Sensor Data Fusion for Body State Estimation in a Hexapod Robot With Dynamical Gaits

We report on a hybrid 12-dimensional full body state estimator for a hexapod robot executing a jogging gait in steady state on level terrain with regularly alternating ground contact and aerial phases of motion. We use a repeating sequence of continuous time dynamical models that are switched in and out of an extended Kalman filter to fuse measurements from a novel leg pose sensor and inertial sensors. Our inertial measurement unit supplements the traditionally paired three-axis rate gyro and three-axis accelerometer with a set of three additional three-axis accelerometer suites, thereby providing additional angular acceleration measurement, avoiding the need for localization of the accelerometer at the center of mass on the robot’s body, and simplifying installation and calibration. We implement this estimation procedure offline, using data extracted from numerous repeated runs of the hexapod robot RHex (bearing the appropriate sensor suite) and evaluate its performance with reference to a visual ground-truth measurement system, comparing as well the relative performance of different fusion approaches implemented via different model sequences

Design of an UAV swarm

This master thesis tries to give an overview on the general aspects involved in the design of an UAV swarm. UAV swarms are continuoulsy gaining popularity amongst researchers and UAV manufacturers, since they allow greater success rates in task accomplishing with reduced times. Appart from this, multiple UAVs cooperating between them opens a new field of missions that can only be carried in this way. All the topics explained within this master thesis will explain all the agents involved in the design of an UAV swarm, from the communication protocols between them, navigation and trajectory analysis and task allocation

Directional Estimation for Robotic Beating Heart Surgery

In robotic beating heart surgery, a remote-controlled robot can be used to carry out the operation while automatically canceling out the heart motion. The surgeon controlling the robot is shown a stabilized view of the heart. First, we consider the use of directional statistics for estimation of the phase of the heartbeat. Second, we deal with reconstruction of a moving and deformable surface. Third, we address the question of obtaining a stabilized image of the heart

Anomalous behaviour detection using heterogeneous data

Anomaly detection is one of the most important methods to process and find abnormal data, as this method can distinguish between normal and abnormal behaviour. Anomaly detection has been applied in many areas such as the medical sector, fraud detection in finance, fault detection in machines, intrusion detection in networks, surveillance systems for security, as well as forensic investigations. Abnormal behaviour can give information or answer questions when an investigator is performing an investigation. Anomaly detection is one way to simplify big data by focusing on data that have been grouped or clustered by the anomaly detection method. Forensic data usually consists of heterogeneous data which have several data forms or types such as qualitative or quantitative, structured or unstructured, and primary or secondary. For example, when a crime takes place, the evidence can be in the form of various types of data. The combination of all the data types can produce rich information insights. Nowadays, data has become ‘big’ because it is generated every second of every day and processing has become time-consuming and tedious. Therefore, in this study, a new method to detect abnormal behaviour is proposed using heterogeneous data and combining the data using data fusion technique. Vast challenge data and image data are applied to demonstrate the heterogeneous data. The first contribution in this study is applying the heterogeneous data to detect an anomaly. The recently introduced anomaly detection technique which is known as Empirical Data Analytics (EDA) is applied to detect the abnormal behaviour based on the data sets. Standardised eccentricity (a newly introduced within EDA measure offering a new simplified form of the well-known Chebyshev Inequality) can be applied to any data distribution. Then, the second contribution is applying image data. The image data is processed using pre-trained deep learning network, and classification is done using a support vector machine (SVM). After that, the last contribution is combining anomaly result from heterogeneous data and image recognition using new data fusion technique. There are five types of data with three different modalities and different dimensionalities. The data cannot be simply combined and integrated. Therefore, the new data fusion technique first analyses the abnormality in each data type separately and determines the degree of suspicious between 0 and 1 and sums up all the degrees of suspicion data afterwards. This method is not intended to be a fully automatic system that resolves investigations, which would likely be unacceptable in any case. The aim is rather to simplify the role of the humans so that they can focus on a small number of cases to be looked in more detail. The proposed approach does simplify the processing of such huge amounts of data. Later, this method can assist human experts in their investigations and making final decisions

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Directional Estimation for Robotic Beating Heart Surgery

In robotic beating heart surgery, a remote-controlled robot can be used to carry out the operation while automatically canceling out the heart motion. The surgeon controlling the robot is shown a stabilized view of the heart. First, we consider the use of directional statistics for estimation of the phase of the heartbeat. Second, we deal with reconstruction of a moving and deformable surface. Third, we address the question of obtaining a stabilized image of the heart

Aerospace medicine and biology: A cumulative index to a continuing bibliography (supplement 345)

This publication is a cumulative index to the abstracts contained in Supplements 333 through 344 of Aerospace Medicine and Biology: A Continuing Bibliography. Seven indexes are included -- subject, personal author, corporate source, foreign technology, contract number, report number, and accession number

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 324)

This bibliography lists 200 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during May, 1989. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance

Intelligent control of industrial processes

A detailed survey of the field of intelligent control is presented. Current practices are reviewed and the need for a unifying framework to identify and strengthen the underlying core principles is postulated. Intelligent control is redefined to make explicit use of human systems in control as a reference model. Psychological theories of intelligent behaviour reveal certain basic attributes. From these a set of necessary and sufficient conditions for intelligent control are derived. Learning ability is identified as a crucial element. Necessary attributes for learning are prediction capabilities, internal world model, estimation of the model parameters, and active probing to reduce uncertainties. This framewoik is used to define a Learning Based Predictive Control (LBPC) strategy. LBPC is derived from Predictive Functional Control techniques with an adaptive layer implemented by recursive least squares. Improved performance above conventional adaptive control is demonstrated. Distributed parameter systems are identified as a suitable application area requiring an intelligent control approach. Such systems are invariably complex, ill-defined, and nonlinear. Plasticating extrusion processes are considered in particular. LBPC is applied to control of the primary loop to regulate melt temperature and pressure at the die. A novel control technique is proposed for dynamic profile control of extruder barrel wall temperature. This is a two-level hierarchical scheme combining the benefits of LBPC control blocks at the lowest level with decision logic operating at the higher level as a supervisor. This Logic Based Strategy allows multivariable control of non-square systems with more outputs than inputs. The application of LBS to an extruder is demonstrated

Proceedings of the NASA Conference on Space Telerobotics, volume 2

These proceedings contain papers presented at the NASA Conference on Space Telerobotics held in Pasadena, January 31 to February 2, 1989. The theme of the Conference was man-machine collaboration in space. The Conference provided a forum for researchers and engineers to exchange ideas on the research and development required for application of telerobotics technology to the space systems planned for the 1990s and beyond. The Conference: (1) provided a view of current NASA telerobotic research and development; (2) stimulated technical exchange on man-machine systems, manipulator control, machine sensing, machine intelligence, concurrent computation, and system architectures; and (3) identified important unsolved problems of current interest which can be dealt with by future research