49 research outputs found

    Deep probabilistic methods for improved radar sensor modelling and pose estimation

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    Radar’s ability to sense under adverse conditions and at far-range makes it a valuable alternative to vision and lidar for mobile robotic applications. However, its complex, scene-dependent sensing process and significant noise artefacts makes working with radar challenging. Moving past classical rule-based approaches, which have dominated the literature to date, this thesis investigates deep and data-driven solutions across a range of tasks in robotics. Firstly, a deep approach is developed for mapping raw sensor measurements to a grid-map of occupancy probabilities, outperforming classical filtering approaches by a significant margin. A distribution over the occupancy state is captured, additionally allowing uncertainty in predictions to be identified and managed. The approach is trained entirely using partial labels generated automatically from lidar, without requiring manual labelling. Next, a deep model is proposed for generating stochastic radar measurements from simulated elevation maps. The model is trained by learning the forward and backward processes side-by-side, using a combination of adversarial and cyclical consistency constraints in combination with a partial alignment loss, using labels generated in lidar. By faithfully replicating the radar sensing process, new models can be trained for down-stream tasks, using labels that are readily available in simulation. In this case, segmentation models trained on simulated radar measurements, when deployed in the real world, are shown to approach the performance of a model trained entirely on real-world measurements. Finally, the potential of deep approaches applied to the radar odometry task are explored. A learnt feature space is combined with a classical correlative scan matching procedure and optimised for pose prediction, allowing the proposed method to outperform the previous state-of-the-art by a significant margin. Through a probabilistic consideration the uncertainty in the pose is also successfully characterised. Building upon this success, properties of the Fourier Transform are then utilised to separate the search for translation and angle. It is shown that this decoupled search results in a significant boost to run-time performance, allowing the approach to run in real-time on CPUs and embedded devices, whilst remaining competitive with other radar odometry methods proposed in the literature

    Investigating Properties of Electrically Conductive Textiles: A Review

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    Electro-conductive textiles are mostly fabrics that have conductive elements or electronics integrated into them to achieve electrical characteristics. They have acquired considerable attention in applications involving sensors, communications, heating textiles, entertainment, health care, safety etc. To produce electro-conductive textiles, several techniques, e.g. chemical treating with conductive polymers on various textile materials, or using different technologies, e.g. knitting, weaving, embroidery techniques to include conductive threads into fabric interconnections etc., are being used. Electro-conductive fabrics are flexible enough to be adapted to quick changes in any particular application, beginning with wearable purposes and sensing needs as specified by many different groups. The ability of electro-conductive textiles to conduct electricity is the most essential property they must possess. In addition, the applications that may be worn should have stable electrical, thermal and mechanical qualities. The most recent developments in the field of electro-conductive textiles represent the aim of this review, which analyses these properties, including the investigation of methods that are used to obtain conductive textiles, their electrical properties, thermal properties, and beyond that, the scientific methods that are used to measure and investigate electro-conductive textiles. We also focused on the textile materials used in studies, as well as the technologies used to make them conductive, which may be a guide for different interested groups for use in a variety of smart applications

    International Conference on Mathematical Analysis and Applications in Science and Engineering – Book of Extended Abstracts

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    The present volume on Mathematical Analysis and Applications in Science and Engineering - Book of Extended Abstracts of the ICMASC’2022 collects the extended abstracts of the talks presented at the International Conference on Mathematical Analysis and Applications in Science and Engineering – ICMA2SC'22 that took place at the beautiful city of Porto, Portugal, in June 27th-June 29th 2022 (3 days). Its aim was to bring together researchers in every discipline of applied mathematics, science, engineering, industry, and technology, to discuss the development of new mathematical models, theories, and applications that contribute to the advancement of scientific knowledge and practice. Authors proposed research in topics including partial and ordinary differential equations, integer and fractional order equations, linear algebra, numerical analysis, operations research, discrete mathematics, optimization, control, probability, computational mathematics, amongst others. The conference was designed to maximize the involvement of all participants and will present the state-of- the-art research and the latest achievements.info:eu-repo/semantics/publishedVersio

    Object Recognition

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    Vision-based object recognition tasks are very familiar in our everyday activities, such as driving our car in the correct lane. We do these tasks effortlessly in real-time. In the last decades, with the advancement of computer technology, researchers and application developers are trying to mimic the human's capability of visually recognising. Such capability will allow machine to free human from boring or dangerous jobs

    Advances in Supercapacitor Technology and Applications

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    Energy storage is a key topic for research, industry, and business, which is gaining increasing interest. Any available energy-storage technology (batteries, fuel cells, flywheels, and so on) can cover a limited part of the power-energy plane and is characterized by some inherent drawback. Supercapacitors (also known as ultracapacitors, electrochemical capacitors, pseudocapacitors, or double-layer capacitors) feature exceptional capacitance values, creating new scenarios and opportunities in both research and industrial applications, partly because the related market is relatively recent. In practice, supercapacitors can offer a trade-off between the high specific energy of batteries and the high specific power of traditional capacitors. Developments in supercapacitor technology and supporting electronics, combined with reductions in costs, may revolutionize everything from large power systems to consumer electronics. The potential benefits of supercapacitors move from the progresses in the technological processes but can be effective by the availability of the proper tools for testing, modeling, diagnosis, sizing, management and technical-economic analyses. This book collects some of the latest developments in the field of supercapacitors, ranging from new materials to practical applications, such as energy storage, uninterruptible power supplies, smart grids, electrical vehicles, advanced transportation and renewable sources
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