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This paper formulates and studies the problem of distributed filtering based on randomized gossip strategy in order to estimate the state of a dynamic system via all sensors in a network. First we introduce the randomized gossip algorithm by which the fastest averaging strategy can be obtained for a network with an arbitrary topology. Then we combine the randomized gossip algorithm with the information...
Precise 3D modeling of a workpiece is essential in many industrial applications, such as workpiece localization and inspection. However, the limits of sensor fields of view (FoV), object self-occlusions, and robot arm footprints demand a proper selection of scanning paths and views. In this paper, we propose an autonomous modeling scheme using a next best view (NBV) algorithm based on an adaptive...
In this paper, we represent a terrain inference method based on vibration features. Autonomous navigation in unstructured environments is a challenging problem. Especially, the detailed interpretation of terrain in unstructured environments is necessary to set an efficient navigation trajectory. As the vibration features are obtained from interactions between the robot and terrain, terrain inference...
In the present day, industry has been brought closer to the Industry 4.0 paradigm due to its needs of reaching better industrial communications and improving the control process. According to the IIoT concepts, Cyber Physical Production Systems (CPPS) are normally connected to each other, and also connected to the virtual world of global digital networks. By introducing the IEC-61499 standard, CPPS...
A new multiple classifier system (MCS) is proposed based on CTSP (classification based on Testing Sample Pairs), which is a kind of applicable and efficient classification method. However, the original output form of the CTSP is only crisp class labels. To make use of the information provided by the classifier, in this paper, the output of CTSP is modeled using the membership function. Then, the fuzzy-cautious...
In this paper, we introduce a new hardware platform that mimics a compound eye of an insect and propose an algorithm to detect objects using it. The compound eye camera has a wide viewing angle and simulates a number of single eyes on its hemisphere. Each single eye is an elementary unit to acquire visual inputs. Visual information from single eyes is hierarchically merged to estimate objectness....
We consider the problem of online robotic sampling in environmental monitoring tasks where the goal is to collect k best samples from n sequentially occurring measurements. In contrast to many existing works that seek to maximize the utility of the selected samples online, we aim to find the cardinality constrained subset of streaming measurements under irrevocable sampling decisions so that the prediction...
We consider tracking of a target with elliptical nonlinear constraints on its motion dynamics. The state estimates are generated by sensors and sent over long-haul links to a remote fusion center for fusion. We show that the constraints can be projected onto the known ellipse and hence incorporated into the estimation and fusion process. In particular, two methods based on (i) direct connection to...
A fundamental issue in sensor fusion is to detect and remove outliers as sensors often produce inconsistent measurements that are difficult to predict and model. The detection and removal of spurious data is paramount to the quality of sensor fusion by avoiding their inclusion in the fusion pool. In this paper, a general framework of data fusion is presented for distributed sensor networks of arbitrary...
Harvesting energy from mechanical vibrations to provide power in remote areas where there is no lines of electricity has attracted a great research interest. Linear vibration energy harvesters (VEH) are not able to scavenge energy over broadband of frequencies. The performance of the linear harvesters can be improved using the concept of nonlinearity using magnets which has been extensively studied...
The group of rotations in three dimensions SO(3) plays a crucial role in applications ranging from robotics and aeronautics to computer graphics. Rotations have three degrees of freedom, but representing rotations is a nontrivial matter and different methods, such as Euler angles, quaternions, rotation matrices, and Rodrigues vectors are commonly used. Unfortunately, none of these representations...
The automatic detection of anomalies in Active and Assisted Living (AAL) environments is important for monitoring the wellbeing and safety of the elderly at home. The integration of smart domotic sensors (e.g. presence detectors) and those ones equipping modern mobile robots (e.g. RGB-D cameras) provides new opportunities for addressing this challenge. In this paper, we propose a novel solution to...
The Ellipsoidal Intersection algorithm aims at fusing two state estimates under a partial knowledge of the cross-correlation of the estimation errors. However, it has been observed that it does not provide an upper bound of all admissible fused mean square error matrices. This paper provides a mathematical tool for an analysis of the fusion under the considered partial knowledge of correlations. The...
In this paper, we propose a robotic delivery service in a situation of reception party. For the purpose, we first try to select the goal points to which the mobile servant robot should be positioned according to the social interaction of the recognized group. And we derive a collision-free route which the robot may not disturb people's conversation while moving along with. Finally, we verify the effectiveness...
A collision detection system triggering on human motion was developed using the Robot Operating System (ROS) and the Point Cloud Library (PCL). ROS was used as the core of the programs and for the communication with an industrial robot. Combining the depths fields from the 3D cameras was accomplished by the use of PCL. The library was also the underlying tool for segmenting the human from the registrated...
Compressive sensing originates in the field of signal processing and has recently become a topic of energy-efficient data gathering in wireless sensor networks. In this paper, we introduce a distributed compressive sensing approach, which utilizes spatial correlation among sensor nodes to group them into coalitions. The coalition formation method is represented by a block diagonal measurement matrix...
We propose a multistage fusion stream (MFS) and dissimilarity regularization (DisReg) for deep learning. The degree of similarity between the feature maps of a single-sensor stream is estimated using DisReg. DisReg is applied to the learning problems of each single-sensor stream, so they have distinct types of feature map. Each stage of the MFS fuses the feature maps extracted from single-sensor streams...
An interesting about MAV and a research for flapping wing aero vehicle has been increased. It is required that take-off and landing abilities to lift up a vehicle by flapping motion to achieve a special purpose for flapping wing aero vehicle. An airfoil has to generate lift force more than a weight of the body to work take-off from the ground without additional force. MAV can generate enough lift...
Based on state-of-the-art deep reinforcement learning (Deep RL) algorithms, two controllers are proposed to pass a ship through a specified gate. Deep RL is a powerful approach to learn a complex controller which is expected to adapt to different situations of systems. This paper explains how to apply these algorithms to ship steering problem. The simulation results show advantages of these algorithms...
Recently, due to wide observable range as well as low power consumption, the usage of high frequency radars has been expanded to ship detection for both harbor management and national security. However, range and angular resolutions are typically low in high frequency radars due to environmental and physical constraints. Thus, a target location detected on a high frequency radar system is far away...
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