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Feature detection and feature matching are the most crucial parts in visual odometry process. In order to suit the real time process in visual odometry, both of the stages must be robust but at the same time are fast to compute. This paper presents the evaluation of Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Feature (SURF) performances. The results show that SURF is outperform...
Video piracy has become an increasing problem particularly with the proliferation of media sharing through the advancement of internet services and various storage technologies. Thus, research in copyright protection mechanisms, where one of which includes digital watermarking has been receiving an increasing interest from scientists especially in designing a seamless algorithm for effective implementation...
This paper presents the synthesis of a model-based robust observer with an unknown input that observes a state (manifold pressure) of Fuel Cell System (FCS) in the presence of uncertainties. Using this observer the proportionality constant of the inlet manifold orifice is estimated. Then this estimated parameter is used to calculate the time varying air mass flow. As the mass flow rates of reactant...
This paper presents a technique for parameter estimation of uncertain nonlinear systems based on the computation of an accurate and robust derivative using higher order sliding modes. The novelty of the method is to facilitate the determination of system parameters via calculating the derivatives of measured system input-outputs. To validate the technique, simulations have been performed for a laboratory...
In this paper controller synthesis based on standard and dynamic sliding modes for an uncertain nonlinear MIMO three tank System is presented. Two types of sliding mode controllers are synthesized; first controller is based on standard first order sliding modes while second controller uses dynamic sliding modes. Sliding manifolds for both controllers are designed in-order to ensure finite time convergence...
The paper pertains to model validation and novel higher order sliding mode controller design for a nuclear research reactor. Sliding mode controllers for nuclear reactors were reported before but higher sliding mode controllers have added advantage of reduced chattering. The linear and nonlinear models of Pakistan Research Reactor-1 (PARR-1) have been tuned and validated with experimental data. These...
This paper presents a synthesis of fault diagnosis method for nonlinear systems through the parameter estimation using higher order sliding modes. Initially the uncertain parameters of nonlinear system using robust exact differentiator are estimated. Then residual signal is reconstructed using the estimated parameters, inputs, outputs and their estimated derivatives. The novelty of the method is the...
The paper pertains to model validation and novel higher order sliding mode observer design for estimating precursor concentration of a nuclear research reactor. The linear and non-linear models of Pakistan Research Reactor-1 have been tuned and validated with experimental data. These models are subsequently used for higher order sliding mode observer design and performance evaluation. After lab experimentations,...
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