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A fully-differential CMOS-MEMS ring resonator integrated with a differential-type transimpedance amplifier (TIA) has been demonstrated using a commercially available CMOS process with 30-dB feedthrough suppression as compared to its singled-ended counterparts. To achieve such performance, the flexural-mode ring resonator with a desired mode shape features an inherent differential mode of mechanical...
In the recent past, there has been a lot of interest in developing UAVs (Unmanned Aerial Vehicles) to perform a variety of challenging tasks ranging from military defense, surveillance, environmental sensing, etc. This research is one that focuses on quadrotor UAVs deployed for environmental sensing in the oceans. We have developed an algorithm to autonomously control a quadrotor to track and land...
This paper introduces a towed-array shape estimation technique that exploits the directional structure of the time-varying acoustic field. Unlike conventional array shape estimation methods that use discrete sources of opportunity, the proposed approach does not assume knowledge of the number of sources in the field or their estimated directions. Instead, the entire time-varying field directionality...
A distributed control law for triangular formation control with a mixture of bearing and range measurements and relative pair-wise inter-agent angle constraints and a single range constraint is introduced. The control law is weak in the sense that two agents are free to choose their own heading within a relatively large range of values. Indeed, the agents can determine their heading independently...
In this paper, we consider the problem of tracking human motion with a 22-DOF kinematic model from depth images. In contrast to existing approaches, our system naturally scales to multiple sensors. The motivation behind our approach, termed Multiple Depth Camera Approach (MDCA), is that by using several cameras, we can significantly improve the tracking quality and reduce ambiguities as for example...
The area-based localization algorithms use only the location information of some reference nodes, called anchors, to give the residence area of the remaining nodes. The current algorithms use triangle, ring or circle as a geometric shape to determine the sensors' residence area. Existing works suffer from two major problems: (1) in some cases, they might issue wrong decisions about nodes' presence...
Magnetic flux compression generators (FCGs) driven by high explosives can produce extremely high magnetic fields that are useful in accelerating metal liners and sample materials to high velocities to study their properties. For material studies requiring extremely high energy and applied pressures, explosive FCGs can far surpass the typical performance of capacitor based systems. Flat plate generators...
Minimally invasive endovascular procedures including robotically assisted intervention require effective intraoperative guidance. This is mainly achieved through intraoperative imaging such as fluoroscopy. Concerns over excessive x-ray radiation and nephrotoxicity due to repeated injection of contrast agents have motivated the development of effective catheter navigation schemes based on limited imaging...
Depth sensors, including Kinect and Xtion, open up a new possibility for future human-computer interaction (HCI). Even though there already are some mature methods of detecting human skeleton and poses using depth sensors, it is still an unsolved problem to detect hands and recognize delicate gestures effectively, because hands are too small a part in the images generated from depth sensor, so the...
To increase driving safety, many researcher works on Advanced Driving Assistance Systems (ADAS) have been developed and embedded in real prototypes during the last decades. For some of these applications like Lane Keeping System, lane perception is an essential task. For others applications like Emergency Brake Assist, lane perception modules provide useful information helping the system to select...
Optimal design of the orientations and locations of collocated piezoelectric actuators/sensors pairs for a plate-like structure under bending load uncertainty are determined with the objective of minimizing the deformation and electrical input under any sort of loading. The bending moments generated by the piezoelectric actuator actuators are used for deformation control, i.e., to minimize the deformation...
This paper represents 3D object recognition, which is an extension of the common feature point-based object recognition, based on novel descriptors utilizing local angles (for shape), gradient orientations (for texture of corners), and color information. First, the proposed algorithm extracts complementary feature points by randomly sampling the positions of the object edges. Then, it generates the...
We present a new image reconstruction method for Electrical Capacitance Tomography (ECT). ECT image reconstruction is generally ill-posed because the number of measurements is small whereas the image dimensions are large. Here, Compressive Sensing is used to provide better reconstruction from the small number of measurements. Given the sparsity of the signal (image), the idea is to apply an efficient...
Fuzzy logic Systems (FLSs) are credited with providing very good performances which are able to handle the uncertainty and imprecision present in real-world environments and applications. Using type-2 FLSs can enable handling higher levels of uncertainty when compared to type-1 FLSs. The majority of the type-2 FLSs employ singleton type-2 FLSs which handle the encountered input uncertainty through...
Airborne ultrasonic images are not often used in practice, mainly because of the poor air propagation properties of ultrasonic frequencies and high necessary computation resources. The availability of powerful signal processors and the need to have solutions in some special environments, such as dark, smog or fog, require the reconsideration of airborne ultrasonic images, using classic or classic...
This paper proposes a novel algorithm to perform hand shape classification using depth sensors, without relying on color or temporal information. Hence, the system is independent of lighting conditions and does not need a hand registration step. The proposed method uses randomized classification forests (RDF) to assign class labels to each pixel on a depth image, and the final class label is determined...
We identify and study two types of “accidental” images that can be formed in scenes. The first is an accidental pinhole camera image. These images are often mistaken for shadows, but can reveal structures outside a room, or the unseen shape of the light aperture into the room. The second class of accidental images are “inverse” pinhole camera images, formed by subtracting an image with a small occluder...
Service robots that should operate autonomously need to perform actions reliably, and be able to adapt to their changing environment using learning mechanisms. Optimally, robots should learn continuously but this approach often suffers from problems like over-fitting, drifting or dealing with incomplete data.
This paper presents a novel local feature for 3D range image data called ‘the line image’. It is designed to be highly viewpoint invariant by exploiting the range image to efficiently detect 3D occupancy, producing a representation of the surface, occlusions and empty spaces. We also propose a strategy for defining keypoints with stable orientations which define regions of interest in the scan for...
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