Search results for: Mo Jamshidi
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Quadcopters make up the bulk of research in unmanned aerial vehicles (UAVs). The lack of a fully open source quadcopter restricts the reproducibility and collaboration of practical research within the UAV community. This work focuses on creating a prototype quadcopter built upon hardware and software readily available and open sourced which can be extended and modified to place on any other quadcopter...
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Mobile robot navigation is a very important exercise in all robotic application from a domestic household cleaner to highly dangerous life threatening situations. Path planning is the main issue related to navigation. It is very important for an autonomous mobile vehicle to navigate properly without any collision or unsafe conditions in its environment. Path planning in mobile robots must ensure the...
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Pedestrian recognition is a key problem for a number of application domains namely autonomous driving, search and rescue, surveillance and robotics. Real-time pedestrian recognition entails determining if a pedestrian is in an image frame. State-of-art pedestrian detection convolution neural networks(CNN) such as Fast R-CNN depend on computationally expensive region detection algorithms to hypothesize...
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Autonomous driving has been a hot topic with companies like Google, Uber, and Tesla because of the complexity of the problem, seemingly endless applications, and capital gain. The technology's brain child is DARPA's autonomous urban challenge from over a decade ago. Few companies have had some success in applying algorithms to commercial cars. These algorithms range from classical control approaches...
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Robot navigation requires specific techniques for guiding a mobile robot to a desired destination. In general, a desired path is required in an environment described by different terrain and a set of distinct objects, such as obstacles and particular landmarks. In this paper, a new approach for autonomous navigation is presented using machine learning techniques such as Convolutional Neural Network...
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This paper discusses utilizing sparse autoencoders for building regression models in order to predict real-valued timeseries data. The focus of this research is on exploiting and learning from the determining features of continuous data via stacked autoencoders, thus increasing the prediction accuracy of regression method. Archi-tecture comprising different layers of sparse autoencod-ers, where each...
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Although there is no cure to date, Alzheimer's disease detection in early stages has a significant impact on the patient's life in terms of cost, the progress, and helping to plan in advance for an appropriate healthcare in the life ahead as well as providing clinical etiologies for further research. This paper discusses implementing a feature fusion method utilizing sparse and denoising autoencoders...
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Formation control of a collection of vehicles is a topic that has generated a lot of interest in the research community. This interest primarily stems from the increased performance and robustness that is provided by a swarm of agents as compared to an individual member. Formation control can be achieved through many approaches. The approach used by this paper is based on a leader-follower premise...
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Advances in sensor technology, the Internet of things (IoT), social networking, wireless communications and huge collection of data from years have all contributed to a new field of study Big Data is discussed in this paper. The System of Systems (SoS) integrates independently operating, non-homogeneous systems to achieve a higher goal than the sum of the parts. Recently, management of data has become...
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The paper proposes a software architecture for cloud robotics which intends three subsystems in the cloud environment: Middleware Subsystem, Background Tasks Subsystem, and Control Subsystem. The architecture invokes cloud technologies such as cloud computing, cloud storage, and other networking platforms arranged on the assistances of congregated infrastructure and shared services for robotics, for...
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This project presents a hybrid system implementing the use of solar panels and batteries to power a robot. The main aim is to integrate a charging system which allows the batteries to be charged from solar panels, wall outlet, and a deployable solar charging station. The proposed system is divided in three sections: design of solar panels, design of a battery charger and design of a DC-DC converter...
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The purpose of the paper is to demonstrate how 3D printing can be used to aid in the construction, design and implementation of an autonomous robot to accomplish a variety of tasks. A robot is designed using Polylactic acid (PLA) that has 3 modes: remote control, autonomous, and voice activation. Using these modes the robot is able to accomplish two specific tasks based on the given end-effector....
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In this paper the design and construction of a 3D printed snake robot is presented. This snake robot has been designed to be able to complete a wide variety of tasks and motions that other snake robots are currently able to preform, such as serpentine motion, rolling and the ability to climb some objects. An approach is also investigated which allows the snake robot to be attached to the end of a...
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Simultaneous Localization and Mapping (SLAM) is one of the most widely popular and applied methods designed for more accurate localization and navigation operations. Our experiments showed that vision based mapping helps agents navigate in unknown environments using feature based mapping and localization. Instead of using a classical monocular camera as a vision source, we have decided to use RGB-D...
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3D printing, or adaptive manufacturing, has become a common tool to use when developing attachments for many different applications. In this paper, the viability of using inexpensive Fused Deposition Modelling 3D printing techniques to develop a housing to hold sensors is explored. The developed housing is not only required to hold the sensors, it also needs to be able to conform within the given...
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Large scale multi-agent systems are very important in todays world because of their varying uses. The Center for Testing, Evaluation and Control of Heterogeneous Large scale Autonomous Vehicles (TECHLAV) has been tasked to conduct research on Large Scale Autonomous Systems of Vehicles (LSASV). This paper focuses on the proposed testbed system that will help model the large scale system out in the...
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Research into underwater robotic applications is currently a growing field. There are many challenges involved in underwater robotics that are not present in other mediums, such as how the harsh environmental conditions that this environment invokes onto the robot and any equipment that is attached to the robot. In this paper an attachment to an underwater gripper is proposed that adds another Degree...
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Dynamic distributed algorithm for provisioning of resources has been proposed to support heterogeneous multi-cloud environment. Multi-cloud infrastructure heterogeneity implies the presence of more diverse sets of resources and constraints that aggravate competition among providers. Sigmoidal and logarithmic functions have been used as the utility functions to meet the indicated constraints in the...
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Studies in Fuzziness and Soft Computing > Soft Computing for Information Processing and Analysis > 257-274
The need for Modeling and Simulation (M&S) is seen in many diverse applications such multi-agent systems, robotics, control systems, software engineering, complex adaptive systems, homeland security, and many others. In this paper we introduce an architecture for distributed simulation of multi-agent systems called Virtual Laboratory (V-Lab®), based on discrete event system specification (DEVS)...
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Land covers mix and high input dimension are two important issues to affect the classification accuracy of remote sensing images. Fuzzy classification has been developed to represent the mixture of land covers. Two fuzzy classifiers of Fuzzy Rule-Based (FRB) and Fuzzy Neural Network (FNN) were studied to illustrate the interpretability of fuzzy classification. A hierarchical structure was proposed...
