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Multiple Model based Unscented Particle Filter Algorithm for a SINS/CNS Integrated Navigation System

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Multiple Model based Unscented Particle Filter Algorithm for...

American Control Conference

作者： Fangfang Zhao Shuzhi Sam Ge Wei He School of Computer Science and Engineering Center for Robotics University of Electronic Science and Technology of China Chengdu 611731 China the Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore and Center for Robotics University of Electronic Science and Technology of China Chengdu 611731 China School of Automation and Electrical Engineering University of Science and Technology of Beijing Beijing 100083 China

ISBN: (纸本)9781509045839

The single model filter has poor adaptability under the uncertain or unknown system parameters, multiple model filters can be used to resolve this problem. This paper investigates the multiple model adaptive estimation (MMAE) algorithm and proposes a multiple model unscented particle filter (MMUPF) algorithm. Forward the traditional MMAE method which uses extend Kalman filter (EKF) or unscented Kalman filter (UKF) as each filter to execute the state estimation process. In this method, we combine MMAE with unscented particle filter (UPF), and replace UKF with UPF which shows higher accuracy than UKF for the nonlinear system. At the same time, this algorithm is applied to the integrated navigation system which combines strap-down inertial navigation with celestial navigation by a ballistic missile. Simulations are provided to demonstrate that MMUPF algorithm has the highest navigation precision, but at the cost of heavier computational burden.

关键词： resolve problem paper Resolve hybrid navigation systems Navigation systems Particle filtering algorithm State estimation Celestial navigation INERTIAL NAVIGATION paper Particle filters Filters multiples Nonlinear systems system parameter

Phase contrast time-lapse microscopy datasets with automated and manual cell tracking annotations

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Scientific Data 2018年第1期5卷 1-12页

作者： Ker, Dai Fei Elmer Eom, Sungeun Sanami, Sho Bise, Ryoma Pascale, Corinne Yin, Zhaozheng Huh, Seung-Il Osuna-Highley, Elvira Junkers, Silvina N. Helfrich, Casey J. Liang, Peter Yongwen Pan, Jiyan Jeong, Soojin Kang, Steven S. Liu, Jinyu Nicholson, Ritchie Sandbothe, Michael F. Van, Phu T. Liu, Anan Chen, Mei Kanade, Takeo Weiss, Lee E. Campbell, Phil G. Department of Biological Sciences Carnegie Mellon University Pittsburgh United States Institute for Tissue Engineering and Regenerative Medicine The Chinese University of Hong Kong Shatin Hong Kong School of Biomedical Sciences Faculty of Medicine The Chinese University of Hong Kong Shatin Hong Kong Robotics Institute Carnegie Mellon University Pittsburgh United States Dai Nippon Printing Tokyo Japan Department of Advanced Information Technology Kyushu University Fukuoka Japan Engineering Research Accelerator Carnegie Mellon University Pittsburgh United States Department of Computer Science Missouri University of Science and Technology Rolla United States Intel Labs Pittsburgh Pittsburgh United States Department of Computer Science Carnegie Mellon University Pittsburgh United States School of Electrical and Information Engineering Tianjin University Tianjin China Department of Electrical and Computer Engineering University at Albany State University of New York Albany United States Department of Biomedical Engineering Carnegie Mellon University Pittsburgh United States

Phase contrast time-lapse microscopy is a non-destructive technique that generates large volumes of image-based information to quantify the behaviour of individual cells or cell populations. To guide the development of algorithms for computer-aided cell tracking and analysis, 48 time-lapse image sequences, each spanning approximately 3.5 days, were generated with accompanying ground truths for C2C12 myoblast cells cultured under 4 different media conditions, including with fibroblast growth factor 2 (FGF2), bone morphogenetic protein 2 (BMP2), FGF2 + BMP2, and control (no growth factor). The ground truths generated contain information for tracking at least 3 parent cells and their descendants within these datasets and were validated using a two-tier system of manual curation. This comprehensive, validated dataset will be useful in advancing the development of computer-aided cell tracking algorithms and function as a benchmark, providing an invaluable opportunity to deepen our understanding of individual and population-based cell dynamics for biomedical research. © The Author(s) 2018.

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Gaussian pedestrian proxemics model with social force for service robot navigation in dynamic environment 17th

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17th International Conference on Asia Simulation, AsiaSim 2017

作者： Chik, Sheng Fei Yeong, Che Fai Su, Eileen Lee Ming Lim, Thol Yong Duan, Feng Tan, Jeffrey Too Chuan Tan, Ping Hua Chin, Patrick Jun Hua Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Johor Bahru Malaysia Malaysia Japan Institute of Technolgy Universiti Teknologi Malaysia Johor Bahru Malaysia Department of Automation College of Computer and Control Engineering Nankai University Tianjin China Institute of Industrial Science The University of Tokyo Tokyo Japan DF Automation and Robotics Sdn. Bhd Skudai Malaysia

ISBN: (纸本)9789811064623

Pedestrian motion behaves stochastically, causing difficulties in modelling the appropriate proxemics for effective and efficient service robot navigation. Intruding the pedestrian social space can affect the social acceptance of a service robot. In this paper, a new proxemics model, Social-Force Gaussian Pedestrian Proxemics Model is presented to model the pedestrian social space and to improve the service robot navigation in dynamic human environment. This model was simulated and validated in a pedestrian simulator with both low and high pedestrian density environments. Results showed that the proposed model (i) improved proxemics representation of pedestrians, (ii) enhanced the robot performance in respecting the social norm and (iii) increased the efficiency in achieving a given task. This paper also presents the methods for parameter selections for the model without the requirement of complex tuning. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Mobile robots

Development of a swarm UAV simulator integrating realistic motion control models for disaster operations

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arXiv 2017年

作者： Siddiqui, Kazi Tanvir Ahmed Feil-Seifer, David Jiang, Tianyi Jose, Sonu Liu, Siming Louis, Sushil Robotics Research Laboratory Computer Science and Engineering Department University of Nevada Reno Reno Nevada89557 United States Evolutionary Computing Systems Lab Computer Science and Engineering Department University of Nevada Reno Reno Nevada89557 United States

Simulation environments for Unmanned Aerial Vehicles (UAVs) can be very useful for prototyping user interfaces and training personnel that will operate UAVs in the real world. The realistic operation of such simulations will only enhance the value of such training. In this paper, we present the integration of a model-based waypoint navigation controller into the Reno Rescue Simulator for the purposes of providing a more realistic user interface in simulated environments. We also present potential uses for such simulations, even for real-world operation of UAVs. Copyright © 2017, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

TrafficNet: An open naturalistic driving scenario library

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arXiv 2017年

作者： Zhao, Ding Guo, Yaohui Jia, Yunhan Jack Department of Mechanical Engineering Robotics Institute University of Michigan Ann Arbor United States Robotics Institute University of Michigan Ann Arbor United States Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor United States

The enormous efforts spent on collecting naturalistic driving data in the recent years has resulted in an expansion of publicly available traffic datasets, which has the potential to assist the development of the self-driving vehicles. However, we found that many of the attempts to utilize these datasets have failed in practice due to a lack of usability concern from the organizations that host these collected data. For example, extracting data associated with certain critical conditions from naturalistic driving data organized in chronological order may not be convenient for a vehicle engineer that doesn’t have big data analytics experiences. To address the general usability challenges of these publicly available traffic datasets, we propose TrafficNet, a large-scale and extensible library of naturalistic driving scenarios, aiming at bridging the gap between research datasets and practically usable information for vehicle engineers and researchers. The proposed web-based driving scenario database preprocesses massive raw traffic data collected in chronological order into an organized scenario-based dataset by applying a set of categorization algorithms to label the naturalistic driving data with six different critical driving scenarios. TrafficNet opens not only the scenario library but also the source code of these categorization methods to the public, which will foster more sophisticated and accurate scenario-based categorization algorithms to advance the intelligent transportation research. The source code and the scenario database can be accessed at https://***/TrafficNet. Copyright © 2017, The Authors. All rights reserved.

关键词： Vehicles

FBG-based control of a continuum manipulator interacting with obstacles

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arXiv 2018年

作者： Sefati, Shahriar Murphy, Ryan J. Alambeigi, Farshid Pozin, Michael Iordachita, Iulian Taylor, Russell H. Armand, Mehran Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD United States Department of Mechanical Engineering Johns Hopkins University BaltimoreMD United States Department of Computer Science Johns Hopkins University BaltimoreMD United States Johns Hopkins University Applied Physics Laboratory LaurelMD United States Auris Health Inc. Redwood CityCA United States

Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown obstacles may conform the CDM's shape and therefore demands for shape sensing methods which do not rely on direct line of sight. To address these issues, we integrate a novel Fiber Bragg Grating (FBG) shape sensing unit into a CDM, reconstruct the shape in real-time, and develop an optimization-based control algorithm using FBG tip position feedback. The CDM is designed for less-invasive treatment of osteolysis (bone degradation). To evaluate the performance of the feedback control algorithm when the CDM interacts with obstacles, we perform a set of experiments similar to the real scenario of the CDM interaction with soft and hard lesions during the treatment of osteolysis. In addition, we propose methods for identification of the CDM collisions with soft or hard obstacles using the jacobian information. Results demonstrate successful control of the CDM tip based on the FBG feedback and indicate repeatability and robustness of the proposed method when interacting with unknown obstacles. Copyright © 2018, The Authors. All rights reserved.

关键词： Fiber Bragg gratings

Design and initial study of porous core electromagnet for levitation applications

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AIP Conference Proceedings 2018年第1期2029卷

作者： Adam Piłat Bartosz Sikora 1AGH University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics Mickiewicza 30 30-059 Krakow Poland

A concept of the porous core electromagnet is studied. The form for the electromagnet core was printed using 3D technique. The core was manufactured manually using iron filings and cured in room temperature and air pressure. The aim of this paper is to deliver initial analysis of the proposed powder core together with the modelling procedure by the using finite element method, and to compare the experimental results of the manually manufactured electromagnet. The material property of the numerical model was adjusted to fit the experimental results. Finally, the electromagnet was tested in the levitation real–time experiment.

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The ultra-high-energy event KM3-230213A within the global neutrino landscape

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arXiv 2025年

作者： Adriani, O. Aiello, S. Albert, A. Alhebsi, A.R. Alshamsi, M. Garre, S. Alves Ambrosone, A. Ameli, F. Andre, M. Aphecetche, L. Ardid, M. Ardid, S. Argüelles, C. Aublin, J. Badaracco, F. Bailly-Salins, L. Bardačová, Z. Baret, B. Bariego-Quintana, A. Becherini, Y. Bendahman, M. Gualandi, F. Benfenati Benhassi, M. Bennani, M. Benoit, D.M. Berbee, E. Berti, E. Bertin, V. Betti, P. Biagi, S. Boettcher, M. Bonanno, D. Bottai, S. Bouasla, A.B. Boumaaza, J. Bouta, M. Bouwhuis, M. Bozza, C. Bozza, R.M. Brânzaş, H. Bretaudeau, F. Breuhaus, M. Bruijn, R. Brunner, J. Bruno, R. Buis, E. Buompane, R. Busto, J. Caiffi, B. Calvo, D. Capone, A. Carenini, F. Carretero, V. Cartraud, T. Castaldi, P. Cecchini, V. Celli, S. Cerisy, L. Chabab, M. Chen, A. Cherubini, S. Chiarusi, T. Circella, M. Clark, R. Cocimano, R. Coelho, J.A.B. Coleiro, A. Condorelli, A. Coniglione, R. Coyle, P. Creusot, A. Cuttone, G. Dallier, R. De Benedittis, A. De Wasseige, G. Decoene, V. Deguire, P. Del Rosso, I. Di Mauro, L.S. Di Palma, I. Díaz, A.F. Diego-Tortosa, D. Distefano, C. Domi, A. Donzaud, C. Dornic, D. Drakopoulou, E. Drouhin, D. Ducoin, J.-G. Duverne, P. Dvornický, R. Eberl, T. Eckerová, E. Eddymaoui, A. van Eeden, T. Eff, M. van Eijk, D. El Bojaddaini, I. El Hedri, S. El Mentawi, S. Ellajosyula, V. Enzenhöfer, A. Ferrara, G. Filipović, M.D. Filippini, F. Franciotti, D. Fusco, L.A. Gal, T. Méndez, J. García Soto, A. Garcia Oliver, C. Gatius Geißelbrecht, N. Genton, E. Ghaddari, H. Gialanella, L. Gibson, B.K. Giorgio, E. Goos, I. Goswami, P. Gozzini, S.R. Gracia, R. Guidi, C. Guillon, B. Gutiérrez, M. Haack, C. van Haren, H. Heijboer, A. Hennig, L. Hernández-Rey, J.J. Idrissi, A. Ibnsalih, W. Idrissi Illuminati, G. Janik, O. Joly, D. de Jong, M. de Jong, P. Jung, B.J. Kalaczyński, P. Kamp, N. Keegans, J. Kikvadze, V. Kistauri, G. Kopper, C. Kouchner, A. Kovalev, Y.Y. Krupa, L. Kueviakoe, V. Kulikovskiy, V. Kvatadze, R. Labalme, M. Lahmann, R. INFN Sezione di Firenze via Sansone 1 Sesto Fiorentino50019 Italy Università di Firenze Dipartimento di Fisica e Astronomia via Sansone 1 Sesto Fiorentino50019 Italy Via Santa Sofia 64 Catania95123 Italy Université de Strasbourg CNRS IPHC UMR 7178 StrasbourgF-67000 France Université de Haute Alsace rue des Frères Lumière Mulhouse68093 Cedex France Khalifa University of Science and Technology Department of Physics PO Box 127788 Abu Dhabi United Arab Emirates Aix Marseille Univ CNRS IN2P3 CPPM Marseille France c/Catedrático José Beltrán 2 Valencia Paterna46980 Spain Università di Napoli "Federico II" Dip. Scienze Fisiche "E. Pancini" Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli80126 Italy INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli80126 Italy INFN Sezione di Roma Piazzale Aldo Moro 2 Roma00185 Italy Universitat Politècnica de Catalunya Laboratori d’Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Avda. Rambla Exposició s/n Vilanova i la Geltrú08800 Spain Subatech IMT Atlantique IN2P3-CNRS Nantes Université 4 rue Alfred Kastler - La Chantrerie BP Nantes20722 44307 France Universitat Politècnica de València Instituto de Investigación para la Gestión Integrada de las Zonas Costeras C/ Paranimf 1 Gandia46730 Spain Harvard University Department of Physics Laboratory for Particle Physics and Cosmology Lyman Laboratory 17 Oxford St. CambridgeMA02138 United States Université Paris Cité CNRS Astroparticule et Cosmologie ParisF-75013 France INFN Sezione di Genova Via Dodecaneso 33 Genova16146 Italy Università di Genova Via Dodecaneso 33 Genova16146 Italy LPC CAEN Normandie Univ ENSICAEN UNICAEN CNRS IN2P3 6 boulevard Maréchal Juin Caen14050 France Comenius University in Bratislava Department of Nuclear Physics and Biophysics Mlynska dolina F1 Bratislava842 48 Slovakia Czech Technical University in Prague Institute of Experimen

On February 13th, 2023, the KM3NeT/ARCA telescope detected a neutrino candidate with an estimated energy in the hundreds of PeVs. In this article, the observation of this ultra-high-energy neutrino is discussed in light of null observations above tens of PeV from the IceCube and Pierre Auger observatories. Performing a joint fit of all experiments under the assumption of an isotropic E−2 flux, the best-fit single-flavour flux normalisation is E2Φ1fν+ν¯ = 7.5 × 10−10 GeVcm−2s−1sr−1 in the 90% energy range of the KM3NeT event. Furthermore, the ultra-high-energy data are then fit together with the IceCube measurements at lower energies, either with a single power law or with a broken power law, allowing for the presence of a new component in the spectrum. The joint fit including non-observations by other experiments in the ultra-high-energy region shows a slight preference for a break in the PeV regime if the "High-Energy Starting Events" sample is included, and no such preference for the other two IceCube samples investigated. A stronger preference for a break appears if only the KM3NeT data is considered in the ultra-high-energy region, though the flux resulting from such a fit would be inconsistent with null observations from IceCube and Pierre Auger. In all cases, the observed tension between KM3NeT and other datasets is of the order of 2.5σ − 3σ, and increased statistics are required to resolve this apparent tension and better characterise the neutrino landscape at ultra-high energies. Copyright © 2025, The Authors. All rights reserved.

关键词： Neutrons

Reliable multi-person identification using DCNN-based face recognition algorithm and scale-ratio method

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Reliable multi-person identification using DCNN-based face r...

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Junghoon Kim Sang-Seok Yun Bong-Nam Kang Daijin Kim Jongsuk Choi Center for Robotics Research Korea Institute of Science and Technology Seoul Korea Division of Mechanical Convergence Engineering Silla University Busan Korea Department of Creative IT Engineering POSTECH Pohang Korea Department of Computer Science and Engineering POSTECH Pohang Korea

Recently, deep convolutional neural networks (DCNNs) have set a new trend in the computer vision community by improving the state-of-the-art performance in almost all of applications. We propose DCNN-based face recognition algorithm. This paper aims at analyzing and verifying considerations when the proposed method is implemented in a real environment. First, Multiple images of the same scene are processed. Also, this novel method is considered together with a method to reduce the total recognition time in the perspective of integrated system. We analyzed the experimental data and evaluated the performance by setting up the sensor fusion network in actual classroom.

关键词： Face Face recognition Cameras IP networks Three-dimensional displays Training Euclidean distance