M&MS - volume XVII - number 3/2010

POLISH ACADEMY OF SCIENCES

Division IV: Engineering Sciences

Committee on Metrology
and Scientific Instrumentation

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VOLUME XVII - NUMBER 3/2010

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CONTENTS

1. M. Thuy, F. Puente León - Lane detection and tracking based on lidar data	311
2. P. Burnos - Alternative automatic vehicle classification method	323
3. J. Chen, W. Mustafa, A.B. Siddig, W. Kulesza - Applying dithering to improve depth measurement using a sensor-shifted stereo camera	335
4. W. Zhang, L. Zhou, Y. Shi, C. Huang, Y. Li - Soft-fault diagnosis of analog circuit with tolerance using FNLP	349
5. D. Chaberski, S. Grzelak, D. Lewandowski, R. Dygdała, M. Zieliński, K. Stefański, G. Śmigielski - Distribution measurements of radii of droplets forming an explosively generated water-spray cloud	363
6. M. Szmajda, K. Górecki, J. Mroczka - Gabor Transform, SPWVD, Gabor-Wigner Transform and Wavelet Transform - Tools for Power Quality monitoring	383
7. S. Adamczak, D. Janecki, W. Makieła, K. Stępień - Quantitative comparison of cylindricity profiles measured with different methods using Legendre-Fourier coefficients	397
8. H. Pan, S. Tian, P. Ye - An adaptive synthesis calibration method for time- interleaved sampling systems	405
9. J.G. Lopes, F.C. Alegria, L.M. Redondo, J. Rocha, E. Alves - Computer control of a 3 MV Van De Graaff accelerator	415
10. K. Jakuszkin - Analysis of properties of a lung mechanical model during artificial ventilation using measurement station	427
11. P. Fotowicz - Systematic effect as a part of the coverage interval	439
12. A. De Angelis, J.O. Nilsson, I. Skog, P. Händel, P. Carbone - Indoor positioning by ultrawide band radio aided inertial navigation	447
13. J. Malinský, J. Novák - Verification of FlexRay start-up mechanism by timed automata	461
14. A. Ryniewicz - Accuracy assessment of shape mapping using computer tomography	481
15. A. Zawada-Tomkiewicz - Estimation of surface roughness parameter based on machined surface image	493
16. J. Mroczka - Jan Maria Kaczmarek - the 90th anniversary

ABSTRACTS & FULL PAPERS

311

contents

LANE DETECTION AND TRACKING BASED ON LIDAR DATA

Michael Thuy, Fernando Puente León

Karlsruhe Institute of Technology, Institut für Industrielle Informationstechnik, Hertzstrasse 16, D-76187 Karlsruhe, Germany(thuy@ iiit.uni-karlsruhe.de,+49 721 608 4517, puente@iiit.uni-karlsruhe.de)

Abstract
The contribution presents a novel approach to the detection and tracking of lanes based on lidar data. Therefore, we use the distance and reflectivity data coming from a one-dimensional sensor. After having detected the lane through a temporal fusion algorithm, we register the lidar data in a world-fixed coordinate system. To this end, we also incorporate the data coming from an inertial measurement unit and a differential global positioning system. After that stage, an original image of the road can be inferred. Based on this data view, we are able to track the lane either with a Kalman filter or by using a polynomial approximation for the underlying lane model.

Keywords: lidar, lidar fusion, lane detection, lane tracking.

Full paper (PDF, 3716kB)

323

contents

ALTERNATIVE AUTOMATIC VEHICLE CLASSIFICATION METHOD

Piotr Burnos

AGH University of Science and Technology, Department of Instrumentation and Measurements, Al. Mickiewicza 30, 30-059 Cracow, Poland (burnos@agh.edu.pl, +48 12 617 2827)

Abstract
The paper deals with the new method of automatic vehicle classification called ALT (ALTernative). Its characteristic feature is versatility resulting from its open structure, moreover a user can adjust the number of vehicles and their category according to individual requirements. It uses an algorithm for automatic vehicle recognition employing data fusion methods and fuzzy sets. High effectiveness of classification while retaining high selectivity of division was proved by test results. The effectiveness of classification of all vehicles at the level of 95% and goods trucks of 100% is more than satisfactory.

Keywords: automatic vehicle classification, ITS, weigh-in-motion, WIM, fuzzy sets, data fusion.

Full paper (PDF, 593kB)

335

contents

APPLYING DITHERING TO IMPROVE DEPTH MEASUREMENT USING A SENSOR-SHIFTED STEREO CAMERA

Jiandan Chen, Wail Mustafa, Abu Bakr Siddig, Wlodek Kulesza

Blekinge Institute of Technology, SE-371 79 Karlskrona, Sweden (jian.d.chen@bth.se, +46 70 830 1294, wail.mustafa@bth.se, ahsi08@student.bth.se, wlodek.kulesza@bth.se)

Abstract
The sensor-shifted stereo camera provides the mechanism for obtaining 3D information in a wide field of view. This novel kind of stereo requires a simpler matching process in comparison to convergence stereo. In addition to this, the uncertainty of depth estimation of a target point in 3D space is defined by the spatial quantization caused by the digital images. The dithering approach is a way to reduce the depth reconstruction uncertainty through a controlled adjustment of the stereo parameters that shift the spatial quantization levels. In this paper, a mathematical model that relates the stereo setup parameters to the iso-disparities is developed and used for depth estimation. The enhancement of the depth measurement accuracy for this kind of stereo through applying the dithering method is verified by simulation and physical experiment. For the verification, the uncertainty of the depth measurement using dithering is compared with the uncertainty produced by the direct triangulation method. A 49% improvement of the uncertainly in the depth reconstruction is proved.

Keywords: depth reconstruction, dithering, skewed parallel, stereo setup, iso-disparity surfaces.

Full paper (PDF, 1526kB)

349

contents

SOFT-FAULT DIAGNOSIS OF ANALOG CIRCUIT WITH TOLERANCE USING FNLP

Wei Zhang¹⁾, Longfu Zhou^1,3), Yibing Shi¹⁾, Chengti Huang^1,2), Yanjun Li¹⁾

1) University of Electronic Science and Technology of China, School of Automation Engineering, No.2006, Xiyuan Road, High Technology District, Chengdu 611731, Sichuan, China (weizhang@uestc.edu.cn, +86 28 6183 0582, ybshi@uestc.edu.cn, yjli@uestc.edu.cn)
2) University of Notre Dame, Department of Electrical Engineering, 275 Fitzpatrick Hall, Notre Dame, 46556, IN, USA (chuang5@nd.edu)
3) Department of Information, the 452nd Hospital of PLA, No.1,Gongnongyuan Road, Jingjiang District, Chengdu 610061, Sichuan, China (zhoulf_1977@163.com)

Abstract
A new soft-fault diagnosis approach for analog circuits with parameter tolerance is proposed in this paper. The approach uses the fuzzy nonlinear programming (FNLP) concept to diagnose an analog circuit under test quantitatively. Node-voltage incremental equations, as constraints of FNLP equation, are built based on the sensitivity analysis. Through evaluating the parameters deviations from the solution of the FNLP equation, it enables us to state whether the actual parameters are within tolerance ranges or some components are faulty. Examples illustrate the proposed approach and show its effectiveness.

Keywords: analog circuit, fault diagnosis, sensitivity, fuzzy, nonlinear linear programming.

Full paper (PDF, 426kB)

363

contents

DISTRIBUTION MEASUREMENTS OF RADII OF DROPLETS FORMING AN EXPLOSIVELY GENERATED WATER-SPRAY CLOUD

Dariusz Chaberski¹⁾, Sławomir Grzelak¹⁾, Damian Lewandowski²⁾, Roman Dygdała^2,5), Marek Zieliński^1,3), Krzysztof Stefański⁴⁾, Grzegorz Śmigielski³⁾

1) Nicolaus Copernicus University, Institute of Physics, Grudziądzka 5, 87-100 Toruń, Poland (daras@fizyka.umk.pl, slawg@fizyka.umk.pl, +48 56 611 3324, marziel@fizyka.umk.pl)
2) Paweł Włodkowic University College in Plock, Al. Kilińskiego 12, 09-402 Płock, Poland (damian_lew2@wp.pl)
3) The University of Economy, Garbary 2, 85-067 Bydgoszcz, Poland (gsmigielski@byd.pl)
4) Collegium Medicum, Nicolaus Copernicus University, Jagiellońska 13-15, 85-067 Bydgoszcz (stefan@fizyka.umk.pl)
5) Kazimierz Wielki University, Institute of Physics Plac Weyssenhoffa 11, 85-072 Bydgoszcz (romdy1@onet.pl)

Abstract
Three methods of estimating radii of spray droplets are discussed and results of their practical application in the case of explosively produced water spray are reported. Parameters of model radii distributions are fitted using the least squares method. Finally, the data obtained for a number of tests are used for estimating fraction of explosion energy used for pulverization of water in the process of explosive production of water-spray.

Keywords: spray droplets, radii distribution, pulverization energy, fire extinguishing.

Full paper (PDF, 2410kB)

383

contents

GABOR TRANSFORM, SPWVD, GABOR-WIGNER TRANSFORM AND WAVELET TRANSFORM - TOOLS FOR POWER QUALITY MONITORING

Mirosław Szmajda¹⁾, Krzysztof Górecki¹⁾, Janusz Mroczka²⁾

1) Opole University of Technology, Sosnkowskiego 31, 45-272 Opole, Poland (m.szmajda@po.opole.pl, +48 77 400 6238, k.gorecki@po.opole.pl)
2) Wrocław University of Technology, Faculty of Electronics, B. Prusa 53/55, 50-317 Wrocław, Poland (janusz.mroczka@pwr.wroc.pl)

Abstract
The one-dimension frequency analysis based on DFT (Discrete FT) is sufficient in many cases in detecting power disturbances and evaluating power quality (PQ). To illustrate in a more comprehensive manner the character of the signal, time-frequency analyses are performed. The most common known time-frequency representations (TFR) are spectrogram (SPEC) and Gabor Transform (GT). However, the method has a relatively low time-frequency resolution. The other TFR: Discreet Dyadic Wavelet Transform (DDWT), Smoothed Pseudo Wigner-Ville Distribution (SPWVD) and new Gabor-Wigner Transform (GWT) are described in the paper. The main features of the transforms, on the basis of testing signals, are presented.

Keywords: Discreet Dyadic Wavelet Transform (DDWT), Gabor-Wigner Transform (GWT), MultiresolutionAnalysis (MRA), Power Quality (PQ), Smoothed Pseudo Wigner-Ville Distribution (SPWVD).

Full paper (PDF, 686kB)

397

contents

QUANTITATIVE COMPARISON OF CYLINDRICITY PROFILES MEASURED WITH DIFFERENT METHODS USING LEGENDRE-FOURIER COEFFICIENTS

Stanisław Adamczak, Dariusz Janecki, Włodzimierz Makieła, Krzysztof Stępień

Kielce University of Technology, Faculty of Mechatronics and Machinery Design, Al. 1000-lecia P.P. 7, 25-314 Kielce, Poland (adamczak@tu.kielce.pl, djanecki@tu.kielce.pl, wmakiela@tu.kielce.pl, kstepien@tu.kielce.pl, +48 41 342 4477)

Abstract
The paper discusses a method of quantitative comparison of cylindricity profiles measured with different strategies. The method is based on applying so-called Legendre-Fourier coefficients. The comparison is carried out by computing the correlation coefficient between the profiles. It is conducted by applying a normalized cross-correlation function and it requires approximation of cylindrical surfaces using the Legendre-Fourier method. As the example two sets of measurement data are employed: the first from the CMM and the second one from the traditional radial measuring instrument. The measuring data are compared by analyzing the values of selected cylindricity parameters and calculating the coefficient of correlation between profiles.

Keywords: cylindricity, form deviation, measurement, Legendre polynomials, Fourier series.

Full paper (PDF, 1111kB)

405

contents

AN ADAPTIVE SYNTHESIS CALIBRATION METHOD FOR TIME- INTERLEAVED SAMPLING SYSTEMS

Huiqing Pan, Shulin Tian, Peng Ye

University of Electronic Science and Technology of China, College of Automation Engineering, Chengdu, Sichuan, 611731, China(huiqing.pan@gmail.com, +86 28 6183 1304, shulin@uestc.edu.cn, yepeng@uestc.edu.cn)

Abstract
In a parallel time-interleaved data sampling system, timing and amplitude mismatches of this structure degrade the performance of the whole ADC system. In this paper, an adaptive blind synthesis calibration algorithm is proposed, which could estimate the timing, gain and offset errors simultaneously, and calibrate automatically. With no need of an extra calibration signal and redesign, it could efficiently and dynamically track the changes of mismatches due to aging or temperature variation. A fractional delay filter is developed to adjust the timing mismatch, which simplifies the design and decreases the cost. Computer simulations are also included to demonstrate the effectiveness of the proposed method.

Keywords: time-interleaved sampling, channel mismatch, nonuniform, adaptive.

Full paper (PDF, 509kB)

415

contents

COMPUTER CONTROL OF A 3 MV VAN DE GRAAFF ACCELERATOR

José G. Lopes^1,2), Francisco C. Alegria³⁾, Luís M. Redondo^1,2), Jorge Rocha⁴⁾, Eduardo Alves⁴⁾

1) Instituto Superior de Engenharia de Lisboa, Rua Conselheiro Emídio Navarro 1, 1959-007 Lisbon, Portugal (jgabriel@deea.isel.ipl.pt, +35 19 1918 3753, lmredondo@deea.isel.ipl.pt)
2) Centro de Física Nuclear da Universidade de Lisboa, Av. Prof. Gama Pinto 2, 1649-003 Lisbon, Portugal
3) Instituto de Telecomunicações e Instituto Superior Técnico, Av. Rovisco Pais 1, 1049-001 Lisbon, Portugal (falegria@lx.it.pt)
4) Instituto Tecnológico e Nuclear, Unidade de Física e Aceleradores, Estrada Nacional 10, 2686-953 Sacavém, Portugal (jroc@itn.pt, ealves@itn.pt)

Abstract
The development of accurate computer control of a 3 MV Van de Graaff accelerator operation is described. The developed system comprises the accelerator turn-on and turn-off procedures during a normal run, which includes the setting of the terminal voltage, ion source light up, beam focusing and control of ion beam current and energy during operation. In addition, the computer monitors the vacuum and is able to make a detail register of the most important events during a normal run. The computer control system uses a LabVIEW application for interaction with the operator and an I/O board that interfaces the computer and the accelerator system. For everyday operating conditions the control implemented is able to turn-on and off the machine in about the same time as a specialized technician. In addition, today more users can make experiments in the accelerator without the help of a specialized operator, which in turns increases the number of hours during which the accelerator can be used.

Keywords: particle accelerator, control system, measurement systems, data acquisition, LabVIEW.

Full paper (PDF, 526kB)

427

contents

ANALYSIS OF PROPERTIES OF A LUNG MECHANICAL MODEL DURING ARTIFICIAL VENTILATION USING MEASUREMENT STATION

Kamil Jakuszkin

Wroclaw University of Technology, Department of Electronics, B. Prusa 53/55, 50-317 Wroclaw, Poland (kamil.jakuszkin@pwr.wroc.pl, +48 71 320 6329)

Abstract
The paper shows the usefulness of the lung mechanical model for time and frequency characteristics reconstruction proper for the mechanics of an adult human respiratory system in its various regimes of work. The complex set-up for measurements of human respiratory system mechanics is presented. Two separate scenarios were created, firstly, the mechanical model was examined using standard mechanical ventilation routine with embedded Interrupter Technique and then the Optimized Ventilator Waveform technique was tested. An analysis of experimental results is presented, as well as an outline of the issues and problems revealed during investigations.

Keywords: lungs mechanical model, Interrupter Technique, Optimized Ventilator Waveform, artificial ventilation.

Full paper (PDF, 763kB)

439

contents

SYSTEMATIC EFFECT AS A PART OF THE COVERAGE INTERVAL

Paweł Fotowicz

Central Office of Measures, Elektoralna 2, 00-139 Warsaw, Poland (uncert@gum.gov.pl, +48 22 581 9437)

Abstract
The paper concerns the problem of treatment of the systematic effect as a part of the coverage interval associated with the measurement result. In this case the known systematic effect is not corrected for but instead is treated as an uncertainty component. This effect is characterized by two components: systematic and random. The systematic component is estimated by the bias and the random component is estimated by the uncertainty associated with the bias. Taking into consideration these two components, a random variable can be created with zero expectation and standard deviation calculated by randomizing the systematic effect. The method of randomization of the systematic effect is based on a flatten-Gaussian distribution. The standard uncertainty, being the basic parameter of the systematic effect, may be calculated with a simple mathematical formula. The presented evaluation of uncertainty is more rational than those with the use of other methods. It is useful in practical metrological applications.

Keywords: measurement uncertainty, coverage interval, systematic effect, randomization.

Full paper (PDF, 374kB)

447

contents

LINEAR DYNAMIC SYSTEM IDENTIFICATION IN THE FREQUENCY DOMAIN USING FRACTIONAL DERIVATIVES

Alessio De Angelis¹⁾, John Olof Nilsson¹⁾, Isaac Skog¹⁾, Peter Händel¹⁾, Paolo Carbone²⁾

1) Royal Institute of Technology, Signal Processing Lab, ACCESS Linnaeus Centre, Osquldas väg 10, 10044 Stockholm, Sweden (alessio.deangelis@ee.kth.se, +46 8 790 8435, jnil02@kth.se, isaac.skog@ee.kth.se, peter.handel@ee.kth.se)
2) University of Perugia, Department of Electronic and Information Engineering, Via G. Duranti 93, 06125 Perugia, Italy (carbone@diei.unipg.it)

Abstract
A research study aimed at developing a novel indoor positioning system is presented. The realized system prototype uses sensor fusion techniques to combine information from two sources: an in-house developed local Ultra-Wideband (UWB) radio-based ranging system and an inertial navigation system (INS). The UWB system measures the distance between two transceivers by recording the round-trip-time (RTT) of UWB radio pulses. Its principle of operation is briefly described, together with the main design features. Furthermore, the main characteristics of the INS and of the Extended Kalman Filter information fusion approach are presented. Finally, selected static and dynamic test scenario experimental results are provided. In particular, the advantages of the proposed information fusion approach are further investigated by means of a high dynamic test scenario.

Keywords: Ultra-Wideband, indoor positioning, inertial navigation.

Full paper (PDF, 802kB)

461

contents

VERIFICATION OF FLEXRAY START-UP MECHANISM BY TIMED AUTOMATA

Jan Malinský, Jiří Novák

Czech Technical University, Faculty of Electrical Engineering, Technická 2, 166 27 Prague 6, Czech Republic (malinsj@fel.cvut.cz, +420 22 435 2201, jnovak@fel.cvut.cz)

Abstract
This contribution deals with the modelling of a selected part of a new automotive communication standard called FlexRay. In particular, it focuses on the mechanism ensuring the start-up of a FlexRay network. The model has been created with the use of timed automata and verified. For this purpose the UPPAAL software tool has been used that allows the modelling of discrete event systems with the use of timed automata, and subsequently the verification of the model with the use of suitable queries compiled in the so called computation tree logic. This model can be used to look for incorrect settings of time parameters of communication nodes in the network that prevent network start-up and subsequently the start of the car. The existence of this model also opens the way for finding possible errors in the standard. On the basis of the model, the work gives a case study of the start-up mechanism behaviour verification in a FlexRay network consisting of three communication nodes.

Keywords: FlexRay, timed automata, modelling.

Full paper (PDF, 1108kB)

481

contents

ACCURACY ASSESSMENT OF SHAPE MAPPING USING COMPUTER TOMOGRAPHY

Andrzej Ryniewicz

Cracow University of Technology, Laboratory of Coordinate Metrology, Aleja Jana Pawła II 37, 31-864 Cracow, Poland(andrzej@ryniewicz.pl, +48 12 374 3227)

Abstract
Diagnosis and therapy of human diseases is often associated with an analysis of the geometry of internal organs or their pathological conditions. That is why the problem of accuracy assessment of shape mapping using computer tomography and the latest imaging techniques became very important. Therefore, in the paper the accuracy assessment of mapping was proposed using the real shape of the synthetic indices. Two test cases were presented - a reference sphere and the cartilage surface of the knee condyle. The results of tomography research and analysis of accuracy of shape mapping using the "best fit" method and the program Reshaper, in the form of synthetic indicators are presented.

Full paper (PDF, 1955kB)

493

contents

ESTIMATION OF SURFACE ROUGHNESS PARAMETER BASED ON MACHINED SURFACE IMAGE

Anna Zawada-Tomkiewicz

Koszalin University of Technology, Department of Mechanical Engineering, Racławicka 15-17 , 75-620 Koszalin, Poland (anna.zawada-tomkiewicz@tu.koszalin.pl, +48 94 347 8451)

Abstract
The prediction of machined surface parameters is an important factor in machining centre development. There is a great need to elaborate a method for on-line surface roughness estimation [1-7]. Among various measurement techniques, optical methods are considered suitable for in-process measurement of machined surface roughness. These techniques are non-contact, fast, flexible and tree-dimensional in nature.
The optical method suggested in this paper is based on the vision system created to acquire an image of the machined surface during the cutting process. The acquired image is analyzed to correlate its parameters with surface parameters. In the application of machined surface image analysis, the wavelet methods were introduced. A digital image of a machined surface was described using the one-dimensional Digital Wavelet Transform with the basic wavelet as Coiflet. The statistical description of wavelet components made it possible to develop the quality measure and correlate it with surface roughness [8-11].
For an estimation of surface roughness a neural network estimator was applied [12-16]. The estimator was built to work in a recurrent way. The current value of the Ra estimation and the measured change in surface image features were used for forecasting the surface roughness Ra parameter. The results of the analysis confirmed the usability of the application of the proposed method in systems for surface roughness monitoring.

Keywords: machining, surface roughness, wavelet analysis, neural networks.

Full paper (PDF, 1778kB)