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A multi-step Gaussian filtering approach to reduce the effect of non-Gaussian distribution in aerial localization of an RF source in NLOS condition

A multi-step Gaussian filtering approach to reduce the effec...

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2013 1st RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2013

作者： Dehghan, Seyyed M. Mehdi Moradi, Hadi Advanced Robotics and Intelligent Systems Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781467358118

The hybrid localization using Angle of Arrival (AOA) and Received Strength Signal Indicator (RSSI) of an RF source, such as a cell phone in a search and rescue mission, with unknown power and None Line Of Sight (NLOS) condition have been proven to be advantageous compared to using each method separately. The hybrid approach has been proposed to benefit from both RSSI and AOA measurements. In this paper, the initial hybrid method, which was implemented using particle filters due to the multi-modal/non-Gaussian nature of localization in NLOS condition, has been replaced by a multi-step Gaussian filtering approach which provides nearly similar accuracy with better performance. The proposed method has been implemented using extended Kalman filter and Unscented Kalman filter. The simulation results show that the multi-step Gaussian filtering is comparable to particle filter in all cases with better performance. For further evaluation, the effects of uncertainty in the propagation parameters have been studied to show the robustness of each filter to these uncertainties. © 2013 IEEE.

关键词： Extended Kalman filters

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Occlusal Caries Detection Using Random Walker Algorithm: a Graph Approach

Occlusal Caries Detection Using Random Walker Algorithm: a G...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Christos G. Bampis Georgia D. Koutsouri Elias Berdouses Evanthia E. Tripoliti Dimitra Iliopoulou Dimitrios Koutsouris Constantine Oulis Dimitrios I. Fotiadis School of Electrical and Computer Engineering National Technical University of Athens Biomedical Engineering Laboratory National Technical University of Athens Dept. of Paediatric Dentistry Dental School National and Kapodistrian University of Athens Unit of Medical Technology and Intelligent Information Systems Dept. of Materials Science and Engineering University of Ioannina

ISBN: (纸本)9781424479276

The aim of this work is to present a modification of the Random Walker algorithm for the segmentation of occlusal caries from photographic color images. The modification improves the detection and time execution performance of the classical Random Walker algorithm and also deals with the limitations and difficulties that the specific type of images impose to the algorithm. The proposed modification consists of eight steps: 1) definition of the seed points, 2) conversion of the image to gray scale, 3) application of watershed transformation, 4) computation of the centroid of each region, 5) construction of the graph, 6) application of the Random Walker algorithm, 7) smoothing and extraction of the perimeter of the regions of interest and 8) overlay of the results. The algorithm was evaluated using a set of 96 images where 339 areas of interest were manually segmented by an expert. The obtained segmentation accuracy is 93%.

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Percolation theory-based exposure-path prevention for wireless sensor networks coverage in internet of things

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IEEE Sensors Journal 2013年第10期13卷 3625-3636页

作者： Liu, Liang Zhang, Xi Ma, Huadong Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia Beijing University of Posts and Telecommunications Beijing 100876 China Networking and Information Systems Laboratory Department of Electrical and Computer Engineering Texas AandM University College Station TX 77843 United States

Deriving the critical density to achieve region coverage for random sensor deployment is a fundamentally important problem in the area of Internet of Things (IoT). Most of the existing works on sensor coverage mainly concentrate on the full coverage models, which ensure that all points in the deployment region are covered at the expense of high complexity and cost. In contrast, many applications of IoT focus on the exposure-path prevention, which does not require full coverage sensor deployment, and instead it only needs the partial coverage, because the exposure paths are prevented as long as no moving objects or phenomena can go through a deployment region without being detected. Finally, we focus on the partial coverage by applying the percolation theory to solve the exposure path problem for the network of sensors in IoT. Most of the existing percolation-based schemes apply the continuum-percolation theory, which, however, suffers from the loose lower and upper bounds on the critical density. To overcome this problem, we propose a bond-percolation theory based scheme by mapping the exposure path problem into a bond percolation model. Using this model, we derive the critical densities for both omnidirectional sensor networks and directional sensor networks under random sensor deployment where sensors are deployed according to a two-dimensional Poisson process. The rigorous modeling/analyses and extensive simulations show that our proposed scheme can yield much tighter upper and lower bounds on the critical densities as compared with those generated by continuum-percolation. © 2001-2012 IEEE.

关键词： Wireless sensor networks

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20th International Conference on Language Processing and intelligent Information systems, IIS 2013

作者： Stratogiannis, Georgios Siolas, Georgios Stafylopatis, Andreas Department of Electrical and Computer Engineering Intelligent Systems Laboratory National Technical University of Athens Zografou Campus Iroon Polytexneiou 9 15780 Zografou Greece

ISBN: (数字)9783642386343

ISBN: (纸本)9783642386336

We present a system that performs Related Entity Finding, that is, Question Answering that exploits Semantic Information from the WWW and returns URIs as answers. Our system uses a search engine to gather all candidate answer entities and then a linear combination of Information Retrieval measures to choose the most relevant. For each one we look up its Wikipedia page and construct a novel vector representation based on the tokenization of the Wikipedia category names. This novel representation gives our system the ability to compute a measure of semantic relatedness between entities, even if the entities do not share any common category. We use this property to perform a semantic clustering of the candidate entities and show that the biggest cluster contains entities that are closely related semantically and can be considered as answers to the query. Performance measured on 20 topics from the 2009 TREC Related Entity Finding task shows competitive results. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Search engines

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Efficient serial and parallel SVM training using coordinate descent

Efficient serial and parallel SVM training using coordinate ...

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IEEE Symposium on Computational Intelligence for engineering Solutions (CIES)

作者： Emmanuel Liossis Intelligent Systems Laboratory School of Electrical and Computer Engineering National Technical University of Athens Greece

Eliminating the bias term of the Support Vector Machine (SVM) classifier permits substancial simplification to training algorithms. Using this elimination, the optimization invloved in training can be decomposed to update as low as one coordinate at a time. This paper explores two directions of improvements which stem from this simplification. The first one is about the options available for choosing the coordinate to optimize during each optimization iteration. The second one is about the parallelization schemes which the simplified optimization facilitates.

关键词： Computational intelligence Decision support systems Handheld computers

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Corrections to “Percolation Theory-Based Exposure-Path Prevention for Wireless Sensor Networks Coverage in Internet of Things” [Oct 13 3625-3636]

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IEEE Sensors Journal 2014年第3期14卷 926-926页

作者： Liang Liu Xi Zhang Huadong Ma Beijing University of Posts and Telecommunications Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia Beijing China Department of Electrical and Computer Engineering Networking and Information Systems Laboratory College Station TX USA

In the above paper (ibid., vol. 13, no. 10, pp. 3625-3636, Oct. 2013), Fig. 15 is incorrect. The correct Fig. 15 is presented here.

关键词： Wireless sensor networks Internet Stochastic processes

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Path planning for localization of an RF source by multiple UAVs on the Crammer-Rao Lower Bound

Path planning for localization of an RF source by multiple U...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Seyyed M. Mehdi Dehghan Mohammad Saberi Tavakkoli Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran

This paper presents a path planning approach of several UAVs for Radio Frequency (RF) source localization in None Line Of Sight (NLOS) propagation condition using the Received Signal Strength Indication (RSSI). The paths are planned such that the lower bound of standard deviation of localization error, which is equivalent to the Cramer-Rao Lower Bound (CRLB) of the estimation, minimized at any time. Due to the complexity of Jacobin calculation to perform global CRLB optimization, the local values of CRLBs in the current waypoint and next probable waypoints are used in the steepest decent approach to determine the best path. Furthermore, the complexity is reduced by discretizing the space for UAVs to make the computation feasible. The effect of NLOS propagation on the RSSI measurements is simulated by a log-normal distribution and the last estimation of radio source location is used to calculate the local CRLBs. The proposed approach has been simulated and compared with the basic bio-inspired approach of going toward the sensed direction of the source. The result shows better performance than the basic approach.

关键词： Jacobian matrices Noise

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A multi-step Gaussian filtering approach to reduce the effect of non-Gaussian distribution in aerial localization of an RF source in NLOS condition

A multi-step Gaussian filtering approach to reduce the effec...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Seyyed M. Mehdi Dehghan Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran Tehran Iran

关键词： Shadow mapping Atmospheric measurements Particle measurements Scattering Measurement uncertainty Particle filters Equations

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Experimental Testing of a Traction Control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on Control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction Control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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