Haibao Jiang¹, Dezhi Han^1,*, Han Liu¹, Jiuzhang Han¹ and Wenjing Nie²

CMES-Computer Modeling in Engineering & Sciences, Vol.130, No.2, pp. 1193-1219, 2022, DOI:10.32604/cmes.2022.017663

Abstract Nowadays, distance is usually used to evaluate the error of trajectory compression. These methods can effectively indicate the level of geometric similarity between the compressed and the raw trajectory, but it ignores the velocity error in the compression. To fill the gap of these methods, assuming the velocity changes linearly, a mathematical model called SVE (Time Synchronized Velocity Error) for evaluating compression error is designed, which can evaluate the velocity error effectively, conveniently and accurately. Based on this model, an innovative algorithm called SW-MSVE (Minimum Time Synchronized Velocity Error Based on Sliding Window) is proposed, which can minimize the velocity… More >

Jaiteg Singh¹, Gaurav Goyal¹, Farman Ali², Babar Shah³, Sangheon Pack^4,*

CMC-Computers, Materials & Continua, Vol.70, No.3, pp. 6189-6204, 2022, DOI:10.32604/cmc.2022.021657

Abstract Airline industry has witnessed a tremendous growth in the recent past. Percentage of people choosing air travel as first choice to commute is continuously increasing. Highly demanding and congested air routes are resulting in inadvertent delays, additional fuel consumption and high emission of greenhouse gases. Trajectory planning involves creation identification of cost-effective flight plans for optimal utilization of fuel and time. This situation warrants the need of an intelligent system for dynamic planning of optimized flight trajectories with least human intervention required. In this paper, an algorithm for dynamic planning of optimized flight trajectories has been proposed. The proposed algorithm… More >

Yung-Hsiang Chen¹, Yung-Yue Chen², Shi-Jer Lou³, Chiou-Jye Huang^4,*

Intelligent Automation & Soft Computing, Vol.31, No.1, pp. 357-372, 2022, DOI:10.32604/iasc.2022.018663

Abstract This research presents an adaptive energy-saving H₂ closed-form control approach to solve the nonlinear trajectory tracking problem of autonomous mobile robots (AMRs). The main contributions of this proposed design are as follows: closed-form approach, simple structure of the control law, easy implementation, and energy savings through trajectory tracking design of the controlled AMRs. It is difficult to mathematically obtained this adaptive H₂ closed-form solution of AMRs. Therefore, through a series of mathematical analyses of the trajectory tracking error dynamics of the controlled AMRs, the trajectory tracking problem of AMRs can be transformed directly into a solvable problem, and an adaptive… More >

Sultan Alamri^1,*, Kartini Nurfalah², Kiki Adhinugraha³

CMES-Computer Modeling in Engineering & Sciences, Vol.128, No.3, pp. 927-948, 2021, DOI:10.32604/cmes.2021.014852

Abstract An indoor trajectory is the path of an object moving through corridors and stairs inside a building. There are various types of technologies that can be used to reconstruct the path of a moving object and detect its position. GPS has been used for reconstruction in outdoor environments, but for indoor environments, mobile devices with embedded sensors are used. An accelerometer sensor and a magnetometer sensor are used to detect human movement and reconstruct the trajectory on a single floor. In an indoor environment, there are many activities that will create the trajectory similar to an outdoor environment, such as… More >

Xiaojing Hou, Yongyou Cao^*, Wenfeng Mao, Zheng Wang, Jiwu Yuan

FDMP-Fluid Dynamics & Materials Processing, Vol.17, No.5, pp. 859-869, 2021, DOI:10.32604/fdmp.2021.015967

Abstract Two models are defined for predicting the trajectory of a foam jet originating from a fire monitor (hydrant) and the related intensity drop point. An experimental framework is also defined and used accordingly to compare real-time data with the predictions of such models. This mixed theoretical-experimental approach is proven to be effective for the determination of otherwise unknown coefficients which take into account several important factors such as the operation pressure, the elevation angle and the nozzle diameter. It is shown that the mean absolute error is smaller than 20%. More >

Abdelatif Oussar^1,*, Abdelmoumen Ferrag¹, Mohamed Guiatni¹, Mustapha Hamerlain²

Intelligent Automation & Soft Computing, Vol.29, No.2, pp. 467-495, 2021, DOI:10.32604/iasc.2021.01000

Abstract This paper presents the design of a robust architecture for the tracking of an unmanned ground vehicle (UGV) by an unmanned aerial vehicle (UAV). To enhance the robustness of the ground vehicle in the face of external disturbances and handle the non-linearities due to inputs saturation, an integral sliding mode controller was designed for the task of trajectory tracking. Stabilization of the aerial vehicle is achieved using an integral-backstepping solution. Estimation of the relative position between the two agents was solved using two approaches: the first solution (optimal) is based on a Kalman filter (KF) the second solution (robust) uses… More >

Shinjin Kang¹, Soo Kyun Kim^2,*

CMC-Computers, Materials & Continua, Vol.68, No.3, pp. 3725-3736, 2021, DOI:10.32604/cmc.2021.016828

Abstract In this study, we propose a low-cost system that can detect the space outlier utilization of residents in an indoor environment. We focus on the users’ app usage to analyze unusual behavior, especially in indoor spaces. This is reflected in the behavioral analysis in that the frequency of using smartphones in personal spaces has recently increased. Our system facilitates autonomous data collection from mobile app logs and Google app servers and generates a high-dimensional dataset that can detect outlier behaviors. The density-based spatial clustering of applications with noise (DBSCAN) algorithm was applied for effective singular movement analysis. To analyze high-level… More >

Emad Felemban¹, Sultan Daud Khan², Atif Naseer³, Faizan Ur Rehman^4,*, Saleh Basalamah¹

CMC-Computers, Materials & Continua, Vol.68, No.1, pp. 705-725, 2021, DOI:10.32604/cmc.2021.015085

Abstract In high-density gatherings, crowd disasters frequently occur despite all the safety measures. Timely detection of congestion in human crowds using automated analysis of video footage can prevent crowd disasters. Recent work on the prevention of crowd disasters has been based on manual analysis of video footage. Some methods also measure crowd congestion by estimating crowd density. However, crowd density alone cannot provide reliable information about congestion. This paper proposes a deep learning framework for automated crowd congestion detection that leverages pedestrian trajectories. The proposed framework divided the input video into several temporal segments. We then extracted dense trajectories from each… More >

Jian Ma^1,2, Changxuan Wen³, Chen Zhang^2,*

CMES-Computer Modeling in Engineering & Sciences, Vol.126, No.2, pp. 617-644, 2021, DOI:10.32604/cmes.2021.014474

Abstract High-specific-impulse electric propulsion technology is promising for future space robotic debris removal in sun-synchronous orbits. Such a prospect involves solving a class of challenging problems of low-thrust orbital rendezvous between an active spacecraft and a free-flying debris. This study focuses on computing optimal low-thrust minimum-time many-revolution trajectories, considering the effects of the Earth oblateness perturbations and null thrust in Earth shadow. Firstly, a set of mean-element orbital dynamic equations of a chaser (spacecraft) and a target (debris) are derived by using the orbital averaging technique, and specifically a slow-changing state of the mean longitude difference is proposed to accommodate to… More >

Abdulfattah Noorwali¹, Muhammad Awais Javed², Mohammad Zubair Khan^3,*

CMC-Computers, Materials & Continua, Vol.67, No.1, pp. 463-476, 2021, DOI:10.32604/cmc.2021.014668

Abstract Unmanned Ariel Vehicles (UAVs) are flying objects whose trajectory can be remotely controlled. UAVs have lot of potential applications in the areas of wireless communications, internet of things, security, traffic management, monitoring, and smart surveying. By enabling reliable communication between UAVs and ground nodes, emergency notifications can be efficiently and quickly disseminated to a wider area. UAVs can gather data from remote areas, industrial units, and emergency scenarios without human involvement. UAVs can support ubiquitous connectivity, green communications, and intelligent wireless resource management. To efficiently use UAVs for all these applications, important challenges need to be investigated. In this paper,… More >