23,424 research outputs found
LiDAR and Camera Detection Fusion in a Real Time Industrial Multi-Sensor Collision Avoidance System
Collision avoidance is a critical task in many applications, such as ADAS
(advanced driver-assistance systems), industrial automation and robotics. In an
industrial automation setting, certain areas should be off limits to an
automated vehicle for protection of people and high-valued assets. These areas
can be quarantined by mapping (e.g., GPS) or via beacons that delineate a
no-entry area. We propose a delineation method where the industrial vehicle
utilizes a LiDAR {(Light Detection and Ranging)} and a single color camera to
detect passive beacons and model-predictive control to stop the vehicle from
entering a restricted space. The beacons are standard orange traffic cones with
a highly reflective vertical pole attached. The LiDAR can readily detect these
beacons, but suffers from false positives due to other reflective surfaces such
as worker safety vests. Herein, we put forth a method for reducing false
positive detection from the LiDAR by projecting the beacons in the camera
imagery via a deep learning method and validating the detection using a neural
network-learned projection from the camera to the LiDAR space. Experimental
data collected at Mississippi State University's Center for Advanced Vehicular
Systems (CAVS) shows the effectiveness of the proposed system in keeping the
true detection while mitigating false positives.Comment: 34 page
An objective based classification of aggregation techniques for wireless sensor networks
Wireless Sensor Networks have gained immense popularity in recent years due to their ever increasing capabilities and wide range of critical applications. A huge body of research efforts has been dedicated to find ways to utilize limited resources of these sensor nodes in an efficient manner. One of the common ways to minimize energy consumption has been aggregation of input data. We note that every aggregation technique has an improvement objective to achieve with respect to the output it produces. Each technique is designed to achieve some target e.g. reduce data size, minimize transmission energy, enhance accuracy etc. This paper presents a comprehensive survey of aggregation techniques that can be used in distributed manner to improve lifetime and energy conservation of wireless sensor networks. Main contribution of this work is proposal of a novel classification of such techniques based on the type of improvement they offer when applied to WSNs. Due to the existence of a myriad of definitions of aggregation, we first review the meaning of term aggregation that can be applied to WSN. The concept is then associated with the proposed classes. Each class of techniques is divided into a number of subclasses and a brief literature review of related work in WSN for each of these is also presented
A Deep Spatio-Temporal Fuzzy Neural Network for Passenger Demand Prediction
In spite of its importance, passenger demand prediction is a highly
challenging problem, because the demand is simultaneously influenced by the
complex interactions among many spatial and temporal factors and other external
factors such as weather. To address this problem, we propose a Spatio-TEmporal
Fuzzy neural Network (STEF-Net) to accurately predict passenger demands
incorporating the complex interactions of all known important factors. We
design an end-to-end learning framework with different neural networks modeling
different factors. Specifically, we propose to capture spatio-temporal feature
interactions via a convolutional long short-term memory network and model
external factors via a fuzzy neural network that handles data uncertainty
significantly better than deterministic methods. To keep the temporal relations
when fusing two networks and emphasize discriminative spatio-temporal feature
interactions, we employ a novel feature fusion method with a convolution
operation and an attention layer. As far as we know, our work is the first to
fuse a deep recurrent neural network and a fuzzy neural network to model
complex spatial-temporal feature interactions with additional uncertain input
features for predictive learning. Experiments on a large-scale real-world
dataset show that our model achieves more than 10% improvement over the
state-of-the-art approaches.Comment: https://epubs.siam.org/doi/abs/10.1137/1.9781611975673.1
Adaptive probability scheme for behaviour monitoring of the elderly using a specialised ambient device
A Hidden Markov Model (HMM) modified to work in combination with a Fuzzy System is utilised to determine the current behavioural state of the user from information obtained with specialised hardware. Due to the high dimensionality and not-linearly-separable nature of the Fuzzy System and the sensor data obtained with the hardware which informs the state decision, a new method is devised to update the HMM and replace the initial Fuzzy System such that subsequent state decisions are based on the most recent information. The resultant system first reduces the dimensionality of the original information by using a manifold representation in the high dimension which is unfolded in the lower dimension. The data is then linearly separable in the lower dimension where a simple linear classifier, such as the perceptron used here, is applied to determine the probability of the observations belonging to a state. Experiments using the new system verify its applicability in a real scenario
Data fusion strategy for precise vehicle location for intelligent self-aware maintenance systems
Abstract— Nowadays careful measurement applications are
handed over to Wired and Wireless Sensor Network. Taking
the scenario of train location as an example, this would lead to
an increase in uncertainty about position related to sensors
with long acquisition times like Balises, RFID and
Transponders along the track. We take into account the data
without any synchronization protocols, for increase the
accuracy and reduce the uncertainty after the data fusion
algorithms. The case studies, we have analysed, derived from
the needs of the project partners: train localization, head of an
auger in the drilling sector localization and the location of
containers of radioactive material waste in a reprocessing
nuclear plant. They have the necessity to plan the maintenance
operations of their infrastructure basing through architecture
that taking input from the sensors, which are localization and
diagnosis, maps and cost, to optimize the cost effectiveness and
reduce the time of operation
Fault detection, identification and accommodation techniques for unmanned airborne vehicles
Unmanned Airborne Vehicles (UAV) are assuming prominent roles in both the commercial and military aerospace industries. The promise of reduced costs and reduced risk to human life is one of their major attractions, however these low-cost systems are yet to gain acceptance as a safe alternate to manned solutions. The absence of a thinking, observing, reacting and decision making pilot reduces the UAVs capability of managing adverse situations such as faults and failures. This paper presents a review of techniques that can be used to track the system health onboard a UAV. The review is based on a year long literature review aimed at identifying approaches suitable for combating the low reliability and high attrition rates of today’s UAV. This research primarily focuses on real-time, onboard implementations for generating accurate estimations of aircraft health for fault accommodation and mission management (change of mission objectives due to deterioration in aircraft health). The major task of such systems is the process of detection, identification and accommodation of faults and failures (FDIA). A number of approaches exist, of which model-based techniques show particular promise. Model-based approaches use analytical redundancy to generate residuals for the aircraft parameters that can be used to indicate the occurrence of a fault or failure. Actions such as switching between redundant components or modifying control laws can then be taken to accommodate the fault. The paper further describes recent work in evaluating neural-network approaches to sensor failure detection and identification (SFDI). The results of simulations with a variety of sensor failures, based on a Matlab non-linear aircraft model are presented and discussed. Suggestions for improvements are made based on the limitations of this neural network approach with the aim of including a broader range of failures, while still maintaining an accurate model in the presence of these failures
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