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Optimal multiple underwater target localization and tracking using two surface acoustic ranging sensors ⁎

IFAC-PapersOnLine 2018年第29期51卷 177-182页

作者： Moreno-Salinas, D. Crasta, N. Pascoal, A. Aranda, J. Department of Computer Science and Automatic Control National Distance Education University Madrid Spain ISR/IST University of Lisbon Lisbon Portugal

In many scientific and commercial missions at sea, it is of crucial importance to localize one ore more targets underwater. This objective meets with difficulties due to the unavailability of GPS underwater and the high cost of the equipment classically used for target localization. For these reasons, there has been a surge of interest in the problem of range-based underwater target localization, defined as that of localizing a group of unknown (fixed/moving) targets resorting to surface vehicles (called trackers) equipped with sensors capable of measuring their distances to the targets. In this setup, the surface sensor nodes should be placed according to some optimality criterion aimed at maximizing the information available for target tracking. In addition, the number of sensor nodes should be kept to a minimum in order to avoid the use of a complex and expensive network of vehicles that must be positioned and controlled in a coordinated manner. Motivated by these considerations, in this paper we study the problem of multiple target localization using two trackers and present a constructive method to generate a family of optimal waypoints for the trackers. The use of two surface sensors is motivated by the fact that a single surface sensor does not provide enough positioning accuracy for multiple target localization simultaneously. For two and three targets, we provide a family of analytical solutions for optimal sensor node placements. Further, the proposed solutions can be extended to more than three targets under some well-defined constraints on the target configuration. The optimal sensor positions are derived by maximizing the determinants of appropriately defined Fisher information matrices associated with each of the targets. It is shown that the optimal sensor configuration thus obtained lends itself to an interesting and useful geometrical interpretation. Simulation examples illustrate the results derived. © 2018

关键词： Target tracking Coordination reactions Fisher information matrix Sensor nodes Underwater acoustics Constructive methods Cooperative targets Fisher information matrices Geometrical interpretation Multiple target localizations Positioning accuracy Target configurations Trajectory optimization

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Semi-empirical methods for bearings diagnosis

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UPB Scientific Bulletin, Series C: Electrical Engineering 2008年第4期70卷 61-74页

作者： Culita, Janetta Stefanoiu, Dan Ionescu, Florin Faculty of Automatic Control and Computer Science University Politehnica of Bucharest Bucharest Romania University of Applied Sciences Department of Mechatronics Konstanz Germany

Vibrations, especially generated by mechanical systems, exhibit a fortunate and extremely useful feature in fault diagnosis: encoding information about the health state of the system that produced them. In order to decode that information, the main properties of vibration yielding identification and isolation of faults have to a priori be known. The paper goal is to review such properties and to present some elementary methods of automatic fault diagnosis by vibrations processing.

关键词： Failure analysis

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IMPROVED FEEDBACK CONSOLIDATION ALGORITHM FOR MULTICAST ABR CONNECTIONS IN ATM NETWORKS 14

IMPROVED FEEDBACK CONSOLIDATION ALGORITHM FOR MULTICAST ABR ...

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14th International Conference on computer Applications in Industry and Engineering, CAINE 2001

作者： El-Sayed, Tamer M. El-Derini, Mohamed N. Selim, Mohamed S. Ahmed, Magdi A. Department of Computer Science and Automatic Control Faculty of Engineering University of Alexandria Egypt

ISBN: (纸本)9781618395344

A number of algorithms has been proposed for extending ABR congestion avoidance algorithms in ATM networks to perform feedback consolidation at the branch points of multicast connections. Schemes that attempt to maximize accuracy of feedback information tend to be slow in providing feedback to the source when the conditions in the network change. Accuracy can be traded for speed by having a switch generate feedback information before it has all the necessary information from downstream paths. This can cause consolidation noise, leading to a heavy rate at the source. In this paper, we propose improved algorithm for feedback consolidation, which combines benefits from the previous algorithms with reduced overhead. The performance of the proposed algorithm and a set of previously developed algorithms are compared under a variety of conditions. Results show that the proposed algorithm exhibits a fast transient response with accurate feedback and doesn't suffer from consolidation noise. © 2001 by the International Society for computers and Their Applications. All rights reserved.

关键词： Asynchronous transfer mode

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Efficient and Parallel Separable Dictionary Learning 27

Efficient and Parallel Separable Dictionary Learning

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27th IEEE International Conference on Parallel and Distributed Systems, ICPADS 2021

作者： Rusu, Cristian Irofti, Paul University Politehnica Bucharest Faculty of Automatic Control and Computers Department of Automatic Control and Computers Bucharest Romania University of Bucharest Faculty of Mathematics and Computer Science Department of Computer Science Bucharest Romania

ISBN: (纸本)9781665408783

Separable, or Kronecker product, dictionaries provide natural decompositions for 2D signals, such as images. In this paper, we describe a highly parallelizable algorithm that learns such dictionaries which reaches sparse representations competitive with the previous state of the art dictionary learning algorithms from the literature but at a lower computational cost. We highlight the performance of the proposed method to sparsely represent image and hyperspectral data, and for image denoising. © 2021 IEEE.

关键词： Image denoising

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Planar displacement detection with point feature matching

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Information Technology Journal 2009年第3期8卷 383-387页

作者： Feng-Dong, Chen Bing-Rong, Hong Guo-Dong, Liu 'Department of Automatic Testing and Control Harbin Institute of Technology China School of Computer Science and Technology Harbin Institute of Technology China

A novel planar displacement detection method is implemented using Scale Invariant Feature Transform (SIFT) point feature matching on a calibrated optical grating-vision measuring platform. SIFT is a method for extracting and describing image key-points, which are robustly invariant to scale, rotation and translation as well as robust to illumination changes and limited changes of viewpoint. The platform is moved along its x axis step by step and a series of images are captured with corresponding grating sensor values. SIFT feature points are extracted and matched between the successive images through a K-Dimension Tree (KD-Tree) based feature matching algorithm to detect the displacement of each step. The detected values are compared with the corresponding grating sensor values. Experimental results prove that the accuracy of the method is less than 10 μm in this environment. © 2009 Asian Network for Scientific Information.

关键词： Trees (mathematics)

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Teaching real-time programming using mobile robots

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IFAC-PapersOnLine 2016年第6期49卷 10-15页

作者： Rodríguez, Carlos Guzman, José L Berenguel, Manuel Dormido, Sebastián Department of Computer Science and Automatic Control UNED Madrid28040 Spain Department of Informatics University of Almería CIESOL-ceiA 3 Almería04120 Spain

Teaching theoretical concepts of real-time systems may be a challenging task without real hardware support. This paper discusses the use of the LEGO MINDSTORMS NXT mobile robots for teaching real-time programming to bachelor's students. The stable real-time control of a segway-like robot with a PID controller is used as case study to demonstrate the teaching methodology. Ada was used as real-time programming language. In general, very positive reviews were collected from the students after the course. © 2016

关键词： Ada (programming language) Interactive computer systems Mobile robots Real time control Robot programming Teaching Three term control systems Hardware supports Lego mindstorms nxt PID controllers Real time Real time programming Real time programming languages Teaching methodologies

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Studies about the atomic capabilities concept for linear control systems in physical multi-agent environments

Studies about the atomic capabilities concept for linear con...

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2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA 2005

作者： Quintero, Christian G.M. De La Rosa, Josep Ll. Vehi, Josep Department of Electronics Computer Science and Automatic Control University of Girona Catalonia Spain

This paper shows the impact of the atomic capabilities concept to include control-oriented knowledge of linear control systems in the decisions making structure of physical agents. These agents operate in a real environment managing physical objects (e.g. their physical bodies) in coordinated tasks. This approach is presented using an introspective reasoning approach and control theory based on the specific tasks of passing a ball and executing the offside manoeuvre between physical agents in the robotic soccer testbed. Experimental results and conclusions are presented, emphasising the advantages of our approach that improve the multi-agent performance in cooperative systems. © 2005 IEEE.

关键词： Linear control systems

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Improving the 3D positioning for low cost mobile robots 12th

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12th International Conference on Informatics in control, Automation and Robotics, ICINCO 2015

作者： Socas, Rafael Dormido, Sebastian Dormido, Raquel Fabregas, Ernesto Department of Computer Science and Automatic Control UNED University Madrid28040 Spain

ISBN: (纸本)9783319318967

A new algorithm to improve the 3D positioning for low cost mobile robots is presented. The core of the algorithm is based on a Finite State Machine (FSM) which estimates the 3D position and orientation of the robots, also a low pass filter and a threshold calculator are used in the system to filter and to estimate the noise in the sensors. The system sets dynamically the parameters of the algorithm and makes them independent of the noise. The algorithm has been tested with differential wheel drive robots, however it can be used with other different types of robots in a simple way. To improve the accuracy of the estimations, a new reference system based on the accelerometer of the robot is presented which reduces the accumulative error that the odometry produces. © Springer International Publishing Switzerland 2016.

关键词： Mobile robots

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Integrated Motion Planning, control, and Estimation for Range-Based Marine Vehicle Positioning and Target Localization

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IFAC-PapersOnLine 2016年第23期49卷 34-40页

作者： Moreno-Salinas, D. Crasta, N. Ribeiro, M. Bayat, B. Pascoal, A.M. Aranda, J. Department of Computer Science and Automatic Control National Distance Education University Madrid Spain ISR/IST University of Lisbon Lisbon Portugal Switzerland

The paper addresses the problems of range-based marine vehicle positioning and target localization. Vehicle positioning aims to estimate the positions of one or more vehicles from a sequence of range measurements to fixed or moving acoustic beacons with known locations. In this context, the vehicles must execute sufficiently exciting maneuvers so as to maximize the range-based information available for multiple vehicle positioning. Using an estimation theoretical setting, the vehicle trajectories are computed by maximizing the determinant of a suitably defined Fisher information matrix (FIM), subject to inter-vehicle collision avoidance and vehicle maneuvering constraints. A numerical solution is proposed for the general case. Analytical solutions are obtained in the case of one vehicle and one beacon, when the latter undergoes trajectories that are straight lines, pieces of arcs, or a combination thereof. The theoretical analysis is complemented with practical experiments that focus on the dual problem of underwater target localization. The objective is to estimate the position of a moving underwater target by using range measurements between the target and a vehicle, called a tracker, undergoing a trajectory that can be measured on-line. The experimental set-up includes a surface and an autonomous underwater vehicle of the MEDUSA*-class playing the roles of tracker and target, respectively. In the methodology adopted for system implementation the tracker runs three key algorithms simultaneously, over a sliding time window: i) tracker motion planning, ii) tracker motion control, and iii) target motion estimation based on range data acquired on-line. © 2016

关键词： Maneuverability Autonomous underwater vehicles Fisher information matrix Motion estimation Motion planning Target tracking Trajectories Beacon localization Integrated motion planning Inter vehicle collision Range based Sliding time windows System implementation Trajectory optimization Vehicle trajectories

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A failure detection system for large scale distributed systems

A failure detection system for large scale distributed syste...

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4th International Conference on Complex, Intelligent and Software Intensive Systems, CISIS-2010

作者： Lavinia, Andrei Dobre, Ciprian Pop, Florin Cristea, Valentin Computer Science Department Faculty of Automatic Control and Computes Science University Politehnica of Bucharest Romania

ISBN: (纸本)9780769539676

Failure detection is a fundamental building block for ensuring fault tolerance in large scale distributed systems. In this paper we present an innovative solution to this problem. The approach is based on adaptive, decentralized failure detectors, capable of working asynchronous and independent on the application flow. The proposed failure detectors are based on clustering, the use of a gossip-based algorithm for detection at local level and the use of a hierarchical structure among clusters of detectors along which traffic is channeled. In this we present result proving that the system is able to scale to a large number of nodes, while still considering the QoS requirements of both applications and resources, and it includes the fault tolerance and system orchestration mechanisms, added in order to asses the reliability and availability of distributed systems in an autonomic manner. © 2010 IEEE.

关键词： Fault tolerance

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