An overview on structural health monitoring: From the current state-of-the-art to new bio-inspired sensing paradigms

In the last decades, the field of structural health monitoring (SHM) has grown exponentially. Yet, several technical constraints persist, which are preventing full realization of its potential. To upgrade current state-of-the-art technologies, researchers have started to look at nature’s creations giving rise to a new field called ‘biomimetics’, which operates across the border between living and non-living systems. The highly optimised and time-tested performance of biological assemblies keeps on inspiring the development of bio-inspired artificial counterparts that can potentially outperform conventional systems. After a critical appraisal on the current status of SHM, this paper presents a review of selected works related to neural, cochlea and immune-inspired algorithms implemented in the field of SHM, including a brief survey of the advancements of bio-inspired sensor technology for the purpose of SHM. In parallel to this engineering progress, a more in-depth understanding of the most suitable biological patterns to be transferred into multimodal SHM systems is fundamental to foster new scientific breakthroughs. Hence, grounded in the dissection of three selected human biological systems, a framework for new bio-inspired sensing paradigms aimed at guiding the identification of tailored attributes to transplant from nature to SHM is outlined.info:eu-repo/semantics/acceptedVersio

Computer Vision from Spatial-Multiplexing Cameras at Low Measurement Rates

abstract: In UAVs and parking lots, it is typical to first collect an enormous number of pixels using conventional imagers. This is followed by employment of expensive methods to compress by throwing away redundant data. Subsequently, the compressed data is transmitted to a ground station. The past decade has seen the emergence of novel imagers called spatial-multiplexing cameras, which offer compression at the sensing level itself by providing an arbitrary linear measurements of the scene instead of pixel-based sampling. In this dissertation, I discuss various approaches for effective information extraction from spatial-multiplexing measurements and present the trade-offs between reliability of the performance and computational/storage load of the system. In the first part, I present a reconstruction-free approach to high-level inference in computer vision, wherein I consider the specific case of activity analysis, and show that using correlation filters, one can perform effective action recognition and localization directly from a class of spatial-multiplexing cameras, called compressive cameras, even at very low measurement rates of 1\%. In the second part, I outline a deep learning based non-iterative and real-time algorithm to reconstruct images from compressively sensed (CS) measurements, which can outperform the traditional iterative CS reconstruction algorithms in terms of reconstruction quality and time complexity, especially at low measurement rates. To overcome the limitations of compressive cameras, which are operated with random measurements and not particularly tuned to any task, in the third part of the dissertation, I propose a method to design spatial-multiplexing measurements, which are tuned to facilitate the easy extraction of features that are useful in computer vision tasks like object tracking. The work presented in the dissertation provides sufficient evidence to high-level inference in computer vision at extremely low measurement rates, and hence allows us to think about the possibility of revamping the current day computer systems.Dissertation/ThesisDoctoral Dissertation Electrical Engineering 201

Compressive sensing-based data uploading in time-driven public sensing applications

Over the last few years, the technology of mobile phones greatly got increased. People gain and upload more and more information through their mobile phones in an easy way. Accordingly, a new sensing technology emerges, referred to as public sensing (PS). The core idea behind PS is to exploit the crowdedness of smart mobile devices to opportunistically provide real-time sensor data considering spatial and environmental dimensions. Recently, PS has been applied in many different application scenarios, such as environmental monitoring, traffic analysis, and indoor mapping. However, PS applications face several challenges. One of the most prominent challenges is the users acceptance to participate in the PS applications. In order to convince users to participate in the PS applications, several incentives mechanisms have been developed. However, the main two requirements - which should be met by any PS application - are the users privacy and the energy costs of running the PS application. In fact, there exist several energy consumers in PS applications. For example, many PS applications require the mobile devices to fix their position and frequently send this position data to the PS server. Similarly, the mobile devices waste energy when they receive sensing queries outside the sensing areas. However, the most energy-expensive task is to frequently acquire and send data to the PS server. In this thesis, we tackle the problem of energy consumption in a special category of PS applications in which the participating mobile devices are periodically queried for sensor data, such as acceleration and images. To reduce the energy overhead of uploading lots of information, we exploit the fact that processing approximately one thousand instructions consumes energy equal to that of transmitting one bit of information. Accordingly, we exploit data compression to reduce the number of bit that will be transmitted from the participating mobile devices to the PS server. Although, he technical literature has many compression methods, such as derivative-based prediction, Cosine transform, Wavelet transform; we designed a framework based on the compressive sensing (CS) theory. In the last decade, CS has been proven as a promising candidate for compressing N-dimensional data. Moreover, it shows satisfactory results when used for inferring missing data. Accordingly, we exploit CS to compress 1D data (e.g. acceleration, gravity) and 2D data (e.g. images). To efficiently utilize the CS method on resources-taxed devices such as the smart mobile devices, we start with identifying the most lightweight measurements matrices which will be implemented on the mobile devices. We examine several matrices, such as the random measurement matrix, the random Gaussian matrix, and the Toeplitz matrix. Our analysis mainly bases on the recovery accuracy and the dissipated energy from the mobile device's battery. Additionally, we perform a comparative study with other compressors, including the cosine transform and the lossless ZIP compressor. To further confirm that CS has a high recovery accuracy, we implemented an activity recognition algorithm at the server side. To this end, we exploit the dynamic time warping (DTW) algorithm as a pattern matching tool between a set of stored patterns and the recovered data. Several experiments have been performed which show the high accuracy of both CS and DTW to recover several activities such as walking, running, and jogging. In terms of energy, CS significantly reduce the battery consumption relative to the other baseline compressors. Finally, we prove the possibility of exploiting the CS-based compression method for manipulating 1D data as well as 2D data, i.e. images. The main challenge is to perform image encoding on the mobile devices, despite the complex matrix operations between the image pixels and the sensing matrices. To overcome this problem, we divide the image into a number of cells and subsequently, we perform the encoding process on each cell individually. Accordingly, the compression process is iteratively achieved. The evaluation results show promising results for 2D compression-based on the CS theory in terms of the saved energy consumption and the recovery accuracy

Contemporary Robotics

This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials

Intelligent Sensor Networks

In the last decade, wireless or wired sensor networks have attracted much attention. However, most designs target general sensor network issues including protocol stack (routing, MAC, etc.) and security issues. This book focuses on the close integration of sensing, networking, and smart signal processing via machine learning. Based on their world-class research, the authors present the fundamentals of intelligent sensor networks. They cover sensing and sampling, distributed signal processing, and intelligent signal learning. In addition, they present cutting-edge research results from leading experts

Wireless Monitoring Systems for Long-Term Reliability Assessment of Bridge Structures based on Compressed Sensing and Data-Driven Interrogation Methods.

The state of the nation’s highway bridges has garnered significant public attention due to large inventories of aging assets and insufficient funds for repair. Current management methods are based on visual inspections that have many known limitations including reliance on surface evidence of deterioration and subjectivity introduced by trained inspectors. To address the limitations of current inspection practice, structural health monitoring (SHM) systems can be used to provide quantitative measures of structural behavior and an objective basis for condition assessment. SHM systems are intended to be a cost effective monitoring technology that also automates the processing of data to characterize damage and provide decision information to asset managers. Unfortunately, this realization of SHM systems does not currently exist. In order for SHM to be realized as a decision support tool for bridge owners engaged in performance- and risk-based asset management, technological hurdles must still be overcome. This thesis focuses on advancing wireless SHM systems. An innovative wireless monitoring system was designed for permanent deployment on bridges in cold northern climates which pose an added challenge as the potential for solar harvesting is reduced and battery charging is slowed. First, efforts advancing energy efficient usage strategies for WSNs were made. With WSN energy consumption proportional to the amount of data transmitted, data reduction strategies are prioritized. A novel data compression paradigm termed compressed sensing is advanced for embedment in a wireless sensor microcontroller. In addition, fatigue monitoring algorithms are embedded for local data processing leading to dramatic data reductions. In the second part of the thesis, a radical top-down design strategy (in contrast to global vibration strategies) for a monitoring system is explored to target specific damage concerns of bridge owners. Data-driven algorithmic approaches are created for statistical performance characterization of long-term bridge response. Statistical process control and reliability index monitoring are advanced as a scalable and autonomous means of transforming data into information relevant to bridge risk management. Validation of the wireless monitoring system architecture is made using the Telegraph Road Bridge (Monroe, Michigan), a multi-girder short-span highway bridge that represents a major fraction of the U.S. national inventory.PhDCivil EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/116749/1/ocosean_1.pd

Five Facets of 6G: Research Challenges and Opportunities

Whilst the fifth-generation (5G) systems are being rolled out across the globe, researchers have turned their attention to the exploration of radical next-generation solutions. At this early evolutionary stage we survey five main research facets of this field, namely {\em Facet~1: next-generation architectures, spectrum and services, Facet~2: next-generation networking, Facet~3: Internet of Things (IoT), Facet~4: wireless positioning and sensing, as well as Facet~5: applications of deep learning in 6G networks.} In this paper, we have provided a critical appraisal of the literature of promising techniques ranging from the associated architectures, networking, applications as well as designs. We have portrayed a plethora of heterogeneous architectures relying on cooperative hybrid networks supported by diverse access and transmission mechanisms. The vulnerabilities of these techniques are also addressed and carefully considered for highlighting the most of promising future research directions. Additionally, we have listed a rich suite of learning-driven optimization techniques. We conclude by observing the evolutionary paradigm-shift that has taken place from pure single-component bandwidth-efficiency, power-efficiency or delay-optimization towards multi-component designs, as exemplified by the twin-component ultra-reliable low-latency mode of the 5G system. We advocate a further evolutionary step towards multi-component Pareto optimization, which requires the exploration of the entire Pareto front of all optiomal solutions, where none of the components of the objective function may be improved without degrading at least one of the other components

Overcomplete Dictionary and Deep Learning Approaches to Image and Video Analysis

Extracting useful information while ignoring others (e.g. noise, occlusion, lighting) is an essential and challenging data analyzing step for many computer vision tasks such as facial recognition, scene reconstruction, event detection, image restoration, etc. Data analyzing of those tasks can be formulated as a form of matrix decomposition or factorization to separate useful and/or fill in missing information based on sparsity and/or low-rankness of the data. There has been an increasing number of non-convex approaches including conventional matrix norm optimizing and emerging deep learning models. However, it is hard to optimize the ideal l0-norm or learn the deep models directly and efficiently. Motivated from this challenging process, this thesis proposes two sets of approaches: conventional and deep learning based. For conventional approaches, this thesis proposes a novel online non-convex lp-norm based Robust PCA (OLP-RPCA) approach for matrix decomposition, where 0 < p < 1. OLP-RPCA is developed from the offline version LP-RPCA. A robust face recognition framework is also developed from Robust PCA and sparse coding approaches. More importantly, OLP-RPCA method can achieve real-time performance on large-scale data without parallelizing or implementing on a graphics processing unit. We mathematically and empirically show that our OLP-RPCA algorithm is linear in both the sample dimension and the number of samples. The proposed OLP-RPCA and LP-RPCA approaches are evaluated in various applications including Gaussian/non-Gaussian image denoising, face modeling, real-time background subtraction and video inpainting and compared against numerous state-of-the-art methods to demonstrate the robustness of the algorithms. In addition, this thesis proposes a novel Robust lp-norm Singular Value Decomposition (RP-SVD) method for analyzing two-way functional data. The proposed RP-SVD is formulated as an lp-norm based penalized loss minimization problem. The proposed RP-SVD method is evaluated in four applications, i.e. noise and outlier removal, estimation of missing values, structure from motion reconstruction and facial image reconstruction. For deep learning based approaches, this thesis explores the idea of matrix decomposition via Robust Deep Boltzmann Machines (RDBM), an alternative form of Robust Boltzmann Machines, which aiming at dealing with noise and occlusion for face-related applications, particularly. This thesis proposes an extension to texture modeling in the Deep Appearance Models (DAMs) by using RDBM to enhance its robustness against noise and occlusion. The extended model can cope with occlusion and extreme poses when modeling human faces in 2D image reconstruction. This thesis also introduces new fitting algorithms with occlusion awareness through the mask obtained from the RDBM reconstruction. The proposed approach is evaluated in various applications by using challenging face datasets, i.e. Labeled Face Parts in the Wild (LFPW), Helen, EURECOM and AR databases, to demonstrate its robustness and capabilities

Compressive Sensing and Its Applications in Automotive Radar Systems

Die Entwicklung in Richtung zu autonomem Fahren verspricht, künftig einen sicheren Verkehr ohne tödliche Unfälle zu ermöglichen, indem menschliche Fahrer vollständig ersetzt werden. Dadurch entfällt der Faktor des menschlichen Fehlers, der aus Müdigkeit, Unachtsamkeit oder Alkoholeinfluss resultiert. Um jedoch eine breite Akzeptanz für autonome Fahrzeuge zu erreichen und es somit eines Tages vollständig umzusetzen, sind noch eine Vielzahl von Herausforderungen zu lösen. Da in einem autonomen Fahrzeug kein menschlicher Fahrer mehr in Notfällen eingreifen kann, müssen sich autonome Fahrzeuge auf leistungsfähige und robuste Sensorsysteme verlassen können, um in kritischen Situationen auch unter widrigen Bedingungen angemessen reagieren zu können. Daher ist die Entwicklung von Sensorsystemen erforderlich, die für Funktionalitäten jenseits der aktuellen advanced driver assistance systems eingesetzt werden können. Dies resultiert in neuen Anforderungen, die erfüllt werden müssen, um sichere und zuverlässige autonome Fahrzeuge zu realisieren, die weder Fahrzeuginsassen noch Passanten gefährden. Radarsysteme gehören zu den Schlüsselkomponenten unter der Vielzahl der verfügbaren Sensorsysteme, da sie im Gegensatz zu visuellen Sensoren von widrigen Wetter- und Umgebungsbedingungen kaum beeinträchtigt werden. Darüber hinaus liefern Radarsysteme zusätzliche Umgebungsinformationen wie Abstand, Winkel und relative Geschwindigkeit zwischen Sensor und reflektierenden Zielen. Die vorliegende Dissertation deckt im Wesentlichen zwei Hauptaspekte der Forschung und Entwicklung auf dem Gebiet der Radarsysteme im Automobilbereich ab. Ein Aspekt ist die Steigerung der Effizienz und Robustheit der Signalerfassung und -verarbeitung für die Radarperzeption. Der andere Aspekt ist die Beschleunigung der Validierung und Verifizierung von automated cyber-physical systems, die parallel zum Automatisierungsgrad auch eine höhere Komplexität aufweisen. Nach der Analyse zahlreicher möglicher Compressive Sensing Methoden, die im Bereich Fahrzeugradarsysteme angewendet werden können, wird ein rauschmoduliertes gepulstes Radarsystem vorgestellt, das kommerzielle Fahrzeugradarsysteme in seiner Robustheit gegenüber Rauschen übertrifft. Die Nachteile anderer gepulster Radarsysteme hinsichtlich des Signalerfassungsaufwands und der Laufzeit werden durch die Verwendung eines Compressive Sensing-Signalerfassungs- und Rekonstruktionsverfahrens in Kombination mit einer Rauschmodulation deutlich verringert. Mit Compressive Sensing konnte der Aufwand für die Signalerfassung um 70% reduziert werden, während gleichzeitig die Robustheit der Radarwahrnehmung auch für signal-to-noise-ratio-Pegel nahe oder unter Null erreicht wird. Mit einem validierten Radarsensormodell wurde das Rauschradarsystem emuliert und mit einem kommerziellen Fahrzeugradarsystem verglichen. Datengetriebene Wettermodelle wurden entwickelt und während der Simulation angewendet, um die Radarleistung unter widrigen Bedingungen zu bewerten. Während eine Besprühung mit Wasser die Radomdämpfung um 10 dB erhöht und Spritzwasser sogar um 20 dB, ergibt sich die eigentliche Begrenzung aus der Rauschzahl und Empfindlichkeit des Empfängers. Es konnte bewiesen werden, dass das vorgeschlagene Compressive Sensing Rauschradarsystem mit einer zusätzlichen Signaldämpfung von bis zu 60 dB umgehen kann und damit eine hohe Robustheit in ungünstigen Umwelt- und Wetterbedingungen aufweist. Neben der Robustheit wird auch die Interferenz berücksichtigt. Zum einen wird die erhöhte Störfestigkeit des Störradarsystems nachgewiesen. Auf der anderen Seite werden die Auswirkungen auf bestehende Fahrzeugradarsysteme bewertet und Strategien zur Minderung der Auswirkungen vorgestellt. Die Struktur der Arbeit ist folgende. Nach der Einführung der Grundlagen und Methoden für Fahrzeugradarsysteme werden die Theorie und Metriken hinter Compressive Sensing gezeigt. Darüber hinaus werden weitere Aspekte wie Umgebungsbedingungen, unterschiedliche Radararchitekturen und Interferenz erläutert. Der Stand der Technik gibt einen Überblick über Compressive Sensing-Ansätze und Implementierungen mit einem Fokus auf Radar. Darüber hinaus werden Aspekte von Fahrzeug- und Rauschradarsystemen behandelt. Der Hauptteil beginnt mit der Vorstellung verschiedener Ansätze zur Nutzung von Compressive Sensing für Fahrzeugradarsysteme, die in der Lage sind, die Erfassung und Wahrnehmung von Radarsignalen zu verbessern oder zu erweitern. Anschließend wird der Fokus auf ein Rauschradarsystem gelegt, das mit Compressive Sensing eine effiziente Signalerfassung und -rekonstruktion ermöglicht. Es wurde mit verschiedenen Compressive Sensing-Metriken analysiert und in einer Proof-of-Concept-Simulation bewertet. Mit einer Emulation des Rauschradarsystems wurde das Potential der Compressive Sensing Signalerfassung und -verarbeitung in einem realistischeren Szenario demonstriert. Die Entwicklung und Validierung des zugrunde liegenden Sensormodells wird ebenso dokumentiert wie die Entwicklung der datengetriebenen Wettermodelle. Nach der Betrachtung von Interferenz und der Koexistenz des Rauschradars mit kommerziellen Radarsystemen schließt ein letztes Kapitel mit Schlussfolgerungen und einem Ausblick die Arbeit ab.Developments towards autonomous driving promise to lead to safer traffic, where fatal accidents can be avoided after making human drivers obsolete and hence removing the factor of human error. However, to ensure the acceptance of automated driving and make it a reality one day, still a huge amount of challenges need to be solved. With having no human supervisors, automated vehicles have to rely on capable and robust sensor systems to ensure adequate reactions in critical situations, even during adverse conditions. Therefore, the development of sensor systems is required that can be applied for functionalities beyond current advanced driver assistance systems. New requirements need to be met in order to realize safe and reliable automated vehicles that do not harm passersby. Radar systems belong to the key components among the variety of sensor systems. Other than visual sensors, radar is less vulnerable towards adverse weather and environment conditions. In addition, radar provides complementary environment information such as target distance, angular position or relative velocity, too. The thesis ad hand covers basically two main aspects of research and development in the field of automotive radar systems. One aspect is to increase efficiency and robustness in signal acquisition and processing for radar perception. The other aspect is to accelerate validation and verification of automated cyber-physical systems that feature more complexity along with the level of automation. After analyzing a variety of possible Compressive Sensing methods for automotive radar systems, a noise modulated pulsed radar system is suggested in the thesis at hand, which outperforms commercial automotive radar systems in its robustness towards noise. Compared to other pulsed radar systems, their drawbacks regarding signal acquisition effort and computation run time are resolved by using noise modulation for implementing a Compressive Sensing signal acquisition and reconstruction method. Using Compressive Sensing, the effort in signal acquisition was reduced by 70%, while obtaining a radar perception robustness even for signal-to-noise-ratio levels close to or below zero. With a validated radar sensor model the noise radar was emulated and compared to a commercial automotive radar system. Data-driven weather models were developed and applied during simulation to evaluate radar performance in adverse conditions. While water sprinkles increase radome attenuation by 10 dB and splash water even by 20 dB, the actual limitation comes from noise figure and sensitivity of the receiver. The additional signal attenuation that can be handled by the proposed compressive sensing noise radar system proved to be even up to 60 dB, which ensures a high robustness of the receiver during adverse weather and environment conditions. Besides robustness, interference is also considered. On the one hand the increased robustness towards interference of the noise radar system is demonstrated. On the other hand, the impact on existing automotive radar systems is evaluated and strategies to mitigate the impact are presented. The structure of the thesis is the following. After introducing basic principles and methods for automotive radar systems, the theory and metrics of Compressive Sensing is presented. Furthermore some particular aspects are highlighted such as environmental conditions, different radar architectures and interference. The state of the art provides an overview on Compressive Sensing approaches and implementations with focus on radar. In addition, it covers automotive radar and noise radar related aspects. The main part starts with presenting different approaches on making use of Compressive Sensing for automotive radar systems, that are capable of either improving or extending radar signal acquisition and perception. Afterwards the focus is put on a noise radar system that uses Compressive Sensing for an efficient signal acquisition and reconstruction. It was analyzed using different Compressive Sensing metrics and evaluated in a proof-of-concept simulation. With an emulation of the noise radar system the feasibility of the Compressive Sensing signal acquisition and processing was demonstrated in a more realistic scenario. The development and validation of the underlying sensor model is documented as well as the development of the data-driven weather models. After considering interference and co-existence with commercial radar systems, a final chapter with conclusions and an outlook completes the work