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Unscented von Mises-Fisher Filtering

IEEE signal processing.LETTERS 2016年第4期23卷 463-467页

作者： Kurz, Gerhard Gilitschenski, Igor Hanebeck, Uwe D. Karlsruhe Inst Technol Inst Anthropomat & Robot Intelligent Sensor Actuator Syst Lab ISAS D-76131 Karlsruhe Germany Swiss Fed Inst Technol Inst Robot & Intelligent Syst Autonomous Syst Lab CH-8092 Zurich Switzerland

We introduce the unscented von Mises-Fisher filter (UvMFF), a nonlinear filtering algorithm for dynamic state estimation on the n-dimensional unit hypersphere. Estimation problems on the unit hypersphere occur in computer vision, e.g., when using omnidirectional cameras, as well as in signal processing. As approaches in literature are limited to very simple system and measurement models, we propose a deterministic sampling scheme on the unit hypersphere, which allows us to handle nonlinear system and measurement models. The proposed approach can be seen as a hyperspherical variant of the unscented Kalman filter (UKF). The advantages of the novel method are shown by means of simulations.

关键词： Deterministic sampling directional statistics moment matching nonlinear filtering spherical estimation

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Calibration of Embedded Force sensor for robotic Hand Manipulation 12

Calibration of Embedded Force Sensor for Robotic Hand Manipu...

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12th IEEE International colloquium on signal processing.& its Applications (CSPA)

作者： Nasir, K. Shauri, R. L. A. Jaafar, J. Univ Teknol MARA Fac Elect Engn Shah Alam Malaysia

ISBN: (纸本)9781467387804

This paper discusses the calibration of two-axis force sensors which were embedded into the fingertip of a three-fingered robot hand. In a previous work, a functioning prototype of the three-fingered robot hand has been successfully developed. However, the performance of the robot hand for grasping was insufficient. Therefore, the improved design fingertip was developed to enhance the existing design by incorporating force sensing ability for better grasping task. Two miniature load cells button were fitted into the fingertip to enable force sensing in two individual directions namely x-axis and z-axis. The calibration is implemented in both axes. The calibration results proved that the linearity calibration is relevant to be used as the reference force for force control development in the next phase.

关键词： Calibration robotic fingertip force control force

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Psychological tactile sensor structure based on piezoelectric sensor arrays

Psychological tactile sensor structure based on piezoelectri...

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World Haptics Conference

作者： Minkyung Sim Yeri Jeong Kyunghwa Lee Kwonsik Shin Hyunchul Park Jung Inn Sohn Nam Cha Seung Jae Eun Jang Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu Korea Samsung Display Yongin Korea Grenoble-INP France University of Oxford Oxford U.K. University of Oxford Oxford Oxfordshire GB

Recently, artificial tactile sensors have been studied in attempts to mimic the human sense of touch for various applications, from the simple input function of mobile devices to the complicated finger systems of android robots. To produce artificial psychological feeling, especially `pain', electrical mimic structure of human skin has been studied. Array type tactile sensor can verify the input object which may be sharp, blunt, and hot or cool by simple signal processing. This capability means that tactile sensor can convey psychological feeling from physical parameters. Imitating this phenomenon, the skin mimic device employing the piezoelectric nanowire sensor arrays can generate the electrical `pain' signal with signal processing.when a sharp or a hot object touch to the device. The electrical `pain' signal is expected to enhance the protection mechanism of android robot or mobile phone from harsh environment.

关键词： Zinc oxide II-VI semiconductor materials Tactile sensors Pain Electrodes Smart phones

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Close range ship noise cross correlations with a vector sensor in view of geoacoustic inversion

Close range ship noise cross correlations with a vector sens...

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IEEE/OES China Ocean Acoustics (COA)

作者： Wu Yanqun Santos, Ana Bela Felisberto, Paulo Jesus, Sergio M. Univ Algarve Lab Robot & Syst Engn & Sci LARSyS Campus Gambelas P-8005139 Faro Portugal Natl Univ Def Technol Acad Ocean Sci & Engn Changsha 410073 Hunan Peoples R China

ISBN: (纸本)9781467399784

Distant ship noise has been utilized for geoacoustic inversion and ocean monitoring for many years. In a shallow water experiment, Makai 2005, a 4-element acoustic vector sensor array was deployed at the stern of the research vessel R/V Kilo Moana. The recorded engine noise of R/V Kilo Moana during its dynamic positioning was analyzed by the DEMON (Detection of Envelope Modulation on Noise) method. The strongest modulation frequency band of the ship noise was found by a group of band-pass filters for further data processing. Multipath arrivals in the vertical particle velocity have higher signal-to-noise ratios than those in the horizontal particle velocities because of steep arrival directions. By exploiting this advantage, the cross-correlation of broadband ship noise between the pressure and the vertical particle velocity can be used for multipath information exploration. Since ship noise is often characterized as continuous broadband noise plus strong tonal noise, the cross-correlation of tonal noise would dominate that of broadband noise, and consequently cover the multipath arrival pattern. Therefore, spectral weighting functions are applied in order to reduce the noise contamination and ensure sharp multipath peaks in the cross-correlation. For engine noise emitted by the dynamically positioned ship, a short correlation time of 0.4s was used in order to keep the time delay fluctuation details of multipath arrivals. Clear multiple arrivals are seen in the cross-correlation of different arrivals, and verified by the ray tracing program TRACEO. The results demonstrate the potential of only one acoustic vector sensor in applications of source localization and geoacoustic inversion.

关键词： vector sensor cross correlation geoacoustic inversion ship noise

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机器人导航中振动检测传感器的设计与改进

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沈阳工业大学学报 2016年第4期38卷 403-409页

作者：王宏王乾郭崇重庆工程职业技术学院机械工程学院重庆402260 中国矿业大学机电与信息工程学院北京100083 沈阳农业大学信息与电气工程学院沈阳110886

针对采用传统方法进行振动检测传感器数据采集时存在的谐振失真问题,提出基于32通道VXI总线技术和阵列信号处理的机器人导航振动检测传感器改进设计方法,并对系统进行了总体设计和功能模块分析.通过均匀线列阵分布模型对检测到的振动信... 详细信息

针对采用传统方法进行振动检测传感器数据采集时存在的谐振失真问题,提出基于32通道VXI总线技术和阵列信号处理的机器人导航振动检测传感器改进设计方法,并对系统进行了总体设计和功能模块分析.通过均匀线列阵分布模型对检测到的振动信号进行阵列信号处理和波束形成分析,并结合32通道VXI总线数据采集技术和PXI总线数据回放技术,进行了系统模块化设计和集成.结果表明,改进的振动检测传感器系统具有较好的数据采集和信号处理能力,为机器人导航提供了准确的参量数据和控制信号输入.

关键词：机器人导航传感器数据采集振动检测控制信号模块化

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RAMP: Accelerating Wireless sensor Hardware Design with a Reconfigurable Analog/Mixed-signal Platform 14

RAMP: Accelerating Wireless Sensor Hardware Design with a Re...

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14th IEEE/ACM International Conference on Information processing.in sensor Networks (IPSN)

作者： Kelly, Brandon M. Rumberg, Brandon Graham, David W. Kulathumani, Vinod Clites, Spencer Dilello, Alex Navidi, Mir Mohammad West Virginia Univ Lane Dept Comp Sci & Elect Engn Morgantown WV 26506 USA

ISBN: (纸本)9781450334754

To meet the demanding requirements in the growing area of wireless sensing applications, some sensing platforms have included low-power application-specific hardware to process the sensor data for compression and pre-classification of the relevant information. While this additional hardware can reduce the overall power consumption of the system, a unique hardware solution is required for each application. To diminish this burden, we will demonstrate a reconfigurable analog/mixed-signal sensing platform. At the hardware-level, this platform consists of a reconfigurable integrated circuit containing many commonly used circuit components that can be connected in any configuration to perform sensor interfacing and ultra-low-power signal processing. At the software level, this platform provides a framework for abstracting the underlying hardware. We will demonstrate how our platform allows a developer to create applications ranging from standard sensor interfacing techniques to more complicated intelligent pre-processing.and wake-up detection, without the necessity of circuit-level expertise.

关键词： Analog signal processing Field-Programmable Analog Array Energy-Efficient In-Network processing sensor Networks

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Sparse sensing for resource-constrained depth reconstruction

Sparse sensing for resource-constrained depth reconstruction

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2016 IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Fangchang Ma Luca Carlone Ulas Ayaz Sertac Karaman Laboratory for Information & Decision Systems Massachusetts Institute of Technology Cambridge MA USA

ISBN: (纸本)9781509037636

We address the following question: is it possible to reconstruct the geometry of an unknown environment using sparse and incomplete depth measurements? This problem is relevant for a resource-constrained robot that has to navigate and map an environment, but does not have enough on-board power or payload to carry a traditional depth sensor (e.g., a 3D lidar) and can only acquire few (point-wise) depth measurements. In general, reconstruction from incomplete data is not possible, but when the robot operates in man-made environments, the depth exhibits some regularity (e.g., many planar surfaces with few edges); we leverage this regularity to infer depth from incomplete measurements. Our formulation bridges robotic perception with the compressive sensing literature in signal processing. We exploit this connection to provide formal results on exact depth recovery in 2D and 3D problems. Taking advantage of our specific sensing modality, we also prove novel and more powerful results to completely characterize the geometry of the signals that we can reconstruct. Our results directly translate to practical algorithms for depth reconstruction; these algorithms are simple (they reduce to solving a linear program), and robust to noise. We test our algorithms on real and simulated data, and show that they enable accurate depth reconstruction from a handful of measurements, and perform well even when the assumption of structured environment is violated.

关键词： robot sensing systems Image reconstruction Transmission line matrix methods Three-dimensional displays Two dimensional displays Sparse matrices

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Bio-inspired Wind Frame State Sensing and Estimation for MAV Applications

Bio-inspired Wind Frame State Sensing and Estimation for MAV...

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IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Ranganathan, Badri N. Penskiy, Ivan Dean, William Bergbreiter, Sarah Humbert, J. Sean Univ Maryland Dept Aerosp Engn College Pk MD 20740 USA Univ Maryland Dept Mech Engn College Pk MD 20740 USA

ISBN: (纸本)9781479999941

Kapton strain-based hair sensors were designed and fabricated to measure flow on a micro air vehicle. The fabrication process is carried out using a single mask and a combination of cleanroom and regular lab room processing. The processing.resulted in successful realization of 6.4 mm long sensors with high yield. Associated signal conditioning circuitry was developed to extract small variations in resistance due to flow while suppressing noise. Three sensors were deployed on a fuselage shaped structure and characterized in a wind tunnel. Static linear and nonlinear estimation schemes were obtained based on the characterization data to determine the angle of attack, sideslip angle and airspeed values. For small angles of perturbation, the estimation scheme demonstrated good accuracy in determining the variables of interest. The sensors along with the signal conditioning circuitry are sufficiently lightweight that they can be used for estimating velocity states on micro air vehicles.

关键词： Fabrication Gold Hair sensor phenomena and characterization Strain Vehicles

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Samba: A Smartphone-Based robot System for Energy-Efficient Aquatic Environment Monitoring 14

Samba: A Smartphone-Based Robot System for Energy-Efficient ...

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14th IEEE/ACM International Conference on Information processing.in sensor Networks (IPSN)

作者： Wang, Yu Tan, Rui Xing, Guoliang Wang, Jianxun Tan, Xiaobo Liu, Xiaoming Michigan State Univ Dept Comp Sci & Engn E Lansing MI 48824 USA Adv Digital Sci Ctr Singapore Singapore Michigan State Univ Dept Elect & Comp Engn E Lansing MI 48824 USA

ISBN: (纸本)9781450334754

Monitoring aquatic environment is of great interest to the ecosystem, marine life, and human health. This paper presents the design and implementation of Samba - an aquatic surveillance robot that integrates an off-the-shelf Android smartphone and a robotic fish to monitor harmful aquatic processes such as oil spill and harmful algal blooms. Using the built-in camera of on-board smartphone, Samba can detect spatially dispersed aquatic processes in dynamic and complex environments. To reduce the excessive false alarms caused by the non-water area (e.g., trees on the shore), Samba segments the captured images and performs target detection in the identified water area only. However, a major challenge in the design of Samba is the high energy consumption resulted from the continuous image segmentation. We propose a novel approach that leverages the power-efficient inertial sensors on smartphone to assist the image processing. In particular, based on the learned mapping models between inertial and visual features, Samba uses real-time inertial sensor readings to estimate the visual features that guide the image segmentation, significantly reducing energy consumption and computation overhead. Samba also features a set of lightweight and robust computer vision algorithms, which detect harmful aquatic processes based on their distinctive color features. Lastly, Samba employs a feedback-based rotation control algorithm to adapt to spatiotemporal evolution of the target aquatic process. We have implemented a Samba prototype and evaluated it through extensive field experiments, lab experiments, and trace-driven simulations. The results show that Samba can achieve 94% detection rate, 5% false alarm rate, and a lifetime up to nearly two months.

关键词： robotic sensor smartphone computer vision object detection

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A Kilohertz Kilotaxel Tactile sensor Array for Investigating Spatiotemporal Features in Neuromorphic Touch 11

A Kilohertz Kilotaxel Tactile Sensor Array for Investigating...

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11th IEEE Annual Biomedical Circuits and Systems Conference (BioCAS)

作者： Lee, Wang Wei Kukreja, Sunil L. Thakor, Nitish V. Natl Univ Singapore Grad Sch Integrat Sci & Engn Singapore 117456 Singapore Natl Univ Singapore Singapore Inst Neurotechnol SiNAPSE Singapore 117456 Singapore

ISBN: (纸本)9781479972340

The spatiotemporal structure of mechanoreceptor responses is known to facilitate rapid tactile processing.in the brain. To investigate whether such mechanisms can be replicated by artificial systems, tactile sensors with a large number of elements and sub-millisecond response time are required. In this work, we present a 4096 element tactile sensor array that can be sampled at over 5 kHz. Experimental results demonstrate that high spatiotemporal resolution aids to resolve force magnitude and direction of tactile events. Such a platform enables the development of time dependent neuromorphic algorithms for tactile learning and signal processing.

关键词： Arrays Fabrics Force Multiplexing robot sensing systems Spatiotemporal phenomena Time factors Manipulator sensing systems Time Factors MULTIPLEXOR Textile fabrics fabric Force tactile sensors spatiotemporal phenomena Touch arrays Neuromorphics kilohertz sensor arrays

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