The goal of mapping is to build a map of the environment using raw data provided by some sensors embedded on an intelligent vehicle. This map is used by an intelligent vehicle to have knowledge about its surrounding e...
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ISBN:
(纸本)9780769545967
The goal of mapping is to build a map of the environment using raw data provided by some sensors embedded on an intelligent vehicle. This map is used by an intelligent vehicle to have knowledge about its surrounding environment to better plan its future actions. In this paper, we present a method, based on occupancy grids [3], to map 3D environment. In this method, we discretize the environment in cells and the shape of each cell is approximated by one or several gaussians in order to achieve a balance between representational complexity and accuracy. Experimental results on 3D real outdoor data provided by a lidar are shown: a map of an urban environment is presented. Moreover a quantitative comparison of our method with state of the art methods is presented to show the interest of the method.
In this paper, we present a generic architecture for perception of an intelligent vehicle in dynamic outdoor environment. This architecture is composed of two levels: a first level dedicated to real-time local simulta...
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ISBN:
(纸本)9780769545967
In this paper, we present a generic architecture for perception of an intelligent vehicle in dynamic outdoor environment. This architecture is composed of two levels: a first level dedicated to real-time local simultaneous localization and mapping (SLAM) and a second one is dedicated to detection and tracking of moving objects (DATMO). The experimental results on datasets collected from different scenarios such as: urban streets, country roads and highways demonstrate the efficiency of the proposed algorithm on a Daimler Mercedes demonstrator in the framework of the European Project PReVENT-ProFusion2 and on a Volkswagen Demonstrator in the framework of the European Project Intersafe2.
The employment of device monitoring, diagnosis and condition-based maintenance is one of the potential approaches for enhancing operational efficiency and reducing energy consumption of industrial machines. Industrial...
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ISBN:
(纸本)9781424468508
The employment of device monitoring, diagnosis and condition-based maintenance is one of the potential approaches for enhancing operational efficiency and reducing energy consumption of industrial machines. Industrial wireless sensor networks (IWSNs) for device monitoring are appealing to industry due to their inherent advantages compared with traditional wired systems, such as low cost, convenience of installation and re-location. In this paper, firstly the design requirements of IWSNs are outlined based on surveying application examples and commercial systems. Secondly the wireless protocol standards, current off-the-shelf wireless sensor platforms and prototypes developed by individual researchers for IWSNs are listed and compared. The paper then describes two techniques for improving the efficiency and effectiveness of industrial wireless sensors systems - on-sensor data processing, and a modified MAC protocol for improved real-time performance. Finally possible solutions to deal with particular requirement of IWSNs, including a system architecture and a novel protocol stack for a monitoring system are discussed.
This paper was devoted to improvement of existing and development of the new method for local area map building of mobile robot using sensor fusion techniques. The unstructured environment for navigation of mobile rob...
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ISBN:
(纸本)9781424413478
This paper was devoted to improvement of existing and development of the new method for local area map building of mobile robot using sensor fusion techniques. The unstructured environment for navigation of mobile robots is the reason of such task. The offered method provides the local area map building using polar coordinate system and bases on the applications of artificial neural network for fusing of readings from ultrasonic and infrared sensors. Application of the proposed method allows to decrease computational complexity and to increase the accuracy of local area map.
This paper deals with a multifeature numerical instrument for nondestructive testing of ferromagnetic materials, based on the Barkhausen noise. Starting from traditional instruments based on the root mean square value...
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This paper deals with a multifeature numerical instrument for nondestructive testing of ferromagnetic materials, based on the Barkhausen noise. Starting from traditional instruments based on the root mean square value of the band-pass filtered measured signal, the proposed method is based on the simultaneous analysis of the excitation voltage, the excitation current, and the induced signal. A good repeatability improvement is achieved by monitoring the excitation impedance, while synchronizing the rms evaluation to the excitation current signal increases the robustness with respect to the environmental electromagnetic noise. Moreover, experimental results encourage the use of shape-based features to better characterize the Barkhausen signal.
This paper deals with a multi-features numerical instrument to estimate and qualify Barkhausen noise. Starting from traditional instruments based on rms value of the band-pass filtered measured signal, the proposed me...
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ISBN:
(纸本)0780366468
This paper deals with a multi-features numerical instrument to estimate and qualify Barkhausen noise. Starting from traditional instruments based on rms value of the band-pass filtered measured signal, the proposed method is based on the simultaneous analysis of the excitation voltage, the excitation current and the induced signal. The aim is to overcome the well-known limits in terms of measurement repeatability and noise immunity. A good repeatability improvement is achieved by monitoring the excitation impedance, while synchronizing the rms evaluation to the excitation current signal increases the robustness with respect to the environmental electromagnetic noise. Moreover, the use of shape-based parameters is encouraged to better qualify the Barkhausen signal.
作者：
Hilger, JPhung, DUSA
CECOM Night Vis & Elect Sensors Directorate Ft Belvoir VA 22060 USA
This paper summarizes a study investigating the potential insertion of embedded high performance computing technology into a legacy processor architecture such as that found in U.S. Army ground platforms. The intended...
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ISBN:
(纸本)081943194X
This paper summarizes a study investigating the potential insertion of embedded high performance computing technology into a legacy processor architecture such as that found in U.S. Army ground platforms. The intended task to be performed by the embedded high performance computing technology is that of aiding human operators in their target acquisition activities by cueing these operators to potential targets. Insertion of this technology is constrained by two sets of requirements. The first set of requirements is given by the ground platform, such as a tank. The second set of requirements is formed from the mathematical algorithms used to process the sensordata. Results of this joint U.S. Army CECOM Night Vision & Electronic sensors Directorate (NVESD) and Defense Advanced Research Projects Agency (DARPA) study show no commercially available computing technology can meet all requirements. The study did show that inclusion of adaptable computing technology allowed most of the requirements to be met. This paper summarizes the methodology and models used to obtain these results as well as the impact of adaptable computing technology to embedded ATR processors.
Mini-rovers provide an approach to inspect and repair sewage pipes of small diameters. The operations in muddy, partially unknown environment rises challenging problems in the areas of remote control and navigation. T...
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Mini-rovers provide an approach to inspect and repair sewage pipes of small diameters. The operations in muddy, partially unknown environment rises challenging problems in the areas of remote control and navigation. This paper reviews solutions for navigating the robot to the appropriate location, for monitoring with sensors the repair process and for telediagnosis in case of emergencies. The sensorics as well as sensor data processing aspects are addressed.
Autonomously guided vehicles provide a key component to achieve a flexible flow of materials. This paper addresses control strategies enabling the vehicle to deal autonomously with typical uncertainties of an industri...
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ISBN:
(纸本)0780324625
Autonomously guided vehicles provide a key component to achieve a flexible flow of materials. This paper addresses control strategies enabling the vehicle to deal autonomously with typical uncertainties of an industrial working environment on the basis of low-cost sensorics. Approaches by fuzzy control for collision avoidance and docking to a target are developed and discussed. This application is of particular interest for processingdata from low precision sensors. In computer simulations and hardware experiments the strategies were tested and compared.
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