检索结果-内蒙古大学图书馆

International conference on Computer, Control, Informatics and Its applications (IC3INA)

作者： Isro Wasisto Novera Istiqomah I Kadek Nuary Trisnawan Agung Nugroho Jati School of Electrical Engineering Telkom University

Adaptive Monte Carlo Localization is a method used for mobile sensor localization in environment with representations of particle filters and Kullback-Leibler Distance (KLD) sampling to accelerate time execution of Localization. Mobile sensor has the ability to explore previously unknown environments using the mapping method. The mobile sensor must localize the pose (position and orientation) inside the operating environment before navigating. The final step is to navigate automatically to the specific point in the by using Cartesian Coordinate 2-dimensions (x,y). In this paper concerned about this AMCL algorithm in Robot Operating System (ROS), by using the different number of particle that is used for localization of the actual robot position and used it for navigating. The experiments that have been done, a map is obtained and can do the Localization process with Adaptive Monte Carlo Localization and the accuracy of the navigation process is influenced by the number of particles and the surrounding environment.

关键词： Robot sensing systems Particle filters Navigation Monte Carlo methods Atmospheric measurements Particle measurements

来源：评论

学校读者我要写书评

暂无评论

Non-linear System Identification and State Estimation in a Pneumatic Based Soft Continuum Robot

Non-linear System Identification and State Estimation in a P...

引用

Control Technology and applications (CCTA),

作者： Junn Yong Loo Kah Chun Kong Chee Pin Tan Surya Girinatha Nurzaman School of Engineering and Advanced Engineering Platform Monash University Malaysia Petaling Jaya Malaysia

sensory data play a significant role in the control of robots. While soft robots are promising for operation in unstructured environments, it may be difficult to sensorize them due to their inherent softness. One way to overcome this challenge is to use an observer/filter to estimate the variables (states) that would have been measured by those sensors. Nevertheless, applying an observer/filter to a soft robot introduces the challenge of requiring an analytical model of these highly nonlinear systems. In this paper, we develop a framework based on nonlinear system identification and state estimation to estimate the curvature angle of a pneumatic-based tentacle soft robot. We model the tentacle using the wavelet/sigmoid network, and use an Extended Kalman Filter (EKF) to estimate the curvature and verify the estimate using camera vision. The results show that EKF can estimate the curvature angle at a low error, even when the identified system model is not accurate and the sensor measurement is noisy.

关键词： Soft robotics Robot sensing systems Analytical models Kinematics Manipulators

来源：评论

学校读者我要写书评

暂无评论

Secured and Lightweight Communication Scheme on UDP for Low End IoT Devices

Secured and Lightweight Communication Scheme on UDP for Low ...

引用

International Symposium on advanced Networks and Telecommunication systems (ANTS)

作者： Rohan A. Nathi Dimpal Sutar S.N. Systems Pvt. Ltd Pune India Zhypility Technologies Pvt. Ltd Mumbai India

ISBN: (数字)9781728137155

ISBN: (纸本)9781728137162

To consummate the demand of real time dispersal of sensor data over the Internet, researchers have wisely chosen UDP as a Transport layer for IoT communication. IoT industries do have potential to provide smart services, but these services are compromising the data security and privacy because of resource-constrained IoT environment. The security standards of the information being shared are a vital, open research issue. Our work aims to explore the UDP layer for IoT applications and designing a scalable, lightweight and secure communication scheme on UDP transport layer. This scheme will aid IoT product developers in designing an efficient, reliable and secured end to end IoT application. This paper implements and evaluates the real-time performance of the proposed scheme.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Analysis of Multilingual Sequence-to-Sequence Speech Recognition systems 20

Analysis of Multilingual Sequence-to-Sequence Speech Recogni...

引用

Interspeech conference

作者： Karafiat, Martin Baskar, Murali Karthick Watanabe, Shinji Hori, Takaaki Wiesner, Matthew Cernocky, Jan Honza Brno Univ Technol Brno Czech Republic Johns Hopkins Univ Baltimore MD 21218 USA Mitsubishi Elect Res Labs MERL Cambridge MA USA

This paper investigates the applications of various multilingual approaches developed in conventional deep neural network hidden Markov model (DNN-HMM) systems to sequence-to-sequence (seq2seq) automatic speech recognition (ASR). We employ a joint connectionist temporal classification-attention network as our base model. Our main contribution is separated into two parts. First, we investigate the effectiveness of the seq2seq model with stacked multilingual bottle-neck features obtained from a conventional DNN-HMM system on the Babel multilingual speech corpus. Second, we investigate the effectiveness of transfer learning from a pre-trained multilingual seq2seq model with and without the target language included in the original multilingual training data. In this experiment, we also explore various architectures and training strategies of the multilingual seq2seq model by making use of knowledge obtained in the DNN-HMM based transfer-learning. Although both approaches significantly improved the performance from a monolingual seq2seq baseline, interestingly, we found the multilingual bottle-neck features to be superior to multilingual models with transfer learning. This finding suggests that we can efficiently combine the benefits of the DNN-HMM system with the seq2seq system through multilingual bottle-neck feature techniques.

关键词： multilingual ASR sequence-to-sequence language-transfer multilingual bottle-neck feature

来源：评论

学校读者我要写书评

暂无评论

How Can Heterogeneous Internet of Things Build Our Future: A Survey

引用

IEEE COMMUNICATIONS SURVEYS AND TUTORIALS 2018年第3期20卷 2011-2027页

作者： Qiu, Tie Chen, Ning Li, Keqiu Atiquzzaman, Mohammed Zhao, Wenbing Tianjin Univ Sch Comp Sci & Technol Tianjin 300350 Peoples R China Dalian Univ Technol Sch Software Dalian 116620 Peoples R China Univ Oklahoma Sch Comp Sci Norman OK 73019 USA Cleveland State Univ Dept Elect & Comp Engn Cleveland OH 44115 USA

Heterogeneous Internet of Things (HetIoT) is an emerging research field that has strong potential to transform both our understanding of fundamental computer science principles and our future living. HetIoT is being employed in increasing number of areas, such as smart home, smart city, intelligent transportation, environmental monitoring, security systems, and advanced manufacturing. Therefore, relaying on strong application fields, HetIoT will be filled in our life and provide a variety of convenient services for our future. The network architectures of IoT are intrinsically heterogeneous, including wireless sensor network, wireless fidelity network, wireless mesh network, mobile communication network, and vehicular network. In each network unit, smart devices utilize appropriate communication methods to integrate digital information and physical objects, which provide users with new exciting applications and services. However, the complexity of application requirements, the heterogeneity of network architectures and communication technologies impose many challenges in developing robust HetIoT applications. This paper proposes a four-layer HetIoT architecture consisting of sensing, networking, cloud computing, and applications. Then, the state of the art in HetIoT research and applications have been discussed. This paper also suggests several potential solutions to address the challenges facing future HetIoT, including self-organizing, big data transmission, privacy protection, data integration and processing in large-scale HetIoT.

关键词： Heterogeneous Internet of Things architectures network protocols challenges applications

来源：评论

学校读者我要写书评

暂无评论

A Mission Performance Evaluation Approach for Civil UAS applications 3

A Mission Performance Evaluation Approach for Civil UAS Appl...

引用

3rd International conference on Design and Manufacturing Engineering (ICDME)

作者： Fokina, Ekaterina Feger, Jens Hornung, Mirko TUM Inst Aircraft Design D-85748 Garching Germany

The Unmanned Aircraft systems (UAS) mission fulfilment grade is determined by performance capabilities of the system elements, such as UAV flight performance, sensor parameters, energy consumption and communication abilities. The mission simulation and evaluation tool chain developed at the Institute of Aircraft Design allows to assess the system effectiveness in terms of civil and commercial UAS applications and by this to evaluate trade off studies regarding the compatibility between the air vehicle, the sensor payload and the mission. The presented approach for mission performance evaluation is based on the calculation of an overall mission performance index implemented in the UAS design and optimization processes.

关键词： Unmanned aerial vehicles (UAV)

来源：评论

学校读者我要写书评

暂无评论

3D-Printed Cross-Flow Mixer Gradient within Minutes for Microfluidic applications

3D-Printed Cross-Flow Mixer Gradient within Minutes for Micr...

引用

IEEE Biomedical Circuits and systems conference (BioCAS) - advanced systems for Enhancing Human Health

作者： Sivashankar, Shilpa Mkaouar, Hend Mashraei, Yousof Alamoudi, Kholod Khashab, Niveen M. Salama, Khaled Nabil Joint Dept Biomed Engn UNC NCSU Raleigh NC 27695 USA KAUST Comp Elect & Math Sci & Engn Div CEMSE Adv Membranes & Porous Mat Ctr Thuwal 239556900 Saudi Arabia KAUST Smart Hybrid Mat Lab SHMs Adv Membranes & Porous Mat Ctr Thuwal 239556900 Saudi Arabia

ISBN: (纸本)9781538636039

This paper reports on a compact new cross-flow 3D mixer that is integrated with a gradient generator into one device for toxicology applications. The device has two parts: the first mixes two solvents while the second generates gradients of the obtained solutions. The outlet of the 3D cross-flow mixer is integrated with a linear channel that aids in achieving this gradient by changing flow rates. The dye-visualization test confirm the functionality of mixer and gradient. The mesh structure of the mixer provided excellent mixing regime and is confirmed by experimental and simulation results. The compact size (25 x 25 x 3 mm) and the reduced cost ($1.5) of the device enable the device to be disposable. We aim to study doxorubicin drug at different concentration generated by the device to culture human embryonic kidney (HEK) from the 293-cell line enabling the devices to be used for cellular studies. The carefully designed geometry of the device finds applications in drug toxicology testing devices, micro-total analysis systems (mu-TAS), and other lab-on-chip devices.

关键词： Microfluidics micromixer 3D printing cross-flow mixer gradient generator

来源：评论

学校读者我要写书评

暂无评论

3D Point Cloud Data Acquisition Using a Synchronized In-Air Imaging Sonar sensor Network

3D Point Cloud Data Acquisition Using a Synchronized In-Air ...

引用

2019 IEEE/RSJ International conference on Intelligent Robots and systems (IROS)

作者： Robin Kerstens Dennis Laurijssen Girmi Schouten Jan Steckel Cosys-Lab University of Antwerp and the Flanders Make Strategic Research Centre

Obtaining accurate data about the environment in which a robot is located is a crucial matter when it comes to autonomous navigation and other robotic applications. A popular method of acquiring this information is to use sonar-rings, where a robot is fitted with multiple simple ultrasound transducers pointed in the directions where an object can appear. However, in a time where accurate 3D data is gaining importance, other sensing modalities are becoming more popular because of the ability to measure dense 3D point clouds. In these point clouds not only the horizontal plane is measured, but objects in the elevation planes can also be registered, which can be very interesting and makes applications such as 3D SLAM or object recognition possible. In this paper we present a way to extract complex 3D point cloud data from the entire surrounding sphere using multiple interconnected eRTIS sensors. These advanced imaging sonar sensors offer the flexibility of the popular sonar-ring in combination with the benefits of some of the competing sensing modalities. The setup presented here uses less sonar sensors (and thus less external hardware) while obtaining more information from the complete frontal hemispheres of each individual sensor. This setup is discussed, along with the issues that arise when using complex imaging sonar sensors in a network, and is tested in an indoor and outdoor environment. At the end of this paper is a discussion of the obtained results.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Multimodal CNN Pedestrian Classification: a Study on Combining LIDAR and Camera Data 21

Multimodal CNN Pedestrian Classification: a Study on Combini...

引用

21st IEEE International conference on Intelligent Transportation systems (ITSC)

作者： Melotti, Gledson Premebida, Cristiano Goncalves, Nuno M. M. da S. Nunes, Urbano J. C. Faria, Diego R. Univ Coimbra Dept Elect & Comp Engn Inst Syst & Robot Coimbra Portugal Aston Univ Sch Engn & Appl Sci Birmingham W Midlands England

ISBN: (纸本)9781728103235

This paper presents a study on pedestrian classification based on deep learning using data from a monocular camera and a 3D LIDAR sensor, separately and in combination. Early and late multi-modal sensor fusion approaches are revisited and compared in terms of classification performance. The problem of pedestrian classification finds applications in advanced driver assistance system (ADAS) and autonomous driving, and it has regained particular attention recently because, among other reasons, safety involving self-driving vehicles. Convolutional Neural Networks (CNN) is used in this work as classifier in distinct situations: having a single sensor data as input, and by combining data from both sensors in the CNN input layer. Range (distance) and intensity (reflectance) data from LIDAR are considered as separate channels, where data from the LIDAR sensor is feed to the CNN in the form of dense maps, as the result of sensor coordinate transformation and spatial filtering;this allows a direct implementation of the same CNN-based approach on both sensors data. In terms of late-fusion, the outputs from individual CNNs are combined by means of learning and non-learning approaches. Pedestrian classification is evaluated on a 'binary classification' dataset created from the KITTI Vision Benchmark Suite, and results are shown for each sensor-modality individually, and for the fusion strategies.

关键词： Laser radar Cameras Robot sensing systems Three-dimensional displays Automobiles Training Feature extraction

来源：评论

学校读者我要写书评

暂无评论

Secure Data Aggregation with Integrity Verification in Wireless sensor Networks 23rd

引用

23rd International conference on Database systems for advanced applications (DASFAA).

作者： Liu, Ying Peng, Hui Wu, Yuncheng Zeng, Juru Chen, Hong Wang, Ke Lai, Weiling Li, Cuiping Minist Educ Key Lab Data Engn & Knowledge Engn Beijing Peoples R China Renmin Univ China Sch Informat Beijing Peoples R China MIIT Elect Res Inst 5 Guangzhou Peoples R China Simon Fraser Univ Sch Comp Sci Burnaby BC Canada

ISBN: (纸本)9783319914527;9783319914510

In recent years, wireless sensor networks (WSNs) have become a useful tool for environmental monitoring and information collection due to their strong sensory ability. Whereas WSNs utilize wireless communication and is usually deployed in an outdoors environment, which make them vulnerable to be attacked and then lead to the privacy disclosure of the monitored environment. SUM, as one common query among the queries of WSNs, is important to acquire a high-level understanding of the monitored environment and establish the basis for other advanced queries. In this paper, we present a secure hash-based privacy preservation mechanism called HP2M, which not only preserves the privacy of the monitored environment during SUM aggregation query, but also could achieve exact SUM aggregation. Furthermore, an integrity verification mechanism is proposed to verify the integrity of SUM aggregation result, which could alarm the system once data packets transmitted through the networks are modified. One main characteristic of HP2M and the proposed integrity verification mechanism is that they are lightweight with a small bandwidth consumption. Finally, some numerical experiments are performed to demonstrate the efficiency of our proposed approach.

关键词： Wireless sensor networks

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：