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We investigate and validate feature-based registration techniques for remotely sensed satellite images. Feature-based registration algorithms seek to detect image features such as boundaries, corners, segment intersections which are used for matching. We implemented some of the state-of-the-art feature detection, extraction and matching techniques, which are BRISK, FAST, HARRIS, Minimum eigenvalues,...
In this paper, the problem of fault detection is addressed for networked control system (NCS) subject to both random packet dropout and multi-rate sampled data, which is usually unavoidable. Since the networked control system suffers heavy resources competition and network congestion under the limited bandwidth, resulting in multi-rate sampling and data packet dropout. Observer based residual generation...
Recent work has demonstrated the effectiveness of gradient descent for recovering low-rank matrices from random linear measurements in a globally convergent manner. However, their performance is highly sensitive in the presence of outliers that may take arbitrary values, which is common in practice. In this paper, we propose a truncated gradient descent algorithm to improve the robustness against...
From a numerical analysis perspective, assessing the robustness of ℓ1-minimization is a fundamental issue in compressed sensing and sparse regularization. Yet, the recovery guarantees available in the literature usually depend on a priori estimates of the noise, which can be very hard to obtain in practice, especially when the noise term also includes unknown discrepancies between the finite model...
Robust belief revision methods are crucial in streaming data situations for updating existing knowledge (or beliefs) with new incoming evidence. Bayes conditioning is the primary mechanism in use for belief revision in data fusion systems that use probabilistic inference. However, traditional conditioning methods face several challenges due to inherent data/source imperfections in big-data environments...
One of the challenges of direct vehicle-to-vehicle (V2V) communication is to find efficient radio resource management (RRM) strategies that can fulfil the requirements even with high traffic density. In cellular networks, a device-to-device (D2D) communication is usually split into two phases: the discovery process, for node awareness of each other; and the communication phase itself, where data exchange...
Marine robotics is a rapidly growing field, with applications of both Autonomous Underwater Vehicles (AUV) and Autonomous Surface Vehicles (ASV) becoming extensive and within reach for many people. Presented is a low-cost design for an ASV, focusing on the ability for the average person with only little mechanical and electrical skills to assemble. The ASV also incorporates a winch into its design,...
Recent embedded ReRAM has a small resistance-ratio (R-ratio), which results in a small read sensing margin (ISM). A larger BL current (IBL) increases the input offset (IOS) of current-mode sense amplifiers (CSA), resulting in low-yield read operations and long read access times (TCD). This work proposes an IBL-aware small-IOS CSA, using a dynamic trip-point-mismatch sampling (DTPMS) scheme to increase...
Unlike compressive sensing where the measurement outputs are assumed to be real-valued and have infinite precision, in one-bit compressive sensing, measurements are quantized to one bit, their signs. In this work, our contributions are as follows: 1. We show how to recover the support of sparse high-dimensional vectors in the 1-bit compressive sensing framework with an asymptotically near-optimal...
Identifying hand configuration is a critical feature of sign language translation. In this paper, we describe our approach to recognize hand configurations in real time with the purpose of providing accurate predictions to be used in automatic sign language translation. To capture the hand configuration we rely on data gloves with 14 sensors that measure finger joints bending. These inputs are sampled...
With the proliferation of smart mobile devices (smart phone, tablet, and wearable), mobile crowdsensing becomes a powerful sensing and computation paradigm. It has been put into application in many fields, such as spectrum sensing, environmental monitoring, healthcare, and so on. Driven by promising incentives, the power of the crowd grants crowdsensing an advantage in mobilizing users who perform...
Unmanned Aerial Vehicles (UAVs) exhibit great agility and usually require a trained pilot to operate them, while being restricted to line-of-sight range. This prevents their wide introduction in applications such as inspection for disaster scenarios. Our goal is to enable rescue teams untrained in piloting to teleoperate a UAV as an aid to their mission, while being able to focus on the task at hand...
In this work, we present a method for lane-precise localization in downtown scenarios based on a geometric map and sensors present in a current production vehicle. In detail, we use low-cost GPS, odometry, lane-marking detection based on a camera, objects detected by a front radar, and events from a blind spot monitoring system. The proposed combined weight update and sampling step in a particle filter...
The article describes a low-cost and open IoT platform for rural applications in developing countries. Using the latest low-power, long-range radio technologies and off-the-shelves components, the platform can be quickly deployed and customized for a large variery of rural applications. We present in the article how a low-cost IoT collar device especially addressing the cattle rustling issues can...
This paper presents a series of enhancements to a color-coded structured light range sensor that increases the adaptability to complex and unconstrained scenes. First, the projected pattern is made more visible on colored objects by replacing the unique colored pattern with time-multiplexed pseudo-color channels. Second, an exposure fusion algorithm is used when acquiring images to allow the detection...
Physically unclonable function (PUF) is one of the critical security primitives for key generation and storage. The key challenge in building a PUF is to achieve high robustness against noise, temperature/supply voltage (VDD) variations and device aging with low cost. This paper presents a technique to transform a pre-existing SRAM array into an analog PUF by configuring the access transistors in...
Compressive sampling has shown great potential for making wideband spectrum sensing possible at sub-Nyquist sampling rates. As a result, there have recently been research efforts that aimed to develop techniques that leverage compressive sampling to enable compressed wideband spectrum sensing. These techniques consider homogeneous wideband spectrum, where all bands are assumed to have similar PU traffic...
In this work we present a free software tool for the design and simulation of PID controllers with event based sampling. The tool allows to easily obtain the PID that minimizes the disturbance IAE while maintains the control action jumps under a desired bound, for a given robustness. The application calculates the phase and gain margins with respect the existence of limit cycles for SSOD sampling...
This paper addresses a difficulty in large-scale long term laser localisation — how to deal with scene change. We pose this as a distraction suppression problem. Urban driving environments are frequently subject to large dynamic outliers, such as buses, trucks etc. These objects can mask the static elements of the prior map that we rely on for localisation. At the same time some objects change shape...
This paper develops a method to use RGB-D cameras to track the motions of a human spinal cord injury patient undergoing spinal stimulation and physical rehabilitation. Because clinicians must remain close to the patient during training sessions, the patient is usually under permanent and transient occlusions due to the training equipment and the movements of the attending clinicians. These occlusions...
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