scholarly journals Dynamic Target Tracking and Ingressing of a Small UAV Using Monocular Sensor Based on the Geometric Constraints

Electronics ◽  
2021 ◽  
Vol 10 (16) ◽  
pp. 1931
Author(s):  
Zi-Hao Wang ◽  
Wen-Jie Chen ◽  
Kai-Yu Qin
Keyword(s):  
Root Mean Square Error ◽  
Target Tracking ◽  
Real Time ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Geometric Constraints ◽  
Mean Square ◽  
Moving Targets ◽  
Small Uav ◽  
Dynamic Target

In many applications of airborne visual techniques for unmanned aerial vehicles (UAVs), lightweight sensors and efficient visual positioning and tracking algorithms are essential in a GNSS-denied environment. Meanwhile, many tasks require the ability of recognition, localization, avoiding, or flying pass through these dynamic obstacles. In this paper, for a small UAV equipped with a lightweight monocular sensor, a single-frame parallel-features positioning method (SPPM) is proposed and verified for a real-time dynamic target tracking and ingressing problem. The solution is featured with systematic modeling of the geometric characteristics of moving targets, and the introduction of numeric iteration algorithms to estimate the geometric center of moving targets. The geometric constraint relationships of the target feature points are modeled as non-linear equations for scale estimation. Experiments show that the root mean square error percentage of static target tracking is less than 1.03% and the root mean square error of dynamic target tracking is less than 7.92 cm. Comprehensive indoor flight experiments are conducted to show the real-time convergence of the algorithm, the effectiveness of the solution in locating and tracking a moving target, and the excellent robustness to measurement noises.

scholarly journals Indian COVID-19 dynamics: Prediction using autoregressive integrated moving average modelling

2021 ◽  
Vol 52 (1) ◽  
pp. 6-14
Author(s):  
Amit Tak ◽  
Sunita Dia ◽  
Mahendra Dia ◽  
Todd Wehner
Keyword(s):  
Root Mean Square Error ◽  
Real Time ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Moving Average ◽  
Information Criteria ◽  
Evidence Based ◽  
Mean Square ◽  
Autoregressive Integrated Moving Average ◽  
Akaike Information Criteria

Background: The forecasting of Coronavirus Disease-19 (COVID-19) dynamics is a centrepiece in evidence-based disease management. Numerous approaches that use mathematical modelling have been used to predict the outcome of the pandemic, including data-driven models, empirical and hybrid models. This study was aimed at prediction of COVID-19 evolution in India using a model based on autoregressive integrated moving average (ARIMA). Material and Methods: Real-time Indian data of cumulative cases and deaths of COVID-19 was retrieved from the Johns Hopkins dashboard. The dataset from 11 March 2020 to 25 June 2020 (n = 107 time points) was used to fit the autoregressive integrated moving average model. The model with minimum Akaike Information Criteria was used for forecasting. The predicted root mean square error (PredRMSE) and base root mean square error (BaseRMSE) were used to validate the model. Results: The ARIMA (1,3,2) and ARIMA (3,3,1) model fit best for cumulative cases and deaths, respectively, with minimum Akaike Information Criteria. The prediction of cumulative cases and deaths for next 10 days from 26 June 2020 to 5 July 2020 showed a trend toward continuous increment. The PredRMSE and BaseRMSE of ARIMA (1,3,2) model were 21,137 and 166,330, respectively. Similarly, PredRMSE and BaseRMSE of ARIMA (3,3,1) model were 668.7 and 5,431, respectively. Conclusion: It is proposed that data on COVID-19 be collected continuously, and that forecasting continue in real time. The COVID-19 forecast assist government in resource optimisation and evidence-based decision making for a subsequent state of affairs.

Accuracy Improvement of Solar Power Estimation Using Real-Time Degradation Computation of PV Panels

2021 ◽  
pp. 2150242
Author(s):  
Parveen Bhola ◽  
Saurabh Bhardwaj
Keyword(s):  
Root Mean Square Error ◽  
Real Time ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Meteorological Parameters ◽  
Solar Power ◽  
Performance Ratio ◽  
Accurate Estimation ◽  
Support Vector ◽  
Mean Square

Many applications including power trading and planning require the accurate estimation of solar power in real time. As the power output of the solar panels degrades over the time period, so its real-time estimation is tough without the degradation parameter. In the proposed method, the effect of degradation in terms of performance ratio is incorporated along with other meteorological parameters. The degradation is calculated in real time using the clustering-based technique without physical inspection on site. Initially, the power is estimated using Support Vector Regression (SVR) model with the meteorological parameters. The estimation is further fine-tuned in sync with the degradation rate. The model is validated on the real data (Meteorological parameters and Solar power) procured from the solar plant. After refinement, the estimation results show significant improvement in terms of statistical measures. Now, the estimation accuracy in terms of coefficient of determination R2 is 92% and the error metrics normalized root mean square error (NMRSE), mean absolute percentage error (MAPE), root mean square error (RMSE) are 7.13, 5.92 and 14.54, respectively.

scholarly journals Adaptive Neural Decoder for Prosthetic Hand Control

2021 ◽  
Vol 15 ◽  
Author(s):  
Andrew E. Montgomery ◽  
John M. Allen ◽  
Sherif M. Elbasiouny
Keyword(s):  
Root Mean Square Error ◽  
Real Time ◽  
Mean Square Error ◽  
Correlation Coefficient ◽  
Root Mean Square ◽  
Prosthetic Hand ◽  
Mean Square ◽  
Pearson’S Correlation Coefficient ◽  
Pearson's Correlation ◽  
Spiking Activity

The overarching goal was to resolve a major barrier to real-life prosthesis usability—the rapid degradation of prosthesis control systems, which require frequent recalibrations. Specifically, we sought to develop and test a motor decoder that provides (1) highly accurate, real-time movement response, and (2) unprecedented adaptability to dynamic changes in the amputee’s biological state, thereby supporting long-term integrity of control performance with few recalibrations. To achieve that, an adaptive motor decoder was designed to auto-switch between algorithms in real-time. The decoder detects the initial aggregate motoneuron spiking activity from the motor pool, then engages the optimal parameter settings for decoding the motoneuron spiking activity in that particular state. “Clear-box” testing of decoder performance under varied physiological conditions and post-amputation complications was conducted by comparing the movement output of a simulated prosthetic hand as driven by the decoded signal vs. as driven by the actual signal. Pearson’s correlation coefficient and Normalized Root Mean Square Error were used to quantify the accuracy of the decoder’s output. Our results show that the decoder algorithm extracted the features of the intended movement and drove the simulated prosthetic hand accurately with real-time performance (<10 ms) (Pearson’s correlation coefficient >0.98 to >0.99 and Normalized Root Mean Square Error <13–5%). Further, the decoder robustly decoded the spiking activity of multi-speed inputs, inputs generated from reversed motoneuron recruitment, and inputs reflecting substantial biological heterogeneity of motoneuron properties, also in real-time. As the amputee’s neuromodulatory state changes throughout the day and the electrical properties and ratio of slower vs. faster motoneurons shift over time post-amputation, the motor decoder presented here adapts to such changes in real-time and is thus expected to greatly enhance and extend the usability of prostheses.

scholarly journals Evolving trajectories of COVID-19 curves in India: Prediction using autoregressive integrated moving average modeling.

2020 ◽  
Author(s):  
Sudhir Bhandari ◽  
Amit Tak ◽  
Jitendra Gupta ◽  
Bhoopendra Patel ◽  
Jyotsna Shukla ◽  
...  
Keyword(s):  
Root Mean Square Error ◽  
Real Time ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Moving Average ◽  
Evidence Based ◽  
Mean Square ◽  
Time Data ◽  
Autoregressive Integrated Moving Average ◽  
State Of Affairs

Abstract The forecasting of Coronavirus Disease-19 (COVID-19) dynamics is a centerpiece in evidence based disease management. Numerous approaches that use mathematical modeling have been used to predict the outcome of the pandemic, including data driven models, empirical and hybrid models. This study was aimed at prediction COVID-19 evolution in India using a model based on autoregressive integrated moving average (ARIMA). Retrieving real time data from the Johns Hopkins dashboard from 11 Mar 2020 to 25 Jun 2020 (N = 107 time points) to fit the model. The ARIMA (1,3,2) and ARIMA (3,3,1) model fit best for cumulative cases and deaths respectively with minimum Akaike Informaton Criteria. The prediction of cumulative cases and deaths for next 10 days from 26 Jun 2020 to 05 Jul 2020 showed a trend toward continuous increment. The predicted root mean square error (PredRMSE) and base root mean square error (BaseRMSE) of ARIMA(1,3,2) model was 21137 and 166330 respectively. Similarly, PredRMSE and BaseRMSE of ARIMA(3,3,1) model was 668.7 and 5431 respectively. We propose that data on COVID-19 be collected continuously, and that forecasting continue in real time. The COVID-19 forecast assist government in resource optimization and evidence based decision making for a subsequent state of affairs.

scholarly journals Validation of the new HelioClim-3 version 4 real-time and short-term forecast service using 14 BSRN stations

2016 ◽  
Vol 13 ◽  
pp. 129-136 ◽  
Author(s):  
Claire Thomas ◽  
Laurent Saboret ◽  
Etienne Wey ◽  
Philippe Blanc ◽  
Lucien Wald
Keyword(s):  
Root Mean Square Error ◽  
Real Time ◽  
Mean Square Error ◽  
Correlation Coefficient ◽  
Root Mean Square ◽  
Relative Bias ◽  
Surface Radiation ◽  
Solar Irradiation ◽  
Mean Square ◽  
Temporal Horizon

Abstract. Meteosat Second Generation (MSG) satellite images acquired every 15 min during daytime are currently processed by the Heliosat-2 method every night to generate the HelioClim-3 (HC3) database of the surface solar irradiation for the day before. A new service is proposed based on version 4 of HC3 (HC3v4) that offers real-time and forecasted irradiation for horizons up to a few hours. The service is based on a local persistence of the clear-sky index. Its results were compared to coincident high quality 15 min global irradiations measured in fourteen stations belonging to the Baseline Surface Radiation Network (BSRN). For forecasts for a temporal horizon of 15 min ahead, the relative bias and root mean square error (RMSE) range respectively from 0 to 2 %, and 20 to 23 % for most stations. The correlation coefficient ranges from 0.94 to 0.95. These performances are similar to HC3v4 for the same stations. Expectedly, the quality of the forecasts degrades as the temporal horizon increases. For 1 h ahead forecasts of 15 min irradiation, the relative bias, root mean square error (RMSE) and correlation coefficient range respectively from −3 to 1 %, 30 to 37 %, and 0.90 to 0.91.

scholarly journals Estimation of Apple Flowering Frost Loss for Fruit Yield Based on Gridded Meteorological and Remote Sensing Data in Luochuan, Shaanxi Province, China

2021 ◽  
Vol 13 (9) ◽  
pp. 1630
Author(s):  
Yaohui Zhu ◽  
Guijun Yang ◽  
Hao Yang ◽  
Fa Zhao ◽  
Shaoyu Han ◽  
...  
Keyword(s):  
Remote Sensing ◽  
Root Mean Square Error ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Minimum Temperature ◽  
Price Regulation ◽  
Flowering Period ◽  
Mean Square ◽  
Prevention Measures ◽  
Agricultural Insurance

With the increase in the frequency of extreme weather events in recent years, apple growing areas in the Loess Plateau frequently encounter frost during flowering. Accurately assessing the frost loss in orchards during the flowering period is of great significance for optimizing disaster prevention measures, market apple price regulation, agricultural insurance, and government subsidy programs. The previous research on orchard frost disasters is mainly focused on early risk warning. Therefore, to effectively quantify orchard frost loss, this paper proposes a frost loss assessment model constructed using meteorological and remote sensing information and applies this model to the regional-scale assessment of orchard fruit loss after frost. As an example, this article examines a frost event that occurred during the apple flowering period in Luochuan County, Northwestern China, on 17 April 2020. A multivariable linear regression (MLR) model was constructed based on the orchard planting years, the number of flowering days, and the chill accumulation before frost, as well as the minimum temperature and daily temperature difference on the day of frost. Then, the model simulation accuracy was verified using the leave-one-out cross-validation (LOOCV) method, and the coefficient of determination (R2), the root mean square error (RMSE), and the normalized root mean square error (NRMSE) were 0.69, 18.76%, and 18.76%, respectively. Additionally, the extended Fourier amplitude sensitivity test (EFAST) method was used for the sensitivity analysis of the model parameters. The results show that the simulated apple orchard fruit number reduction ratio is highly sensitive to the minimum temperature on the day of frost, and the chill accumulation and planting years before the frost, with sensitivity values of ≥0.74, ≥0.25, and ≥0.15, respectively. This research can not only assist governments in optimizing traditional orchard frost prevention measures and market price regulation but can also provide a reference for agricultural insurance companies to formulate plans for compensation after frost.

scholarly journals Low Cost Automatic Reconstruction of Tree Structure by AdQSM with Terrestrial Close-Range Photogrammetry

Forests ◽  
2021 ◽  
Vol 12 (8) ◽  
pp. 1020
Author(s):  
Yanqi Dong ◽  
Guangpeng Fan ◽  
Zhiwu Zhou ◽  
Jincheng Liu ◽  
Yongguo Wang ◽  
...  
Keyword(s):  
Root Mean Square Error ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Low Cost ◽  
Reference Value ◽  
Tree Height ◽  
Point Clouds ◽  
Tree Structure ◽  
Mean Square ◽  
Tree Model

The quantitative structure model (QSM) contains the branch geometry and attributes of the tree. AdQSM is a new, accurate, and detailed tree QSM. In this paper, an automatic modeling method based on AdQSM is developed, and a low-cost technical scheme of tree structure modeling is provided, so that AdQSM can be freely used by more people. First, we used two digital cameras to collect two-dimensional (2D) photos of trees and generated three-dimensional (3D) point clouds of plot and segmented individual tree from the plot point clouds. Then a new QSM-AdQSM was used to construct tree model from point clouds of 44 trees. Finally, to verify the effectiveness of our method, the diameter at breast height (DBH), tree height, and trunk volume were derived from the reconstructed tree model. These parameters extracted from AdQSM were compared with the reference values from forest inventory. For the DBH, the relative bias (rBias), root mean square error (RMSE), and coefficient of variation of root mean square error (rRMSE) were 4.26%, 1.93 cm, and 6.60%. For the tree height, the rBias, RMSE, and rRMSE were—10.86%, 1.67 m, and 12.34%. The determination coefficient (R2) of DBH and tree height estimated by AdQSM and the reference value were 0.94 and 0.86. We used the trunk volume calculated by the allometric equation as a reference value to test the accuracy of AdQSM. The trunk volume was estimated based on AdQSM, and its bias was 0.07066 m3, rBias was 18.73%, RMSE was 0.12369 m3, rRMSE was 32.78%. To better evaluate the accuracy of QSM’s reconstruction of the trunk volume, we compared AdQSM and TreeQSM in the same dataset. The bias of the trunk volume estimated based on TreeQSM was −0.05071 m3, and the rBias was −13.44%, RMSE was 0.13267 m3, rRMSE was 35.16%. At 95% confidence interval level, the concordance correlation coefficient (CCC = 0.77) of the agreement between the estimated tree trunk volume of AdQSM and the reference value was greater than that of TreeQSM (CCC = 0.60). The significance of this research is as follows: (1) The automatic modeling method based on AdQSM is developed, which expands the application scope of AdQSM; (2) provide low-cost photogrammetric point cloud as the input data of AdQSM; (3) explore the potential of AdQSM to reconstruct forest terrestrial photogrammetric point clouds.

Comparison of Thresholding and Edge Detection Segmentation Techniques

2013 ◽  
Vol 860-863 ◽  
pp. 2783-2786
Author(s):  
Yu Bing Dong ◽  
Hai Yan Wang ◽  
Ming Jing Li
Keyword(s):  
Image Segmentation ◽  
Root Mean Square Error ◽  
Edge Detection ◽  
Mean Square Error ◽  
Root Mean Square ◽  
Experimental Results ◽  
Mean Square ◽  
Segmentation Method ◽  
Segmentation Algorithms

Edge detection and thresholding segmentation algorithms are presented and tested with variety of grayscale images in different fields. In order to analyze and evaluate the quality of image segmentation, Root Mean Square Error is used. The smaller error value is, the better image segmentation effect is. The experimental results show that a segmentation method is not suitable for all images segmentation.

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