16 research outputs found
Methods of Technical Prognostics Applicable to Embedded Systems
HlavnĂ cĂlem dizertace je poskytnutĂ ucelenĂ©ho pohledu na problematiku technickĂ© prognostiky, kterĂĄ nachĂĄzĂ uplatnÄnĂ v tzv. prediktivnĂ ĂșdrĆŸbÄ zaloĆŸenĂ© na trvalĂ©m monitorovĂĄnĂ zaĆĂzenĂ a odhadu ĂșrovnÄ degradace systĂ©mu Äi jeho zbĂœvajĂcĂ ĆŸivotnosti a to zejmĂ©na v oblasti komplexnĂch zaĆĂzenĂ a strojĆŻ. V souÄasnosti je technickĂĄ diagnostika pomÄrnÄ dobĆe zmapovanĂĄ a reĂĄlnÄ nasazenĂĄ na rozdĂl od technickĂ© prognostiky, kterĂĄ je stĂĄle rozvĂjejĂcĂm se oborem, kterĂœ ovĆĄem postrĂĄdĂĄ vÄtĆĄĂ mnoĆŸstvĂ reĂĄlnĂœch aplikaci a navĂc ne vĆĄechny metody jsou dostateÄnÄ pĆesnĂ© a aplikovatelnĂ© pro embedded systĂ©my. DizertaÄnĂ prĂĄce pĆinĂĄĆĄĂ pĆehled zĂĄkladnĂch metod pouĆŸitelnĂœch pro ĂșÄely predikce zbĂœvajĂcĂ uĆŸitnĂ© ĆŸivotnosti, jsou zde popsĂĄny metriky pomocĂ, kterĂœch je moĆŸnĂ© jednotlivĂ© pĆĂstupy porovnĂĄvat aĆ„ uĆŸ z pohledu pĆesnosti, ale takĂ© i z pohledu vĂœpoÄetnĂ nĂĄroÄnosti. Jedno z dizertaÄnĂch jader tvoĆĂ doporuÄenĂ a postup pro vĂœbÄr vhodnĂ© prognostickĂ© metody s ohledem na prognostickĂĄ kritĂ©ria. DalĆĄĂm dizertaÄnĂm jĂĄdrem je pĆedstavenĂ tzv. ÄĂĄsticovĂ©ho filtrovanĂ (particle filtering) vhodnĂ© pro model-based prognostiku s ovÄĆenĂm jejich implementace a porovnĂĄnĂm. HlavnĂ dizertaÄnĂ jĂĄdro reprezentuje pĆĂpadovou studii pro velmi aktuĂĄlnĂ tĂ©ma prognostiky Li-Ion baterii s ohledem na trvalĂ© monitorovĂĄnĂ. PĆĂpadovĂĄ studie demonstruje proces prognostiky zaloĆŸenĂ© na modelu a srovnĂĄvĂĄ moĆŸnĂ© pĆĂstupy jednak pro odhad doby pĆed vybitĂm baterie, ale takĂ© sleduje moĆŸnĂ© vlivy na degradaci baterie. SouÄĂĄstĂ prĂĄce je zĂĄkladnĂ ovÄĆenĂ modelu Li-Ion baterie a nĂĄvrh prognostickĂ©ho procesu.The main aim of the thesis is to provide a comprehensive overview of technical prognosis, which is applied in the condition based maintenance, based on continuous device monitoring and remaining useful life estimation, especially in the field of complex equipment and machinery. Nowadays technical prognosis is still evolving discipline with limited number of real applications and is not so well developed as technical diagnostics, which is fairly well mapped and deployed in real systems. Thesis provides an overview of basic methods applicable for prediction of remaining useful life, metrics, which can help to compare the different approaches both in terms of accuracy and in terms of computational/deployment cost. One of the research cores consists of recommendations and guide for selecting the appropriate forecasting method with regard to the prognostic criteria. Second thesis research core provides description and applicability of particle filtering framework suitable for model-based forecasting. Verification of their implementation and comparison is provided. The main research topic of the thesis provides a case study for a very actual Li-Ion battery health monitoring and prognostics with respect to continuous monitoring. The case study demonstrates the prognostic process based on the model and compares the possible approaches for estimating both the runtime and capacity fade. Proposed methodology is verified on real measured data.
Robust lane detection in urban environments
Most of the lane marking detection algorithms reported in the literature are suitable for highway scenarios. This paper presents a novel clustered particle filter based approach to lane detection, which is suitable for urban streets in normal traffic conditions. Furthermore, a quality measure for the detection is calculated as a measure of reliability. The core of this approach is the usage of weak models, i.e. the avoidance of strong assumptions about the road geometry. Experiments were carried out in Sydney urban areas with a vehicle mounted laser range scanner and a ccd camera. Through experimentations, we have shown that a clustered particle filter can be used to efficiently extract lane markings. ©2007 IEEE
Explaining human multiple object tracking as resource-constrained approximate inference in a dynamic probabilistic model
Multiple object tracking is a task commonly used to investigate the architecture of human visual attention. Human participants show a distinctive pattern of successes and failures in tracking experiments that is often attributed to limits on an object system, a tracking module, or other specialized cognitive structures. Here we use a computational analysis of the task of object tracking to ask which human failures arise from cognitive limitations and which are consequences of inevitable perceptual uncertainty in the tracking task. We find that many human performance phenomena, measured through novel behavioral experiments, are naturally produced by the operation of our ideal observer model (a Rao-Blackwelized particle filter). The tradeoff between the speed and number of objects being tracked, however, can only arise from the allocation of a flexible cognitive resource, which can be formalized as either memory or attention
Application of semi-definite relaxation to multiuser detection in a CDMA context
- De nombreuses problĂ©matiques de traitement du signal se ramĂšnent Ă la rĂ©solution d'un problĂšme d'optimisation combinatoire. RĂ©cemment, la Relaxation Semi-DĂ©finie (SDR) s'est rĂ©vĂ©lĂ©e ĂȘtre une approche prometteuse en la matiĂšre, permettant une relaxation rĂ©aliste de problĂšmes NP-complets. Dans cet article, nous prĂ©sentons un algorithme efficace pour rĂ©soudre SDR avec une complexitĂ© rĂ©duite. L'objet principale est d'Ă©tudier des mĂ©thodes de programmation non linĂ©aires qui reposent sur un changement de variable consistant Ă remplacer la variable symĂ©trique dĂ©finie positive X intervenant dans SDR par une variable rectangulaire V Ă travers la dĂ©composition X =V TV. Des rĂ©sultats rĂ©cents sur les rangs de matrices de corrĂ©lations extrĂ©males permettent de conduire Ă un algorithme de faible complexitĂ© avec une perte nĂ©gligeable en matiĂšre de performances. Des rĂ©sultats trĂšs encourageants ont Ă©tĂ© obtenus pour rĂ©soudre des problĂšmes d'optimisation combinatoire de grande dimension, tel que celui qui intervient dans la dĂ©tection multi utilisateur en mode CDMA
Frequency Diversity Array for DOA Estimation
The localization of targets has been presented in this article. DOA (Direction of Arrival) is an important
parameter to be determined by radar. The MLE (Maximum Likelihood Estimator) has been widely
used to accurately and efficiently estimate the DOAs of multiple targets. The targets at different ranges
result in a variation in amplitude of the received signals, so an MLE estimator has to operate at all
ranges. For accurate results of DOA, the complex amplitudes of multiple targets should not be much
different and also the prior information of Doppler and number of targets is required. In this paper, an
approach is proposed which uses the classical 2D algorithm to estimate range, Doppler and number of
targets and then FDA (Frequency Diversity Array) is used to focus power in a particular range. As a
result, the MLE can get data from a particular range cell where all targets have almost same amplitude
and thus MLE can accurately estimate the DOAs of multiple targets. Simulations and results have
confirmed the effectiveness of proposed approach
Estudi comparatiu de la publicaciĂł cientĂfica de la UPC i lâETSETB vs. altres universitats dâĂ mbit europeu (2002-2012)
L'informe es centra en la publicaciĂł cientĂfica especialitzada en l'Ă mbit temĂ tic propi de l'ETSETB: l'enginyeria de telecomunicacions i l'electrĂČnica. Es comparen indicadors bibliomĂštrics de la UPC i l'ETSETB amb els d'altres universitats europees amb activitat de recerca notable en l'Ă rea de les telecomunicacions i l'electrĂČnica.Postprint (authorâs final draft
Adaptive object segmentation and tracking
Efficient tracking of deformable objects moving with variable velocities is an important current research problem. In this thesis a robust tracking model is proposed for the automatic detection, recognition and tracking of target objects which are subject to variable orientations and velocities and are viewed under variable ambient lighting conditions. The tracking model can be applied to efficiently track fast moving vehicles and other objects in various complex scenarios. The tracking model is evaluated on both colour visible band and infra-red band video sequences acquired from the air by the Sussex police helicopter and other collaborators. The observations made validate the improved performance of the model over existing methods.
The thesis is divided in three major sections. The first section details the development of an enhanced active contour for object segmentation. The second section describes an implementation of a global active contour orientation model. The third section describes the tracking model and assesses it performance on the aerial video sequences.
In the first part of the thesis an enhanced active contour snake model using the difference of Gaussian (DoG) filter is reported and discussed in detail. An acquisition method based on the enhanced active contour method developed that can assist the proposed tracking system is tested. The active contour model is further enhanced by the use of a disambiguation framework designed to assist multiple object segmentation which is used to demonstrate that the enhanced active contour model can be used for robust multiple object segmentation and tracking. The active contour model developed not only facilitates the efficient update of the tracking filter but also decreases the latency involved in tracking targets in real-time. As far as computational effort is concerned, the active contour model presented improves the computational cost by 85% compared to existing active contour models.
The second part of the thesis introduces the global active contour orientation (GACO) technique for statistical measurement of contoured object orientation. It is an overall object orientation measurement method which uses the proposed active contour model along with statistical measurement techniques. The use of the GACO technique, incorporating the active contour model, to measure object orientation angle is discussed in detail. A real-time door surveillance application based on the GACO technique is developed and evaluated on the i-LIDS door surveillance dataset provided by the UK Home Office. The performance results demonstrate the use of GACO to evaluate the door surveillance dataset gives a success rate of 92%.
Finally, a combined approach involving the proposed active contour model and an optimal trade-off maximum average correlation height (OT-MACH) filter for tracking is presented. The implementation of methods for controlling the area of support of the OT-MACH filter is discussed in detail. The proposed active contour method as the area of support for the OT-MACH filter is shown to significantly improve the performance of the OT-MACH filter's ability to track vehicles moving within highly cluttered visible and infra-red band video sequence
Self consistent bathymetric mapping from robotic vehicles in the deep ocean
Submitted In partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and Woods Hole Oceanographic Institution
June 2005Obtaining accurate and repeatable navigation for robotic vehicles in the deep ocean is difficult
and consequently a limiting factor when constructing vehicle-based bathymetric maps.
This thesis presents a methodology to produce self-consistent maps and simultaneously
improve vehicle position estimation by exploiting accurate local navigation and utilizing
terrain relative measurements.
It is common for errors in the vehicle position estimate to far exceed the errors associated
with the acoustic range sensor. This disparity creates inconsistency when an area
is imaged multiple times and causes artifacts that distort map integrity. Our technique
utilizes small terrain "submaps" that can be pairwise registered and used to additionally
constrain the vehicle position estimates in accordance with actual bottom topography.
A delayed state Kalman filter is used to incorporate these sub-map registrations as relative
position measurements between previously visited vehicle locations. The archiving of
previous positions in a filter state vector allows for continual adjustment of the sub-map
locations. The terrain registration is accomplished using a two dimensional correlation and
a six degree of freedom point cloud alignment method tailored for bathymetric data. The
complete bathymetric map is then created from the union of all sub-maps that have been
aligned in a consistent manner. Experimental results from the fully automated processing
of a multibeam survey over the TAG hydrothermal structure at the Mid-Atlantic ridge are
presented to validate the proposed method.This work was funded by the CenSSIS ERC of the Nation Science Foundation under
grant EEC-9986821 and in part by the Woods Hole Oceanographic Institution through a
grant from the Penzance Foundation