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3rd SICE International Symposium on Control Systems (SICE ISCS)

作者： El Hakim, Viktorio S. Bekooij, Marco J. G. Univ Twente Dept Comp Architectures Embedded Syst Enschede Netherlands NXP Semicond Dept Embedded Software & Signal Proc Eindhoven Netherlands

ISBN: (纸本)9784907764548

State estimation algorithms, such as the Kalman filter, are applied for conditioning and sensor fusion in digital control loops. It is desirable that these algorithms can be executed on embedded multiprocessor systems. However this results in large worst-case execution times with a consequence that a large sampling period must selected, which degrades the estimation and control performance. In this paper, we propose a free-running state-estimation approach in which the next sample is taken as soon as the current iteration completes. The approach utilizes the particle filter algorithm to mitigate the effects of sampling jitter, introduced by the variation in the execution times of tasks. As a result of the reduced interval between subsequent sampling moments the estimation accuracy is improved. The delay introduced by the estimator in a control loop is reduced by enabling execution of the prediction step in parallel with other control tasks. We compare simulation results obtained for our approach with a Kalman filter based approach, by estimating the state of a DC motor. These results show that our approach minimizes the estimation error, as a result of sampling jitter, by up to a factor of 10. Additionally we show that the approach does not require precise knowledge of the distribution of the execution times of the tasks.

关键词： Sampling jitter Particle filtering

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An Optimized fusion Method for Double-Wearable-Wireless-Band Platform on Cloud-Health Application 8th

An Optimized Fusion Method for Double-Wearable-Wireless-Band...

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8th International Symposium on Parallel architectures, algorithms, and Programming (PAAP)

作者： Xu, Wenchao Liu, Yanbo Yang, Yanqin Ning, Xiaoshuang Chu, Tianxing Song, Hongzhi East China Normal Univ Shanghai Peoples R China Texas A&M Univ Corpus Christi Corpus Christi TX 78412 USA

ISBN: (纸本)9789811064425;9789811064418

This paper presents a stable double-wireless-wearable-band platform that can detect hand gestures. The real-time monitoring and control system utilizes an MCU processor, a wireless transceiver, and a commercial three-axis, digital-output MEMS accelerometer. To detect the user's hand movements, a 3D virtual environment is created via a double-wearable-band controller. Compared with a single wearable band, double wearable bands can identify more gestures with improved stability. Performances in terms of control and detection are discussed in detail. This research development allows the user to specify desired two-hand postures using the multi-sensor information fusion technique for controlling a variety of robotic devices. In the system, the defined two-hand postures also allow the user to add freestyle control to various applications, which bridge the communication gap between humans and the systems. Moreover, the integration of the action recognition algorithm of the combination of two bracelets and the server brings out a real-time approach to analyze and make decisions based on the users' data. Therefore, the system can call for help in a timely manner under critical conditions.

关键词： Double wearable wireless band platform Multiple kalman filter fusion Cloud monitoring health platform

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A new multi-sensor fusion algorithm based on the Information Filter framework

A new multi-sensor fusion algorithm based on the Information...

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Seminar on Detection Systems architectures and Technologies (DAT)

作者： Ammar Cherchar Messaoud Thameri Adel Belouchrani Ecole Supérieure Ali CHABATI Réghaia Algeria Ecole Nationale Polytechnique Algiers Algeria

ISBN: (纸本)9781509045099

his paper presents a new efficient track-to-track fusion (T2TF) algorithm based on the Information Filter (IF) framework which takes into account phenomena encountered in practical applications. In fact, it combines a modified version of the IF framework and a self-tuning fusion procedure based on likelihood functions to address issues such as the correlation of the estimates, the transmission shortcomings and the measurement origin uncertainty. The proposed method is evaluated through simulations and the obtained results show that the proposed algorithm performs as well the optimal centralized fusion schema in an idealized environment while it exhibits better robustness capabilities than existing decentralized algorithms when observation origin uncertainty is considered. Moreover, its reduced complexity cost is suitable for real time applications.

关键词： Microwave measurement Antenna measurements Microstrip antenna arrays Antenna radiation patterns Microwave antenna arrays

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Performance evaluation on contour extraction using Hough transform and RANSAC for multi-sensor data fusion applications in industrial food inspection

Performance evaluation on contour extraction using Hough tra...

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20th IEEE Conference on Signal Processing - algorithms, architectures, Arrangements, and applications (SPA)

作者： Kroeger, M. Sauer-Greff, W. Urbansky, R. Lorang, M. Siegrist, M. Univ Kaiserslautern Chair Commun Engeneering Kaiserslautern Germany WIPOTEC GmbH Kaiserslautern Germany

ISBN: (纸本)9788362065271

For multi-sensor data fusion applications the accurate alignment of different sensor data is essential for the proper combination of matching features. In food inspection system the boxing often is in a rectangular shape. This knowledge can be used to rectify the image data, an important step in the alignment stage. In case of low contrast between boxing and background, the detected contour may differ significantly from the actual values. In this paper the performance of the Hough transform and the RANdom SAmple Consensus (RANSAC)-algorithm are evaluated relating to the correct extraction of the boxing contour out of contour data distorted by position errors of the outer shape. The evaluation results indicate the superiority of the RANSAC algorithm with respect to scalability, robustness and execution time.

关键词： Hough transforms

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PASES: Combining radar and video sensing for improved pedestrian safety

PASES: Combining radar and video sensing for improved pedest...

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Conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Chenault, David B. Edmondson, Richard P. Polaris Sensor Technol Inc 200 West Side SqSuite 320 Huntsville AL 35801 USA

ISBN: (纸本)9781510601130

Polaris sensor Technologies reports on the development of Pedestrian Automated System for Enforcement and Safety (PASES), a radar and video based system used to monitor vehicle and pedestrian traffic with the intent of improving pedestrian safety. Data is fused from a system of multiple sensors and multiple sensor modalities to identify vehicular violations of pedestrian right of way. A focus was placed on the selection of low cost COTS sensors to make the system more widely available to state and local DOTs with limited budgets. applications include automated enforcement, adaptive traffic control, and improved intersection and crosswalk design based on high quality data available for traffic engineering. We discuss early results with high fidelity sensors, and the performance trades made in order to make the system affordable. A discussion of the system processing architecture is included which highlights the treatment of each sensor data type, and the means of combining the processed data products into state information related to traffic incidents involving vehicles and pedestrians.

关键词： Pedestrian radar video tracking sensor fusion

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In-Drilling Alignment Scheme for Borehole Assembly Trajectory Tracking over a Wireless Ad hoc Network

In-Drilling Alignment Scheme for Borehole Assembly Trajector...

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Conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Odei-Lartey, E. Hartmann, K. Univ Siegen ZESS Zentrum Sensorsyst Paul Bonatz Str 9-11 D-57076 Siegen Germany

ISBN: (纸本)9781510601130

This paper describes the feasibility and implementation of an In-drilling alignment method for an inertia navigation system based measurement while drilling system as applied to the vertical drilling process, where there is seldom direct access to a reference measurement due the communication network architecture and telemetry framework constraints. It involves the sequential measurement update of multiple nodes by the propagation of the reference measurement sequentially over nodes, each of which has an integrated inertia measurement unit sensor and runs the extended Kalman filter based signal processing unit, until the final measurement update of the main sensor node embedded in the borehole assembly is done. This is done particularly to keep track of the yaw angle position during the drilling process.

关键词： In-drilling alignment extended Kalman filter inertial navigation system vertical drilling measurement update sensor node low-cost IMU gyroscope

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In-network stochastic consensus for WSN surveillance applications

In-network stochastic consensus for WSN surveillance applica...

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International Conference on Electronics, Computers and Artificial Intelligence (ECAI)

作者： Cristian Dragana Viorel Mihai Grigore Stamatescu Dan Popescu Department of Automatic Control and Industrial Informatics University Politehnica of Bucharest Bucharest Romania

Surveillance applications require reliable monitoring system architectures and cost-efficient innetwork data processing mechanisms able to provide effective information extraction for event tracking. Wireless sensor Networks (WSNs) appear to be the most suitable technology due to some well known benefits and the rapid development of embedded devices. Current research is mostly focused on improving and developing new decentralized sensor fusion schemes able to overcome the limitations introduced by the battery operated sensor nodes, but most of the time evaluating the proposed algorithms is performed with a serious lack of precise channel modeling. To close this gap, we provide a stochastic consensus implementation for lossy wireless networks comprising fixed and mobile sensor nodes, as a heterogeneous surveillance system based on ground sensor nodes and UAVs (Unmanned Aerial Vehicles). We developed a simulation framework tailored for fixed and mobile sensor nodes and we are able to evaluate the performance of consensus algorithms from a comparative standpoint, considering deterministic and probabilistic packet propagation models described by common models such as Free Space and Nakagami models. In this paper, we consider a complex in-network adaptive estimation using the distributed least-mean square algorithm tailored for WSN. We perform a mean-square error (MSE) performance analysis for both deterministic and probabilistic propagation models.

关键词： Wireless sensor networks Wireless communication Probabilistic logic Surveillance Adaptation models Bridges Stochastic processes

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Optimal Rotation Sequences for Active Perception

Optimal Rotation Sequences for Active Perception

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Conference on Multisensor, Multisource Information fusion - architectures, algorithms, and applications

作者： Nakath, David Rachuy, Carsten Clemens, Joachim Schill, Kerstin Univ Bremen Cognit Neuroinformat D-28359 Bremen Germany

ISBN: (纸本)9781510601130

One major objective of autonomous systems navigating in dynamic environments is gathering information needed for self localization, decision making, and path planning. To account for this, such systems are usually equipped with multiple types of sensors. As these sensors often have a limited field of view and a fixed orientation, the task of active perception breaks down to the problem of calculating alignment sequences which maximize the information gain regarding expected measurements. Action sequences that rotate the system according to the calculated optimal patterns then have to be generated. In this paper we present an approach for calculating these sequences for an autonomous system equipped with multiple sensors. We use a particle filter for multi sensor fusion and state estimation. The planning task is modeled as a Markov decision process (MDP), where the system decides in each step, what actions to perform next. The optimal control policy, which provides the best action depending on the current estimated state, maximizes the expected cumulative reward. The latter is computed from the expected information gain of all sensors over time using value iteration. The algorithm is applied to a manifold representation of the joint space of rotation and time. We show the performance of the approach in a spacecraft navigation scenario where the information gain is changing over time, caused by the dynamic environment and the continuous movement of the spacecraft.

关键词： Markov decision process manifold representation particle filter value iteration multi-sensor fusion optimal decision making active perception information gain

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The effects of movement speeds and magnetic disturbance on inertial measurement unit accuracy: the implications of sensor fusion algorithms in occupational ergonomics applications

The effects of movement speeds and magnetic disturbance on i...

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作者： Howard Chen University of Iowa

学位级别：博士

Accurate risk assessment tools and methods are necessary to understand the relationship between occupational exposure to physical risk factors and musculoskeletal disorders. Ergonomists typically consider direct measurement methods to be the most objective and accurate of the available tools. However, direct measurement methods are often not used due to cost, practicality, and worker/workplace disruption. Inertial measurement units (IMUs), a relatively new direct measurement technology used to assess worker kinematics, are attractive to ergonomists due to their small size, low cost, and ability to reliably capture information across full working shifts. IMUs are often touted as a field-capable alternative to optical motion capture systems (OMCs). The error magnitudes of IMUs, however, can vary significantly (>15°) both within and across studies. The overall goals of this thesis were to (i) provide knowledge about the capabilities and limitations of IMUs in order to explain the inconsistencies observed in previous studies that assessed IMU accuracy, and (ii) provide guidance for the ergonomics community to leverage this technology. All three studies in this dissertation systematically evaluated IMUs using a repetitive material transfer task performed by thirteen participants with varying movement speeds (15, 30, 45 cycles/minute) and magnetic disturbance (absent, present). An OMC system was used as the reference device. This first study systematically evaluated the effects of motion speed and magnetic disturbance on the spatial orientation accuracy of an inertial measurement unit (IMU) worn on the hand. Root-mean-square differences (RMSD) exceeded 20° when inclination measurements (pitch and roll) were calculated using the IMU's accelerometer. A linear Kalman filter and a proprietary, embedded Kalman filter reduced inclination RMSD to < 3° across all movement speeds. The RMSD in the heading direction (i. e., about gravity) increased (from < 5° to 17°) under magnetic

关键词： Biomechanics Ergonomics Inertial Measurement Units Inertial Motion Capture Motion Capture Occupational Ergonomics

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Multitemporal Level-1β Products: Definitions, Interpretation, and applications

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IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING 2016年第11期54卷 6545-6562页

作者： Amitrano, Donato Cecinati, Francesca Di Martino, Gerardo Iodice, Antonio Mathieu, Pierre-Philippe Riccio, Daniele Ruello, Giuseppe Univ Naples Federico II Dept Elect Engn & Informat Technol I-80138 Naples Italy European Space Agcy Ctr Earth Observat ESRIN I-00044 Frascati Italy Univ Bristol Bristol BS8 1TH Avon England

In this paper, we present a new framework for the fusion, representation, and analysis of multitemporal synthetic aperture radar (SAR) data. It leads to the definition of a new class of products representing an intermediate level between the classic Level-1 and Level-2 products. The proposed Level-1 beta products are particularly oriented toward nonexpert users. In fact, their principal characteristics are the interpretability and the suitability to be processed with standard algorithms. The main innovation of this paper is the design of a suitable RGB representation of data aiming to enhance the information content of the time-series. The physical rationale of the products is presented through examples, in which we show their robustness with respect to sensor, acquisition mode, and geographic area. A discussion about the suitability of the proposed products with Sentinel-1 imagery is also provided, showing the full compatibility with data acquired by the new European Space Agency sensor. Finally, we propose two applications based on the use of Kohonen's self-organizing maps dealing with classification problems.

关键词： High-level processing human-machine interaction image enhancement Level-1 beta products multitemporal synthetic aperture radar (SAR) self-organizing maps (SOMs) Sentinel-1

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