We present a multisensor fusion framework for the onboard real-time navigation of a quadrotor in an indoor environment. The framework integrates sensor readings from an Inertial Measurement Unit (IMU), a camera-based ...
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This article presents a simulation study on the use of LoRaWAN technology in autonomous vehicles. The research focuses on developing an Auto-Handover Gateway for Autonomous Vehicles, utilizing LoRaWAN parameters such ...
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ISBN:
(数字)9798331521295
ISBN:
(纸本)9798331521301
This article presents a simulation study on the use of LoRaWAN technology in autonomous vehicles. The research focuses on developing an Auto-Handover Gateway for Autonomous Vehicles, utilizing LoRaWAN parameters such as bit rates, spreading factor (SF), packet loss, and received signal strength. These parameters are tested in simulations of autonomous vehicle movements, which include both regular and random motion patterns. The aim is to assess the performance of LoRaWAN in different scenarios and its impact on communication in autonomous vehicle systems. The simulation results show several key trends. As the vehicle moves further, the spreading factor (SF) increases, and bit rates tend to decrease, indicating a drop in communication performance over longer distances. The research also identifies that the gateway with the closest proximity to the vehicle is selected, both in random and non-random movement scenarios. Additionally, packet loss increases as the distance between the vehicle and the gateway grows, highlighting the challenges of maintaining reliable communication over long distances. These findings provide insights into optimizing LoRaWAN parameters for real-time communication in autonomous vehicles, contributing to the development of intelligent vehicle networks.
We consider and analyze a dynamic model of random hyperbolic graphs with link persistence. In the model, both connections and disconnections can be propagated from the current to the next snapshot with probability ω...
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We consider and analyze a dynamic model of random hyperbolic graphs with link persistence. In the model, both connections and disconnections can be propagated from the current to the next snapshot with probability ω∈[0,1). Otherwise, with probability 1−ω, connections are reestablished according to the random hyperbolic graphs model. We show that while the persistence probability ω affects the averages of the contact and intercontact distributions, it does not affect the tails of these distributions, which decay as power laws with exponents that do not depend on ω. We also consider examples of real temporal networks, and we show that the considered model can adequately reproduce several of their dynamical properties. Our results advance our understanding of the realistic modeling of temporal networks and of the effects of link persistence on temporal network properties.
Scientific documents generally contain multiple mathematical expressions in them. Detecting inline mathematical expressions are one of the most important and challenging tasks in scientific text mining. Recent works t...
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We present a multisensor fusion framework for the onboard real-time navigation of a quadrotor in an indoor environment. The framework integrates sensor readings from an Inertial Measurement Unit (IMU), a camera-based ...
We present a multisensor fusion framework for the onboard real-time navigation of a quadrotor in an indoor environment. The framework integrates sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an Ultra-WideBand (UWB) localisation system. Often the sensor readings are not always readily available, leading to inaccurate pose estimation and hence poor navigation performance. To effectively handle and fuse sensor readings, and accurately estimate the pose of the quadrotor for tracking a predefined trajectory, we design a Maximum Correntropy Criterion Kalman Filter (MCC-KF) that can manage intermittent observations. The MCC-KF is designed to improve the performance of the estimation process when is done with a Kalman Filter (KF), since KFs are likely to degrade dramatically in practical scenarios in which noise is non-Gaussian (especially when the noise is heavy-tailed). To evaluate the performance of the MCC-KF, we compare it with a previously designed Kalman filter by the authors. Through this comparison, we aim to demonstrate the effectiveness of the MCC-KF in handling indoor navigation missions. The simulation results show that our presented framework offers low positioning errors, while effectively handling intermittent sensor measurements.
Ontologies are a standard tool for creating semantic schemata in many knowledge intensive domains of human interest. They are becoming increasingly important also in the areas that have been until very recently domina...
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Hospital readmissions affect healthcare systems globally, increasing costs and morbidity. Readmissions must be predicted and prevented to improve patient outcomes and save healthcare costs. This research leverages the...
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In Federated Learning (FL), devices that participate in the training usually have heterogeneous resources, i.e., energy availability. In current deployments of FL, devices that do not fulfill certain hardware requirem...
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Post-stroke rehabilitation of upper extremity (UE) motor function is essential. Despite the widespread use of UE rehabilitation in clinical settings, assessing the success of these treatments is challenging. Methods f...
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ISBN:
(数字)9798350362480
ISBN:
(纸本)9798350362497
Post-stroke rehabilitation of upper extremity (UE) motor function is essential. Despite the widespread use of UE rehabilitation in clinical settings, assessing the success of these treatments is challenging. Methods for evaluating UE motor function include task performance under clinical supervision, patient self-reports, and data analysis from wearable devices equipped with accelerometers and gyroscopes. In prior research, we demonstrated that machine learning and deep learning models using data from a single wrist-worn accelerometer sensor could accurately differentiate between functional and non-functional UE movements in stroke patients. To overcome the limitations of single wrist-worn accelerometer sensors – challenges in capturing the full context of functional movements – this study presents a new deep learning (DL) based framework designed to classify functional and non-functional arm movements in videos captured from a conventional camera. The system is entirely automated and comprises two DL networks. The first network performs human pose estimation, extracting 2D pose key points of the paretic arm(s) and torso on 2-second sequences of the frames. The second network then uses these 2D pose landmarks to classify the movement sequence as functional or non-functional. This system offers two key benefits for rehabilitation. First, it can automatically generate initial annotations for video frames, significantly reducing the time needed for manual labeling. Second, analyzing the effectiveness of UE rehabilitation through third-person videos allows for objective outcome measurement of UE treatments in stroke survivors' home environments.
Considering the need for mass customization in Industry 4.0, it is necessary to develop non-traditional production methods. Therefore, additive manufacturing can become a key technology for the production of customize...
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