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Geospatial Intelligence analysis involves the combination of multi-source information expressed in logical form (as sentences or statements), computational form (as numerical models of physics or other processes), and sensor data (as measurements from transducers). Each of these forms has its own way to describe uncertainty or error: e.g., frequency models, algorithmic truncation, floating point roundoff,...
We investigate methods to define a probabilistic logic and their application to multi-source fusion problems in geospatial decision support systems1. We begin with a discussion of augmenting propositional calculus with probabilities. Given a set of sentences, S, each with a known probability, the problem is to determine the probability of a query sentence that is a disjunction of literals appearing...
A very wideband GaAs MMIC Schottky diode frequency doubler has been designed and tested; it has at least a 10–75 GHz output frequency range with indications it works to 90 GHz. Measured in a test fixture with 1.85 mm connectors over an output frequency of 10–67 GHz, it has 9 to 15 dB conversion loss, −15 to −25 dBc fundamental suppression, −22 to −35 dBc third harmonic suppression, and 15 to 20 dB...
A Belief-Desire-Intention (BDI) framework closely resembles human practical reasoning approach in day-to-day life, and is a well-studied architecture. The wreath product cognitive model, first described by Leyton is an abstract, although powerful, model which closely couples perception and actuation for representing shape. However, no implementation of the wreath product model exists. Our work is...
We propose an active perception paradigm which combines actuation (control signals) and perception (sensor signals) to form concepts of shape using recurrent neural networks; this representation characterizes not only what the shape is, but also how it is created. The approach is based on the group theoretic wreath product which specifies a sequence of actions on a set of points which when completed...
This paper introduces a novel, supportive tool for engineering educators while making course adaptations. As pointed out in the 2013 FIE workshop “An Online Revolution in Learning and Teaching,” online learning is likely to impact every department and teacher in some manner. Other innovations impacting engineering educators include active learning, peer instruction, problem-based learning, and just-in-time...
We propose a novel approach to 2D character recognition by incorporating actuation data into the shape representation. Sensorimotor data is analyzed in terms of actuation sequences which generate the data. We illustrate the use of Wreath Products (WPs) to represent robot sensorimotor experience in a way that ties together perception and actuation. WPs naturally represent not only the Euclidean symmetries...
This paper presents a low-complexity, novel approach to wireless sensor network (WSN) assisted autonomous mobile robot (AMR) navigation. The goal is to have an AMR navigate to a target location using only the information inherent to WSNs, i.e., topology of the WSN and received signal strength (RSS) information, while executing an efficient navigation path. Here, the AMR has neither the location information...
We propose the combination of a mobile robot and a computational sensor network approach to perform structural health monitoring of structures. The robot is equipped with piezoelectric sensor actuators capable of sending and receiving ultrasound signals, and explores the surface of a structure to be monitored. A computational model of ultrasound propagation through the material is used to define two...
Engineering drawings have posed significant challenges to image analysis for many decades. The goal is to take images of scanned engineering drawings and interpret them so as to understand their contents (e.g., characters, digits, line segments, box segments etc.). This is known as semantic analysis. We propose a new approach here which takes advantage of the man-made nature of drawings: there is...
Autonomous mobile robots (AMRs) operating in unknown environments face twin challenges: 1) localization and 2) efficient directed navigation. This paper describes a two-tiered approach to solving these challenges: 1) by developing novel wireless-sensor-network (WSN)-based localization methods and 2) by using WSN–AMR interaction for navigation. The goal is to have an AMR travel from any point within...
In this paper we describe a method for predicting the subjective quality of a new mountain bike route for a particular subject based on routes previously ridden and ranked by the subject. GPS tracks of the previously ridden routes are over laid on rasterized topographic maps and topographic features are extracted in the vicinity of the routes using image processing techniques. The subject ranks each...
Soft, cell integrated electrode coatings are proposed to address the problem of scar tissue encapsulation of stimulating neuroprosthetics. The aim of these studies was to prove the concept and feasibility of integrating a cell loaded hydrogel with existing electrode coating technologies. Layered conductive hydrogel constructs are embedded with neural cells and shown to both support cell growth and...
A multilayer dielectric coating deposited on the endface of a single-mode fiber is used as an optical sensor for high pressures. The reflectance of the coating decreases by 10% for a pressure of 710 MPa.
Several methods for the estimation of thermal diffusivity are studied in this work. In many application scenarios, the thermal diffusivity is unknown and must be estimated in order to perform other estimation functions (e.g., tracking of the physical phenomenon, or solving other inverse problems like localization or sensor variance, etc.). In particular, we describe: 1) The use of minimization methods...
We propose that robot perception is enabled by means of a common sensorimotor semantics arising from a set of symmetry theories (expressed as symmetry detectors and parsers) embedded a priori in each robot. These theories inform the production of structural representations of sensorimotor processes, and these representations, in turn, permit perceptual fusion to broaden categories of activity. Although...
We propose a control method for exercising specific muscles of a human's lower body. This is accomplished through the use of an exoskeleton that imposes active force feedback control. The proposed method involves a combined dynamic model of the musculoskeletal system of the lower-body with the dynamics of pneumatic actuators. The exoskeleton is designed to allow for individual control of mono-articular...
This paper extends the novel research for event localization and target-directed navigation using a deployed wireless sensor network (WSN) [4]. The goal is to have an autonomous mobile robot (AMR) navigate to a target-location by: (i) producing an artificial magnitude distribution within the WSN-covered region, and (ii) having the AMR use the pseudo-gradient from the interpolated distribution in its...
The existence of Current Free Double Layers (CFDL) in high electronegativity plasmas has not been experimentally verified, and the validation of theoretical predictions of these structures is required. As part of this experimental verification a numerical simulation of electronegative plasma using OOPIC Pro and XOOPIC was developed to determine the required experimental apparatus and plasma parameters...
This paper presents a vision-based underwater mapping system, which is demonstrated in an archaeological survey of the submerged ancient town of Pavlopetri. The snorkeler or diver operated system provides a low cost alternative to the use of an AUV or ROV in shallow waters. The system produces textured three-dimensional models, which contain significantly more information than traditional archaeological...
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