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Society of Instrument and Control Engineers Annual conference

作者： Takashi Matsuzaki Hiroshi Kameda Mitsubishi Electric Corporation Information Technology R&D Center

ISBN: (纸本)9784907764401

data fusion which uses observations from networked plural sensor and generates an integrated track achieves wide surveillance area and a high accurate track by minimizing error ellipse based on error covariance matrix. There are two issues in data fusion. One is an architecture issue whether centralized data fusion (CDF) or distributed data fusion (DDF). The other is a transmitting issue that is when and how to transmit the data to network. In view of invulnerability, we study the improvement of DDF. One solution against these issues is our proposal method which is called DDF-TRC (Distributed data Fusion with data T/R Control). As a result, we confirm that the effectiveness of proposed DDF-TRC in view of tracking accuracy and traffic through computer simulation.

关键词： data fusion Kalman Filter Target Tracking sensor radar Distributed Tracklet Traffic Network

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Reconnaissance Using Adaptive Multi-Carrier radar

Reconnaissance Using Adaptive Multi-Carrier Radar

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IEEE radar conference

作者： Brian Jameson Dmitriy Garmatyuk Y. T. Jade Morton Kyle Kauffman Robert Ewing Department of Electrical and Computer Engineering Miami University Department of Electrical and Computer Engineering Air Force Institute of Technology AFRL/RYMD Wright Patterson AFB

ISBN: (纸本)9781467357920

This paper discusses the implementation and verification of original methods for performing short-range navigation and detection in common indoor environments. These methods utilize a software-defined ultra-wideband (UWB) orthogonal frequency division multiplexing (OFDM) radar system. Specifically, the system is used to identify the presence of targets while being subjected to realistic noise and clutter by using disturbance models created using experimentally-collected training data. Additionally, the same sensor is utilized to detect and the location and dimensions of doorways using the generalized likelihood ratio test (GLRT) and frequency profile matching (FPM), thus allowing for a localized navigation solution should the system need to move into adjoining rooms. These developments provide functionality that will assist a robotic platform that operates autonomously in unknown indoor environments.

关键词： Reconnaissance indoor environment Disturbance model doorways Orthogonal frequency division multiplexing clutter Ultra wideband technologies radar radar systems dimensions Targets

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UAV-Assisted Visual SLAM Generating Reconstructed 3D Scene Graphs in GPS-Denied Environments

UAV-Assisted Visual SLAM Generating Reconstructed 3D Scene G...

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International conference on Unmanned Aircraft Systems (ICUAS)

作者： Ahmed Radwan Ali Tourani Hriday Bavle Holger Voos Jose Luis Sanchez-Lopez Automation and Robotics Research Group Interdisciplinary Centre for Security Reliability and Trust (SnT) University of Luxembourg Luxembourg Faculty of Science Technology and Medicine University of Luxembourg Luxembourg

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

Aerial robots play a vital role in various applications where situational awareness concerning the environment is a fundamental demand. As one such use case, drones in Global Positioning System (GPS)-denied environments require equipping with different sensors that provide reliable sensing results while performing pose estimation and localization. This paper aims to reconstruct maps of indoor environments and generate 3D scene graphs for a high-level representation using a camera mounted on a drone. Accordingly, an aerial robot equipped with a companion computer and an RGB-D camera was employed to be integrated with a Visual Simultaneous Localization and Mapping (VSLAM) framework proposed by the authors. To enhance situational awareness while reconstructing maps, various structural elements, i.e., doors and walls, were labeled with printed fiducial markers, and a dictionary of their topological relations was fed to the system. The system detects markers and reconstructs the map of the indoor areas enriched with higher-level semantic entities, including corridors and rooms. In this regard, integrating VSLAM into the employed drone provides an end-to-end robot application for GPS-denied environments that generates multi-layered vision-based situational graphs containing hierarchical representations. To demonstrate the system's practicality, various real-world condition experiments have been conducted in indoor scenarios with dissimilar structural layouts. Evaluations show the proposed drone application can perform adequately w.r.t. the ground-truth data and its baseline.

关键词： Location awareness visualization Three-dimensional displays Simultaneous localization and mapping Robot vision systems Autonomous aerial vehicles sensor systems

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基于物联网的宿舍环境监测与综合管理系统研究

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湖南师范大学自然科学学报 2024年第5期47卷 121-126页

作者：张宛芸周诗瑶魏新宇杨艺清董俊张连明湖南师范大学信息科学与工程学院中国长沙410081

宿舍作为公共聚集区,具有人员数量大的特点,存在着室内环境难以实时监测维护、室内人员是否在位难以实时统计等问题。宿舍环境的好坏会直接影响居住人的生活质量及身心状态,宿舍人员的实时统计会影响管理工作的判断决策。本文基于物联... 详细信息

宿舍作为公共聚集区,具有人员数量大的特点,存在着室内环境难以实时监测维护、室内人员是否在位难以实时统计等问题。宿舍环境的好坏会直接影响居住人的生活质量及身心状态,宿舍人员的实时统计会影响管理工作的判断决策。本文基于物联网技术设计了一种宿舍环境实时监测与综合管理系统。本系统采用温度、光敏、噪声传感器精确感知宿舍温度变化、熄灯与否、吵闹噪声情况;运用先进毫米波雷达技术,在保护学生隐私的前提下,实时监测统计宿舍人员在寝情况;基于物联网技术将环境和人员到寝数据传输到信息中心进行集中处理分析。宿舍作为物联网的各个节点,基于MQTT协议将各节点采集的数据通过WIFI网关上传至云平台,实现数据的共享与持久化。最后在微信小程序端实现数据可视化,用以辅助学校后勤管理部门实时、多维度监测学生宿舍情况。实测结果表明:云平台接收的数据能及时反映学生宿舍的环境数据波动和人数变化,实现用户终端远程监控功能,满足人员管理和宿舍环境安全舒适的监测和维护需要。

关键词：物联网寝室环境监测云平台雷达传感

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A conceptual design for simultaneous measurements of 3D surface wave field and ocean surface current vector using the InSAR technology

A conceptual design for simultaneous measurements of 3D surf...

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2008 IEEE/OES 9th Working conference on Current Measurement technology: Advances in Current and Wave Measurement

作者： Paul A. Hwang Jakov V. Toporkov Mark A. Sletten Remote Sensing Division Naval Research Laboratory Inc. Washington D.C. DC USA

The radial velocity measured by a conventional along-track interferometric synthetic aperture radar (ATI) is contributed by all three orthogonal velocity components of the ocean surface current, of which the oscillatory orbital velocity of surface waves is frequently a dominant term. Mathematically, three simultaneous radial velocity measurements from different incident or azimuthal angles are needed to yield the unique solution of the ocean surface current. The 3D solution for sidelooking ATI is presented. If only two measurements are available, the error of the two horizontal velocity components caused by assuming zero vertical velocity is quantified. A conceptual design of integrating cross-track (XT) and along-track (AT) interferometry is presented. The XTI phase data give the surface wave topography, from which the 3D wave-induced current field can be calculated. The wave contribution in the ATI phase data can then be removed to recover the mean component of the ocean surface current while maintaining the SAR resolution. By taking a zigzag path, both horizontal components of the surface current and the 3D wave field can be resolved from a single sensor on a single platform.

关键词： Surface waves Sea surface Current measurement Sea measurements Oceans Synthetic aperture radar interferometry Marine technology Surface topography Extraterrestrial measurements Velocity measurement

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Microwave detection of dielectric structures by using a tomographic approach

Microwave detection of dielectric structures by using a tomo...

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2008 IEEE Instrumentation and Measurement technology conference (I2MTC 2008), vol.3

作者： A. Salvade M. Pastorino R. Monleone T. Bartesaghi G. Bozza A. Randazzo Department of Technology and Innovation University of Applied Science Manno Switzerland Department of Biophysical and Electronic Engineering University of Genoa Genoa Italy

In this paper, an experimental set-up for tomographic imaging based on interrogating microwaves is presented. In particular, a previously proposed prototype aimed at identifying defects and voids in wood slabs is further developed and validated. Moreover, together with new improvements of the acquisition set-up, an efficient numerical approach, aimed at retrieving the dielectric characteristics of the sample under test from the measured data (samples of the scattered electric field,) is presented. The developed experimental apparatus and the inversion technique are validated by means of numerical and experimental simulations.

关键词： Imaging Systems Microwave Tomography Nondestructive Testing Inverse Problems Reconstruction Procedures Microwave sensor radar

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Humanoid Integrated UI System for Supervised Autonomy with Massive data visualization over Narrow and Unreliable Network Communication for DRC Competition

Humanoid Integrated UI System for Supervised Autonomy with M...

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IEEE-RAS International conference on Humanoid Robots

作者： Ryohei Ueda Masaki Murooka Yu Ohara Iori Kumagai Ryo Terasawa Yuki Furuta Kunio Kojima Tatsuhi Karasawa Fumihito Sugai Satoshi Iwaishi Shunichi Nozawa Yohei Kakiuchi Kei Okada Masayuki Inaba Graduate School of Information Science and Technology University of Tokyo

ISBN: (纸本)9781479968862

This paper presents a high level system architecture of the work done by Team NEDO-JSK for DRC (DARPA Robotics Challenge), which was held on 5th-6th, June, 2015, California, USA. DRC was a competition which included driving vehicle, manipulating objects and locomotion over rough terrain. Communication between robot and operators were limited in a similar way to teleoperating situation. The system introduced in this paper was strongly motivated by DRC competition, however system architecture is useful for generic teleoperating tasks. User interface and sensor visualization is the central element of our teleoperating system and operators' performance greatly depends on them. The goal of our system is to provide system to operate robot with less effort of operators and to be able to handle unexpected situation. The key features of the system are: 1) supervised system architecture based on simple command from operators. 2) low-level sensor visualization and high-level teleoperating user interface capable to deal with emergencies. 3) system integration over unreliable and narrow network. This paper summarizes our technical approach and implementation focusing on communication over narrow and unreliable network and user interface for operators. As evaluation of our system, this paper summarizes actual performance through DRC competition.

关键词： data visualisation Operators Building systems User Interface Device Component narrowing Robot Operon central element Systems Integration Network communication OPERATORS Humanoid Competition Communication Research

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Millimeter-Wave radar and Video Fusion Vehicle Detection based on Adaptive Kalman Filtering

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Journal of Physics: conference Series 2021年第1期1966卷

作者： Qian Wang Yansong Song Dongpo Xu College of Electronic Information Engineering Changchun University of Science and Technology Changchun 130022 Jilin China

Road traffic safety has always been the focus of social concern, and the actual road traffic scenes, where only a single sensor is applied cannot cope with the interference brought by complex external factors, which makes vehicle detection extremely challenging. This paper focuses on a vehicle detection algorithm for the fusion of millimeter-wave radar sensor and monocular camera sensor, including the calibration of millimeter-wave radar and camera, the establishment of a temporal fusion model of the two sensors. Finally, the target information obtained from the two sensors is fused with the data using the adaptive Kalman filter fusion algorithm, which can reduce data ambiguity and increase the reliability and validity of the data. Experiments show that the method can overcome the shortcomings of single sensor in target detection, and the obtained target information is more comprehensive compared with the monocular camera detection results.

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Quaternion Based Wireless AHRS data Transfer using nRF24L01 and HC-05

Quaternion Based Wireless AHRS Data Transfer using nRF24L01 ...

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International conference on Microelectronics, Computing and Communications

作者： Salam ThoiThoi Krishna Chaitanya Kodur Wasim Arif Department of Electronics & Communication Engineering National Institute of Technology Silchar Silchar Assam (Pin-788010) India

ISBN: (纸本)9781467366229

Orientation and Rotation of a system plays an important role in describing how an object is placed in 3-D space. Measuring an orientation has many application in the field of Monitoring human motion, Animation, Unmanned Aerial Vehicle (UAV), Robotics and Navigation. An AHRS (Attitude and Heading Reference System) is commonly used for measuring the orientation through which Roll, Pitch and Yaw of the system is obtained. This paper proposes a design of Wireless AHRS (WAHRS) which is capable of sending the sensor data to the ground station, using the Ultra-low power nRF24L01 transceiver, HC-05, Atmega328p and the MARG (Magnetic, Angular Rate, and Gravity) MEMS (Micro-Electro-Mechanical Systems) sensor. The nRF24L01 is a cost-effective radio transceiver which operates at a frequency of 2.4 GHz Industrial, Scientific and Medical (ISM) radio Band. The received data is further processed for analysis, data visualization and decision making. Quaternion is used for representing orientation and rotation as it has an advantage over 3-D algebra.

关键词： Attitude and Heading Reference System IMU ISM MARG MEMS nRF24L01 Quaternion UAV

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MEC IoT: Monitorización de estructuras civiles en el contexto IoT

MEC IoT: Monitorización de estructuras civiles en el contex...

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2017 IEEE Colombian conference on Communications and Computing, COLCOM 2017

作者： Samboni, Franklin Bedoya, Simon Vivas, Fulvio Yesid Caicedo, Oscar Mauricio Grupo de Ingenieria Telemática Facultad de Ingenieria Electrónica y Telecomunicaciones Universidad Del Cauca Popayán Colombia

ISBN: (纸本)9781538610602

The significant advance of the Internet allows the inclusion of concepts like IoT (Internet of Things) and Cloud Computing. Nowadays, the deployment of systems and platforms of IoT and cloud facilitate the monitoring and remote management in different areas. However, The structural health monitoring presents networks with centralized topology, deployment of local data and a poor acquisition of seismic signals. Thus, the proposed system covers the structural health monitoring in a context of IoT and cloud computing. The developed system allows the correct acquisition, storage, processing and visualization of data in real time, event logging, errors and notifications, information management of networks, sensors, alerts, and users. We evaluate the system through a case study in the building of the Faculty of Engineering of the University of Cauca. © 2017 IEEE.

关键词： Wireless sensor networks

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