Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Low-Cost Piezoelectric Sensors for Time Domain Load Monitoring of Metallic Structures During Operational and Maintenance Processes

The versatility of piezoelectric sensors in measurement techniques and their performance in applications has given rise to an increased interest in their use for structural and manufacturing component monitoring. They enable wireless and sensor network solutions to be developed in order to directly integrate the sensors into machines, fixtures and tools. Piezoelectric sensors increasingly compete with strain-gauges due to their wide operational temperature range, load and strain sensing accuracy, low power consumption and low cost. This research sets out the use of piezoelectric sensors for real-time monitoring of mechanical strength in metallic structures in the ongoing operational control of machinery components. The behaviour of aluminium and steel structures under flexural strength was studied using piezoelectric sensors. Variations in structural behaviour and geometry were measured, and the load and μstrains during operational conditions were quantified in the time domain at a specific frequency. The lead zirconium titanate (PZT) sensors were able to distinguish between material types and thicknesses. Moreover, this work covers frequency selection and optimisation from 20 Hz to 300 kHz. Significant differences in terms of optimal operating frequencies and sensitivity were found in both structures. The influence of the PZT voltage applied was assessed to reduce power consumption without signal loss, and calibration to μstrains and loads was performed.This research was funded by Basque Government, grant number KK-2019/00051-SMARTRESNAK and by the European Commission, grant number 869884- RECLAIM

A new Measure for Optimization of Field Sensor Network with Application to LiDAR

This thesis proposes a solution to the problem of modeling and optimizing the field sensor network in terms of the coverage performance. The term field sensor is referred to a class of sensors which can detect the regions in 2D/3D spaces through non-contact measurements. The most widely used field sensors include cameras, LiDAR, ultrasonic sensor, and RADAR, etc. The key challenge in the applications of field sensor networks, such as area coverage, is to develop an effective performance measure, which has to involve both sensor and environment parameters. The nature of space distribution in the case of the field sensor incurs a great deal of difficulties for such development and, hence, poses it as a very interesting research problem. Therefore, to tackle this problem, several attempts have been made in the literature. However, they have failed to address a comprehensive and applicable approach to distinctive types of field sensors (in 3D), as only coverage of a particular sensor is usually addressed at the time. In addition, no coverage model has been proposed yet for some types of field sensors such as LiDAR sensors. In this dissertation, a coverage model is obtained for the field sensors based on the transformation of sensor and task parameters into the sensor geometric model. By providing a mathematical description of the sensor’s sensing region, a performance measure is introduced which characterizes the closeness between a single sensor and target configurations. In this regard, the first contribution is developing an Infinity norm based measure which describes the target distance to the closure of the sensing region expressed by an area-based approach. The second contribution can be geometrically interpreted as mapping the sensor’s sensing region to an n-ball using a homeomorphism map and developing a performance measure. The third contribution is introducing the measurement principle and establishing the coverage model for the class of solid-state (flash) LiDAR sensors. The fourth contribution is point density analysis and developing the coverage model for the class of mechanical (prism rotating mechanism) LiDAR sensors. Finally, the effectiveness of the proposed coverage model is illustrated by simulations, experiments, and comparisons is carried out throughout the dissertation. This coverage model is a powerful tool as it applies to the variety of field sensors

A Review of Wireless Body Area Networks for Medical Applications

Recent advances in Micro-Electro-Mechanical Systems (MEMS) technology, integrated circuits, and wireless communication have allowed the realization of Wireless Body Area Networks (WBANs). WBANs promise unobtrusive ambulatory health monitoring for a long period of time and provide real-time updates of the patient's status to the physician. They are widely used for ubiquitous healthcare, entertainment, and military applications. This paper reviews the key aspects of WBANs for numerous applications. We present a WBAN infrastructure that provides solutions to on-demand, emergency, and normal traffic. We further discuss in-body antenna design and low-power MAC protocol for WBAN. In addition, we briefly outline some of the WBAN applications with examples. Our discussion realizes a need for new power-efficient solutions towards in-body and on-body sensor networks.Comment: 7 pages, 7 figures, and 3 tables. In V3, the manuscript is converted to LaTe

Survey of Inter-satellite Communication for Small Satellite Systems: Physical Layer to Network Layer View

Small satellite systems enable whole new class of missions for navigation, communications, remote sensing and scientific research for both civilian and military purposes. As individual spacecraft are limited by the size, mass and power constraints, mass-produced small satellites in large constellations or clusters could be useful in many science missions such as gravity mapping, tracking of forest fires, finding water resources, etc. Constellation of satellites provide improved spatial and temporal resolution of the target. Small satellite constellations contribute innovative applications by replacing a single asset with several very capable spacecraft which opens the door to new applications. With increasing levels of autonomy, there will be a need for remote communication networks to enable communication between spacecraft. These space based networks will need to configure and maintain dynamic routes, manage intermediate nodes, and reconfigure themselves to achieve mission objectives. Hence, inter-satellite communication is a key aspect when satellites fly in formation. In this paper, we present the various researches being conducted in the small satellite community for implementing inter-satellite communications based on the Open System Interconnection (OSI) model. This paper also reviews the various design parameters applicable to the first three layers of the OSI model, i.e., physical, data link and network layer. Based on the survey, we also present a comprehensive list of design parameters useful for achieving inter-satellite communications for multiple small satellite missions. Specific topics include proposed solutions for some of the challenges faced by small satellite systems, enabling operations using a network of small satellites, and some examples of small satellite missions involving formation flying aspects.Comment: 51 pages, 21 Figures, 11 Tables, accepted in IEEE Communications Surveys and Tutorial