9 research outputs found
Software Defined Radio Implementation of Carrier and Timing Synchronization for Distributed Arrays
The communication range of wireless networks can be greatly improved by using
distributed beamforming from a set of independent radio nodes. One of the key
challenges in establishing a beamformed communication link from separate radios
is achieving carrier frequency and sample timing synchronization. This paper
describes an implementation that addresses both carrier frequency and sample
timing synchronization simultaneously using RF signaling between designated
master and slave nodes. By using a pilot signal transmitted by the master node,
each slave estimates and tracks the frequency and timing offset and digitally
compensates for them. A real-time implementation of the proposed system was
developed in GNU Radio and tested with Ettus USRP N210 software defined radios.
The measurements show that the distributed array can reach a residual frequency
error of 5 Hz and a residual timing offset of 1/16 the sample duration for 70
percent of the time. This performance enables distributed beamforming for range
extension applications.Comment: Submitted to 2019 IEEE Aerospace Conferenc
Robotics 2010
Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development
Modelling and Identification of Immune Cell Migration during the Inflammatory Response
Neutrophils are the white blood cells that play a crucial role in the response of the innate immune system to tissue injuries or infectious threats. Their rapid arrival to the damaged area and timely removal from it define the success of the inflammatory process. Therefore, understanding neutrophil migratory behaviour is essential for the therapeutic regulation of multiple inflammation-mediated diseases. Recent years saw rapid development of various in vivo models of inflammation that provide a remarkable insight into the neutrophil function. The main drawback of the \textit{in vivo} microscopy is that it usually focuses on the moving cells and obscures the external environment that drives their migration. To evaluate the effect of a particular treatment strategy on neutrophil behaviour, it is necessary to recover the information about the cell responsiveness and the complex extracellular environment from the limited experimental data. This thesis addresses the presented inference problem by developing a dynamical modelling and estimation framework that quantifies the relationship between an individual migrating cell and the global environment.
\par The first part of the thesis is concerned with the estimation of the hidden chemical environment that modulates the observed cell migration during the inflammatory response in the injured tail fin of zebrafish larvae. First, a dynamical model of the neutrophil responding to the chemoattractant concentration is developed based on the potential field paradigm of object-environment interaction. This representation serves as a foundation for a hybrid model that is proposed to account for heterogeneous behaviour of an individual cell throughout the migration process. An approximate maximum likelihood estimation framework is derived to estimate the hidden environment and the states of multiple hybrid systems simultaneously. The developed framework is then used to analyse the neutrophil tracking data observed in vivo under the assumption that each neutrophil at each time can be in one of three migratory modes: responding to the environment, randomly moving, and stationary. The second part of the thesis examines the process of neutrophil migration at the subcellular scale, focusing on the subcellular mechanism that translates the local environment sensing into the cell shape change. A state space model is formulated based on the hypothesis that links the local protrusions of the cell membrane and the concentration of the intracellular pro-inflammatory signalling protein. The developed model is tested against the local concentration data extracted from the in vivo time-lapse images via the classical expectation-maximisation algorithm
Object localisation, dimensions estimation and tracking.
PhD Theses.Localising, estimating the physical properties of, and tracking objects from audio and video
signals are the base for a large variety of applications such as surveillance, search and rescue,
extraction of objects’ patterns and robotic applications. These tasks are challenging due to low
signal-to-noise ratio, multiple moving objects, occlusions and changes in objects’ appearance.
Moreover, these tasks become more challenging when real-time performance is required and
when the sensor is mounted in a moving platform such as a robot, which introduces further problems
due to potentially quick sensor motions and noisy observations. In this thesis, we consider
algorithms for single and multiple object tracking from static microphones and cameras, and
moving cameras without relying on additional sensors or making strong assumptions about the
objects or the scene; and localisation and estimation of the 3D physical properties of unseen objects.
We propose an online multi-object tracker that addresses noisy observations by exploiting
the confidence on object observations and also addresses the challenges of object and camera motion
by introducing a real-time object motion predictor that forecasts the future location of objects
with uncalibrated cameras. The proposed method enables real-time tracking by avoiding computationally
expensive labelling procedures such as clustering for data association. Moreover,
we propose a novel multi-view algorithm for jointly localising and estimating the 3D physical
properties of objects via semantic segmentation and projective geometry without the need to use
additional sensors or markers. We validate the proposed methods in three standard benchmarks,
two self-collected datasets, and two real robotic applications that involve an unmanned aerial vehicle
and a robotic arm. Experimental results show that the proposed methods improve existing
alternatives in terms of accuracy and speed
Dynamics in Logistics
This open access book highlights the interdisciplinary aspects of logistics research. Featuring empirical, methodological, and practice-oriented articles, it addresses the modelling, planning, optimization and control of processes. Chiefly focusing on supply chains, logistics networks, production systems, and systems and facilities for material flows, the respective contributions combine research on classical supply chain management, digitalized business processes, production engineering, electrical engineering, computer science and mathematical optimization. To celebrate 25 years of interdisciplinary and collaborative research conducted at the Bremen Research Cluster for Dynamics in Logistics (LogDynamics), in this book hand-picked experts currently or formerly affiliated with the Cluster provide retrospectives, present cutting-edge research, and outline future research directions
Untangling hotel industry’s inefficiency: An SFA approach applied to a renowned Portuguese hotel chain
The present paper explores the technical efficiency of four hotels from Teixeira Duarte Group - a renowned Portuguese hotel chain. An efficiency ranking is established from these four hotel units located in Portugal using Stochastic Frontier Analysis. This methodology allows to discriminate between measurement error and systematic inefficiencies in the estimation process enabling to investigate the main inefficiency causes. Several suggestions concerning efficiency improvement are undertaken for each hotel studied.info:eu-repo/semantics/publishedVersio
Annals of Scientific Society for Assembly, Handling and Industrial Robotics
This Open Access proceedings present a good overview of the current research landscape of industrial robots. The objective of MHI Colloquium is a successful networking at academic and management level. Thereby the colloquium is focussing on a high level academic exchange to distribute the obtained research results, determine synergetic effects and trends, connect the actors personally and in conclusion strengthen the research field as well as the MHI community. Additionally there is the possibility to become acquainted with the organizing institute. Primary audience are members of the scientific association for assembly, handling and industrial robots (WG MHI)
Dynamics in Logistics
This open access book highlights the interdisciplinary aspects of logistics research. Featuring empirical, methodological, and practice-oriented articles, it addresses the modelling, planning, optimization and control of processes. Chiefly focusing on supply chains, logistics networks, production systems, and systems and facilities for material flows, the respective contributions combine research on classical supply chain management, digitalized business processes, production engineering, electrical engineering, computer science and mathematical optimization. To celebrate 25 years of interdisciplinary and collaborative research conducted at the Bremen Research Cluster for Dynamics in Logistics (LogDynamics), in this book hand-picked experts currently or formerly affiliated with the Cluster provide retrospectives, present cutting-edge research, and outline future research directions