose, in this study the anomalies occurred at horizontal component of the earth’s magnetic field by
buried samples are determined with magnetic sensor. In the study, KMZ51 AMR is used as the magnetic
sensor. The position-controlled movement of the sensor along x-y axis is provided with 2D scanning system.
Trigger values of sensor output are evaluated with respect to the scanning field. The experiments are
redone for the samples at different geometries and variables are defined for geometric analysis. The
experimental conclusions obtained from this paper will be discussed in detail.
Mapping the Skies of Ultracool Worlds: Detecting Storms and Spots with Extrem...Sérgio Sacani
Extremely large telescopes (ELTs) present an unparalleled opportunity to study the magnetism,
atmospheric dynamics, and chemistry of very low mass stars (VLMs), brown dwarfs, and exoplanets.
Instruments such as the Giant Magellan Telescope - Consortium Large Earth Finder (GMT/GCLEF),
the Thirty Meter Telescope’s Multi-Objective Diffraction-limited High-Resolution Infrared Spectrograph
(TMT/MODHIS), and the European Southern Observatory’s Mid-Infrared ELT Imager and Spectrograph (ELT/METIS) provide the spectral resolution and signal-to-noise (S/N) necessary to Doppler
image ultracool targets’surfaces based on temporal spectral variations due to surface inhomogeneities.
Using our publicly-available code, Imber, developed and validated in Plummer & Wang (2022), we
evaluate these instruments’abilities to discern magnetic star spots and cloud systems on a VLM star
(TRAPPIST-1); two L/T transition ultracool dwarfs (VHS J1256−1257 b and SIMP J0136+0933); and
three exoplanets (Beta Pic b and HR 8799 d and e). We find that TMT/MODHIS and ELT/METIS are
suitable for Doppler imaging the ultracool dwarfs and Beta Pic b over a single rotation. Uncertainties
for longitude and radius are typically . 10◦
, and latitude uncertainties range from ∼ 10◦
to 30◦
.
TRAPPIST-1’s edge-on inclination and low υ sin i provide a challenge for all three instruments while
GMT/GCLEF and the HR 8799 planets may require observations over multiple rotations. We compare
the spectroscopic technique, photometry-only inference, and the combination of the two. We find
combining spectroscopic and photometric observations can lead to improved Bayesian inference of
surface inhomogeneities and offers insight into whether ultracool atmospheres are dominated by spotted
or banded features.
Structural interpretation of abakiliki – ugep, usingAlexander Decker
This document summarizes a study that used aeromagnetic and Landsat Thematic Mapper data to interpret the structures in the Abakaliki–Ugep area of Nigeria. 2-D spectral analysis of the aeromagnetic data revealed two depth models: shallower magnetic sources ranging from 0.035km to 1.285km deep, and deeper sources from 1.585km to 4.136km deep. Regional magnetic fields showed NE-SW structural trends while residual fields emphasized NW-SE trends. Lineaments identified from Landsat data also showed dominant NE-SW and NW-SE trends. The average estimated sedimentary thickness of 3.096km may favor hydrocarbon generation in the study area.
Lithological Investigation at Tombia and Opolo Using Vertical Electrical Soun...IJLT EMAS
Vertical electrical soundings (VES) was carried out in Opolo and Tombia all in Yenagoa local government area, Bayelsa state, Nigeria to understand the resistivity distribution of its subsurface which serves as a tool in investigating subsurface lithology. All VES sounding were stacked together to generate 1D pseudo tomogram and was subsequently interpreted. The interpreted VES curve results shows that Opolo consists of three layers within the depth of investigation. Sandy clay with mixture of silt make up the first layer (Top layer) with resistance value ranging from 24-63Ωm. The second layer is made up of thick clay with very low resistivity values ranging from 3-19Ωm. The third layer is sandyclay with its resistance value ranging from 26-727Ωm.Tombia also reveals that the area is in three layers within the depth of investigation. Sandy clay with a mixture of fine sand made up the first layer (Top soil) with its resistance values ranging from 40-1194Ωm. The second layer is made up of fine sand with resistivity value ranging from 475-5285Ωm. The third layer is made up of sandy clay/sand with its resistance value ranging from 24-28943Ωm.The results of the 1D pseudo tomogram also reveals that Tombia and Opolo consists of three layers within the depth of investigation and pseudo tomograms serves as a basis tool for interpreting lithology and identifying lithological boundaries for the subsurface
MobileMT airborne EM technology - data acquisition and processing fundamentalsExpert Geophysics Limited
MobileMT is a passive electromagnetic geophysical technique that measures the Earth's natural magnetic (H) and electric (E) field variations between 30 Hz and 20,000 Hz. Receivers measure the three components of the magnetic field in the air and two orthogonal horizontal components of the electric field on the ground. The data is processed to calculate the admittance tensor and apparent conductivity in mS/m for different frequency windows. The final output provides effective resistivity sections and depth slices to image subsurface structures.
The document discusses formulas for calculating the gravitational effects of topographic-isostatic masses on airborne and satellite gravity gradiometry measurements. It derives integral formulas in ellipsoidal approximation for computing the gravitational potential, gradients, and tensor due to various topographic-isostatic models. The formulas separate the computations into spherical and ellipsoidal components. They are applied to calculate the gravitational tensor at GOCE satellite altitude using a 5-arcminute digital elevation model. The approach uses mass-lines to approximate ellipsoidal volume elements for numerical evaluation.
PROBING THE SOLAR INTERIOR WITH LENSED GRAVITATIONAL WAVES FROM KNOWN PULSARSSérgio Sacani
When gravitational waves (GWs) from a spinning neutron star arrive from behind the Sun, they are
subjected to gravitational lensing that imprints a frequency-dependent modulation on the waveform.
This modulation traces the projected solar density and gravitational potential along the path as
the Sun passes in front of the neutron star. We calculate how accurately the solar density prole
can be extracted from the lensed GWs using a Fisher analysis. For this purpose, we selected three
promising candidates (the highly spinning pulsars J1022+1001, J1730-2304, and J1745-23) from the
pulsar catalog of the Australia Telescope National Facility. The lensing signature can be measured
with 3 condence when the signal-to-noise ratio (SNR) of the GW detection reaches 100 (f=300Hz)1
over a one-year observation period (where f is the GW frequency). The solar density prole can be
plotted as a function of radius when the SNR improves to & 104.
Field evaluation of a four component downholeoilandgas24
This document summarizes the field evaluation of a four-component downhole VLF-EM logging system. The system measures the axial electric field and three orthogonal magnetic field components of very low frequency electromagnetic signals transmitted from stations. Field tests were conducted at six sites in Ontario and New Brunswick representing different geological conditions. Results demonstrate the potential of downhole VLF-EM for mineral exploration and structural mapping. An example from the Stratmat massive sulphide deposit shows dramatic changes in the magnetic fields across ore zones, clearly delineating them, while the electric field response was more difficult to interpret with the 10m electrode spacing.
The Population of the Galactic Center Filaments: Position Angle Distribution ...Sérgio Sacani
This document analyzes the position angle (PA) distribution of filaments observed in radio images of the Galactic center, obtained using the MeerKAT radio telescope. It finds that short filaments (<66") have PAs concentrated along the Galactic plane (60-120 degrees), pointing radially towards the supermassive black hole Sgr A*. This suggests the filaments have been aligned by a collimated outflow from Sgr A* extending along the Galactic plane. The outflow pressure is estimated to require an outflow rate of 10^-4 solar masses per year over ~6 million years to align the filaments. Longer filaments (>66") show a broader PA distribution, with a peak around -3 degrees
Research Inventy : International Journal of Engineering and Science is published by the group of young academic and industrial researchers with 12 Issues per year. It is an online as well as print version open access journal that provides rapid publication (monthly) of articles in all areas of the subject such as: civil, mechanical, chemical, electronic and computer engineering as well as production and information technology. The Journal welcomes the submission of manuscripts that meet the general criteria of significance and scientific excellence. Papers will be published by rapid process within 20 days after acceptance and peer review process takes only 7 days. All articles published in Research Inventy will be peer-reviewed.
Magnetism and Matter,Current loop as a magnetic dipole and its magnetic dipo...Oleepari
Current loop as a magnetic dipole and its magnetic dipole moment,magnetic dipole moment of a revolving electron,
bar magnet as an equivalent solenoid, magnetic field lines, earth's magnetic field and magnetic elements.
The circuit is made as shown in the diagram. The plane of the coil is made vertical by adjusting the leveling screws. The plane of the coil is made parallel to (90-90) in the compass box. The whole T.G is rotated to read 0° on the scale. The current is increased gradually using rheostat and corresponding deflections are noted. The reduction factor K is calculated using the formula K=I/tanθ. Using the value of K, the horizontal intensity of Earth's magnetic field Bh is calculated.
1) The document is a 19 page physics investigatory project report submitted by Arjun Kumar on the topic of a tangent galvanometer.
2) The objective is to study Earth's magnetic field using a tangent galvanometer and determine the horizontal component of the field.
3) Experiments are conducted to determine the reduction factor of the galvanometer and calculate the horizontal intensity of Earth's magnetic field at the location.
Similar to Software calibration for AK8963 magnetometer based on optimal ellipsoidal fitting (20)
Redefining brain tumor segmentation: a cutting-edge convolutional neural netw...IJECEIAES
Medical image analysis has witnessed significant advancements with deep learning techniques. In the domain of brain tumor segmentation, the ability to
precisely delineate tumor boundaries from magnetic resonance imaging (MRI)
scans holds profound implications for diagnosis. This study presents an ensemble convolutional neural network (CNN) with transfer learning, integrating
the state-of-the-art Deeplabv3+ architecture with the ResNet18 backbone. The
model is rigorously trained and evaluated, exhibiting remarkable performance
metrics, including an impressive global accuracy of 99.286%, a high-class accuracy of 82.191%, a mean intersection over union (IoU) of 79.900%, a weighted
IoU of 98.620%, and a Boundary F1 (BF) score of 83.303%. Notably, a detailed comparative analysis with existing methods showcases the superiority of
our proposed model. These findings underscore the model’s competence in precise brain tumor localization, underscoring its potential to revolutionize medical
image analysis and enhance healthcare outcomes. This research paves the way
for future exploration and optimization of advanced CNN models in medical
imaging, emphasizing addressing false positives and resource efficiency.
Embedded machine learning-based road conditions and driving behavior monitoringIJECEIAES
Car accident rates have increased in recent years, resulting in losses in human lives, properties, and other financial costs. An embedded machine learning-based system is developed to address this critical issue. The system can monitor road conditions, detect driving patterns, and identify aggressive driving behaviors. The system is based on neural networks trained on a comprehensive dataset of driving events, driving styles, and road conditions. The system effectively detects potential risks and helps mitigate the frequency and impact of accidents. The primary goal is to ensure the safety of drivers and vehicles. Collecting data involved gathering information on three key road events: normal street and normal drive, speed bumps, circular yellow speed bumps, and three aggressive driving actions: sudden start, sudden stop, and sudden entry. The gathered data is processed and analyzed using a machine learning system designed for limited power and memory devices. The developed system resulted in 91.9% accuracy, 93.6% precision, and 92% recall. The achieved inference time on an Arduino Nano 33 BLE Sense with a 32-bit CPU running at 64 MHz is 34 ms and requires 2.6 kB peak RAM and 139.9 kB program flash memory, making it suitable for resource-constrained embedded systems.
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.
Neural network optimizer of proportional-integral-differential controller par...IJECEIAES
Wide application of proportional-integral-differential (PID)-regulator in industry requires constant improvement of methods of its parameters adjustment. The paper deals with the issues of optimization of PID-regulator parameters with the use of neural network technology methods. A methodology for choosing the architecture (structure) of neural network optimizer is proposed, which consists in determining the number of layers, the number of neurons in each layer, as well as the form and type of activation function. Algorithms of neural network training based on the application of the method of minimizing the mismatch between the regulated value and the target value are developed. The method of back propagation of gradients is proposed to select the optimal training rate of neurons of the neural network. The neural network optimizer, which is a superstructure of the linear PID controller, allows increasing the regulation accuracy from 0.23 to 0.09, thus reducing the power consumption from 65% to 53%. The results of the conducted experiments allow us to conclude that the created neural superstructure may well become a prototype of an automatic voltage regulator (AVR)-type industrial controller for tuning the parameters of the PID controller.
An improved modulation technique suitable for a three level flying capacitor ...IJECEIAES
This research paper introduces an innovative modulation technique for controlling a 3-level flying capacitor multilevel inverter (FCMLI), aiming to streamline the modulation process in contrast to conventional methods. The proposed
simplified modulation technique paves the way for more straightforward and
efficient control of multilevel inverters, enabling their widespread adoption and
integration into modern power electronic systems. Through the amalgamation of
sinusoidal pulse width modulation (SPWM) with a high-frequency square wave
pulse, this controlling technique attains energy equilibrium across the coupling
capacitor. The modulation scheme incorporates a simplified switching pattern
and a decreased count of voltage references, thereby simplifying the control
algorithm.
A review on features and methods of potential fishing zoneIJECEIAES
This review focuses on the importance of identifying potential fishing zones in seawater for sustainable fishing practices. It explores features like sea surface temperature (SST) and sea surface height (SSH), along with classification methods such as classifiers. The features like SST, SSH, and different classifiers used to classify the data, have been figured out in this review study. This study underscores the importance of examining potential fishing zones using advanced analytical techniques. It thoroughly explores the methodologies employed by researchers, covering both past and current approaches. The examination centers on data characteristics and the application of classification algorithms for classification of potential fishing zones. Furthermore, the prediction of potential fishing zones relies significantly on the effectiveness of classification algorithms. Previous research has assessed the performance of models like support vector machines, naïve Bayes, and artificial neural networks (ANN). In the previous result, the results of support vector machine (SVM) were 97.6% more accurate than naive Bayes's 94.2% to classify test data for fisheries classification. By considering the recent works in this area, several recommendations for future works are presented to further improve the performance of the potential fishing zone models, which is important to the fisheries community.
Electrical signal interference minimization using appropriate core material f...IJECEIAES
As demand for smaller, quicker, and more powerful devices rises, Moore's law is strictly followed. The industry has worked hard to make little devices that boost productivity. The goal is to optimize device density. Scientists are reducing connection delays to improve circuit performance. This helped them understand three-dimensional integrated circuit (3D IC) concepts, which stack active devices and create vertical connections to diminish latency and lower interconnects. Electrical involvement is a big worry with 3D integrates circuits. Researchers have developed and tested through silicon via (TSV) and substrates to decrease electrical wave involvement. This study illustrates a novel noise coupling reduction method using several electrical involvement models. A 22% drop in electrical involvement from wave-carrying to victim TSVs introduces this new paradigm and improves system performance even at higher THz frequencies.
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
Bibliometric analysis highlighting the role of women in addressing climate ch...IJECEIAES
Fossil fuel consumption increased quickly, contributing to climate change
that is evident in unusual flooding and draughts, and global warming. Over
the past ten years, women's involvement in society has grown dramatically,
and they succeeded in playing a noticeable role in reducing climate change.
A bibliometric analysis of data from the last ten years has been carried out to
examine the role of women in addressing the climate change. The analysis's
findings discussed the relevant to the sustainable development goals (SDGs),
particularly SDG 7 and SDG 13. The results considered contributions made
by women in the various sectors while taking geographic dispersion into
account. The bibliometric analysis delves into topics including women's
leadership in environmental groups, their involvement in policymaking, their
contributions to sustainable development projects, and the influence of
gender diversity on attempts to mitigate climate change. This study's results
highlight how women have influenced policies and actions related to climate
change, point out areas of research deficiency and recommendations on how
to increase role of the women in addressing the climate change and
achieving sustainability. To achieve more successful results, this initiative
aims to highlight the significance of gender equality and encourage
inclusivity in climate change decision-making processes.
Voltage and frequency control of microgrid in presence of micro-turbine inter...IJECEIAES
The active and reactive load changes have a significant impact on voltage
and frequency. In this paper, in order to stabilize the microgrid (MG) against
load variations in islanding mode, the active and reactive power of all
distributed generators (DGs), including energy storage (battery), diesel
generator, and micro-turbine, are controlled. The micro-turbine generator is
connected to MG through a three-phase to three-phase matrix converter, and
the droop control method is applied for controlling the voltage and
frequency of MG. In addition, a method is introduced for voltage and
frequency control of micro-turbines in the transition state from gridconnected mode to islanding mode. A novel switching strategy of the matrix
converter is used for converting the high-frequency output voltage of the
micro-turbine to the grid-side frequency of the utility system. Moreover,
using the switching strategy, the low-order harmonics in the output current
and voltage are not produced, and consequently, the size of the output filter
would be reduced. In fact, the suggested control strategy is load-independent
and has no frequency conversion restrictions. The proposed approach for
voltage and frequency regulation demonstrates exceptional performance and
favorable response across various load alteration scenarios. The suggested
strategy is examined in several scenarios in the MG test systems, and the
simulation results are addressed.
Enhancing battery system identification: nonlinear autoregressive modeling fo...IJECEIAES
Precisely characterizing Li-ion batteries is essential for optimizing their
performance, enhancing safety, and prolonging their lifespan across various
applications, such as electric vehicles and renewable energy systems. This
article introduces an innovative nonlinear methodology for system
identification of a Li-ion battery, employing a nonlinear autoregressive with
exogenous inputs (NARX) model. The proposed approach integrates the
benefits of nonlinear modeling with the adaptability of the NARX structure,
facilitating a more comprehensive representation of the intricate
electrochemical processes within the battery. Experimental data collected
from a Li-ion battery operating under diverse scenarios are employed to
validate the effectiveness of the proposed methodology. The identified
NARX model exhibits superior accuracy in predicting the battery's behavior
compared to traditional linear models. This study underscores the
importance of accounting for nonlinearities in battery modeling, providing
insights into the intricate relationships between state-of-charge, voltage, and
current under dynamic conditions.
Smart grid deployment: from a bibliometric analysis to a surveyIJECEIAES
Smart grids are one of the last decades' innovations in electrical energy.
They bring relevant advantages compared to the traditional grid and
significant interest from the research community. Assessing the field's
evolution is essential to propose guidelines for facing new and future smart
grid challenges. In addition, knowing the main technologies involved in the
deployment of smart grids (SGs) is important to highlight possible
shortcomings that can be mitigated by developing new tools. This paper
contributes to the research trends mentioned above by focusing on two
objectives. First, a bibliometric analysis is presented to give an overview of
the current research level about smart grid deployment. Second, a survey of
the main technological approaches used for smart grid implementation and
their contributions are highlighted. To that effect, we searched the Web of
Science (WoS), and the Scopus databases. We obtained 5,663 documents
from WoS and 7,215 from Scopus on smart grid implementation or
deployment. With the extraction limitation in the Scopus database, 5,872 of
the 7,215 documents were extracted using a multi-step process. These two
datasets have been analyzed using a bibliometric tool called bibliometrix.
The main outputs are presented with some recommendations for future
research.
Use of analytical hierarchy process for selecting and prioritizing islanding ...IJECEIAES
One of the problems that are associated to power systems is islanding
condition, which must be rapidly and properly detected to prevent any
negative consequences on the system's protection, stability, and security.
This paper offers a thorough overview of several islanding detection
strategies, which are divided into two categories: classic approaches,
including local and remote approaches, and modern techniques, including
techniques based on signal processing and computational intelligence.
Additionally, each approach is compared and assessed based on several
factors, including implementation costs, non-detected zones, declining
power quality, and response times using the analytical hierarchy process
(AHP). The multi-criteria decision-making analysis shows that the overall
weight of passive methods (24.7%), active methods (7.8%), hybrid methods
(5.6%), remote methods (14.5%), signal processing-based methods (26.6%),
and computational intelligent-based methods (20.8%) based on the
comparison of all criteria together. Thus, it can be seen from the total weight
that hybrid approaches are the least suitable to be chosen, while signal
processing-based methods are the most appropriate islanding detection
method to be selected and implemented in power system with respect to the
aforementioned factors. Using Expert Choice software, the proposed
hierarchy model is studied and examined.
Enhancing of single-stage grid-connected photovoltaic system using fuzzy logi...IJECEIAES
The power generated by photovoltaic (PV) systems is influenced by
environmental factors. This variability hampers the control and utilization of
solar cells' peak output. In this study, a single-stage grid-connected PV
system is designed to enhance power quality. Our approach employs fuzzy
logic in the direct power control (DPC) of a three-phase voltage source
inverter (VSI), enabling seamless integration of the PV connected to the
grid. Additionally, a fuzzy logic-based maximum power point tracking
(MPPT) controller is adopted, which outperforms traditional methods like
incremental conductance (INC) in enhancing solar cell efficiency and
minimizing the response time. Moreover, the inverter's real-time active and
reactive power is directly managed to achieve a unity power factor (UPF).
The system's performance is assessed through MATLAB/Simulink
implementation, showing marked improvement over conventional methods,
particularly in steady-state and varying weather conditions. For solar
irradiances of 500 and 1,000 W/m2
, the results show that the proposed
method reduces the total harmonic distortion (THD) of the injected current
to the grid by approximately 46% and 38% compared to conventional
methods, respectively. Furthermore, we compare the simulation results with
IEEE standards to evaluate the system's grid compatibility.
Enhancing photovoltaic system maximum power point tracking with fuzzy logic-b...IJECEIAES
Photovoltaic systems have emerged as a promising energy resource that
caters to the future needs of society, owing to their renewable, inexhaustible,
and cost-free nature. The power output of these systems relies on solar cell
radiation and temperature. In order to mitigate the dependence on
atmospheric conditions and enhance power tracking, a conventional
approach has been improved by integrating various methods. To optimize
the generation of electricity from solar systems, the maximum power point
tracking (MPPT) technique is employed. To overcome limitations such as
steady-state voltage oscillations and improve transient response, two
traditional MPPT methods, namely fuzzy logic controller (FLC) and perturb
and observe (P&O), have been modified. This research paper aims to
simulate and validate the step size of the proposed modified P&O and FLC
techniques within the MPPT algorithm using MATLAB/Simulink for
efficient power tracking in photovoltaic systems.
Adaptive synchronous sliding control for a robot manipulator based on neural ...IJECEIAES
Robot manipulators have become important equipment in production lines, medical fields, and transportation. Improving the quality of trajectory tracking for
robot hands is always an attractive topic in the research community. This is a
challenging problem because robot manipulators are complex nonlinear systems
and are often subject to fluctuations in loads and external disturbances. This
article proposes an adaptive synchronous sliding control scheme to improve trajectory tracking performance for a robot manipulator. The proposed controller
ensures that the positions of the joints track the desired trajectory, synchronize
the errors, and significantly reduces chattering. First, the synchronous tracking
errors and synchronous sliding surfaces are presented. Second, the synchronous
tracking error dynamics are determined. Third, a robust adaptive control law is
designed,the unknown components of the model are estimated online by the neural network, and the parameters of the switching elements are selected by fuzzy
logic. The built algorithm ensures that the tracking and approximation errors
are ultimately uniformly bounded (UUB). Finally, the effectiveness of the constructed algorithm is demonstrated through simulation and experimental results.
Simulation and experimental results show that the proposed controller is effective with small synchronous tracking errors, and the chattering phenomenon is
significantly reduced.
Remote field-programmable gate array laboratory for signal acquisition and de...IJECEIAES
A remote laboratory utilizing field-programmable gate array (FPGA) technologies enhances students’ learning experience anywhere and anytime in embedded system design. Existing remote laboratories prioritize hardware access and visual feedback for observing board behavior after programming, neglecting comprehensive debugging tools to resolve errors that require internal signal acquisition. This paper proposes a novel remote embeddedsystem design approach targeting FPGA technologies that are fully interactive via a web-based platform. Our solution provides FPGA board access and debugging capabilities beyond the visual feedback provided by existing remote laboratories. We implemented a lab module that allows users to seamlessly incorporate into their FPGA design. The module minimizes hardware resource utilization while enabling the acquisition of a large number of data samples from the signal during the experiments by adaptively compressing the signal prior to data transmission. The results demonstrate an average compression ratio of 2.90 across three benchmark signals, indicating efficient signal acquisition and effective debugging and analysis. This method allows users to acquire more data samples than conventional methods. The proposed lab allows students to remotely test and debug their designs, bridging the gap between theory and practice in embedded system design.
Detecting and resolving feature envy through automated machine learning and m...IJECEIAES
Efficiently identifying and resolving code smells enhances software project quality. This paper presents a novel solution, utilizing automated machine learning (AutoML) techniques, to detect code smells and apply move method refactoring. By evaluating code metrics before and after refactoring, we assessed its impact on coupling, complexity, and cohesion. Key contributions of this research include a unique dataset for code smell classification and the development of models using AutoGluon for optimal performance. Furthermore, the study identifies the top 20 influential features in classifying feature envy, a well-known code smell, stemming from excessive reliance on external classes. We also explored how move method refactoring addresses feature envy, revealing reduced coupling and complexity, and improved cohesion, ultimately enhancing code quality. In summary, this research offers an empirical, data-driven approach, integrating AutoML and move method refactoring to optimize software project quality. Insights gained shed light on the benefits of refactoring on code quality and the significance of specific features in detecting feature envy. Future research can expand to explore additional refactoring techniques and a broader range of code metrics, advancing software engineering practices and standards.
Smart monitoring technique for solar cell systems using internet of things ba...IJECEIAES
Rapidly and remotely monitoring and receiving the solar cell systems status parameters, solar irradiance, temperature, and humidity, are critical issues in enhancement their efficiency. Hence, in the present article an improved smart prototype of internet of things (IoT) technique based on embedded system through NodeMCU ESP8266 (ESP-12E) was carried out experimentally. Three different regions at Egypt; Luxor, Cairo, and El-Beheira cities were chosen to study their solar irradiance profile, temperature, and humidity by the proposed IoT system. The monitoring data of solar irradiance, temperature, and humidity were live visualized directly by Ubidots through hypertext transfer protocol (HTTP) protocol. The measured solar power radiation in Luxor, Cairo, and El-Beheira ranged between 216-1000, 245-958, and 187-692 W/m 2 respectively during the solar day. The accuracy and rapidity of obtaining monitoring results using the proposed IoT system made it a strong candidate for application in monitoring solar cell systems. On the other hand, the obtained solar power radiation results of the three considered regions strongly candidate Luxor and Cairo as suitable places to build up a solar cells system station rather than El-Beheira.
An efficient security framework for intrusion detection and prevention in int...IJECEIAES
Over the past few years, the internet of things (IoT) has advanced to connect billions of smart devices to improve quality of life. However, anomalies or malicious intrusions pose several security loopholes, leading to performance degradation and threat to data security in IoT operations. Thereby, IoT security systems must keep an eye on and restrict unwanted events from occurring in the IoT network. Recently, various technical solutions based on machine learning (ML) models have been derived towards identifying and restricting unwanted events in IoT. However, most ML-based approaches are prone to miss-classification due to inappropriate feature selection. Additionally, most ML approaches applied to intrusion detection and prevention consider supervised learning, which requires a large amount of labeled data to be trained. Consequently, such complex datasets are impossible to source in a large network like IoT. To address this problem, this proposed study introduces an efficient learning mechanism to strengthen the IoT security aspects. The proposed algorithm incorporates supervised and unsupervised approaches to improve the learning models for intrusion detection and mitigation. Compared with the related works, the experimental outcome shows that the model performs well in a benchmark dataset. It accomplishes an improved detection accuracy of approximately 99.21%.
Software Engineering and Project Management - Software Testing + Agile Method...Prakhyath Rai
Software Testing: A Strategic Approach to Software Testing, Strategic Issues, Test Strategies for Conventional Software, Test Strategies for Object -Oriented Software, Validation Testing, System Testing, The Art of Debugging.
Agile Methodology: Before Agile – Waterfall, Agile Development.
Home security is of paramount importance in today's world, where we rely more on technology, home
security is crucial. Using technology to make homes safer and easier to control from anywhere is
important. Home security is important for the occupant’s safety. In this paper, we came up with a low cost,
AI based model home security system. The system has a user-friendly interface, allowing users to start
model training and face detection with simple keyboard commands. Our goal is to introduce an innovative
home security system using facial recognition technology. Unlike traditional systems, this system trains
and saves images of friends and family members. The system scans this folder to recognize familiar faces
and provides real-time monitoring. If an unfamiliar face is detected, it promptly sends an email alert,
ensuring a proactive response to potential security threats.
Discover the latest insights on Data Driven Maintenance with our comprehensive webinar presentation. Learn about traditional maintenance challenges, the right approach to utilizing data, and the benefits of adopting a Data Driven Maintenance strategy. Explore real-world examples, industry best practices, and innovative solutions like FMECA and the D3M model. This presentation, led by expert Jules Oudmans, is essential for asset owners looking to optimize their maintenance processes and leverage digital technologies for improved efficiency and performance. Download now to stay ahead in the evolving maintenance landscape.
Supermarket Management System Project Report.pdfKamal Acharya
Supermarket management is a stand-alone J2EE using Eclipse Juno program.
This project contains all the necessary required information about maintaining
the supermarket billing system.
The core idea of this project to minimize the paper work and centralize the
data. Here all the communication is taken in secure manner. That is, in this
application the information will be stored in client itself. For further security the
data base is stored in the back-end oracle and so no intruders can access it.
Build the Next Generation of Apps with the Einstein 1 Platform.
Rejoignez Philippe Ozil pour une session de workshops qui vous guidera à travers les détails de la plateforme Einstein 1, l'importance des données pour la création d'applications d'intelligence artificielle et les différents outils et technologies que Salesforce propose pour vous apporter tous les bénéfices de l'IA.
Tools & Techniques for Commissioning and Maintaining PV Systems W-Animations ...Transcat
Join us for this solutions-based webinar on the tools and techniques for commissioning and maintaining PV Systems. In this session, we'll review the process of building and maintaining a solar array, starting with installation and commissioning, then reviewing operations and maintenance of the system. This course will review insulation resistance testing, I-V curve testing, earth-bond continuity, ground resistance testing, performance tests, visual inspections, ground and arc fault testing procedures, and power quality analysis.
Fluke Solar Application Specialist Will White is presenting on this engaging topic:
Will has worked in the renewable energy industry since 2005, first as an installer for a small east coast solar integrator before adding sales, design, and project management to his skillset. In 2022, Will joined Fluke as a solar application specialist, where he supports their renewable energy testing equipment like IV-curve tracers, electrical meters, and thermal imaging cameras. Experienced in wind power, solar thermal, energy storage, and all scales of PV, Will has primarily focused on residential and small commercial systems. He is passionate about implementing high-quality, code-compliant installation techniques.
Accident detection system project report.pdfKamal Acharya
The Rapid growth of technology and infrastructure has made our lives easier. The
advent of technology has also increased the traffic hazards and the road accidents take place
frequently which causes huge loss of life and property because of the poor emergency facilities.
Many lives could have been saved if emergency service could get accident information and
reach in time. Our project will provide an optimum solution to this draw back. A piezo electric
sensor can be used as a crash or rollover detector of the vehicle during and after a crash. With
signals from a piezo electric sensor, a severe accident can be recognized. According to this
project when a vehicle meets with an accident immediately piezo electric sensor will detect the
signal or if a car rolls over. Then with the help of GSM module and GPS module, the location
will be sent to the emergency contact. Then after conforming the location necessary action will
be taken. If the person meets with a small accident or if there is no serious threat to anyone’s
life, then the alert message can be terminated by the driver by a switch provided in order to
avoid wasting the valuable time of the medical rescue team.
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/)
Software Engineering and Project Management - Introduction, Modeling Concepts...Prakhyath Rai
Introduction, Modeling Concepts and Class Modeling: What is Object orientation? What is OO development? OO Themes; Evidence for usefulness of OO development; OO modeling history. Modeling
as Design technique: Modeling, abstraction, The Three models. Class Modeling: Object and Class Concept, Link and associations concepts, Generalization and Inheritance, A sample class model, Navigation of class models, and UML diagrams
Building the Analysis Models: Requirement Analysis, Analysis Model Approaches, Data modeling Concepts, Object Oriented Analysis, Scenario-Based Modeling, Flow-Oriented Modeling, class Based Modeling, Creating a Behavioral Model.
Height and depth gauge linear metrology.pdfq30122000
Height gauges may also be used to measure the height of an object by using the underside of the scriber as the datum. The datum may be permanently fixed or the height gauge may have provision to adjust the scale, this is done by sliding the scale vertically along the body of the height gauge by turning a fine feed screw at the top of the gauge; then with the scriber set to the same level as the base, the scale can be matched to it. This adjustment allows different scribers or probes to be used, as well as adjusting for any errors in a damaged or resharpened probe.
Software calibration for AK8963 magnetometer based on optimal ellipsoidal fitting
1. International Journal of Electrical and Computer Engineering (IJECE)
Vol. 13, No. 3, June 2023, pp. 2743∼2751
ISSN: 2088-8708, DOI: 10.11591/ijece.v13i3.pp2743-2751 ❒ 2743
Software calibration for AK8963 magnetometer based on
optimal ellipsoidal fitting
Aziz El fatimi, Adnane Addaim, Zouhair Guennoun
Smart Communications Research Team, University Center for Research in Space Technologies, Mohammadia School of Engineering,
Mohammed V University, Rabat, Morocco
Article Info
Article history:
Received Apr 29, 2022
Revised Sep 10, 2022
Accepted Oct 1, 2022
Keywords:
AK8963 Magnetometer
Earth’s magnetic field
Ellipsoidal fitting
MPU-9250
Software calibration
STM32-Nucleo
ABSTRACT
With the rapid development of mechatronics, systems in package (SiP), in par-
ticular the MPU-9250 inertial measurement Unit 9DOF (MPU-6050 6DOF and
AK8963 3DOF), are becoming ubiquitous in applications for autonomous navi-
gation purposes. Nevertheless, they suffer from some accuracy problems related
to axis misalignment, disturbances, and deviation over time that make them un-
able to work autonomously for a long time. This paper will present a simple and
practical calibration method using a least-squares based ellipsoid fitting method
to calibrate and compensate for the error interference of the AK8963 sensor.
Towards the end of this paper, a comparison between before and after the cali-
bration is presented to study the software compensation effect and the stability
of the magnetic sensor under study.
This is an open access article under the CC BY-SA license.
Corresponding Author:
Aziz El fatimi
Smart Communications Research Team, University Center for Research in Space Technologies, Mohammadia
School of Engineering, Mohammed V University
Rabat, Morocco
Email: azizelfatimi@research.emi.ac.ma
1. INTRODUCTION
As for the gravitational field, the magnetic field, also called the geomagnetic field, is an intrinsic
property inherent to the Earth. The Earth’s magnetic field is a vector field that is defined at any point in space
by its magnitude (expressed, generally, in Gauss (G) or Tesla (T)), a direction, and a sense [1], [2]. According
to the National Oceanic and Atmospheric Administration, the Earth behaves like a giant bar magnet. The
direction of the geomagnetic field is similar to a magnetic field produced by a bar magnet, but with inverted
poles according to Figure 1, i.e. on the axis of rotation of the Earth. Indeed, the magnetic south pole is close
to the geographic north pole and the magnetic north pole is close to the geographic south pole. According
to Figure 1, about 90% of the magnetic field is generated from the Earth’s outer core, with a relatively small
variation in intensity and position over time [3]. Its origins of appearance have been revealed for hundreds of
millions of years [2], [4].
The True North Pole represents true North, and the Earth’s magnetic field lines start at the True South
Pole and end at the True North Pole [5], [6]. Its direction is from the magnetic south pole to the magnetic north
pole. It should be noted that the magnetic north direction does not coincide with the true north direction, and
there is an included angle called the declination angle. The geomagnetic intensity at any point on the Earth’s
surface can be represented by the geomagnetic vector
−
→
F , and its magnitude and direction are represented by
the seven elements of geomagnetism (
−
→
F , Fh, D, I, Fx, Fy, Fz), as shown in Figure 2 [7].
Journal homepage: http://ijece.iaescore.com
2. 2744 ❒ ISSN: 2088-8708
Magnetic north
Geographic north
Geographic south
Magnetic south
Figure 1. An illustration of the Earth’s magnetic field
lines and a simple bar magnet
Z (down)
X (true north)
Y (east)
Fx
Fz
Magnetic north
Fh
D
I
F
O
Fy
Figure 2. Schematic diagram of geomagnetic
elements
In Figure 2, point O is a stationary point on the Earth. The X-axis is parallel to the line of geographic
longitude and directed north; the Y-axis is parallel to the line of geographic latitude and oriented towards
the east; the Z-axis is perpendicular to the ground plane; its positive direction is directed downward.
−
→
F is
the geomagnetic vector, and the projection Fh of
−
→
F on the XOY plane is called the geomagnetic horizontal
component; Fx, Fy, Fz are the components of the geomagnetic vector in the north, east, and vertical directions;
the angle D between Fh and the direction of true north is called the magnetic declination; the angle I between
the plane XOY and F is called the magnetic tilt angle. Furthermore, several mathematical models exist, such
as the international geomagnetic reference model (IGRF) [8] and the worldwide geomagnetic model (WMM)
[9], that can deduce the seven geomagnetic elements from the longitude, latitude, and altitude of a given
location. Table 1 presents the seven elements of the magnetic field of the city of Rabat (latitude = 33.9692851 N,
longitude = 6.8922822 W, height = 75 m ), taken by the two models (WMM) [10] and (IGRF) [11].
On the other hand, several types of non-contact sensors, called magnetometers, can determine the
components of the Earth’s magnetic field. The magnetometer is an instrumentation device that is mainly com-
posed of a physical element sensitive to the magnetic field which transforms the variation of a magnetic quantity
into a variation of an electrical quantity, of a conditioner which maintains the optimal functioning of the sen-
sor, and of a signal processing unit which recovers the useful signal of the electrical quantity [12], [13]. In
general, magnetic sensors are used in many fields for navigation purposes; such as unmanned aerial vehicles
(UAV), autonomous vehicles (AVS), drones, robots, and spacecraft. Magnetometers are often used to establish
the directional heading of a craft to allow navigation between two geographical points. An accurate heading is
important for successful navigation. Since magnetometers are imperfect and the Earth’s magnetic field varies
in different locations, calibration is required to ensure heading accuracy.
The remaining parts of this paper are organized into three sections. The first section deals with the
basic notions of the magnetometer and the elliptical method adopted for its calibration. The second section
describes the hardware means used during the experiment to determine the soft and hard error compensation
parameters. The last section presents the analysis of the experimental results obtained in the static and dynamic
states.
Table 1. Magnetic field of Rabat city [10, 11]
Model D [nT] I [nT] Fx [nT] Fy [nT] Fh [nT] Fz [nT] F [nT]
IGRF -1.007 46.065 28027 -493 28031 29094 40401
WMM -1.003 46.061 28030 -491 28035 29093 40402
2. RESEARCH METHOD
Some known calibration methods using Helmholtz coils require placing the magnetometers to be
calibrated in an area where a homogeneous magnetic field is created by the Helmholtz coils. These techniques
have the disadvantage that it becomes necessary to use coils with a very large radius to be able to calibrate
the magnetometer, which poses space problems [14]–[18]. In addition, other methods have the advantage of
calibrating the magnetometer in its environment of use. For example, the Merayo technique, which is both
precise and simple to implement, does not require a specific place or tools [19, 20].
Int J Elec & Comp Eng, Vol. 13, No. 3, June 2023: 2743-2751
3. Int J Elec & Comp Eng ISSN: 2088-8708 ❒ 2745
2.1. Magnetometer model
The Earth’s magnetic field is always given in the Cartesian coordinate system (
−
→
i ,
−
→
j ,
−
→
k ) by by (1), as
shown in Figure 2, with Fx, Fy, and Fz representing the North, East, and Vertical components of the magnetic
field vector.
−
→
F = Fx
−
→
i + Fy
−
→
j + Fz
−
→
k (1)
In the literature, several works have been carried out on the modeling of the measurements coming from the
magnetometer. Current models make it possible to determine and identify the various errors in the measure-
ments of a magnetic sensor. Generally, the main sources of errors can be separated into two forms external and
internal to the sensor. Those due to disturbances in the magnetic fields around the sensor (magnetic distortion),
and those caused by manufacturing defects (instrumentation errors) [19], [21]–[23]. Consequently, the approx-
imate model for a magnetometer can be modeled as (2) (the influence of temperature on the measurements
from the magnetometer is not taken into account in this model):
−̃
→
F = ϵno.ϵsf .ϵms
ϵsi.
−
→
F + ϵhi
+ ωb + ωη (2)
where
−̃
→
F is the Earth’s magnetic field vector measured by the magnetometer, ϵno is the non-orthogonality error
matrix, ϵsf is the scale factor error matrix, ϵms is the misalignment error matrix, ϵsi is the soft iron error matrix,
−
→
F is the real vector of the Earth’s magnetic field, ϵhi is the hard iron error vector, ωb is the measurement bias
vector, and ωη is the vector of stochastic type errors representing white noise.
2.2. Algorithm formulation
Merayo et al. [19] propose a non-iterative magnetometer calibration algorithm that estimates bias,
scaling, and misalignment errors based on magnetometer measurements taken in multiple random orientations.
Plotting the measurements of the three axes in a Cartesian system results in an ellipsoid, while perfect measure-
ments result in a sphere centered around the origin (0,0,0) [19]. Calibration, therefore, consists of determining
the parameters of the ellipsoid given by (3):
(v − c)T
A(v − c) = k (3)
where v = (x, y, z) is a triaxial magnetometer measurement, c = (x0, y0, z0) is the center of the ellipsoid,
A = (Ai,j)1≤i≤3,1≤j≤3 is a positive definite matrix with real coefficients. Its eigenvectors define the axes of
the ellipsoid, and its eigenvalues are equal to the inverse of the square of the semi-axes [24], and k 0.
To find the previous parameters, the equation of the ellipsoid will be rewritten in quadratic form. The
(3) becomes (4):
x − x0 y − y0 z − z0
A11 A12 A13
A21 A22 A23
A31 A32 A33
x − x0
y − y0
z − z0
= k (4)
The development of the (4) gives the expression (5):
(x − x0)2
A11 + (y − y0)2
A22 + (z − z0)2
A33 + (x − x0)(y − y0)(A21 + A12)+
(x − x0)(z − z0)(A31 + A13) + (y − y0)(z − z0)(A32 + A23) = k (5)
Including the constants (Cij)1≤i≤3,1≤j≤3∈ R in (5) gives a more simplified form.
C11x2
+ C22y2
+ C33z2
+ C12xy + C13xz + C23yz + C1x + C2y + C3z + C0 = k (6)
In matrix notation, (6) becomes:
x2
y2
z2
xy xz yz x y z
C11 C22 C33 C12 C13 C23 C1 C2 C3
T
= k − C0 (7)
Software calibration for AK8963 magnetometer based on optimal ellipsoidal fitting ... (Aziz El fatimi)
4. 2746 ❒ ISSN: 2088-8708
We apply the formula (8) which simplifies the expression (7).
x2
y2
z2
xy xz yz x y z
p = 1 (8)
where p is a vector of parameters (9×1) to be estimated. Merayo et al. [19] prove that U is an upper triangular
(3×3) matrix can be found by a Cholesky factorization of a positive definite matrix formed by the elements of
p:
A = UT
U =
p1 p4/2 p5/2
p4/2 p2 p6/2
p5/2 p6/2 p3
(9)
The estimation of the parameters of the vector p requires at least nine measurements in different orientations.
The (8) can then be rewritten as (10):
Dp = 1 (10)
where D is a matrix containing the N magnetometer measurements along the x, y, and z axes. We will then
have:
D =
x2
1 y2
1 z2
1 x1y1 x1z1 y1z1 x1 y1 z1
x2
2 y2
2 z2
2 x2y2 x2z2 y2z2 x2 y2 z2
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
x2
N y2
N z2
N xN yN xN zN yN zN xN yN zN
(11)
The solution for the least squares estimation problem is given by (12).
p =
DT
D
−1
DT
(12)
To make accurate estimates, a large number of measurements should be considered, which requires compu-
tational power and precision to calculate
DT
D
−1
. This problem can be avoided by reformulating (10) as
(13):
D∗
p∗
= 0 (13)
where D∗
contains N magnetometric measurements, reinforced by a column of units:
D∗
=
x2
1 y2
1 z2
1 x1y1 x1z1 y1z1 x1 y1 z1 1
x2
2 y2
2 z2
2 x2y2 x2z2 y2z2 x2 y2 z2 1
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
x2
N y2
N z2
N xN yN xN zN yN zN xN yN zN 1
(14)
and p∗
is now a vector of (10x1) . The solution of the homogeneous equation can be computed efficiently by a
singular value decomposition (SVD), which is detailed in [25]. The center of the ellipsoid is calculated by (15).
c = A−1
p7
p8
p9
(15)
After determining c and U, a calibrated measurement w can be calculated by (16).
w = U(v − c) (16)
2.3. Hardware configuration
2.3.1. MPU-9250
Invensense Technology’s MPU-9250 is a system in package (SiP) combining two chips. It is composed
of an MPU-6050 and an AK8963 magnetometer. It, therefore, has the six axes of the MPU-6050 (3 for the
accelerometer and 3 for the gyroscope) and the three axes of the magnetometer. This kind of circuit is also
called an inertial measurement unit (IMU-9DOF) [26]. The MPU-9250 is connected to the STM32 Nucleo 64
acquisition board via a bidirectional half-duplex synchronous serial bus I2C (SDA: serial data line and SCL:
Int J Elec Comp Eng, Vol. 13, No. 3, June 2023: 2743-2751
5. Int J Elec Comp Eng ISSN: 2088-8708 ❒ 2747
serial clock line). The Figures 3 and 4 show the rotation polarity and the orientation of the sensitivity axes for
the two sensors used.
Figure 3. Orientation of the axes and rotation polarity
of the gyroscope
Figure 4. Orientation of the magnetometer axes
2.3.2. STM32 Nucleo-F411RE
The STM32 Nucleo-F411RE development board is a type of 32-bit microcontroller made by the
Franco-Italian company STMicroelectronics. STM32 chips are grouped into different series of the same de-
sign, based on 32-bit ARM architecture processors, such as the Cortex-M4. It is designed to perform real-time
low-voltage digital signal processing. This board is ideal for quickly creating prototypes, and its standardized
connectivity makes it possible to build and reuse electronic modules on all the inputs and outputs of the Nucleo
board. The PCB contains an in-circuit ST-LINK/V2-1 programmer and a debugger, which can be used as an
onboard microprocessor or in standalone mode with any other application that includes an STM32 micropro-
cessor [27]. The STM32 Nucleo-F411RE module operates at a frequency of 100 MHz while ensuring relatively
low power consumption in work, sleep, and shutdown modes. Its main characteristics are mentioned in Table 2.
Table 2. Main features of the STM32 Nucleo-F411RE board
Feature Flash memory SRAM memory Operating voltage Temperature range
Value 512 Kbytes 128 Kbytes 1.7 to 3.6 V -40 to +125 ◦C
2.3.3. Electrical scheme
The final electrical scheme adopted for magnetometer data acquisition is shown in Figure 5. The
MPU-9250 is interfaced to the STM32 through an I2C serial connection. The USB port is used to transmit and
receive data between the STM32 microcontroller and the computer.
Figure 5. Electrical scheme for magnetometer data acquisition
Software calibration for AK8963 magnetometer based on optimal ellipsoidal fitting ... (Aziz El fatimi)
6. 2748 ❒ ISSN: 2088-8708
3. RESULTS AND DISCUSSION
This section highlights the implementation of the ellipsoid fitting method based on the least squares
method detailed in the 2.2 section to calibrate and compensate for the error interference of the AK8963 sensor.
Then a comparison between before and after calibration is presented to study the effect of software compensa-
tion and the stability of the magnetic sensor under study. At the end of this section, a plan is made to check that
the algorithm works correctly in both static and dynamic situations.
3.1. Magnetometer calibration parameters
The calibration of magnetometers is generally carried out by collecting the magnetic field intensities
in all directions in space. The final measurement data creates an ellipse in space. The problem, therefore, of
calibration resides in the way of finding the center and the parameters of the ellipsoid. The Figure 6 represents
7,000 samples measurements in all directions from the AK8963 sensor. Then, the calculation of the correction
factors mentioned in the section 2.2 makes it possible to recalibrate the magnetometer as accurately as possible.
As shown in Figure 7, the adjustment algorithm can essentially accurately calculate the position of the center
of the ellipsoid, which represents the offsets of the three axes of the magnetometer. The fitting parameters of
the ellipsoid U and c are given in (17) and (18).
U =
0.0285 0.0004 −0.0020
0 0.0325 −0.0031
0 0 0.0304
(17)
and
c = [−1.4028 27.9710 − 28.1013]T
(18)
-40 -20 0 20 40 60
-60
-40
-20
0
20
40
60
XY
XZ
YZ
Magnetic
field
[
m
T]
Magnetic field [ mT]
Figure 6. Original magnetometer data
-1.0 -0.5 0.0 0.5 1.0
-1.0
-0.5
0.0
0.5
1.0
XY
XZ
YZ
Calibrated
magnetic
field
Calibrated magnetic field
Figure 7. Compensated magnetometer data
3.2. Results analysis
To better visualize the results, a uniaxial representation is used to represent the experimental data in
both static and dynamic states. Figure 8 illustrates the variation of the magnetic field acquired before and after
calibration along the three axes for ten seconds in a static state. The second experiment concerns the acquisition
of magnetometric measurements in 3D for ten seconds in a dynamic state. The Figure 9 represents the variation
evolution of the received magnetic field before and after calibration.
By comparing the data before and after calibration, it is clear to note that the two curves (calibrated
and uncalibrated data) overlap throughout the measurement acquisition interval with a slight shift. In addition,
it is obvious to underline that the measurements of the AK8963 magnetometer are faithful to the manufacturer’s
prescriptions; however, they are not correct and present a significant shift in offset specific to each axis. Using
the adopted Merayo ellipsoidal algorithm, the magnetometric measurements are adjusted around the origin
(0,0,0). As a result, the deformed measurements are rectified, which means that the disturbances that are due
to the effects of the errors of non-orthogonality, the scale factor, of hard iron, soft iron, misalignment, and the
external stochastic errors are compensated.
Int J Elec Comp Eng, Vol. 13, No. 3, June 2023: 2743-2751
7. Int J Elec Comp Eng ISSN: 2088-8708 ❒ 2749
0 1 2 3 4 5 6 7 8 9 10
-26.25
-25.50
-24.75
-24.00
-23.25
-22.50
X
Uncalibrated
[
m
T]
-0.80
-0.78
-0.76
-0.74
-0.72
-0.70
-0.68
X
Calibrated
0 1 2 3 4 5 6 7 8 9 10
57.75
58.50
59.25
60.00
60.75
61.50
Y
Uncalibrated
[
m
T]
0.82
0.84
0.86
0.88
0.90
0.92
0.94
Y
Calibrated
0 1 2 3 4 5 6 7 8 9 10
18.75
19.50
20.25
21.00
21.75
22.50
Time [s]
Z
Uncalibrated
[
m
T]
1.42
1.44
1.46
1.48
1.50
1.52
1.54
Z
Calibrated
Figure 8. Magnetometer data in a static state
0 1 2 3 4 5 6 7 8 9 10
-35
-30
-25
-20
-15
-10
X
Uncalibrated
[
m
T]
-1.0
-0.8
-0.6
-0.4
X
Calibrated
0 1 2 3 4 5 6 7 8 9 10
30
35
40
45
50
55
Y
Uncalibrated
[
m
T]
-0.2
0.0
0.2
0.4
0.6
0.8
1.0
Y
Calibrated
0 1 2 3 4 5 6 7 8 9 10
-30
-25
-20
-15
-10
-5
0
5
10
Time [s]
Z
Uncalibrated
[
m
T]
-0.2
0.0
0.2
0.4
0.6
0.8
1.0
Z
Calibrated
Figure 9. Magnetometer data in a dynamic state
4. CONCLUSION
In summary, the objective of this work is to apply a simple and practical Merayo algorithm to fit the
magnetometer measurements of a low-cost sensor (AK8963). The ellipsoidal fitting method used, based on
the least-squares method, was implemented and tested to verify the validity of the procedure. After a series
of experiments that were carried out under real geographical conditions, both static and dynamic, an offset
shift was found and the measurements were corrupted by noise from different machining, installation, and
environmental factors. The comparison before and after the calibration showed that the magnetic sensor is
precalibrated at the factory and is stable during static and dynamic measurements. On the other hand, the
software compensation presented above is not sufficient and requires filtering adapted to the frequency of
acquisition of the measurements and the external and internal disturbances of the sensor.
ACKNOWLEDGEMENT
This work was carried out in the frame of the cooperation between the Royal Center for Space Re-
search and Studies (CRERS) and the Mohammed V University in Rabat (UM5R).
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Int J Elec Comp Eng, Vol. 13, No. 3, June 2023: 2743-2751
9. Int J Elec Comp Eng ISSN: 2088-8708 ❒ 2751
BIOGRAPHIES OF AUTHORS
Aziz El fatimi was born in Kelaa of Sraghnas, Morocco in 1985. He received the Engineer
degree in Electromechanical Engineering in 2015 and the Ph.D. degree in Electrical and Teleommu-
nications Engineering in 2021 from the Ecole Nationale Supérieure d’Arts Métiers of Meknes in
Morocco. He is currently a Ph.D. student in Aerospatial Technologies at the University Center for
Research in Space Technologies at Ecole Mohammadia d’Ingénieurs of Rabat in Morocco. His re-
search is focused on algorithms, modeling and control of multi-physical systems, full-wave analysis,
and microstrip patch antennas. He can be contacted at email: azizelfatimi@research.emi.ac.ma.
Adnane Addaim received his Master degree in 2001 and his Ph.D. degree in 2008, both in
Satellite Communication from Mohammadia School of Engineers (EMI) at Mohammed V University
in Rabat, Morocco. From 2002 to 2003, he was employed at SIEMENS.AG as Transmission Engi-
neer then as responsible of the implementation of the supervision network of the Meditelecom GSM
Microwave Network, in Morocco. He was recipient of the first prize of the best Ph.D. thesis between
2007 and 2009 in the field of Sciences and technologies at Mohammed V University. From 2010
to 2020, he was a professor lecture at ENSA Engineering School at Kenitra, Morocco. From 2021,
he is a full professor at the EMI Engineering School at Rabat, Morocco. His current research in-
terests include signal processing, satellite communication systems wireless and Nanosatellite system
engineering. He can be contacted at email: addaim@emi.ac.ma.
Zouhair Guennoun received the B.Eng. degree in electrical engineering in 1987 from
ULG, Liege Belgium, M.Sc. degrees in Electrical and Computer Engineering in 1993 from École Mo-
hammadia d’Ingénieurs (EMI), Rabat, and the Ph.D. degree in Applied Science in 1996 from EMI. He
is currently a Professor of Computer and electronic Engineering at École Mohammadia d’Ingénieurs
(EMI) where he is member of the ERSC formerly known as LEC, and member of the spatial research
center (CRES). His research interests include wireline and wireless networks, advanced communica-
tions systems, signal processing, audio and image compression, audio cryptography. He is a senior
member of IEEE. He can be contacted at email: zouhair@emi.ac.ma.
Software calibration for AK8963 magnetometer based on optimal ellipsoidal fitting ... (Aziz El fatimi)