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Evaluations of Different Simultaneous Localization and Mapping (SLAM) Algorithms

Evaluations of Different Simultaneous Localization and Mappi...

引用

Annual Conference on IEEE Industrial Electronics Society

作者： Gurkan Tuna Kayhan Gulez V. Cagri Gungor T. Veli Mumcu Trakya University Department of Computer Programming Yildiz Technical University Electrical-Electronics Faculty Control and Automation Eng. Dept. Bahcesehir University Faculty of Engineering Department of Computer Engineering

ISBN: (纸本)9781467324199

Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features.

关键词： Simultaneous localization and mapping Navigation Visualization Power measurement Estimation MONOS devices

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Composition of united multiple diseases evolution topological model

Composition of united multiple diseases evolution topologica...

引用

9th International Symposium on Intelligent Systems and Informatics, SISY 2011

作者： Karpičs, I. Markovičs, Z. Markoviča, I. Institute of Computer Control Automation and Computer Engineering Faculty of Computer Science and Information Technology Riga Technical University Riga Latvia

ISBN: (纸本)9781457719745

Mathematical models are constructed and used as a methodology of various functioning systems structure investigation and performance analysis. The main goal of mathematical model usage is to perform wholesome diagnostics and correct work resumption of investigated system. In the article topological modeling method has been investigated by giving fundamental basics and application spheres by examples. Authors propose model construction method with an example from medicine by creating multiple diseases (arterial hypertension, atherosclerosis and diabetes mellitus) evolution topological model with formal aspects. Developed modeling method and united diseases model can be used to prognosticate evolution of diseases, perform inspection of used therapies and provide information for optimal therapy complex selection. © 2011 IEEE.

关键词： Topology

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Unmanned vehicle-aided automated meter reading

Unmanned vehicle-aided automated meter reading

引用

6th International Conference on Broadband Communications and Biomedical Applications, IB2COM 2011

作者： Tuna, Gurkan Gungor, V. Cagri Gulez, Kayhan Trakya University Department of Computer Programming Edirne Turkey Bahçeşehir University Faculty of Engineering Department of Computer Engineering Istanbul Turkey Yildiz Technical University Electrical-Electronics Eng. Faculty Control and Automation Eng. Dept. Istanbul Turkey

ISBN: (纸本)9781467307680

This paper presents a novel approach of using unmanned vehicles for Automated Meter Reading (AMR) applications in rural areas where there are a few consumers scattered around a wide area. The proposed system does not require a fixed network infrastructure to transfer data to a central database, since data collection is carried out by unmanned vehicles. Compared to traditional meter reading systems, the use of unmanned vehicles for AMR brings several advantages, such as low cost operation, flexibility, and online system management. However, the realization of these potential gains directly depends on reliable communication capabilities of the deployed system and successful navigation of unmanned vehicles. Overall, in this paper, the design principles and challenges of using unmanned vehicles for AMR applications in rural areas have been presented. Also, the communication architecture of the proposed system has been explained and comparative simulation studies have been performed in terms of energy efficiency and navigation accuracy. © 2011 IEEE.

关键词： Wireless sensor networks

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Diagnosis of industrial systems driven by electrical machines with a low cost platform

Diagnosis of industrial systems driven by electrical machine...

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8th IEEE Symposium on Diagnostics for Electrical Machines, Power Electronics and Drives, SDEMPED 2011

作者： Munteanu, Radu Moga, Daniel Petreus, Dorin Stroia, Nicoleta Barabas, Zsolt Hrebenciuc, Florin Faculty of Electrical Engineering Technical University of Cluj- Napoca Romania Faculty of Automation and Computer Science Romania Faculty of Electronics and Telecommunication Power Electronics Romania Power Electronics Society Romania Control Engineering Technical University of Cluj-Napoca Romania Electrical Engineering Technical University of Cluj-Napoca Romania

ISBN: (纸本)9781424493036

A low cost hardware platform consisting of a measurement system, a communication system and a data processing system is presented. Wired and wireless sensors are developed for supporting motor current signature analysis (MCSA), vibration signature analysis (VSA) and operational temperature monitoring. A "plug and play" software application is implemented for allowing remote computers to share this sensor data using OPC technology. Using Matlab as an OPC client, time-domain and frequency-domain signal processing techniques are used in order to determine the signatures associated with faults of locally or remote operating electrical machines. © 2011 IEEE.

关键词： MATLAB

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Wavelet based fault detection, classification and location in existing 500 kV transmission line

Wavelet based fault detection, classification and location i...

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International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology

作者： Kajoijilertsakul, Pairoj Asawasripongtorn, Santi Sanposh, Peerayot Suwatthikul, Jittiwut Fujita, Hideaki Department of Electrical Engineering Faculty of Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Bangkok Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)9781457704246

This paper describes the implementation of Wavelet Transform and Spectral Energy analysis on samples of simulated voltage and current waveforms obtained from PSCAD/EMTDC for each of the all possible fault scenarios in a modeled 500 kV transmission network. The fault detection and classification of each fault scenarios is determined based on results of the voltage and current waveforms analysis in time and wavelet domains. The analysis is carried out including variation in fault types, inception angles and locations with a practically arbitrarily assumed fault duration. The analytical results shows that the described technique is highly dependable and is able to detect and classify different kinds of faults along a transmission line whatever is the fault type, inception angle and location. © 2011 IEEE.

关键词： Wavelet transforms

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Modeling and simulation of 500 kV transmission network for numerical fault calculation, detection, using PSCAD/EMTDC

Modeling and simulation of 500 kV transmission network for n...

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2011 Asia-Pacific Power and Energy engineering Conference, APPEEC 2011

ISBN: (纸本)9781424462551

This paper presents modeling of the 500 kV transmission line located between Bang-Saphan 2 (BSP2) and Chom-Bung (CBG) substations, Thailand. The network is modeled based on the transient simulation program- PSCAD/EMTDC. The equivalent circuit of BSP2 and CBG is obtained from the actual parameters. The initial condition parameters are verified by PSS/E, an electrical simulation program. After the modeling has been established, a fault analysis is done by using PSCAD/EMTDC in order to study the system response when fault constrains are applied. This paper has illustrated that how the information on the sampled voltage and current waveforms derived from PSCAD/EMDTC modeling and simulation can be used for fault detection, classification and location. © 2011 IEEE.

关键词： Equivalent circuits

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An anti-slip predictive controller for a V-PRA vehicle

An anti-slip predictive controller for a V-PRA vehicle

引用

作者： Cochior, Carmen De Keyser, Robin Lazar, Corneliu Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical Energy Systems and Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

ISBN: (纸本)9783902661937

In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is nonlinear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller. © 2011 IFAC.

关键词： Vehicles

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Development and evaluation of normal performance recovery method of a functional system

Development and evaluation of normal performance recovery me...

引用

International Symposium on Applied Machine Intelligence and Informatics (SAMI)

作者： I. Karpics Z. Markovics Faculty of Computer Science and Information Technology Institute of Computer Control Automation and Computer Engineering Riga Technical University Riga Latvia

Different type dynamic systems in functional work phase lose performance and it's necessary to establish normal operation level by using external influence. External influence can be defined as recovery method. In practice exists different possibilities how to resume performance of system and the main objective is to select the most efficient solution. In the article new approach for normal operation recovery selection is defined, including each recovery and recoveries complex assessment for optimal solution selection. For optimal solution choice benefit and disadvantage criteria are proposed. For practical implementation in case of medicine, arterial hypertension evaluation and pathogenesis therapy selection is described.

关键词： Medical treatment Mathematical model Organisms Medical diagnostic imaging Hypertension Optimization Decision making

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Composition of united multiple diseases evolution topological model

Composition of united multiple diseases evolution topologica...

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International Symposium on Intelligent Systems and Informatics (SISY)

作者： I. Karpičs Z. Markovičs I. Markoviča Institute of computer control automation and computer engineering Faculty of computer science and information technology Riga Technical University Riga Latvia

关键词： Mathematical model Medical treatment Diseases Organisms Medical diagnostic imaging Predictive models Numerical models

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Communication related design considerations of WSN-aided Multi-Robot SLAM

Communication related design considerations of WSN-aided Mul...

引用

IEEE International Conference on Mechatronics

作者： Tuna, Gurkan Gulez, Kayhan Gungor, V. Cagri Trakya University Vocational College of Technical Sciences Department of Computer Programming Edirne Turkey Yildiz Technical University Electrical-Electronics Eng. Faculty Control and Automation Eng. Dept. Istanbul Turkey Bahcesehir University Department of Computer Engineering Besiktas Istanbul Turkey

ISBN: (纸本)9781612849836

This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations. © 2011 IEEE.

关键词： Wireless sensor networks

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