[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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Comparative Analysis of Power Loses in Selected Measurement Devices 277 In order to evaluate the possibility of utilizing the popular Bluetooth standard in HAN networks and prepare adequate technical solutions, a group called Smart Energy Study Group was created. The advantages of leveraging Bluetooth technology in smart grid are e.g. its identifiability and low power consumption, which are important in case multiple devices are to be used. As growth potential for smart grid market is high, concrete results of Smart Energy Study Group work are expected. Wireless data transmission across long distances which makes it possible to integrate multiple smart home systems may be currently implemented using GSM mobile communication and GPRS data transmission technologies [10]. When it comes to wired transmission, the most serious contender for domination of home networks is PLC technology, i.e. data transmission through power grid. One of the leaders in this group, well-known for 10 years and holding an estimated market share of at least 80%, is HomePlug standard. Its creators, brought together in HomePlug Powerline Alliance since the work on smart grid concept started, have wooed industry representatives to choose HomePlug to be an alternative to wireless communication. As the interest in the technology was reciprocated, the energy sector approached HomePlug Powerline Alliance to prepare a new version of this specification, taking into account costs and power consumption required by HAN networks. As a result, on the basis of HomePlug AV specification, HomePlug Green PHY (HomePlug GP) was developed. Transmission in HomePlug AV occurs in a band with frequency ranging from 2 to 30 Mhz. OFDM modulation with subcarriers interval of 24.414 kHz was used (1155 subcarriers). In order to obtain the best signal quality possible, especially in channels where selective fading occurs as a consequence of multipath, adaptive transmission is used in HomePlug AV which consists in modulating sub-carriers by means of various methods, including BPSK, QPSK, 16QAM, 64 QAM, 256 QAM, 1024 QAM - the choice of method dependent on the transmission channel properties. In order to examine them, test signal is sent which is then retransmitted to an emitter where based on the measurement of its amplitude correct modulation pattern is selected. Thanks to adaptive transmission application, transmission speeds of 20- 200 Mb/s can be achieved. In addition, HomePlug AV uses CSMA access as the primary mechanism and TDMA as secondary alternative. On the basis of HomePlug AV, HomePlug GP was developed. For this very reason, there exist many similarities between the two, e.g. the frequency remains unchanged (from 2 to 30 MHz), just like OFDM modulation method does. At the same time, due to HAN requirement, some things were simplified. The key difference consists in reduction of the maximum transmission speed, which in HomePlug GP networks is equal to 10Mb/s. In addition, the only modulation technique is QPSK. That means that adaptive transmission is not utilized, thus there is no need to transmit test signals or store information on channel properties. Thanks to these modifications, emitter and receiver structures were significantly simplified and their energy efficiency increased. As a consequence, these changes brought reductions in costs. Adaptive transmission was replaced in HomePlug GP by ROBO technique (Robust OFDM), i.e. coding with repetition which consists in transmitting the same information on multiple subcarriers. Thus, the signal will be restored in the receiver, even if in a
278 A. Nawrat et al. particular channel some subcarriers are dampened or distorted, e.g. as a result of interference or selective fading. This increases transmission reliability but at the same time makes it impossible to achieve high speeds, which in case of HAN does not pose a problem. Contrary to HomePlug AV, the GP version does not provide TDMA access. A novelty in HomePlug GP, though, is an additional work mode with a limitation on power consumption as well as a so-called DBC (Distributed Bandwidth Control) mechanism introduced so as to prevent possible transmission interferences in HomePlug AV coming from devices supporting HomePlug AV standard. HomePlug GP is also compatible with ZigBee wireless technology, more precisely – with ZigBee Smart Energy 2.0 profile. Although HomePlug GP currently holds the leading position in the competition for domination over HAN market when it comes to the PLC communication standards, this does not mean the technology is free from challengers. Recently, in particular in Europe, two specifications have been gaining popularity: PRIME (Powerline Related Intelligent Metering Evolution) and G3. PRIME standard was written from a scratch as a specification intended to support communication in intelligent energy systems, especially in HAN networks. It takes advantage of OFDM modulation and 9-95 kHz frequency. Transmission speed in PRIME standard ranges from 16 to 130 kb/s. G3 networks, on the other hand, work in band from 10 to 490 kHz. This standard also uses OFDM modulation. Maximum transmission speed for G3 is 250 kb/s, and transferred data can be encrypted using AES-128 algorithm. This standard enables transmission in both low-power and middle-power networks. Therefore G3 is named as one of the candidates for connecting HAN to the public power grid. By means of this connection, a meter with a two-way communication capability will send to the energy supplier the data about the energy consumption and at the same time receive from them various commands, control signals and also e.g. information about the scale of prices which will be sent further within HAN network. Another competitor of PLC is the G.hn standard. Work on its development has been conducted by HomeGrid Forum for some time now under the patronage of ITU-T. Originally G.hn is expected to be used to transmit multimedia data, mostly HD video signals, by means of wires used in households (coaxial, electric and phone cables). So far three types of the standard have been developed: broadband version which provides transmission at a speed of up to 200 Mb/s, profile for smart grid application, especially as a HAN connection with public power grid - therefore the maximum speed is expected to reach 25 Mb/s and a narrowband version, so-called G.hnem, optimized for HAN application. G.hnem is a simplified version of the basic specification, which enables transmission at speeds below 500 kb/s. It must be remembered that measurement data transmission in data acquisition systems which smart grid networks undoubtedly are requires that selected measurement data transmission network’s influence on the measurement results is examined. It is crucial to determine parameters of teletransmission network which affect the final measurement result and which of them may be view as not exerting any influence. Among them one can include e.g. various delays which transmission lines introduce and which must be identified and first of all measured [12]. In
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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6 A. Babiarz et al. The description
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8 A. Babiarz et al. a) b) Fig. 5. T
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10 A. Babiarz et al. o o o “micvo
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12 A. Babiarz et al. a) b) Fig. 7.
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14 A. Babiarz et al. • The camera
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16 A. Babiarz et al. the camera ser
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18 A. Babiarz et al. a) b) Fig. 11.
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20 A. Babiarz et al. patrol point i
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24 A. Babiarz et al. The sample cod
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Recognition and Location of Objects
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48 P. Demski et al. Fig. 1. Automat
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52 P. Demski et al. 4 Automatic Tar
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54 P. Demski et al. implementing su
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Object Tracking for Rapid Camera Mo
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Object Tracking in a Picture during
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94 Construction of Image Acquisitio
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96 G. Bieszczad et al. effectivenes
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98 G. Bieszczad et al. such a way t
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100 G. Bieszczad et al. Table 1. No
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112 G. Bieszczad et al. MTF functio
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114 G. Bieszczad et al. [11] Krupi
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116 D. Bereska et al. Presented in
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118 D. Bereska et al. Fig. 2. Image
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120 D. Bereska et al. Fig. 4. Ortho
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Omnidirectional Video Acquisition D
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Part III Design of Vision Based Con
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Vision System for Group of Mobile R
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A Distributed Control Group of Mobi
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182 D. Bereska et al. Fig. 5. Schem
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184 D. Bereska et al. 4.1 Mechanica
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186 D. Bereska et al. 4.1.3 Open-Lo
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188 D. Bereska et al. Fig. 16. Comp
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Probabilistic Approach to Planning
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206 Practical Applications of Class
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208 M. Mellado and K. Skrzypczyk an
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Prototyping the Autonomous Flight A
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Prototyping the Autonomous Flight A
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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