413 research outputs found
Architectures for embedded multimodal sensor data fusion systems in the robotics : and airport traffic suveillance ; domain
Smaller autonomous robots and embedded sensor data fusion systems often suffer from limited
computational and hardware resources. Many âReal Timeâ algorithms for multi modal sensor data
fusion cannot be executed on such systems, at least not in real time and sometimes not at all, because
of the computational and energy resources needed, resulting from the architecture of the
computational hardware used in these systems. Alternative hardware architectures for generic
tracking algorithms could provide a solution to overcome some of these limitations. For tracking and
self localization sequential Bayesian filters, in particular particle filters, have been shown to be able to
handle a range of tracking problems that could not be solved with other algorithms. But particle filters
have some serious disadvantages when executed on serial computational architectures used in most
systems. The potential increase in performance for particle filters is huge as many of the computational
steps can be done concurrently. A generic hardware solution for particle filters can relieve the central
processing unit from the computational load associated with the tracking task.
The general topic of this research are hardware-software architectures for multi modal sensor data
fusion in embedded systems in particular tracking, with the goal to develop a high performance
computational architecture for embedded applications in robotics and airport traffic surveillance
domain. The primary concern of the research is therefore: The integration of domain specific concept
support into hardware architectures for low level multi modal sensor data fusion, in particular
embedded systems for tracking with Bayesian filters; and a distributed hardware-software tracking
systems for airport traffic surveillance and control systems.
Runway Incursions are occurrences at an aerodrome involving the incorrect presence of an aircraft,
vehicle, or person on the protected area of a surface designated for the landing and take-off of aircraft.
The growing traffic volume kept runway incursions on the NTSBâs âMost Wantedâ list for safety
improvements for over a decade. Recent incidents show that problem is still existent. Technological
responses that have been deployed in significant numbers are ASDE-X and A-SMGCS. Although these
technical responses are a significant improvement and reduce the frequency of runway incursions,
some runway incursion scenarios are not optimally covered by these systems, detection of runway
incursion events is not as fast as desired, and they are too expensive for all but the biggest airports.
Local, short range sensors could be a solution to provide the necessary affordable surveillance accuracy
for runway incursion prevention. In this context the following objectives shall be reached. 1) Show the
feasibility of runway incursion prevention systems based on localized surveillance. 2) Develop a design
for a local runway incursion alerting system. 3) Realize a prototype of the system design using the
developed tracking hardware.Kleinere autonome Roboter und eingebettete Sensordatenfusionssysteme haben oft mit stark
begrenzter RechenkapazitÀt und eingeschrÀnkten Hardwareressourcen zu kÀmpfen. Viele
Echtzeitalgorithmen fĂŒr die Fusion von multimodalen Sensordaten können, bedingt durch den hohen
Bedarf an RechenkapazitĂ€t und Energie, auf solchen Systemen ĂŒberhaupt nicht ausgefĂŒhrt werden,
oder zu mindesten nicht in Echtzeit. Der hohe Bedarf an Energie und RechenkapazitÀt hat seine
Ursache darin, dass die Architektur der ausfĂŒhrenden Hardware und der ausgefĂŒhrte Algorithmus
nicht aufeinander abgestimmt sind. Dies betrifft auch Algorithmen zu Spurverfolgung. Mit Hilfe von
alternativen Hardwarearchitekturen fĂŒr die generische AusfĂŒhrung solcher Algorithmen könnten sich
einige der typischerweise vorliegenden EinschrĂ€nkungen ĂŒberwinden lassen. Eine Reihe von Aufgaben,
die sich mit anderen Spurverfolgungsalgorithmen nicht lösen lassen, lassen sich mit dem Teilchenfilter,
einem Algorithmus aus der Familie der Bayesschen Filter lösen. Bei der AusfĂŒhrung auf traditionellen
Architekturen haben Teilchenfilter gegenĂŒber anderen Algorithmen einen signifikanten Nachteil,
allerdings ist hier ein groĂer Leistungszuwachs durch die nebenlĂ€ufige AusfĂŒhrung vieler
Rechenschritte möglich. Eine generische Hardwarearchitektur fĂŒr Teilchenfilter könnte deshalb die
oben genannten Systeme stark entlasten.
Das allgemeine Thema dieses Forschungsvorhabens sind Hardware-Software-Architekturen fĂŒr die
multimodale Sensordatenfusion auf eingebetteten Systemen - speziell fĂŒr Aufgaben der
Spurverfolgung, mit dem Ziel eine leistungsfĂ€hige Architektur fĂŒr die Berechnung entsprechender
Algorithmen auf eingebetteten Systemen zu entwickeln, die fĂŒr Anwendungen in der Robotik und
VerkehrsĂŒberwachung auf FlughĂ€fen geeignet ist. Das Augenmerk des Forschungsvorhabens liegt
dabei auf der Integration von vom Einsatzgebiet abhÀngigen Konzepten in die Architektur von
Systemen zur Spurverfolgung mit Bayeschen Filtern, sowie auf verteilten Hardware-Software
Spurverfolgungssystemen zur Ăberwachung und FĂŒhrung des Rollverkehrs auf FlughĂ€fen.
Eine âRunway Incursionâ (RI) ist ein Vorfall auf einem Flugplatz, bei dem ein Fahrzeug oder eine Person
sich unerlaubt in einem Abschnitt der Start- bzw. Landebahn befindet, der einem Verkehrsteilnehmer
zur Benutzung zugewiesen wurde. Der wachsende Flugverkehr hat dafĂŒr gesorgt, das RIs seit ĂŒber
einem Jahrzehnt auf der âMost Wantedâ-Liste des NTSB fĂŒr Verbesserungen der Sicherheit stehen.
JĂŒngere VorfĂ€lle zeigen, dass das Problem noch nicht behoben ist. Technologische MaĂnahmen die in
nennenswerter Zahl eingesetzt wurden sind das ASDE-X und das A-SMGCS. Obwohl diese MaĂnahmen
eine deutliche Verbesserung darstellen und die Zahl der RIs deutlich reduzieren, gibt es einige RISituationen
die von diesen Systemen nicht optimal abgedeckt werden. AuĂerdem detektieren sie RIs
ist nicht so schnell wie erwĂŒnscht und sind - auĂer fĂŒr die gröĂten FlughĂ€fen - zu teuer. Lokale Sensoren
mit kurzer Reichweite könnten eine Lösung sein um die fĂŒr die zuverlĂ€ssige Erkennung von RIs
notwendige PrĂ€zision bei der Ăberwachung des Rollverkehrs zu erreichen. Vor diesem Hintergrund
sollen die folgenden Ziele erreicht werden. 1) Die Machbarkeit eines Runway Incursion
Vermeidungssystems, das auf lokalen Sensoren basiert, zeigen. 2) Einen umsetzbaren Entwurf fĂŒr ein
solches System entwickeln. 3) Einen Prototypen des Systems realisieren, das die oben gennannte
Hardware zur Spurverfolgung einsetzt
A Survey of Smart Parking Solutions
International audienceConsidering the increase of urban population and traffic congestion, smart parking is always a strategic issue to work on, not only in the research field but also from economic interests. Thanks to information and communication technology evolution, drivers can more efficiently find satisfying parking spaces with smart parking services. The existing and ongoing works on smart parking are complicated and transdisciplinary. While deploying a smart parking system, cities, as well as urban engineers, need to spend a very long time to survey and inspect all the possibilities. Moreover, many varied works involve multiple disciplines, which are closely linked and inseparable. To give a clear overview, we introduce a smart parking ecosystem and propose a comprehensive and thoughtful classification by identifying their functionalities and problematic focuses. We go through the literature over the period of 2000-2016 on parking solutions as they were applied to smart parking development and evolution, and propose three macro-themes: information collection, system deployment, and service dissemination. In each macro-theme, we explain and synthesize the main methodologies used in the existing works and summarize their common goals and visions to solve current parking difficulties. Lastly, we give our engineering insights and show some challenges and open issues. Our survey gives an exhaustive study and a prospect in a multidisciplinary approach. Besides, the main findings of the current state-of-the-art throw out recommendations for future research on smart cities and the Internet architecture
Urban Informatics
This open access book is the first to systematically introduce the principles of urban informatics and its application to every aspect of the city that involves its functioning, control, management, and future planning. It introduces new models and tools being developed to understand and implement these technologies that enable cities to function more efficiently â to become âsmartâ and âsustainableâ. The smart city has quickly emerged as computers have become ever smaller to the point where they can be embedded into the very fabric of the city, as well as being central to new ways in which the population can communicate and act. When cities are wired in this way, they have the potential to become sentient and responsive, generating massive streams of âbigâ data in real time as well as providing immense opportunities for extracting new forms of urban data through crowdsourcing. This book offers a comprehensive review of the methods that form the core of urban informatics from various kinds of urban remote sensing to new approaches to machine learning and statistical modelling. It provides a detailed technical introduction to the wide array of tools information scientists need to develop the key urban analytics that are fundamental to learning about the smart city, and it outlines ways in which these tools can be used to inform design and policy so that cities can become more efficient with a greater concern for environment and equity
Urban Informatics
This open access book is the first to systematically introduce the principles of urban informatics and its application to every aspect of the city that involves its functioning, control, management, and future planning. It introduces new models and tools being developed to understand and implement these technologies that enable cities to function more efficiently â to become âsmartâ and âsustainableâ. The smart city has quickly emerged as computers have become ever smaller to the point where they can be embedded into the very fabric of the city, as well as being central to new ways in which the population can communicate and act. When cities are wired in this way, they have the potential to become sentient and responsive, generating massive streams of âbigâ data in real time as well as providing immense opportunities for extracting new forms of urban data through crowdsourcing. This book offers a comprehensive review of the methods that form the core of urban informatics from various kinds of urban remote sensing to new approaches to machine learning and statistical modelling. It provides a detailed technical introduction to the wide array of tools information scientists need to develop the key urban analytics that are fundamental to learning about the smart city, and it outlines ways in which these tools can be used to inform design and policy so that cities can become more efficient with a greater concern for environment and equity
Urban Informatics
This open access book is the first to systematically introduce the principles of urban informatics and its application to every aspect of the city that involves its functioning, control, management, and future planning. It introduces new models and tools being developed to understand and implement these technologies that enable cities to function more efficiently â to become âsmartâ and âsustainableâ. The smart city has quickly emerged as computers have become ever smaller to the point where they can be embedded into the very fabric of the city, as well as being central to new ways in which the population can communicate and act. When cities are wired in this way, they have the potential to become sentient and responsive, generating massive streams of âbigâ data in real time as well as providing immense opportunities for extracting new forms of urban data through crowdsourcing. This book offers a comprehensive review of the methods that form the core of urban informatics from various kinds of urban remote sensing to new approaches to machine learning and statistical modelling. It provides a detailed technical introduction to the wide array of tools information scientists need to develop the key urban analytics that are fundamental to learning about the smart city, and it outlines ways in which these tools can be used to inform design and policy so that cities can become more efficient with a greater concern for environment and equity
Earth Observation Open Science and Innovation
geospatial analytics; social observatory; big earth data; open data; citizen science; open innovation; earth system science; crowdsourced geospatial data; citizen science; science in society; data scienc
Aerial Vehicles
This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space
Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1
The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications
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