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Adaptive sampling for environmental field estimation using robotic sensors

Adaptive sampling for environmental field estimation using r...

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2005 IEEE/RSJ international conference on Intelligent Robots and systems

作者： M. Rahimi M. Hansen W.J. Kaiser G.S. Sukhatme D. Estrin Center for Embedded Networked Sensing UCLA Los Angeles CA USA Department of Computer Science USC Los Angeles CA USA Department of Computer Science UCLA Los Angeles CA USA

Monitoring environmental phenomena by distributed sensor sampling confronts the challenge of unpredictable variability in the spatial distribution of phenomena often coupled with demands for a high spatial sampling rate. The introduction of actuation-enabled robotics sensors permits a system to optimize the sampling distribution through runtime adaptation. However, such systems must efficiently dispense sampling points or otherwise suffer from poor temporal response. In this paper, we propose and characterize an active modeling system. In our approach, as the robotic sensor acquires measurement samples of the environment, it builds a model of the phenomenon. Our algorithm is based on an incremental optimization process where the robot supports a continuous, iterative process of 1) collecting samples with maximal coverage in the design space; 2) building the environmental model; 3) predicting sampling point locations that contribute the greatest certainty regarding the phenomenon; and 4) sampling the environment based on a combined measure of information gain and navigation and sampling cost. This can provide significant reductions in the magnitude of field estimation error with a modest navigational trajectory time. We evaluate our algorithm through a simulation, using a combination of static and mobile sensors sampling light illumination field.

关键词： Sampling methods Robot sensing systems Sensor phenomena and characterization Orbital robotics Navigation Monitoring Sensor systems Runtime Iterative algorithms Design optimization

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A SysML-based Design and Development of Stereo Vision System with Pose and Velocity Estimation for Cooperative Automated Vehicles

A SysML-based Design and Development of Stereo Vision System...

引用

Electrical, computer and Energy Technologies (ICECET), international conference on

作者： Narsimlu Kemsaram Anweshan Das Gijs Dubbelman Space Robotics (SpaceR) Research Group SnT Centre University of Luxembourg Kirchberg Luxembourg Mobile Perception Systems (MPS) Lab Signal Processing Systems Group Eindhoven University of Technology AZ Eindhoven Netherlands

ISBN: (纸本)9781665442329

Cooperative automated vehicles must perceive the environment accurately and have precise information about the leading vehicle's pose and velocity. This paper presents a SysML-based approach to design and develop a stereo vision-based perception system in an urban platooning scenario. It detects objects, lane markers, and free space in front of the follower vehicle using deep neural networks and computes the lead vehicle's relative pose and velocity. The relative pose is estimated using a geometric model-based pose estimation algorithm. The relative velocity is estimated from the change in pose within a known time. The lead vehicle's relative pose and velocity control the follower vehicle to follow the lead vehicle autonomously. Also, it displays the lead vehicle's pose and velocity information in a meaningful way on the in-vehicle display of the follower vehicle. The proposed system uses a custom-built automotive-grade stereo camera as input and runs on an automotive-grade embedded platform. It is tested on a simulation and prototype cooperative automated vehicle research platform. The evaluation results demonstrate that the proposed system operates in real-time and is suitable for cooperative automated vehicles.

关键词： Space vehicles Computational modeling Velocity control Radar Lead Sensor fusion Cameras

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Performance Evaluation of State Estimators for Airborne Target Tracking Using Multi Sensor Data Fusion

Performance Evaluation of State Estimators for Airborne Targ...

引用

IEEE international conference on Electro-Information Technology

作者： David S.R. Kondru Mehmet Celenk School of Electrical Engineering and Computer Science Ohio University Athens Ohio USA

The main function of range sensory systems under a given dynamic environment is to detect, discriminate and track a particular target for surveillance in case of a friendly target or an enemy target interception. The combination of two or more sensors will provide better position estimate than a single sensor. In this paper, the advantages of the multi sensor data fusion is presented and compared over conventional single sensor tracking. The state estimation techniques are utilized to enhance position accuracy in a single and multi-sensor environment. The performance of each state estimator is evaluated by considering different target motions along with their nonlinear characteristics. The state estimators presented here varies from simple linear filters such as fixed gain and Kalman filters to complex nonlinear filters such as Particle filter. Two widely used Extended Kalman filter based fusion architectures such as measurement fusion and state vector fusion are explored. The data is simulated from two ground based sensors RADAR and FLIR (forward looking infra red) to examine the fusion process. The RMS error is computed in range, azimuth, and elevation angles. A complete mathematical modeling and simulation is implemented in MATLAB. It is found that fusion architectures have demonstrated better performance in tracking accuracy.

关键词： Radar tracking Target tracking Kalman filters Mathematical model Atmospheric measurements Azimuth

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CamSim: A Distributed Smart Camera Network Simulator

CamSim: A Distributed Smart Camera Network Simulator

引用

IEEE international conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Lukas Esterle Peter R. Lewis Horatio Caine Xin Yao Bernhard Rinner Institute of Networked and Embedded Systems Alpen-Adria Universität Klagenfurt and Lakeside Labs Austria CERCIA University of Birmingham United Kingdom

Smart cameras allow pre-processing of video data on the camera instead of sending it to a remote server for further analysis. Having a network of smart cameras allows various vision tasks to be processed in a distributed fashion. While cameras may have different tasks, we concentrate on distributed tracking in smart camera networks. This application introduces various highly interesting problems. Firstly, how can conflicting goals be satisfied such as cameras in the network try to track objects while also trying to keep communication overhead low? Secondly, how can cameras in the network self adapt in response to the behavior of objects and changes in scenarios, to ensure continued efficient performance? Thirdly, how can cameras organise themselves to improve the overall network's performance and efficiency? This paper presents a simulation environment, called CamSim, allowing distributed self-adaptation and self-organisation algorithms to be tested, without setting up a physical smart camera network. The simulation tool is written in Java and hence allows high portability between different operating systems. Relaxing various problems of computer vision and network communication enables a focus on implementing and testing new self-adaptation and self-organisation algorithms for cameras to use.

关键词： Cameras Smart cameras Computational modeling conferences Algorithm design and analysis Distributed algorithms

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Reliable multihop bulk transfer service for wireless sensor networks

Reliable multihop bulk transfer service for wireless sensor ...

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international conference and Workshop on Engineering of computer-Based systems

作者： P. Volgyesi A. Nadas A. Ledeczi K. Molnar Institute for Software Integrated Systems Vanderbilt University Nashville TN USA Embedded Information Technology Research Group Hungarian Academy of Sciences Budapest University of Technology and Economics Budapest Hungary

Multihop message routing is a well studied and widely documented area of research in wireless sensor networks (WSN), where the dynamic and lossy nature of the wireless medium and severe resource constraints pose major challenges. The vast majority of related research focuses on reliable and power-efficient transfer of small amounts of data, such as low frequency sensor readings or event detections. However, in a few but notable WSN applications, reliable transfer of mass data is essential. The paper describes an efficient multihop bulk transfer service along with a complete sensor network application utilizing it for on-demand image transfers. The paper focuses on the unique problems of the service, such as resource allocation, flow control and mobility throughout the modeling, simulation and implementation phases. Models of the protocol have been built and simulated in a probabilistic wireless network simulator. The prototype implementation targets TinyOS, a well-known WSN operating system

关键词： Spread spectrum communication Wireless sensor networks Routing Frequency Event detection Image sensors Sensor phenomena and characterization Resource management Wireless application protocol Prototypes

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Simplified parallel domain traversal

Simplified parallel domain traversal

引用

Supercomputing conference

作者： Wesley Kendall Jingyuan Wang Melissa Allen Tom Peterka Jian Huang David Erickson Department of Electrical Engineering and Computer Science University of Tennessee Knoxville USA Department of Civil and Environmental Engineering University of Tennessee Knoxville USA Mathematics and Computer Science Division Argonne National Laboratory USA Computational Earth Sciences Group Oak Ridge National Laboratory USA

Many data-intensive scientific analysis techniques require global domain traversal, which over the years has been a bottleneck for efficient parallelization across distributed- memory architectures. Inspired by MapReduce and other simplified parallel programming approaches, we have designed DStep, a flexible system that greatly simplifies efficient parallelization of domain traversal techniques at scale. In order to deliver both simplicity to users as well as scalability on HPC platforms, we introduce a novel two-tiered communication architecture for managing and exploiting asynchronous communication loads. We also integrate our design with advanced parallel I/O techniques that operate directly on native simulation output. We demonstrate DStep by performing teleconnection analysis across ensemble runs of terascale atmospheric CO 2 and climate data, and we show scalability results on up to 65,536 IBM BlueGene/P cores.

关键词： Atmospheric modeling Scalability Data visualization computer architecture Message systems Protocols Analytical models

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A soft aperiodic task scheduling algorithm in dynamic-priority systems

A soft aperiodic task scheduling algorithm in dynamic-priori...

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IEEE international conference on embedded and Real-Time Computing systems and Applications (RTCSA)

作者： Sungyoung Lee Hyungill Kim Jongwon Lee Department of Computer Engineering Kyung Hee University Seoul South Korea Software Research Laboratory Korea Telecom Seoul South Korea

ISBN: (纸本)0818671068

In this paper, we present a joint scheduling of hard deadline periodic and soft deadline aperiodic tasks in dynamic-priority systems. The proposed algorithm has extended the fixed-critical task indicating (CTI) algorithm developed by the authors previously (1995). The dynamic-CTI algorithm is operated in such a way that dynamic-priority assignment strategy for a given periodic task set and the information on a deadlinewise preassignment table, called dynamic-CTI table, are mixed dynamically according to the aperiodic tasks' arrivals at runtime. The algorithm has a predictability and a less computational complexity in calculating the slacks since it uses the dynamic-CTI table. Our simulation study shows that the dynamic-CTI scheduling has better performance than the fixed-CTI algorithm which is even better than the slack stealing algorithms, especially under a heavy, transient overload.

关键词： Scheduling algorithm Processor scheduling Dynamic scheduling Runtime Computational complexity Delay Heuristic algorithms Computational modeling Telecommunication computing Prediction algorithms

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An algorithm with constant execution time for dynamic storage allocation

An algorithm with constant execution time for dynamic storag...

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IEEE international conference on embedded and Real-Time Computing systems and Applications (RTCSA)

作者： T. Ogasawara Advanced Compiler Group IBM Japan Limited Yamato Kanagawa Japan

The predictability of the computation time of program modules is very important for estimating an accurate worst-case execution time (WCET) of a task in real-time systems. Dynamic storage allocation (DSA) is a common programming technique. Although many DSA algorithms have been developed, they focus on the average execution time rather than the WCET, making it is very difficult to calculate their WCET accurately. In this paper, we propose a new algorithm called Half-Fit whose WCET can be calculated accurately. The algorithm finds a free block without searching on a free list or tree, allowing extra unusable memory called incomplete memory use. In a simulation following a queueing model of M/G//spl infin/, Half-Fit has the advantage over the binary buddy system of more efficient storage utilization. The binary buddy system is a conventional algorithm whose WCET can be calculated.

关键词： Real time systems High level languages Dynamic programming Laboratories Processor scheduling Programming profession Computational modeling Scheduling algorithm computer architecture Upper bound

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Energy Conscious Simultaneous Voltage Scaling and On-chip Communication Bus Synthesis

Energy Conscious Simultaneous Voltage Scaling and On-chip Co...

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IFIP international conference on Very Large Scale Integration (VLSI-SoC)

作者： Sujan Pandey Tudor Murgan Manfred Glesner Institute of Microelectronics Systems Darmstadt University of Technology Darmstadt Germany

Due to the ever increasing trend of system complexity and technology scaling, synthesizing on-chip communication architecture appears to be a challenging task for the system designers. The traditional approaches are mostly based on the simulation of an entire system. However, the resulting architecture may not fulfil the requirements such as the performance, energy, size etc. and the computational cost of simulation based techniques is infeasible when exploring a large design space. This paper presents a simultaneous on-chip communication bus synthesis and voltage scaling approach, which is modeled in NLP (nonlinear programming) and finds an energy efficient minimum number of bus(es) and an optimal size of bus width by simultaneously performing resource selection, scheduling, binding and voltage scaling of an on-chip bus. The voltages (supply and body bias) are scaled to reduce the total energy consumption of a bus by exploiting the slack of each on-chip module. The experimental results conducted on real-life examples, demonstrate the synthesis of an energy efficient communication bus with total energy saving up to 57.1% by scaling its supply and body bias voltages

关键词： Voltage computer architecture Topology System-on-a-chip Computational modeling Energy consumption Energy efficiency Computational efficiency Libraries embedded system

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A Multi-agent simulation for the Research on the Market Equilibrium Phenomena Using Q-Network Algorithm

A Multi-agent Simulation for the Research on the Market Equi...

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international conference on Communication Technology (ICCT)

作者： Jinyan Wang Bo Chen College of Mathematics and Computer Science Fuzhou University Fuzhou Fujian Province China

For the problems related to market equilibrium in complex market environments, analyses are conducted in the past, using some mathematical models and the game theory. These methods are based on the economic structural equations themselves, ignoring the interactions between economic subjects, and the hypothesis of subject homogeneity has no reference in the real world. On contrast, this paper proposes a multi-agent simulation model, from the microscopic point of view. In such simulation, agents interact with each other, and the decisions are made by agent-embedded AI systems, the Q-network. Therefore, there is no need to elaborate the behavioral rule for each agent, or manually set up too many assumptions. This paper assumes that the simulated market operates in a hypothetical way, in which there are two types of economic entities, namely, banks and enterprises. Banks and enterprises lending behaviors lead to a symbiotic relationship between the banks and the enterprises, while business-to-business transactions make the enterprises symbiotically compete with each other. In the experiment, the observed behavior of each agent can be reasonably explained. Agents endogenously generate intelligent behavioral patterns compatible with the environment. Therefore, this AI-based method can replace the artificially designated decision-making strategy in simulations of market, thus facilitating related economic researches.

关键词： Economics Mathematical model Companies Decision making Markov processes Training Computational modeling

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