Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with r...
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ISBN:
(纸本)9781665491907
Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity. Accelerometer biases and scale factor errors from the IMU's initial calibration are often the major source of inaccuracies when aligning the robot's odometry frame with the inertial frame, especially for low-grade IMUs. Practically, one would simultaneously estimate the true gravity vector, accelerometer biases, and scale factor to improve measurement quality but these quantities are not observable unless the IMU is sufficiently excited. While several methods estimate accelerometer bias and gravity, they do not explicitly address the observability issue nor do they estimate scale factor. We present a fixed-lag factor-graph-based estimator to address both of these issues. In addition to estimating accelerometer scale factor, our method mitigates limited observability by optimizing over a time window an order of magnitude larger than existing methods with significantly lower computational burden. The proposed method, which estimates accelerometer intrinsics and gravity separately from the other states, is enabled by a novel, velocity-agnostic measurement model for intrinsics and gravity, as well as a new method for gravity vector optimization on S2. Accurate IMU state prediction, gravity-alignment, and roll/pitch drift correction are experimentally demonstrated on public and self-collected datasets in diverse environments.
A method for mathematical modeling of multidimensional quasi-static processes, which are generalization of quasi-static processes in equilibrium thermodynamics, is proposed and substantiated. A generalization of the f...
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The current learning pipelines for robotics manipulation infer movement primitives sequentially along the temporal-evolving axis, which can result in an accumulation of prediction errors and subsequently cause the vis...
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ISBN:
(纸本)9781665491907
The current learning pipelines for robotics manipulation infer movement primitives sequentially along the temporal-evolving axis, which can result in an accumulation of prediction errors and subsequently cause the visual observations to fall out of the training distribution. This paper proposes a novel hierarchical behavior cloning approach which tries to dissociate standard behaviour cloning (BC) pipeline to two stages. The intuition of this approach is to eliminate accumulation errors using a fixed spatial representation. At first stage, a high-level planner will be employed to translate the initial observation of the scene into task-specific spatial waypoints. Then, a low-level robotic path planner takes over the task of guiding the robot by executing a set of pre-defined elementary movements or actions known as primitives, with the goal of reaching the previously predicted waypoints. Our hierarchical keypoints-based paradigm aims to simplify existing temporal-evolving approach to a more simple way: directly spatialize the whole sequential primitives as a set of 8D waypoints only from the very first observation. Plentiful experiments demonstrate that our paradigm can achieve comparable results with Reinforcement Learning (RL) and outperforms existing offline BC approaches, with only a single-shot inference from the initial observation. Code and models are available at : https://***/KevinRiou22/spatial-fixing-il
The system will monitor and analyse food quality along the supply chain in real time. The system has high performance due to the CNN algorithms. In terms of accuracy, CNN has a high performance (95.2%), precision (92....
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Sleep is a dynamic process, which changes every day, so it is necessary to continuously measure how many nights of sleep, whether in medicine, research or health diagnosis. The essence of sleep monitoring is to monito...
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The proceedings contain 22 papers. The topics discussed include: mathematical modeling of monochromatic acoustic wave diffraction on a system of bodies and on flat screens;processing and analysis of botanical micro-an...
The proceedings contain 22 papers. The topics discussed include: mathematical modeling of monochromatic acoustic wave diffraction on a system of bodies and on flat screens;processing and analysis of botanical micro-and macroobjects using computer vision technologies;implementation of automation in vibration-isolating supports of new type for engines of sea and river vessels;the expert system for assessing fire risks of electrical installations in the agrarian industrial complex based on neural networks;development of a machine vision system for recording experimental data in the study of torsional stiffness by dynamic mechanical analysis;and application of the algorithm for calculating the boundaries of built-up areas from satellite images to calculating the areas of flooded land and the environmental potential of the territories of settlements.
Adaptive control has been extensively proved as a promising strategy for nonlinear systems, especially in the dynamic and changeable environments. However, due to the unavoidable existence of unknown interconnections ...
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Wireless Sensor Networks (WSNs) play a pivotal role in a multitude of applications, from environmental monitoring to smart city infrastructures. A significant challenge in these networks is managing the limited energy...
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ISBN:
(纸本)9798331540661;9798331540678
Wireless Sensor Networks (WSNs) play a pivotal role in a multitude of applications, from environmental monitoring to smart city infrastructures. A significant challenge in these networks is managing the limited energy resources of sensor nodes (S-n) to prolong network lifetime and maintain reliability. This study proposes the Path Energy control Technique (PECT), a method designed to minimize energy consumption in WSNs. PECT employs an algorithm that adjusts the transmission power of Sn based on the Received Signal Strength Indicator (RSSI) and other network parameters, ensuring efficient data packet transmission with minimal energy expenditure and interference. Implemented using the Castalia network simulator, an extension of OMNeT++, PECT dynamically modifies the power settings of nodes to optimize energy usage and enhance packet reception efficiency. The validation process, conducted through simulations, demonstrates PECT's capability to reduce energy consumption and maintain high transmission efficiency under varying network conditions. The results indicate that PECT can significantly extend the operational life of WSNs by optimizing energy consumption and reducing interference, thereby offering a robust solution for energy-efficient WSN management.
In this paper, we provide an automata-based framework for verifying diagnosability property of Cyber-Physical systems leveraging a notion of so-called hybrid barrier certificates. Concretely, we first construct a so-c...
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In this paper, we provide an automata-based framework for verifying diagnosability property of Cyber-Physical systems leveraging a notion of so-called hybrid barrier certificates. Concretely, we first construct a so-called (delta,K)-deterministic finite automata ((delta,K)-DFA) associated with the desired diagnosability property, which captures the occurrence of the fault to be diagnosed. Having a (delta,K)-DFA, we show that the verification of diagnosability properties is equivalent to a safety verification problem over a product system between this DFA and the dynamical system of interest. We further show that such a verification problem can be solved via computing hybrid barrier certificates for the product system. To compute the hybrid barrier certificates, we provide a systematic technique leveraging a counter-example guided inductive synthesis framework. Finally, we showcase the effectiveness of our results through a case study. Copyright (c) 2024 The Authors.
Recent developments in cloud services information have sparked several improvements in networking, storage, and computing, among other areas of information technology. The Internet of Information, the use of clouds, a...
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