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Pervasive urban sensing with large-scale mobile probe vehicles

International Journal of Distributed Sensor Networks 2013年第2期2013卷 1-7页

作者： Zhu, Yanmin Liu, Xuemei Wang, Yin Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai 200240 China Shanghai Key Laboratory of Scalable Computing and Systems Shanghai 200240 China HP Labs Palo Alto CA 94304 United States

With the advance of embedded sensing devices, Pervasive Urban Sensing (PUS) with probe vehicles is becoming increasingly practical. A probe vehicle is equipped with onboard sensing devices that detect urban information as the probe vehicle drive across the road network. For example, GPS sensors can detect real-time vehicle status including instant speed and physical position. PUS can provide the general public valuable urban sensing information, such as frequently updated digital maps, and real-time traffic light states. In this paper, we first present the framework of Pervasive Urban Sensing with probe vehicles. Next, we present two cases of urban sensing with probe vehicles. As case one, we discuss the design of a sensing algorithm for detecting the instant state of traffic lights. As case two, we discuss the design of sensing algorithms for recognizing roads by using the vehicular footprints. Some preliminary results of these two cases of urban sensing are presented and discussed. © 2013 Yanmin Zhu et al.

关键词： Probes

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Real-time navigation for a humanoid robot using particle filter

Real-time navigation for a humanoid robot using particle fil...

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2nd International Conference on engineering and Technology Innovation 2012, ICETI 2012

作者： Baltes, Jacky Cheng, Chi Tai Lau, Meng Cheng Espínola, Andrés Autonomous Agents Lab Department of Computer Science University of Manitoba Winnipeg MB R3T 2N2 Canada Department of Electrical Engineering Tamkang University Tamsui Dist. New Taipei City 25137 Taiwan Mobile Robotics and Automated Systems Laboratory Universidad La Salle Benjamin Franklin 47 Mexico DF Mexico

ISBN: (纸本)9783037856123

This paper presents a practical real-time visual navigation system, including a vision system, a particle filter (PF) based localization system, and a path planning system, for humanoid robots in an indoor environment. A neural network (NN) converter system is used to solve the image distortion problem. The monocular vision system detects objects of interest in the scene, calculating their position in the image, and converting the position in the image to real world coordinates. The PF localization system estimates the current position by the robot's motion model and corrects the estimated position by using feedback from the data gathered by the vision system. The path planning system determines the next motion based on the result of the localization system. This paper uses a tree-like path planning method which not only guides the robot to the destination but also avoids obstacles at the same time. The navigation method allows a user to assign several different target destinations to the robot simultaneously. The proposed method is implemented on a humanoid robot "ROBOTIS DARwIn-OP", an open platform humanoid robot. The effectiveness of the system is demonstrated in an empirical evaluation. © (2013) Trans Tech Publications, Switzerland.

关键词： Bandpass filters

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Nearness of subtly different digital images

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Conference on Rough Sets and Knowledge Technology, RSKT 2011

作者： Puzio, Leszek Peters, James F. Computational Intelligence Laboratory Department of Electrical and Computer Engineering University of Manitoba Winnipeg MB R3T 5V6 Canada Department of Information Systems and Applications University of Information Technology and Management ul. H.Sucharskiego 2 35-225 Rzeszow Poland School of Mathematics and Computer/Information Sciences University of Hyderabad Central Univ. P.O. Hyderabad 500046 India

ISBN: (纸本)9783642365041

The problem considered in this article is how to measure the nearness or apartness of digital images in cases where it is important to detect subtle changes in the contour, position, and spatial orientation of bounded regions. The solution of this problem results from an application of anisotropic (direction dependent) wavelets and a tolerance near set approach to detecting similarities in pairs of images. A wavelet-based tolerance Nearness Measure (tNM) makes it possible to measure fine-grained differences in shapes in pairs of images. The application of the proposed method focuses on image sequences extracted from hand-finger movement videos. Each image sequence consists of hand-finger movements recorded during rehabilitation exercises. The nearness of pairs of images from such sequences is measured to check the extent that normal hand-finger movement differs from arthritic hand-finger movement. Experimental results of the proposed approach are reported, here. The contribution of this article is an application of an anisotropic wavelet-based tNM in classifying arthritic hand-finger movement images in terms of their degree of nearness to or apartness from normal hand-finger movement images. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Anisotropy

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PID gain scheduling by parametric model predictive control

PID gain scheduling by parametric model predictive control

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Minh H-T Nguyen Kok Kiong Tan Chek Sing Teo SIMTech-NUS Joint Laboratory (Precision Motion Systems) Department of Electrical and Computer Engineering National University of Singapore Singapore SIMTech-NUS Joint Laboratory (Precision Motion Systems) Singapore Institute of Manufacturing Technology National University of Singapore Singapore

ISBN: (纸本)9781467353199

This paper considers the problem of augmenting the PID structure with the MPC functionality of constraint handling and optimization. Firstly, we review the MPC framework which can be built from a model and a linear feedback gain. This linear gain can be any preexisting multi-loop PID design in the unconstrained case, or based on the two stabilizing PI/PID design for multivariable systems we introduce here. The resulting controller is a feedforward PID mapping, a straightforward form without the need of tuning PID to fit an optimal input. Secondly, the parametric solution of MPC further suggests a PID network implementation by utilizing gain scheduling schemes available in industry.

关键词： Robustness Output feedback Predictive control Feedforward neural networks Optimal control Steady-state PD control

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Breakdown and Partial Discharge Behavior of Enamel-Insulated Copper Conductors

Breakdown and Partial Discharge Behavior of Enamel-Insulated...

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IEEE International Conference on Solid Dielectrics

作者： Daniel J. Taylor Huseyin R. Hiziroglu Peter H. Foss Department of Electrical & Computer Engineering Kettering University Flint MI USA GM Manufacturing Systems Research Laboratory General Motors Global Research & Development Warren MI USA

During the manufacturing of the windings of an electric motor, enamel-insulated copper conductors are subjected to mechanical strain. This strain may adversely affect the electrical performance of the enamel insulation. Partial discharge inception voltage is useful for comparing the performance of insulations. Therefore, experiments were done in evaluating partial discharge inception voltages in order to determine the effect of different levels of tensile-strain on the electrical properties of the insulation system. Within the scope of this study, unstrained and tensile-strained, enamel-insulated, copper conductors with rectangular cross-section were investigated and compared for their breakdown voltages and partial discharge behavior.

关键词： Enamel-insulated copper Partial discharges Breakdown Polyimide

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Integrated IMU and Radiolocation-based Navigation Using A Rao-Blackwellized Particle Filter

Integrated IMU and Radiolocation-based Navigation Using A Ra...

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IEEE International Conference on Acoustics, Speech, and Signal Processing

作者： William Wei-Liang Li Ronald A. Iltis Moe Z. Win Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106 USA Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA 02139 USA

ISBN: (纸本)9781479903573

In this paper, we develop a cooperative IMU/radiolocation-based navigation system, where each node tracks the location not only based on its own measurements, but also via collaboration with neighbor nodes. The key problem is to design a nonlinear filter to fuse IMU and radiolocation information. We apply the Rao-Blackwellization method by using a particle filter and parallel Kalman filters for the estimation of orientation and other states (i.e., position, velocity, etc.), respectively. The proposed method significantly outperforms the extended Kalman filter (EKF) in the set of simulations here.

关键词： Cooperative localization navigation inertial measurement unit (IMU) information fusion particle filter Particle filters navigation Information fusion Nonlinear filters

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Calculation of the radar ambiguity function from time-domain measurement data for real-time, amplifier-in-the-loop waveform optimization

Calculation of the radar ambiguity function from time-domain...

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ARFTG Conference

作者： Matthew Fellows Charles Baylis Lawrence Cohen Robert J. Marks Department of Electrical and Computer Engineering Baylor University Wireless and Microwave Circuits and Systems Program Waco TX USA Naval Research Laboratory Radar Division Washington DC USA

The ambiguity function is a measure of a radar's range and Doppler detection capability. Cognitive radar systems require the capability to adjust the waveform in realtime to obtain desired range/Doppler detection capability while meeting stringent spectral requirements. While the ambiguity function of the waveform input to the transmitter can be simulated, it is the ambiguity function of the transmitter power amplifier's output waveform that will be used for the detection. As such, it is very helpful to be able to measure the ambiguity function output from a power amplifier in the optimization process. This paper describes a technique that can be used to quickly calculate the ambiguity function for the output waveform from the radar amplifier as measured on an oscilloscope. Brief examination is also given to the effect of amplifier nonlinearity on the ambiguity function.

关键词： Chirp Optimization Radar detection Radar measurements Doppler radar Distortion measurement

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Metamaterial absorbers realized in an X-band rectangular waveguide

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Chinese Physics B 2012年第11期21卷 474-478页

作者：黄勇军文光俊李建钟靖平王平孙元华 O.Gordon 朱卫仁 Key Laboratory of Broadband Optical Fiber Transmission&Communication Networks School of Communication and Information EngineeringUniversity of Electronic Science and Technology of China Advanced Computing and Simulation Laboratory(AχL) Department of Electrical and Computer Systems EngineeringMonash University

In this paper, we demonstrate six types of metamaterial absorbers （MMAs） by measuring their absorptivities in an X-band （8 12 GHz） rectangular waveguide. Some of the MMAs have been demonstrated previously by using the free space measurement method, and the others are proposed firstly in this paper. The measured results show that all of the six MMAs exhibit high absorptivities above 98%, which have similar absorbing characteristics to those measured in the free space. The numerically obtained surface current densities for each MMA show that the absorbing mechanism is the same as that under the free space conditions. Such a demonstration method is superior to the conventional free space measurement method due to the small-scale test samples required, the simple measure device, and its low cost. Most importantly, the proposed method opens a way to enable MMAs to be used in microwave applications such as matched terminations.

关键词： metamaterial absorber electric resonator rectangular waveguide

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Rebalancing the Rebalancers: Optimally Routing Vehicles and Drivers in Mobility-on-Demand systems

Rebalancing the Rebalancers: Optimally Routing Vehicles and ...

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American Control Conference

作者： Stephen L. Smith Marco Pavone Mac Schwager Emilio Frazzoli Daniela Rus Department of Electrical and Computer Engineering University of Waterloo Waterloo ON N2L 3G1 Canada Department of Aeronautics and Astronautics Stanford University Stanford CA 94305 USA Department of Mechanical Engineering and the Division of Systems Engineering Boston University Boston MA 02215 USA Laboratory for Information and Decision Systems Aeronautics and Astronautics Department Massachusetts Institute of Technology Cambridge MA 02139 USA Computer Science and Artificial Intelligence Laboratory Electrical Engineering and Computer Science Department Massachusetts Institute of Technology Cambridge MA 02139 USA

ISBN: (纸本)9781479901777

In this paper we study rebalancing strategies for a mobility-on-demand urban transportation system blending customer-driven vehicles with a taxi service. In our system, a customer arrives at one of many designated stations and is transported to any other designated station, either by driving themselves, or by being driven by an employed driver. When some origins and destinations are more popular than others, vehicles will become unbalanced, accumulating at some stations and becoming depleted at others. This problem is addressed by employing rebalancing drivers to drive vehicles from the popular destinations to the unpopular destinations. However, with this approach the rebalancing drivers themselves become unbalanced, and we need to "rebalance the rebalancers" by letting them travel back to the popular destinations with a customer. In this paper we study how to optimally route the rebalancing vehicles and drivers so that the number of waiting customers remains bounded while minimizing the number of rebalancing vehicles traveling in the network and the number of rebalancing drivers needed;surprisingly, these two objectives are aligned, and one can find the optimal rebalancing strategy by solving two decoupled linear programs. We determine the minimum number of drivers and minimum number of vehicles needed to ensure stability in the system. Our simulations suggest that, in Euclidean network topologies, one would need between 1/3 and 1/4 as many drivers as vehicles.

关键词： Mobility-on-Demand systems taxi service many designated stations Drivers vehicle rebalance driver circuits Taxi services System stability STATIONS Automobile driving linear programming Personnel Selection

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Radar waveform optimization to minimize spectral spreading and achieve target detection

Radar waveform optimization to minimize spectral spreading a...

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Texas Symposium on Wireless and Microwave Circuits and systems, (WMCS)

作者： Matthew Fellows Charles Baylis Lawrence Cohen Robert J. Marks Wireless and Microwave Circuits and Systems Program Department of Electrical and Computer Engineering Baylor University Waco TX USA Radar Division Naval Research Laboratory Washington DC DC USA

Spectral spreading in radar systems is a concern that is related to the radar waveform. This paper describes a procedure to optimize a linear frequency-modulated chirp waveform for a desired ambiguity function while meeting spectral requirements. The minimax approach used for the optimization is described, and some example results for the optimization are presented. The integration of bench-top spectrum analyzer measurements into the optimization is presented, and the way forward in terms of measurement-based optimization is discussed.

关键词： Chirp Optimization Doppler effect Radar detection Frequency modulation Time-frequency analysis

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