Sample selection based on kernel-subclustering for the signal reconstruction of multifunctional sensors

The signal reconstruction methods based on inverse modeling for the signal reconstruction of multifunctional sensors have been widely studied in recent years. To improve the accuracy, the reconstruction methods have become more and more complicated because of the increase in the model parameters and sample points. However, there is another factor that affects the reconstruction accuracy, the position of the sample points, which has not been studied. A reasonable selection of the sample points could improve the signal reconstruction quality in at least two ways: improved accuracy with the same number of sample points or the same accuracy obtained with a smaller number of sample points. Both ways are valuable for improving the accuracy and decreasing the workload, especially for large batches of multifunctional sensors. In this paper, we propose a sample selection method based on kernel-subclustering distill groupings of the sample data and produce the representation of the data set for inverse modeling. The method calculates the distance between two data points based on the kernel-induced distance instead of the conventional distance. The kernel function is a generalization of the distance metric by mapping the data that are non-separable in the original space into homogeneous groups in the high-dimensional space. The method obtained the best results compared with the other three methods in the simulation

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

Advances in Intelligent Vehicle Control

This book is a printed edition of the Special Issue Advances in Intelligent Vehicle Control that was published in the journal Sensors. It presents a collection of eleven papers that covers a range of topics, such as the development of intelligent control algorithms for active safety systems, smart sensors, and intelligent and efficient driving. The contributions presented in these papers can serve as useful tools for researchers who are interested in new vehicle technology and in the improvement of vehicle control systems

IoT Applications Computing

The evolution of emerging and innovative technologies based on Industry 4.0 concepts are transforming society and industry into a fully digitized and networked globe. Sensing, communications, and computing embedded with ambient intelligence are at the heart of the Internet of Things (IoT), the Industrial Internet of Things (IIoT), and Industry 4.0 technologies with expanding applications in manufacturing, transportation, health, building automation, agriculture, and the environment. It is expected that the emerging technology clusters of ambient intelligence computing will not only transform modern industry but also advance societal health and wellness, as well as and make the environment more sustainable. This book uses an interdisciplinary approach to explain the complex issue of scientific and technological innovations largely based on intelligent computing

Soft pneumatic actuators: a review of design, fabrication, modeling, sensing, control and applications

Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Spatio-temporal forecasting of network data

In the digital age, data are collected in unprecedented volumes on a plethora of networks. These data provide opportunities to develop our understanding of network processes by allowing data to drive method, revealing new and often unexpected insights. To date, there has been extensive research into the structure and function of complex networks, but there is scope for improvement in modelling the spatio-temporal evolution of network processes in order to forecast future conditions. This thesis focusses on forecasting using data collected on road networks. Road traffic congestion is a serious and persistent problem in most major cities around the world, and it is the task of researchers and traffic engineers to make use of voluminous traffic data to help alleviate congestion. Recently, spatio-temporal models have been applied to traffic data, showing improvements over time series methods. Although progress has been made, challenges remain. Firstly, most existing methods perform well under typical conditions, but less well under atypical conditions. Secondly, existing spatio-temporal models have been applied to traffic data with high spatial resolution, and there has been little research into how to incorporate spatial information on spatially sparse sensor networks, where the dependency relationships between locations are uncertain. Thirdly, traffic data is characterised by high missing rates, and existing methods are generally poorly equipped to deal with this in a real time setting. In this thesis, a local online kernel ridge regression model is developed that addresses these three issues, with application to forecasting of travel times collected by automatic number plate recognition on London’s road network. The model parameters can vary spatially and temporally, allowing it to better model the time varying characteristics of traffic data, and to deal with abnormal traffic situations. Methods are defined for linking the spatially sparse sensor network to the physical road network, providing an improved representation of the spatial relationship between sensor locations. The incorporation of the spatio-temporal neighbourhood enables the model to forecast effectively under missing data. The proposed model outperforms a range of benchmark models at forecasting under normal conditions, and under various missing data scenarios

A Dynamical Systems Modelling Framework for Breast Cancer Cell Motility and Morphology Analysis

Cancer is a worldwide disease and, in the UK, breast cancer is the most common. Compared to healthy cells, cancer cells migrate abnormally, associated with alterations in cell motility and morphology. The development of biomedical imaging techniques result in the production of large amounts of data. The analysis of such large data, the variety of cancer cell shapes and the potential links between cell motility and morphology present a challenge for cell migration study: how to analyse cell motility and morphology simultaneously. This thesis proposes a computational framework to address integrated cancer cell migration analysis. Firstly, automated tracking of cell boundaries is undertaken by a DWNA kinematic model of cell boundaries, described by B-spline active contours. The tracked cell states intrinsically links cell morphology to motility features. As a result, cell centroid and boundary dynamics are successfully tracked, followed by quantitative motility analysis. A module to quantitatively analyse cell morphology is proposed after tracking. Cell shapes are described by a 2D descriptor. Accordingly, cell morphodynamics are modelled as a hidden Markov process, along with three shape states: round, elongated and teardrop. In order to explore the potential interactions between cell shapes and motility, cell centroid motility characteristics are associated to the identified shape states. When the analysis was applied to breast cancer control cells, the identified shape states showed distinct motility characteristics. Finally, the proposed framework is adapted to the comparison of MDA-MB-231 cell behaviours with regulating migration-associated proteins: i) Blebbistatin and Y-27632, which are chemical inhibitors of two different proteins working on the same pathway, showed identical, but different degrees of effects on the motility and morphology characteristics of MDA-MB-231 cells. ii) The absence of FA-associated genes, including FAK, RhoE and beta-PIX, respectively showed distinct effects on cell migrations

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field