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In the eld of accessing and visualization mobile sensors and their recorded data, di erent approaches were realized. The OGC1 Sensor observation Service supplies a standard to access these information, stored on servers. To be able to access these servers, an interface must be developed and implemented. The result should be a con gurable development framework for web-based GIS clients supporting the OGC sensor observation services. In particular the framework should allow continuous position updates of mobile sensors. Visualization features like charts, bounding boxes of sensors and data series should be included.
At present, data publication is one of the most dynamic topics in e-Research. While the fundamental problems of electronic text publication have been solved in the past decade, standards for the external and internal organisation of data repositories are advanced in some research disciplines but underdeveloped in others. We discuss the differences between an electronic text publication and a data publication and the challenges that result from these differences for the data publication process. We place the data publication process in the context of the human knowledge spiral and discuss key factors for the successful acquisition of research data from the point of view of a data repository. For the relevant activities of the publication process, we list some of the measures and best practices of successful data repositories.
The task of this thesis is to develop an OGC-compliant Sensor Observation Service (SOS) { a component of the SWE { for GPS related sensor data in this context. It should, in contrast to existing implementations, support full mobility of the sensors and be con gurable with respect to adding di erent kinds of sensors. In particular, mobile phones should be considered as sensors, which transmit their data to the SOS server through the transactional SOS interface.
This contribution describes an optical laser-based user interaction system designed for virtual reality (VR) environments. The project's objective is to realize a 6-DoF user input device for interaction with VR applications running in CAVE-type visualization environments with flat projections walls. In case of a back-projection VR system, in contrast to optical tracking systems, no camera has to be placed within the visualization environment. Instead, cameras observe patterns of laser beam projections from behind the screens. These patterns are emitted by a hand-held input device. The system is robust with respect to partial occlusion of the laser pattern. An inertial measurement unit is integrated into the device in order to improve robustness and precision.
This paper picks up on one of the ways reported in the literature to represent hybrid models of engineering systems by bond graphs with static causalities. The representation of a switching device by means of a modulated transformer (MTF) controlled by a Boolean variable in conjunction with a resistor has been used so far to build a model for simulation. In this paper, it is shown that it can also constitute an approach to bond graph based quantitative fault detection and isolation in hybrid system models. Advantages are that Analytical Redundancy Relations (ARRs) do not need to be derived again after a switch state has changed. ARRs obtained from the bond graph are valid for all system modes. Furthermore, no adaption of the standard sequential causality assignment procedure (SCAP) with respect to fault detection and isolation (FDI) is needed.
This report presents an approach on a quadrotor dynamics stabilization based on ICP SLAM. Because the quadrotor lacks sensory information to detect its horizontal drift an additional sensor as Hokuyo-UTM has been used to perform on-line ICP-based SLAM. The obtained position estimates were used in control loops to maintain desired position and orientation of the vehicle. Such attitude parameters as height, yaw and position in space were controlled based on the laser data. As a result the quadrotor demonstrated two significant for autonomous navigation capabilities: performance of on-line SLAMon a flying vehicle and maintaining desired position in 3D space. Visual approach on optical flow based on Pyramid Lucas-Kanade algorithm has been touched and tested in different environmental conditions though hasn't been implemented in the control loop. Also the performance of the Hokuyo laser scanner and the related to it ICP SLAM algorithm have been tested in different environmental conditions indoors, outdoors and in presence of smoke. Results are presented and discussed. The requirement of performing on-line SLAM algorithm and to carry quite heavy equipment for it forced to seek a solution to increase the payload of the quadrotor with its computational power. A new hardware and distributed software architectures are therefore presented in the report.
Bond Graph Modelling of Engineering Systems: Theory, Applications and Software Support addresses readers to consider the potential and the state-of-the-art of bond graph modeling of engineering systems with respect to theory, applications and software support. Bond graph modelling is a physical modelling methodology based on first principles that is particularly suited for modelling multidisciplinary or mechatronic systems. This book covers theoretical issues and methodology topics that have been subject of ongoing research during past years, presents new promising applications such as the bond graph modeling of fuel cells and illustrates how bond graph modeling and simulation of mechatronic systems can be supported by software. This up-to-date comprehensive presentation of various topics has been made possible by the cooperation of a group of authors who are experts in various fields and share the “bond graph way of thinking.”