Vehicular traffic surveillance and road lane detection using radar interferometry

Speed enforcement on public roadways is an important issue in order to guarantee road security and to reduce the number and seriousness of traffic accidents. Traditionally, this task has been partially solved using radar and/or laser technologies and, more recently, using video-camera based systems. All these systems have significant shortcomings that have yet to be overcome. The main drawback of classical Doppler radar technology is that the velocity measurement fails when several vehicles are in the radars beam. Modern radar systems are able to measure speed and range between vehicle and radar. However, this is not enough to discriminate the lane where the vehicle is driving on. The limitation of several vehicles in the beam is overcome using laser technology. However, laser systems have another important limitation: They cannot measure the speed of several vehicles simultaneously. Novel video-camera systems, based on license plate identification, solve the previous drawbacks, but they have the problem that they can only measure average speed but never top-speed. This paper studies the feasibility of using an interferometric linear frequency modulated continuous wave radar to improve top-speed enforcement on roadways. Two different systems based on down-the-road and across-the-road radar configurations are presented. The main advantage of the proposed solutions is they can simultaneously measure speed, range, and lane of several vehicles, allowing the univocal identification of the offenders. A detailed analysis about the operation and accuracy of these solutions is reported. In addition, the feasibility of the proposed techniques has been demonstrated with simulations and real experiments using a Ka-band interferometric radar developed by our research group.

Experimentel ADS-B based surveillance

This paper describes an ADS-B implementation in air-to-air and ground based experimental surveillance within a prototype ATM system. The relations between airborne and ground systems related to surveillance are detailed, and the prototype surveillance systems and their algorithms described. Their performance is analysed, based both on simulated and real data.

Automatic Adaptation of Airport Surface Surveillance to Sensor Quality

This paper describes a novel method to enhance current airport surveillance systems used in Advanced Surveillance Monitoring Guidance and Control Systems (A-SMGCS). The proposed method allows for the automatic calibration of measurement models and enhanced detection of nonideal situations, increasing surveillance products integrity. It is based on the definition of a set of observables from the surveillance processing chain and a rule based expert system aimed to change the data processing methods

An Efficient Multiple Object Detection and Tracking Framework for Automatic Counting and Video Surveillance Applications

Automatic visual object counting and video surveillance have important applications for home and business environments, such as security and management of access points. However, in order to obtain a satisfactory performance these technologies need professional and expensive hardware, complex installations and setups, and the supervision of qualified workers. In this paper, an efficient visual detection and tracking framework is proposed for the tasks of object counting and surveillance, which meets the requirements of the consumer electronics: off-the-shelf equipment, easy installation and configuration, and unsupervised working conditions. This is accomplished by a novel Bayesian tracking model that can manage multimodal distributions without explicitly computing the association between tracked objects and detections. In addition, it is robust to erroneous, distorted and missing detections. The proposed algorithm is compared with a recent work, also focused on consumer electronics, proving its superior performance.

Control rod drop surveillance using two friction coefficients

In the case of large burnup, a control rod (CR) guide tube in the pressurized water reactor of a commercial nuclear power plant might bend. As a consequence, a CR drop experiment may indicate an event of a CR partially inserted and whether the CR should be deemed inoperable. Early prevention of such an event can be achieved by measuring two friction coefficients: the hydraulic coefficient and the sliding coefficient. The hydraulic coefficient hardly changes, so that the curvature of the guide tube can only be detected thanks to a variation of the sliding coefficient. A simple model for the CR drop is established and validated with CR drop experiments. If tmx denotes the instant of CR maximum velocity, a linear relationship between (tmx)_2 and the sliding coefficient is found.

Automatic-dependent surveillance-broadcast experimental deployment using system wide information management

This paper describes an automatic-dependent surveillance-broadcast (ADS-B) implementation for air-to-air and ground-based experimental surveillance within a prototype of a fully automated air traffic management (ATM) system, under a trajectory-based-operations paradigm. The system is built using an air-inclusive implementation of system wide information management (SWIM). This work describes the relations between airborne and ground surveillance (SURGND), the prototype surveillance systems, and their algorithms. System's performance is analyzed with simulated and real data. Results show that the proposed ADS-B implementation can fulfill the most demanding surveillance accuracy requirements.

Detection and Tracking of Dynamic Objects. A MultiRobot approach to Critical Infrastructures Surveillance.

Despite that Critical Infrastructures (CIs) security and surveillance are a growing concern for many countries and companies, Multi Robot Systems (MRSs) have not been yet broadly used in this type of facilities. This dissertation presents a novel study of the challenges arisen by the implementation of this type of systems and proposes solutions to specific problems. First, a comprehensive analysis of different types of CIs has been carried out, emphasizing the influence of the different characteristics of the facilities in the design of a security and surveillance MRS. One of the most important needs for the surveillance of a CI is the detection of intruders. From a technical point of view this problem can be abstracted as equivalent to the Detection and Tracking of Mobile Objects (DATMO). This dissertation proposes algorithms to solve this specific problem in a CI environment. Using 3D range images of the environment as input data, two detection algorithms for ground robots have been developed. These detection algorithms provide a list of moving objects in the robot detection area. Direct image differentiation and computer vision techniques are used when the robot is static. Alternatively, multi-layer ground reconstructions are compared to detect the dynamic objects when the robot is moving. Since CIs usually spread over large areas, it is very useful to incorporate aerial vehicles in the surveillance MRS. Therefore, a moving object detection algorithm for aerial vehicles has been also developed. This algorithm compares the real optical flow obtained from a down-face oriented camera with an artificial optical flow computed using a RANSAC based homography matrix. Two tracking algorithms have been developed to follow the moving objects trajectories. These algorithms can efficiently handle occlusions and crossings, as well as exchange information among robots. The multirobot tracking can be applied to any type of communication structure: centralized, decentralized or a combination of both. Even more, the developed tracking algorithms are independent of the detection algorithms and could be potentially used with other detection procedures or even with static sensors, such as cameras. In addition, using the 3D point clouds available to the robots, a relative localization algorithm has been developed to improve the position estimation of a given robot with observations from other robots. All the developed algorithms have been extensively tested in different simulated CIs using the Webots robotics simulator. Furthermore, the algorithms have also been validated with real robots operating in real scenarios. In conclusion, this dissertation presents a multirobot approach to Critical Infrastructure Surveillance, mainly focusing on Detecting and Tracking Dynamic Objects.

In situ surveillance of capacitive pressure transmitter dynamic poles

In this work, a methodology is proposed to find the dynamic poles of a capacitive pressure transmitter in order to enhance and extend the online surveillance of this type of sensor based on the response time measurement by applying noise analysis techniques and the dynamic data system procedure. Several measurements taken from a pressurized water reactor have been analyzed. The methodology proposes an autoregressive fit whose order is determined by the sensor dynamic poles. Nevertheless, the signals that have been analyzed could not be filtered properly in order to remove the plant noise; thus, this was considered as an additional pair of complex conjugate poles. With this methodology we have come up with the numerical value of the sensor second real pole in spite of its low influence on the sensor dynamic response. This opens up a more accurate online sensor surveillance since the previous methods were achieved by considering one real pole only.

Surveillance and diagnostics of the beam mode vibrations of the ringhals pwrs

Surveillance of core barrel vibrations has been performed in the Swedish Ringhals PWRs for several years. This surveillance is focused mainly on the pendular motion of the core barrel, which is known as the beam mode. The monitoring of the beam mode has suggested that its amplitude increases along the cycle and decreases after refuelling. In the last 5 years several measurements have been taken in order to understand this behaviour. Besides, a non-linear fitting procedure has been implemented in order to better distinguish the different components of vibration. By using this fitting procedure, two modes of vibration have been identified in the frequency range of the beam mode. Several results coming from the trend analysis performed during these years indicate that one of the modes is due to the core barrel motion itself and the other is due to the individual flow induced vibrations of the fuel elements. In this work, the latest results of this monitoring are presented.

Application of noise analysis for sensor surveillance in Trillo NPP

It is a known fact that noise analysis is a suitable method for sensor performance surveillance. In particular, controlling the response time of a sensor is an efficient way to anticipate failures and to have the opportunity to prevent them. In this work the response times of several sensors of Trillo NPP are estimated by means of noise analysis. The procedure applied consists of modeling each sensor with autoregressive methods and getting the searched parameter by analyzing the response of the model when a ramp is simulated as the input signal. Core exit thermocouples and in core self-powered neutron detectors are the main sensors analyzed but other plant sensors are studied as well. Since several measurement campaigns have been carried out, it has been also possible to analyze the evolution of the estimated parameters during more than one fuel cycle. Some sensitivity studies for the sample frequency of the signals and its influence on the response time are also included. Calculations and analysis have been done in the frame of a collaboration agreement between Trillo NPP operator (CNAT) and the School of Mines of Madrid.

Surveillance and diagnostics of the beam mode vibrations of the ringhlas PWRs

Surveillance of core barrel vibrations has been performed in the Swedish Ringhals PWRs for several years. This surveillance is focused mainly on the pendular motion of the core barrel, which is known as the beam mode. The monitoring of the beam mode has suggested that its amplitude increases along the cycle and decreases after refuelling. In the last 5 years several measurements have been taken in order to understand this behaviour. Besides, a non-linear fitting procedure has been implemented in order to better distinguish the different components of vibration. By using this fitting procedure, two modes of vibration have been identified in the frequency range of the beam mode. Several results coming from the trend analysis performed during these years indicate that one of the modes is due to the core barrel motion itself and the other is due to the individual flow induced vibrations of the fuel elements. In this work, the latest results of this monitoring are presented.

AR modelling and DDS for in situ surveillance of capacitive pressure transmitters

In this work, a methodology is proposed to find the dynamics poles of a capacitive pressure transmitter in order to enhance and extend the on line surveillance of this type of sensors based on the response time measurement by applying noise analysis techniques and the Dynamic Data System. Several measurements have been analyzed taken from a Pressurized Water Reactor. The methodology proposes an autoregressive fit whose order is determined by the sensor dynamics poles. Nevertheless, the signals that have been analyzed, could not be filtered properly in order to remove the plant noise, thus, this was considered as an additional pair of complex conjugate poles. With this methodology we have come up with the numerical value of the sensor second real pole in spite of its low influence on the sensor dynamic response. This opens up a more accurate on line sensor surveillance since the previous methods were achieved by considering one real pole only.

Surveillance of habitats and plant diversity indicators across a regional gradient in the Iberian Peninsula

Dentro del Proyecto EBONE (Red de Observación de la Biodiversidad Europea) se analizan diferentes tipos de paisaje en varias zonas de Madrid y norte de Portugal. Se realiza un estudio de los habitats y la diversidad de especies con el objetivo principal de preservarlos y conservalos.

Real-time Surveillance Application by Multiple Detectors and Compressive Trackers

A real-time surveillance system for IP network cameras is presented. Motion, part-body, and whole-body detectors are efficiently combined to generate robust and fast detections, which feed multiple compressive trackers. The generated trajectories are then improved using a reidentification strategy for long term operation.

Foreground segmentation in depth imagery using depth and spatial dynamic models for video surveillance applications

Low-cost systems that can obtain a high-quality foreground segmentation almostindependently of the existing illumination conditions for indoor environments are verydesirable, especially for security and surveillance applications. In this paper, a novelforeground segmentation algorithm that uses only a Kinect depth sensor is proposedto satisfy the aforementioned system characteristics. This is achieved by combininga mixture of Gaussians-based background subtraction algorithm with a new Bayesiannetwork that robustly predicts the foreground/background regions between consecutivetime steps. The Bayesian network explicitly exploits the intrinsic characteristics ofthe depth data by means of two dynamic models that estimate the spatial and depthevolution of the foreground/background regions. The most remarkable contribution is thedepth-based dynamic model that predicts the changes in the foreground depth distributionbetween consecutive time steps. This is a key difference with regard to visible imagery,where the color/gray distribution of the foreground is typically assumed to be constant.Experiments carried out on two different depth-based databases demonstrate that theproposed combination of algorithms is able to obtain a more accurate segmentation of theforeground/background than other state-of-the art approaches.