In this paper, we present a tele-operated mobile robot system for old age surveillance. The robot operates in autonomous mode in which the robots navigates in the environment and search for unusual situation of elderl...
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In this paper, we present a tele-operated mobile robot system for old age surveillance. The robot operates in autonomous mode in which the robots navigates in the environment and search for unusual situation of elderly people. If a patient is lying on the floor, the robot informs the user. The user switches the control mode from autonomous to haptic based user control. In the autonomous mode, the robot utilizes the visual sensor and landmarks to monitor the entire environment. The robot is equipped microphone, speaker and monitor making it possible to communicate with the user in remote place. In addition, the robot utilizes the vital sensors to check the patient's condition. The preliminary surveillance experiments show a good performance.
One of the aims of the human-like computational paradigm of granular computing (GrC) is to discover - and capture - high-level knowledge from raw data in the form of information granules. In real-world applications, i...
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One of the aims of the human-like computational paradigm of granular computing (GrC) is to discover - and capture - high-level knowledge from raw data in the form of information granules. In real-world applications, information is often associated with uncertainty due to factors such as measurement imprecision, low process repeatability, as well as sparse data measurements. Hence, data uncertainty should be taken into consideration while carrying out information granulation. In this paper, a framework of iterative information granulation is presented that for the first time in the literature is enhanced with measures of uncertainty during the granulation process. A special case study is investigated, one of a complex manufacturing processes and associated information consisting of sparse, often conflicting data (measurements). An algorithmic procedure is proposed for quantifying the uncertainty caused by conflict during the iterative information granulation process; this is achieved via the use of the Shannon entropy theory to capture uncertainty during the iterative merging of the information granules. The resulting conflict measure is used to `guide' the granulation process into solutions of low-conflict granules. The result is an enhanced granular information set, in terms of distinguishability and interpretability. The granular data set is then `mapped' into the linguistic terms of a Neural-Fuzzy (NF) rule-base to form a model that represents the process under investigation. The proposed GrC-NF methodology is applied to the complex manufacturing process of Friction Stir Welding (FSW) of steel. It is shown how the proposed framework is able to capture good quality information granules from raw process data, which are then mapped into a Neural-Fuzzy model that predicts the resulting torque on the FSW tool with more than 90% accuracy.
We consider the problem of selecting anchors for sensor network localization to optimize a metric of the error covariance of the position estimates. We show that an interesting metric is a modular set function, which ...
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We consider the problem of selecting anchors for sensor network localization to optimize a metric of the error covariance of the position estimates. We show that an interesting metric is a modular set function, which allows a globally optimal selection to be obtained using a simple greedy algorithm. We also consider a separate but related problem of choosing a subset of distance measurements between pairs of sensors to optimize a metric of the error covariance. We utilize again modularity properties of an associated set function to construct networks with desirable algebraic rigidity properties. The results are illustrated via numerical examples, which scale to problems beyond the capabilities of current state-of-the-art convex relaxation techniques.
The object of this paper is to investigate the dynamics of the closed loop of a cement mill and to introduce an approach for tunning robust PID controllers. Based on the analyze of the dynamic behavior of the cement m...
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The object of this paper is to investigate the dynamics of the closed loop of a cement mill and to introduce an approach for tunning robust PID controllers. Based on the analyze of the dynamic behavior of the cement mill, a robust PID controller is designed and then simulated. The simulation results confirm that the given approach provides high performances of the cement mill.
With advancing technology, systems are becoming increasingly interconnected and form more complex networks. Additionally, more measurements are available from systems due to cheaper sensors. Hence there is a need for ...
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With advancing technology, systems are becoming increasingly interconnected and form more complex networks. Additionally, more measurements are available from systems due to cheaper sensors. Hence there is a need for identification methods specifically designed for networks. For dynamic networks with known interconnection structures, several methods have been proposed for obtaining consistent estimates. We suppose that the internal variables in the network are measured with noise, but that there are external reference signals present in the network that are known exactly. A method that is able to deal with this situation is the two stage method, which solves several open loop identification problems sequentially. In this paper it is shown that solving the problems simultaneously leads to estimates with lower variance.
Motivated by designing high-level planners for dynamical systems (such as mobile robots) to achieve complex tasks, we consider the synthesis of switching controllers of nonlinear dynamical systems from metric temporal...
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Motivated by designing high-level planners for dynamical systems (such as mobile robots) to achieve complex tasks, we consider the synthesis of switching controllers of nonlinear dynamical systems from metric temporal logic (MTL) specifications. MTL is a popular logic that allows to specify timed properties of real-time reactive systems and hence is appropriate for describing the safe and autonomous operations of robotic systems in an uncertain and possibly adversarial environment. We provide constructive means for computing finite-state abstractions that preserve MTL properties for nonlinear systems, under a weak assumption that these nonlinear systems evolve continuously with respect to their initial conditions. We then provide conditions to ensure that the existence of a discrete strategy (obtained by solving a discrete synthesis problem) guarantees the existence of a switching strategy for controlling the continuous-time dynamical systems to satisfy a given MTL specification. We illustrate the results on a motion planning problem.
Ambient intelligence techniques and smart Internet of Things objects are empowering healthcare professionals to provide better services based on improved vital signs data enriched with contextual information. In this ...
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Ambient intelligence techniques and smart Internet of Things objects are empowering healthcare professionals to provide better services based on improved vital signs data enriched with contextual information. In this paper, we provide an overview of current solutions and propose a new taxonomy for ambient and health sensor data, based on three selected metrics. The proposed UNCHAIN architecture provides a ubiquitous communication system designed to grant seamless integration of current sensor solutions, and to maximize two identified limitations: range and autonomy. Finally, the proposed architecture is validated through a hardware implementation, with impressive results in terms of energy efficiency.
In the process of design of protocols for medium access control in wireless sensor networks, it is necessary to find a compromise between energy saving, time sensitivity, scalability, adaptability and complexity. In t...
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In the process of design of protocols for medium access control in wireless sensor networks, it is necessary to find a compromise between energy saving, time sensitivity, scalability, adaptability and complexity. In this research, as an object of optimization S-MAC protocol is chosen. The main advantage of the S-MAC protocol is a state of sleep, which significantly reduces power consumption. Although the S-MAC protocol is described with a large number of parameters, in this paper we have selected three parameters that directly affect the time frame protocol: the duty cycle, the duration of the synchronization interval, and duration of the data interval. To assess the quality of the selected parameters, three measures were selected: total electricity consumption in the network, delay in the delivery of packets to the application layer, and the total achieved bandwidth. Using ns-2 network simulator, a model for testing the influence of parameters of S-MAC protocol on network performance has been developed. The parameters values are selected using the NSGA-II algorithm implemented in MATLAB software package, and the whole process of finding of non-dominated solution set is fully automated. In addition to multi-objective optimization of parameters, an experiment with single-objective optimization using aggregated utility function and the standard GA is performed. Finally, the analysis of the obtained set of non-dominated solutions is performed and a comparison with the results of the single-objective optimization is done.
An important issue in analyzing a Wastewater Treatment Plant (WWTP) is modelling the disturbances acting on the control loops of the plant, especially in case of urban WWTPs. Although in the literature periodic variat...
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An important issue in analyzing a Wastewater Treatment Plant (WWTP) is modelling the disturbances acting on the control loops of the plant, especially in case of urban WWTPs. Although in the literature periodic variations are systematically adopted for the influent description, the control solutions to reject these disturbances are not taken into consideration. This paper aims to establish a WWTP control solution based on PI + Resonant controller (PI+R), which are suitable for the rejection of the periodical disturbances. The control strategy was validated on a Activated Sludge Model No. 1 (ASM1) based WWTP implemented in SIMBA®.
In this paper, we study a simple X-relay configuration where the shared relay operates in full-duplex (FD) mode. The relay node may have limited spatial degrees of freedom, and as a result, it may not be able to handl...
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In this paper, we study a simple X-relay configuration where the shared relay operates in full-duplex (FD) mode. The relay node may have limited spatial degrees of freedom, and as a result, it may not be able to handle both the loop interference and the multiuser interference. Hence, a decision on the precoding scheme is necessitated. It is often the case that the relay does not have the option of real-time switching between different precoding schemes, either due to hardware limitations of the relay or increased complexity of the problem. Hence, we investigate a “static” precoding decision where the relay node decides on its precoding scheme based only on statistical knowledge of the channel conditions. To perform this decision, the behavior of the system is formulated as a Markov chain and the outage probability of the system is derived in a closed-form with the precoding decision as a parameter. The outage probability is minimized by optimally choosing the precoding scheme, using easily verifiable conditions on the statistical knowledge of the channel conditions. Simulations validate the investigated scheme.
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