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For the currently popular WiFi networks, the problem of communication blind spots is more acute, since the access points (APs) are not placed according to a central plan. In this paper, we design an Cyber physical system (CPS) based on an automatic mobile vehicle (AMV) to guarantee the quality of service (QoS) of real-time applications in WiFi networks. When a user enters the blind spot regions, the...
Coverage is an essential task in sensor deployment for the design of wireless sensor networks. While most existing studies on coverage consider homogeneous sensors, the deployment of heterogeneous sensors represents more accurately the network design for real-world applications. In this paper, we focus on the problem of connected k-coverage in heterogeneous wireless sensor networks. Precisely, we...
Rather than use external sensors, images of standard calibration samples can be used to model and correct positioning errors, caused by dynamics effects, in scanning probe microscopes (SPMs). The main contribution of the current article is the development of conditions, on the calibration sample and the scan trajectory, that allow for the image-based identification of SPM-nanopositioner dynamics.
In this paper, we propose a maritime underwater navigation system (MUNS) for unmanned underwater vehicles (UUVs). The proposed MUNS has a hierarchical architecture comprising of a wide area planner (WAP) and a local area planner (LAP). MUNS is intended to be a plug-and-play module to provide obstacle avoidance and path planning capabilities to existing UUV platforms thereby expanding operational capabilities...
The paper proposes a novel approach based on hybrid control and reachability specification for cooperative target tracking with multiple unicycle-type robots. Robots are steered to get closer to the target when they are far and then switch to coordinate their motion in order to cooperatively capture the target by eventually moving on a circle around the target with equal angular distance between each...
Wireless sensor networking is a current topic of research areas and widely used in a variety of applications. The localization of sensor nodes is a fundamental problem in wireless sensor networks. Many localization approaches have been presented and can be implemented using some powerful nodes with GPS devices. In this paper, we introduce a distributed localization scheme, called Rectangle Overlapping...
In this research, we propose a unique multi-planar LIDAR and computer vision calibration algorithm. This method only requires the camera and LIDAR to observe a planar pattern at different positions and orientations. Geometric constraints of the dasiaviewspsila from the LIDAR and camera images are resolved as the coordinate transformation coefficients. The proposed approach consists of two stages:...
As wearable sensors are becoming more common, their utilization in real-world applications is also becoming more attractive. In this study, a single wrist-worn inertial measurement unit was attached to the active wrist of a worker and acceleration and angular speed information was used to decide what activity the worker was performing at certain time intervals. This activity information can then be...
The paper presents a new lidar-based approach to object tracking. To this end, range data are recorded by two vehicle-born lidar scanners and registered in a common coordinate system. In contrary to common approaches, particle filters are employed to track the objects. This ensures no linearization of the underlying non-linear process model and, thus, a decreasing estimation error. For the object...
In this paper we use the MAP criterion to locate a region containing a source. Sensors placed in a field of interest divide the latter into smaller regions and take measurements that are transmitted over noisy wireless channels. We propose implementations of our algorithm that consider complete and limited communication among sensors and seek to choose the most likely hypothesis. Each hypothesis corresponds...
Present object detection methods working on 3D range data are so far either optimized for unstructured offroad environments or flat urban environments. We present a fast algorithm able to deal with tremendous amounts of 3D lidar measurements. It uses a graph-based approach to segment ground and objects from 3D lidar scans using a novel unified, generic criterion based on local convexity measures....
Wireless sensor networks (WSN) are now being used in a growing number and variety of systems and applications. The present paper addresses the issue of wireless sensors operating in specific, possibly harsh propagation conditions in industrial environments employing instrumented machines. These environments are characterized by almost stationary propagation conditions and no mobility, as well as specific,...
Integrated system health management (ISHM) will be an important component of the future launching vehicles and satellites. ISHM uses large number of sensors to evaluate the condition of the entire system. It is responsible to take the necessary corrective actions and to change the course of action if the health of the system will not allow successful completion of the mission. In this paper, self...
In this paper, a novel distributed algorithm to deal with the problem of estimating the network centroid in a multi-agent system is proposed. In this scenario, agents are assumed to be lacking any global reference frame or absolute position information. The proposed algorithm can be thought as a general tool to retrieve information about the centroid of a network of agents. Indeed, this allows to...
In this paper we present dynamics of an inertial measurement unit (IMU) in for educational use. Students will learn how to use mathematical expressions on kinematics and dynamics, with use of a simulator and a small scale test site. Combining the simulator and the test site will bring the theoretical expression out with a practical side. The main part of this paper is focused on how to use the sensors...
The work presented here focuses on the use of embodied neural network controllers for MAV (micro-unmanned aerial vehicles) teams. The computer model we have built aims to demonstrate how autonomous controllers for groups of flying robots can be successfully developed through simulations based on multi-agent systems and evolutionary robotics methodologies. We first introduce the field of autonomous...
This paper reports on a small size ultrasonic proximal distance sensor. The size of fabricated proximal distance sensor is 10 mm times 8 mm times 1 mm, and it is small and thin enough to be put on a robot arm. Since a single pulse ultrasound generated by a thermoacoustic transmitter was used, the sensor can measure the proximal distance down to 3 mm without any interference from the transmitter. We...
This paper is to analyze vibration modes in 3-dimension. To display it, it is required 3-dimensional shape information of measuring surface. It also is dependent on a range finder(distance measuring sensor) and is determined measuring distance. Among these variables, we consider what is a pattern between the vibration modes in 3-dimension and what is related to the distance and pattern of vibration...
In this study, an experimental setup for a noncontacting high speed thickness measurement of planar objects is constructed. A simple calibration procedure is introduced and performance of the measurement setup is characterized. The setup includes two industrial cameras and two stripe lasers installed on opposite sides of the planar object. For a demonstration and characterization of the system, a...
Time-of-Flight sensors have recently become available at reasonable prices. In comparison to stereo vision system and laser range scanners they combine the advantages of active sensors providing accurate distance measurements and camera-based systems recording a 2D matrix at a high frame rate. Moreover low cost 3D imaging has the potential to open a wide field of additional applications and solutions...
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