SLAM Algorithm for 2D Object Trajectory Tracking based on RFID Passive Tags
|
|
- Alannah Elliott
- 6 years ago
- Views:
Transcription
1 2008 IEEE Inernaional Conference on RFID The Veneian, Las Vegas, Nevada, USA April 16-17, C2.2 SLAM Algorihm for 2D Objec Trajecory Tracking based on RFID Passive Tags Po Yang, Wenyan Wu, Mansour Moniri, Claude C. Chibelushi Faculy of Compuing, Engineering and Technology Saffordshire Universiy {p.yang, Absrac Tracking he physical locaion of nodes in a 2D environmen is criical in many applicaions such as camera racking in virual sudio, indoor mobile objecs racking. RFID echnique poses an ineresing soluion o localizing he nodes because he passive RFID ags could sore he posiion uni informaion according o unique ag ID. Based on ags paern, algebraic approach could solve he 2D rajecory racking problem. However, he racking accuracy of his approach is highly relaed o he ags posiion disribuion and posiion uni. I would be inaccurae for some erraic rajecory racking. Thus, we would ry o apply and evaluae he probabilisic approaches, such as SLAM (Simulaneous Localizaion and Mapping), ino RFID ag based rajecory racking. In his paper, we propose an RFID ag based SLAM algorihm for 2D rajecory racking. Also a echnique called Map adjusmen is proposed o increase he efficiency of he algorihm. The simulaion resuls show ha he approach could improve he accuracy for some pars of rajecory racking compared o RFID algebraic approach. The limiaion and fuure work are given in he conclusion. Keywords: SLAM, Paricle Filer, Localizaion, RFID,. 1. Inroducion RFID (radio frequency idenificaion) is an auomaic idenificaion sysem ha consiss of wo componens readers and ags [1]. A ag has an idenificaion ID sored in is memory ha is represened by oher informaion, such as posiion informaion. The RFID reader can recognize ags a high-speed and send daa wihin various disances. Recenly, he RFID echnology has been widely applied for he racking of moving physical objecs [2], especially in mobile robos racking and navigaion area [3] [4]. Therefore, he use of RFID sysem for 2D moving physical objec rajecory racking is a very crucial opic o research. There have been muliple localizaion mehods using RFID echnology. SpoON[5] is a well-known locaion sensing sysem which uilizes received signal srengh indicaion in RFID echnology o localize acive RFID ags. The SpoON echnique is an ad-hoc design which compares he differen received signal srengh measuremens of he acive ags o esimae he disance beween ags. LANDMAR [6] uilized similar principles o SpoON, and developed an algorihm o reflec he relaionship beween signal srengh and power levels on he LANDMARC sysem. However, hese mehods suffer from several drawbacks: (a) he accuracy only can reach meer uni due o he limiaion of signal srengh. (b) I incurs significan insallaion and mainenances coss. Then mehods for localizaion of passive RFID ags have been proposed based on wheher or no he ag is wihin he inerrogaion range of a reader. Lim [7] represens an effecive localizaion algorihm o increase he accuracy of RFID passive ags sysem. The core idea of he algorihm is o modify he disribuion of RFID passive ags in order o reduce he posiioning error. The advanage of localizaion based on passive RFID ags is o enhance he racking accuracy o cenimere uni pracically. However, i is inaccurae for some erraic rajecory racking. For he issue, we aemp o use he probabilisic approaches (SLAM) o esimae he rajecory by using disance informaion, insead of direcly observing he posiion informaion sored in RFID ags. SLAM sands for Simulaneously Localizaion and Mapping [8][9][10], and Localizaion deals wih he problem of rying o find he locaion of he moving objec, given a map of he surrounding environmen and some sensor reading daa. Mapping is he process of building and mainaining a model of he environmens. In he las several decades, SLAM (Simulaneous Localizaion and Mapping) echnology has been of grea ineres for /08/$ IEEE 165
2 mobile compuing and roboic researchers [11] [12] and applied ino racking and localizaion area. Our work focuses on he applicaion of he SLAM echniques mehodology adoped from mobile robo applicaion o RFID sysem area. In his paper, we propose a RFID ag based SLAM algorihm for 2D moving objec racking. Also a novel echnique called Map adjusmen is proposed o increase he efficiency of he algorihm. A simulaed experimen is conduced o analyze and evaluae he performance of his mehod. represens he real rajecory of moving objecs, and he RFID ag based rajecory of moving objecs. 2. Problem Sae As menioned above, in mos passive RFID ag racking sysem, heir sysem assumes perfec measuremens, and he posiions of he ags have o be known accuraely. In our research sysem, RFID passive ags are divided ino card ype and buon ype. The characerisic of ags vary he operaing range of he sysem, as shown in Table 1. Table 1. RFID passive ag characerisic Carrier Frequency MHz Type Card Buon Tag dimensions 3 cm 8 * 5 cm Tag surface area 7.06 cm2 40 cm2 Operaing range 14 cm 1 cm Thus, in RFID passive ag racking sysem, if we assume he RFID passive ags paern is based on a regular gird and each ag sored similar posiion informaion, shows as Fig 2. X Reader Area RFID Tag Fig. 2. RFID passive ag paern for racking However, based on he RFID passive ags paern, if we simulae a random erraic rajecory of moving objec, he posiion informaion use ineger array o represen he moving rajecory of objecs. Fig3 Y Fig 3. RFID reader rajecory and Real rajecory Table 2. The posiion daa of hese wo rajecories Time Seps Real (X,Y) RFID (X, Y) Therefore, i appears ha he RFID passive ag sysem have a weak abiliy o rack he erraic rajecory of moving objecs. The reason is ha he ag paern only can be calibraed as he ineger array o rack he moving rajecory, hus he accuracy is highly limied o he basic uni of ineger array. We can se he basic uni as differen numbers, such as 1cm, 5cm, and 10cm. However, i sill can no rack any unsable erraic rajecory, such as 1.05cm, 5.7cm, and 12.78cm since he mached ag posiion can no represen his figures. For his issue, since he probabiliy mehods can esimae he rajecory by disance informaion no only direcly observe he posiion figure, i has he poenial abiliy o solve his problem. 166
3 3 SLAM Algorihm for 2D Trajecory Tracking The aim of his algorihm is o achieve 2D range moving objecs racking by disance informaion (Fig4). This secion provides a comprehensive descripion of he implemenaion of sysem saes, sysem models and he paricle filer in his algorihm. The paricle filer in his SLAM algorihm is no exacly he same as he sandard paricle filer. In addiion, on he nex secion, we would apply his algorihm ino RFID passive ags based environmen. Feaure Poins: fixed poin o measure disance informaion. Moving Objecs: moving poins for 2D rajecory racking. Moving direcion: Disance informaion: Fig4. SLAM for 2D Objecs rajecory racking. 3.1 Sysem Sae and Model In his research work, i is assumed ha he observaion sysem is based on disance environmen, o successfully obain he range informaion. Thus we jus assume ha here are several feaures poins mouned in he surroundings, and he moving objec can receive he disance informaion wih ime seps.. Thus, feaure poins can be denoed as f n,wheren is an index of nodes. The locaion sae represens he posiion of moving objec, is defined as S :whereis index of ime seps: f n x f xs =, s, y = f y s (1) Having defined he feaure poins saes and locaion saes, he sysem sae, a ime, is hen: x s f 1, = f 2,... f n, Given he above overview of sysem sae, he objec node sars moving from an iniial posiion s 0 wihou prior knowledge of he feaure nodes, f1, f2,... f n.as he objec keeps moving i receives relaive range daa. Using hese sensor daa he SLAM algorihm ries o esimae he pah s 0: of he objec node. The observaion model ells he probabiliy of obaining an objec posiion a a cerain locaion sae. The Bayesian filer can be defined as a probabilisic disribuion: Pr( d s ),where d, s are he locaion sae and sensor reading, respecively. The sraigh observaion model is given by he following equaion: (2) d = g( f, s) = ( x x ) + ( y y ) + w (3) 2 2 s s f s f s Where x f ishecoordinaeofaimeframe, xs is he coordinae of he objec node, d is he relaive disance from he objec node o feaure poin n and w is he Gaussian noise characerizing he errors of he environmen. A each ime sep, he moving objec would receive observaion informaion from all feaure poins. The moion model characerizes he moving objec locaion saes over ime. I helps o predic he nex objec node locaion sae given he mos curren one. We assumed he arge objec moving rajecory is associaed wih direcion or speed of he movemen ha is random. Thus we use a 2D Gaussian model o approximae he moion. More specifically, when given he locaion sae s a he ime sep, o predic he 167
4 locaion sae s + 1 a he ime + 1, we draw a number of paricles randomly from a 2D Gaussian disribuion wih zero-mean. These paricles will form a circle wih origin as and is radius is deermined by he sandard deviaion of he 2D Gaussian disribuion. 3.2 Paricle Filer SLAM Algorihm Based on above he sysem model given above, he daa srucure of M paricles is illusraed in Figure 5: Camera Locaion feaure 1 feaure 2 feaure n Paricle 1 x,y x,y x,y x,y Paricle 2 x,y x,y x,y x,y Paricle 1M x,y x,y x,y x,y Iniializaion Iniializaion is a mos imporan sage in all SLAM algorihms. In his paricle filer based SLAM i is o iniialize he locaion sae and feaure saes in each paricle. The iniializaion process can be quie ricky when a single measuremen is no enough o consrain a feaure locaion in all dimensions. This problem will bring grea ambiguiy abou he feaure saes a he beginning of he algorihm. In his research work, we would use he firs wo measuremens o obain a rough idea of where he nex locaion saes should be, i.e. in which quadran he sae is. Then a random poin is chosen in ha quadran o be he nex locaion sae Weighing Afer he iniializaion, he moion model is applied o all paricles. More specifically, he locaion sae of each paricle will be replaced wih a new one generaed from he moion model while he feaure poins sae of each paricle will remain unchanged. Figure 6 is an example showing one paricle being applied he moion model. Figure 5 Daa srucure of paricles Each paricle has 2 (n + 1) saes: 2 locaion saes and 2n feaure poins saes. In a mahemaical form, each paricle is: x =< s, f, f,... f > =< > (4) m m m m m 1, 2, n, m m m m ( xy, ),( xy, ) 1,,( xy, ) 2,,...( xy, ) n, Where he superscrip m is he index of he paricle, he m subscrip indicaes he ime sep, s is he locaion m of he moving objec and, fn, represens feaure n. The paricle filer algorihm is hen operaing on a se of paricles x. Each ieraion of he algorihm can be m divided ino he following sages: Iniializaion, Weighing all he paricles, Map Adjusmen, Resampling Since he paricle filer SLAM algorihms have been invesigaed by researchers in mobile robos area for long ime [13][14][15][16]. For he iniializaion, weighing all he paricles, and resampling, we would apple he sandard Fas SLAM [17] approach o implemen, however, he MAP Adjusmen is our new exension o enhance he efficiency of algorihm. Fig 6. Apply he moion model o paricle Before applying he moion model, he paricle has an esimaion of he locaion sae a ( xs, ys) and esimaion of Feaure 1 a ( x f1, y f 2). Afer applying he moion model he locaion sae is replaced wih ( xs, ys ) while he esimaion o Feaure 1 remains unchanged. In Figure 6, ( xs, ys ) is he prediced locaion sae and d is he prediced observaion. Then he weigh of each paricle should be deermined by he difference beween he prediced observaion and real observaion. Hence his paricle will have a high weigh. In a probabilisic mahemaical form, he weigh of each paricle is given by: w = Pr( d f, s )Pr( f s, d ) df (5) m m m n n 0: 1 0: 1 n 168
5 Where he superscrip m is he index of he paricle, subscrip is ime sep, is feaure n, and is he observaion. Equaion 6 is implemened by calculaing he real observaion under a Gaussian disribuion wih mean and sandard deviaion deermined by he observaion noise. More specifically, he weigh of each paricle is calculaed using he following equaion: 2 ( dd ) 2 (2 ) 1/ 2 2 w= 2 e (7) allfeaures Map Adjusmen The Map Adjusmen is a novel echniques invened in his paper. Is inspiraion comes from he landmark updae in FasSLAM [16] where he landmark (feaure) esimaes are updaed using EKF. The EKF approach is no suiable in his SLAM problem due o he non-linear and no inverible observaion model. The basic idea of Map Adjusmen is as follows: For each paricle, afer applying he moion model and weighing, when he observaion is received, each feaure s sae is hen adjused so ha he difference beween he prediced observaion and real observaion is smaller. Figure 7 Illusraion of he Map Adjusmen he esimaion o feaure A will be closer o he real one. How far he grey circle should be moved depends on he difference beween en d and d, and depends on he radius r. In his implemenaion we use he following equaion o calculae he movemen: ( ) movemen p* d = d (8) r where p is a parameer which mus be specified manually based on experimens. By using he Map Adjusmen, he accuracy of he esimaion o feaures can be grealy improved, or can be mainained bu fewer paricles are required Resampling Resampling is he las sep in each ieraion, which is very similar o he one in Paricle Filer Localizaion. In his process, paricles wih large weigh will be duplicaed while hose wih small weigh will be deleed he sum of all weighs of all paricles should remain unchanged. Therefore before he resampling a normalizaion operaion is carried ou which normalize he weigh of all paricles so ha hey sum up o RFID Passive Tag Based SLAM In RFID passive ag sysem, if we could apply his SLAM algorihm, firsly we need o deermine some fixed feaure poins, since i is a 2D rajecory racking, we would choose simple four fixed poins A. B, C, D as he feaure poins, and he objec moving rajecory would be consrained ino he area. Secondly, he RFID reader has a ani-collision funcion, which can deec more han one passive ag each ime. Based on his, we can exend our SLAM algorihm from single ag racking o muliple ags racking, and hen esimae he mean of he ag posiion as he objecs moving posiion. As shown in Fig 8: A one paricle example of he Map Adjusmen is as follows: a he beginning, a disance measuremen of feaure A is received hence we pu is esimaion on a circle (wih a radius of he disance r). Then he moion model is applied which moves he locaion sae from ( xs, ys) o ( xs, y s ) (he grey riangle). If he black circle is he real locaion of feaure A, hen a new observaion d will be received. Then we compare he real observaion d wih he prediced observaion d. Obviously d is smaller hen d so he esimaion o feaure A is moved o he dashed circle. By doing so X Fig 8. Ani-collision of RFID reader Reader Area RFID ags Feaure Poins (ABCD) Y 169
6 Therefore, if we assume he number of RFID reader can deec RFID passive ags is N, hen we can ge N se of disance informaion, finally we can ge he moving objec node posiion by means of he passive ags esimaed value. RFID passive ags paern is regular grid, he ime seps is 135. Therefore, we can ge a random rajecory, he solid line represens he real rajecory, and he do line represens he RFID reader rajecory. The able 3 shows some posiion daa of wo rajecories. ( Pos _ ag1 + Pos _ ag Pos _ ag Posiion _ obj = n) N (9) The summary of he whole RFID sensor-based SLAM program, as shown in Fig.9: Fig 10. Simulaion random of rajecory Table 3. The posiion daa of wo rajecories Fig.9 The RFID Tag-based SLAM algorihm 5. Simulaion Resuls For he experimen, we simulae a random erraic moving objec rajecory in a 2D environmen by Malab. The goal of his simulaion is o evaluae he accuracy and efficiency of his RFID ag based SLAM soluion, and o invesigae if his algorihm has enhanced he accuracy for 2D moving objec racking. In all he simulaed daases, we assumed ha here are four fixed feaure poins in he environmen, which are easy and simple, Feaure A: (10, 10), Feaure B: (22, 0), Feaure C: (-12, -16), Feaure D: (-5,15). And he Time Seps Real (X,Y) RFID (X, Y) The Assumpion based on hese daa, we can ge he disance informaion of each RFID ags and hen use hem o esimae he rajecory. 5.1 Single Tag SLAM Firsly, we can apply our algorihms ino single ag deecion siuaion. In his case, he numbers of RFID readers deeced over ime is jus one. Thus, we can ge he resuls as Fig
7 Fig 11. Single Tag SLAM From Fig 11, we can find ha excep he iniial esimaion posiion, he esimaion pah has no much differen wih he RFID pah. And he iniial esimaion posiion error could no be considered because he SLAM algorihm iniialized as an unknown posiion and feaure poins. Therefore, we only enlarge he obvious differen ime seps beween RFID pah and Esimaion pah and evaluae he resuls. The algorihm applied for single ag deecion siuaion performance no quie well for our arge. Fig 12. Muliple Tags SLAM 5.2 Muliple Tags SLAM Afer single ag SLAM experimen, we evaluae he muliple ags SLAM siuaion. If we assume he RFID deecion RFID reader area is a circle wih radius 1.2, hen we can ge oher four Passive RFID Tags o esimae he pah. Someimes Tags posiion value is he same, we also can use he algorihm o esimae i. (see Fig 12) From he Fig 12, we can find ha some pars of he RFID pah are differen wih he Mean of esimaion pah. The Fig are oo small so ha we can no see quie clear wheher improve he esimaion or no. Thus, we enlarge he differen area wih ime seps and enlarge hem o compare wih he real pah. Because he iniial seps are no sable due o he feaure of algorihm, and final seps are sraigh pah, hey are no considered in our research work. We only enlarge wo middle pars of ime seps and (Fig 13 and Fig 14). From hese wo figures, i is appear ha he esimaion pah can represen he movemen of real erraic rajecory pah beer han he RFID pah. Fig 13. Time Seps Fig 14. Time Seps
8 The Fig 15 and Fig 16 illusrae he X and Y value of he objec 2D rajecory esimaion. Fig 15. X value for esimaion pah Fig 16. Y value for esimaion pah Finally, he able 3 would show he average X and Y error over ime seps beween RFID pah and esimaion pah. The resuls illusrae he algorihm performs well for muli-passive ags siuaion and improves he accuracy. Table3AverageErroronXandY Time Seps Errors RFID Pah vs Real Pah Esimaion Pah vs Real Pah Axis X Y X Y Value Conclusion and Fuure work Trackinghephysicalnodesina2Denvironmenis a criical research opic in many applicaions such as indoor mobile objecs racking. RFID echniques are he new approach for achieve he aim. In his paper, a RFID passive ag based SLAM algorihm has been designed and implemened o solve he problem of 2D moving objec rajecory racking based on radiional RFID sysem. The simulaion resuls show ha he algorihm would improve he RFID sysem accuracy for erraic rajecory. The main difficulies in his algorihm research are he non-accuracy linear observaion model, he moion model wihou direcion informaion. The fuure work would carry on he exension of he algorihm wih direcion informaion and be applied in 3D environmen. References [1]. K.Finkenzeller. RFID Handbook. Wiley,2003. [2]. P.Wilson, D. Prashanh and H. Aghajan. Uilizing RFID Signaling Scheme for Localizaion of Saionary Objecs and Speed Esimaion of Mobile Objecs, IEEE Conf. RFID pp [3]. O. Kubiz, Mahias 0. Berger, Marcus Perlick, Rene Dumoulin, "Applicaion of Radio Frequency Idenificaion Devices o Suppor Navigaion of Auonomous Mobile Robos," IEEE Conf. Vehicular Technology, vol. 1, pp , [4]. K.Yamano, K.Tanaka, M.Hirayma, E. Kondo, Y. Kimuro and M. Masumoo, "Self-localizaion of mobile robos wih RFID sysem by using suppor vecor machine," Proc. IEEEIRSJ In. Conf on Inelligen Robos and Sysems, vol. 4, pp , Sep. 28-Oc. 2, [5] J. Highower, C. Vakili, G. Borriello, and R. Wan. Design and Calibraion of he SpoON Ad-Hoc Locaion Sensing Sysem, Seale, WA, Augus [6]L.Ni,Y.Liu,Y.ChoLau,A.Pail,LANDMARC: Indoor Locaion Sensing Using Acive RFID. Wireless Neworks 10, p , Kluwer Academic Publishers. Neherlands, [7] H.S.Lim, B.S.Choi and J.M.Lee. An Efficien Localizaion Algorihm for Mobile Robos based on RFID sysem. In Proc, SICE-ICASE, 2006, pp [8] A. Ward, A. Jones, and A. Hopper. A New Locaion Technique for he Acive Office. IEEE Personal Communicaions, pp , [9] R. A. Brooks. A robo ha walks: Emergen behavior from a carefully evolved nework. IEEE Journal of Roboics. and Auomaion, 2: pp , [10] S. Thrun, D. Fox, W, Burgard and F. Dellaer. Robus mone carlo localizaion for mobile robos. Arificial Inelligence, vol. 128, no. 1-2, pp [11] M. Pupilli and A. Calway. Real-ime camera racking using a paricle filer. In Proc. Briish Machine Vision Conference, pp ,2005. [12]. A. J. Davison. Real-ime simulaneous localisaion and mapping wih a single camera. In Proc. IEEE Inernaional Conference on Compuer Vision, pp , [13] A.J. Davison and D.W. Murray. Simulaneous Localizaion and Map-Building Using Acive Vision. IEEE Trans. Paern Analysis and Machine Inelligence, vol. 24, no. 7, pp [14].M.H.DegrooandM.J.Schervish,M.Probabiliy and saisics. 3rd ed: Addison-Wesley [15] J. M. Buhmann, W. Burgard, A. B. Cremers, D. Fox, T. Hofmann, F. E. Schneider, J. Srikos and S. Thrun. The mobile robo rhino. AI Magazine, 16(2): pp , [16] Thrun, S., Monemerlo, M., Koller, D., Wegbrei, B., Nieo, J. and Nebo, E., FasSLAM: An efficien soluion o he simulaneous localizaion and mapping problem wih unknown daa associaion, J. Machine Learning Research, 2004, [16] M. Monemerlo, S. Thrun, D. Koller and B. Wegbrei. FasSLAM 2.0: An improved paricle filering algorihm for simulaneous localizaion and mapping ha provably converges. In Proc. Inernaional Join Conference on Arificial Inelligence, pp ,
Spring Localization I. Roland Siegwart, Margarita Chli, Martin Rufli. ASL Autonomous Systems Lab. Autonomous Mobile Robots
Spring 2017 Localizaion I Localizaion I 10.04.2017 1 2 ASL Auonomous Sysems Lab knowledge, daa base mission commands Localizaion Map Building environmen model local map posiion global map Cogniion Pah
More informationLocalizing Objects During Robot SLAM in Semi-Dynamic Environments
Proceedings of he 2008 IEEE/ASME Inernaional Conference on Advanced Inelligen Mecharonics July 2-5, 2008, Xi'an, China Localizing Objecs During Robo SLAM in Semi-Dynamic Environmens Hongjun Zhou Tokyo
More informationAutonomous Robotics 6905
6 Simulaneous Localizaion and Mapping (SLAM Auonomous Roboics 6905 Inroducion SLAM Formulaion Paricle Filer Underwaer SLAM Lecure 6: Simulaneous Localizaion and Mapping Dalhousie Universiy i Ocober 14,
More informationMotion-blurred star image acquisition and restoration method based on the separable kernel Honglin Yuana, Fan Lib and Tao Yuc
5h Inernaional Conference on Advanced Maerials and Compuer Science (ICAMCS 206) Moion-blurred sar image acquisiion and resoraion mehod based on he separable kernel Honglin Yuana, Fan Lib and Tao Yuc Beihang
More informationMAP-AIDED POSITIONING SYSTEM
Paper Code: F02I131 MAP-AIDED POSITIONING SYSTEM Forssell, Urban 1 Hall, Peer 1 Ahlqvis, Sefan 1 Gusafsson, Fredrik 2 1 NIRA Dynamics AB, Sweden; 2 Linköpings universie, Sweden Keywords Posiioning; Navigaion;
More informationAutonomous Humanoid Navigation Using Laser and Odometry Data
Auonomous Humanoid Navigaion Using Laser and Odomery Daa Ricardo Tellez, Francesco Ferro, Dario Mora, Daniel Pinyol and Davide Faconi Absrac In his paper we presen a novel approach o legged humanoid navigaion
More informationExploration with Active Loop-Closing for FastSLAM
Exploraion wih Acive Loop-Closing for FasSLAM Cyrill Sachniss Dirk Hähnel Wolfram Burgard Universiy of Freiburg Deparmen of Compuer Science D-79110 Freiburg, Germany Absrac Acquiring models of he environmen
More informationA Comparison of EKF, UKF, FastSLAM2.0, and UKF-based FastSLAM Algorithms
A Comparison of,, FasSLAM., and -based FasSLAM Algorihms Zeyneb Kur-Yavuz and Sırma Yavuz Compuer Engineering Deparmen, Yildiz Technical Universiy, Isanbul, Turkey zeyneb@ce.yildiz.edu.r, sirma@ce.yildiz.edu.r
More informationEstimation of Automotive Target Trajectories by Kalman Filtering
Buleinul Şiinţific al Universiăţii "Poliehnica" din imişoara Seria ELECRONICĂ şi ELECOMUNICAŢII RANSACIONS on ELECRONICS and COMMUNICAIONS om 58(72), Fascicola 1, 2013 Esimaion of Auomoive arge rajecories
More informationSocial-aware Dynamic Router Node Placement in Wireless Mesh Networks
Social-aware Dynamic Rouer Node Placemen in Wireless Mesh Neworks Chun-Cheng Lin Pei-Tsung Tseng Ting-Yu Wu Der-Jiunn Deng ** Absrac The problem of dynamic rouer node placemen (dynrnp) in wireless mesh
More informationMobile Robot Localization Using Fusion of Object Recognition and Range Information
007 IEEE Inernaional Conference on Roboics and Auomaion Roma, Ialy, 10-14 April 007 FrB1.3 Mobile Robo Localizaion Using Fusion of Objec Recogniion and Range Informaion Byung-Doo Yim, Yong-Ju Lee, Jae-Bok
More informationDistributed Multi-robot Exploration and Mapping
1 Disribued Muli-robo Exploraion and Mapping Dieer Fox Jonahan Ko Kur Konolige Benson Limkekai Dirk Schulz Benjamin Sewar Universiy of Washingon, Deparmen of Compuer Science & Engineering, Seale, WA 98195
More informationThe vslam Algorithm for Navigation in Natural Environments
로봇기술및동향 The vslam Algorihm for Navigaion in Naural Environmens Evoluion Roboics, Inc. Niklas Karlsson, Luis Goncalves, Mario E. Munich, and Paolo Pirjanian Absrac This aricle describes he Visual Simulaneous
More informationRole of Kalman Filters in Probabilistic Algorithm
Volume 118 No. 11 2018, 5-10 ISSN: 1311-8080 (prined version); ISSN: 1314-3395 (on-line version) url: hp://www.ijpam.eu doi: 10.12732/ijpam.v118i11.2 ijpam.eu Role of Kalman Filers in Probabilisic Algorihm
More informationECE-517 Reinforcement Learning in Artificial Intelligence
ECE-517 Reinforcemen Learning in Arificial Inelligence Lecure 11: Temporal Difference Learning (con.), Eligibiliy Traces Ocober 8, 2015 Dr. Iamar Arel College of Engineering Deparmen of Elecrical Engineering
More informationMemorandum on Impulse Winding Tester
Memorandum on Impulse Winding Teser. Esimaion of Inducance by Impulse Response When he volage response is observed afer connecing an elecric charge sored up in he capaciy C o he coil L (including he inside
More informationForeign Fiber Image Segmentation Based on Maximum Entropy and Genetic Algorithm
Journal of Compuer and Communicaions, 215, 3, 1-7 Published Online November 215 in SciRes. hp://www.scirp.org/journal/jcc hp://dx.doi.org/1.4236/jcc.215.3111 Foreign Fiber Image Segmenaion Based on Maximum
More informationThe IMU/UWB Fusion Positioning Algorithm Based on a Particle Filter
Inernaional Journal Geo-Informaion Aricle The IMU/UWB Fusion Posiioning Algorihm Based on a Paricle Filer Yan Wang and Xin Li * School Compuer Science and Technology, China Universiy Mining and Technology,
More informationarxiv: v1 [cs.ro] 19 Nov 2018
Decenralized Cooperaive Muli-Robo Localizaion wih EKF Ruihua Han, Shengduo Chen, Yasheng Bu, Zhijun Lyu and Qi Hao* arxiv:1811.76v1 [cs.ro] 19 Nov 218 Absrac Muli-robo localizaion has been a criical problem
More informationPerson Tracking in Urban Scenarios by Robots Cooperating with Ubiquitous Sensors
Person Tracking in Urban Scenarios by Robos Cooperaing wih Ubiquious Sensors Luis Merino Jesús Capián Aníbal Ollero Absrac The inroducion of robos in urban environmens opens a wide range of new poenial
More informationFast and accurate SLAM with Rao Blackwellized particle filters
Roboics and Auonomous Sysems 55 (2007) 30 38 www.elsevier.com/locae/robo Fas and accurae SLAM wih Rao Blackwellized paricle filers Giorgio Grisei a,b, Gian Diego Tipaldi b, Cyrill Sachniss c,a,, Wolfram
More informationDrunkWalk: Collaborative and Adaptive Planning for Navigation of Micro-Aerial Sensor Swarms
DrunkWalk: Collaboraive and Adapive Planning for Navigaion of Micro-Aerial Sensor Swarms Xinlei Chen Carnegie Mellon Universiy Pisburgh, PA, USA xinlei.chen@sv.cmu.edu Aveek Purohi Carnegie Mellon Universiy
More information(This lesson plan assumes the students are using an air-powered rocket as described in the Materials section.)
The Mah Projecs Journal Page 1 PROJECT MISSION o MArs inroducion Many sae mah sandards and mos curricula involving quadraic equaions require sudens o solve "falling objec" or "projecile" problems, which
More information3D Laser Scan Registration of Dual-Robot System Using Vision
3D Laser Scan Regisraion of Dual-Robo Sysem Using Vision Ravi Kaushik, Jizhong Xiao*, William Morris and Zhigang Zhu Absrac This paper presens a novel echnique o regiser a se of wo 3D laser scans obained
More informationA Cognitive Modeling of Space using Fingerprints of Places for Mobile Robot Navigation
A Cogniive Modeling of Space using Fingerprins of Places for Mobile Robo Navigaion Adriana Tapus Roland Siegwar Ecole Polyechnique Fédérale de Lausanne (EPFL) Ecole Polyechnique Fédérale de Lausanne (EPFL)
More informationPointwise Image Operations
Poinwise Image Operaions Binary Image Analysis Jana Kosecka hp://cs.gmu.edu/~kosecka/cs482.hml - Lookup able mach image inensiy o he displayed brighness values Manipulaion of he lookup able differen Visual
More informationLab 3 Acceleration. What You Need To Know: Physics 211 Lab
b Lab 3 Acceleraion Wha You Need To Know: The Physics In he previous lab you learned ha he velociy of an objec can be deermined by finding he slope of he objec s posiion vs. ime graph. x v ave. = v ave.
More informationPARTICLE FILTER APPROACH TO UTILIZATION OF WIRELESS SIGNAL STRENGTH FOR MOBILE ROBOT LOCALIZATION IN INDOOR ENVIRONMENTS
PARTICLE FILTER APPROACH TO UTILIZATION OF WIRELESS SIGNAL STRENGTH FOR MOBILE ROBOT LOCALIZATION IN INDOOR ENVIRONMENTS Samuel L. Shue 1, Nelyadi S. Shey 1, Aidan F. Browne 1 and James M. Conrad 1 1 The
More informationDevelopment of Temporary Ground Wire Detection Device
Inernaional Journal of Smar Grid and Clean Energy Developmen of Temporary Ground Wire Deecion Device Jing Jiang* and Tao Yu a Elecric Power College, Souh China Universiy of Technology, Guangzhou 5164,
More informationP. Bruschi: Project guidelines PSM Project guidelines.
Projec guidelines. 1. Rules for he execuion of he projecs Projecs are opional. Their aim is o improve he sudens knowledge of he basic full-cusom design flow. The final score of he exam is no affeced by
More informationMoving Object Localization Based on UHF RFID Phase and Laser Clustering
sensors Aricle Moving Objec Localizaion Based on UHF RFID Phase and Laser Clusering Yulu Fu 1, Changlong Wang 1, Ran Liu 1,2, * ID, Gaoli Liang 1, Hua Zhang 1 and Shafiq Ur Rehman 1,3 1 School of Informaion
More informationFuzzy Inference Model for Learning from Experiences and Its Application to Robot Navigation
Fuzzy Inference Model for Learning from Experiences and Is Applicaion o Robo Navigaion Manabu Gouko, Yoshihiro Sugaya and Hiroomo Aso Deparmen of Elecrical and Communicaion Engineering, Graduae School
More informationComparing image compression predictors using fractal dimension
Comparing image compression predicors using fracal dimension RADU DOBRESCU, MAEI DOBRESCU, SEFA MOCAU, SEBASIA ARALUGA Faculy of Conrol & Compuers POLIEHICA Universiy of Buchares Splaiul Independenei 313
More informationKnowledge Transfer in Semi-automatic Image Interpretation
Knowledge Transfer in Semi-auomaic Image Inerpreaion Jun Zhou 1, Li Cheng 2, Terry Caelli 23, and Waler F. Bischof 1 1 Deparmen of Compuing Science, Universiy of Albera, Edmonon, Albera, Canada T6G 2E8
More informationOn line Mapping and Global Positioning for autonomous driving in urban environment based on Evidential SLAM
On line Mapping and Global Posiioning for auonomous driving in urban environmen based on Evidenial SLAM Guillaume Trehard, Evangeline Pollard, Benazouz Bradai, Fawzi Nashashibi To cie his version: Guillaume
More informationInvestigation and Simulation Model Results of High Density Wireless Power Harvesting and Transfer Method
Invesigaion and Simulaion Model Resuls of High Densiy Wireless Power Harvesing and Transfer Mehod Jaber A. Abu Qahouq, Senior Member, IEEE, and Zhigang Dang The Universiy of Alabama Deparmen of Elecrical
More informationEvaluation of Instantaneous Reliability Measures for a Gradual Deteriorating System
General Leers in Mahemaic, Vol. 3, No.3, Dec 27, pp. 77-85 e-issn 259-9277, p-issn 259-9269 Available online a hp:\\ www.refaad.com Evaluaion of Insananeous Reliabiliy Measures for a Gradual Deerioraing
More informationECMA st Edition / June Near Field Communication Wired Interface (NFC-WI)
ECMA-373 1 s Ediion / June 2006 Near Field Communicaion Wired Inerface (NFC-WI) Sandard ECMA-373 1 s Ediion / June 2006 Near Field Communicaion Wired Inerface (NFC-WI) Ecma Inernaional Rue du Rhône 114
More informationSimultaneous camera orientation estimation and road target tracking
Simulaneous camera orienaion esimaion and road arge racking Per Skoglar and David Törnqvis Linköping Universiy Pos Prin N.B.: When ciing his work, cie he original aricle. Original Publicaion: Per Skoglar
More informationLaplacian Mixture Modeling for Overcomplete Mixing Matrix in Wavelet Packet Domain by Adaptive EM-type Algorithm and Comparisons
Proceedings of he 5h WSEAS Inernaional Conference on Signal Processing, Isanbul, urey, May 7-9, 6 (pp45-5) Laplacian Mixure Modeling for Overcomplee Mixing Marix in Wavele Pace Domain by Adapive EM-ype
More informationEffective Team-Driven Multi-Model Motion Tracking
Effecive Team-Driven Muli-Model Moion Tracking Yang Gu Compuer Science Deparmen Carnegie Mellon Universiy 5000 Forbes Avenue Pisburgh, PA 15213, USA guyang@cscmuedu Manuela Veloso Compuer Science Deparmen
More informationFault Diagnosis System Identification Based on Impedance Matching Balance Transformer
Inernaional Conference on Advanced Maerial Science and Environmenal Engineering (AMSEE 06) Faul Diagnosis Sysem Idenificaion Based on Impedance Maching Balance ransformer Yanjun Ren* and Xinli Deng Chongqing
More informationLocation Tracking in Mobile Ad Hoc Networks using Particle Filter
Locaion Tracking in Mobile Ad Hoc Neworks using Paricle Filer Rui Huang and Gergely V. Záruba Compuer Science and Engineering Deparmen The Universiy of Texas a Arlingon 46 Yaes, 3NH, Arlingon, TX 769 email:
More informationDynamic Networks for Motion Planning in Multi-Robot Space Systems
Proceeding of he 7 h Inernaional Symposium on Arificial Inelligence, Roboics and Auomaion in Space: i-sairas 2003, NARA, Japan, May 19-23, 2003 Dynamic Neworks for Moion Planning in Muli-Robo Space Sysems
More informationThe student will create simulations of vertical components of circular and harmonic motion on GX.
Learning Objecives Circular and Harmonic Moion (Verical Transformaions: Sine curve) Algebra ; Pre-Calculus Time required: 10 150 min. The sudens will apply combined verical ranslaions and dilaions in he
More informationModeling and Prediction of the Wireless Vector Channel Encountered by Smart Antenna Systems
Modeling and Predicion of he Wireless Vecor Channel Encounered by Smar Anenna Sysems Kapil R. Dandekar, Albero Arredondo, Hao Ling and Guanghan Xu A Kalman-filer based, vecor auoregressive (VAR) model
More informationDirect Analysis of Wave Digital Network of Microstrip Structure with Step Discontinuities
Direc Analysis of Wave Digial Nework of Microsrip Srucure wih Sep Disconinuiies BILJANA P. SOŠIĆ Faculy of Elecronic Engineering Universiy of Niš Aleksandra Medvedeva 4, Niš SERBIA MIODRAG V. GMIROVIĆ
More informationA WIDEBAND RADIO CHANNEL MODEL FOR SIMULATION OF CHAOTIC COMMUNICATION SYSTEMS
A WIDEBAND RADIO CHANNEL MODEL FOR SIMULATION OF CHAOTIC COMMUNICATION SYSTEMS Kalle Rui, Mauri Honanen, Michael Hall, Timo Korhonen, Veio Porra Insiue of Radio Communicaions, Helsini Universiy of Technology
More informationDesign and Implementation an Autonomous Mobile Soccer Robot Based on Omnidirectional Mobility and Modularity
Design and Implemenaion an Auonomous Mobile Soccer Robo Based on Omnidirecional Mobiliy and Modulariy S. Hamidreza Mohades Kasaei and S.Mohammadreza Mohades Kasaei Absrac The purpose of his paper is o
More informationAn Indoor Pedestrian Localization Algorithm Based on Multi-Sensor Information Fusion
Journal of Compuer and Communicaions, 207, 5, 02-5 hp://www.scirp.org/journal/jcc ISSN Online: 2327-5227 ISSN Prin: 2327-529 An Indoor Pedesrian Localizaion Algorihm Based on Muli-Sensor Informaion Fusion
More informationIncreasing multi-trackers robustness with a segmentation algorithm
Increasing muli-rackers robusness wih a segmenaion algorihm MARTA MARRÓN, MIGUEL ÁNGEL SOTELO, JUAN CARLOS GARCÍA Elecronics Deparmen Universiy of Alcala Campus Universiario. 28871, Alcalá de Henares.
More informationVariation Aware Cross-Talk Aggressor Alignment by Mixed Integer Linear Programming
ariaion Aware Cross-alk Aggressor Alignmen by Mixed Ineger Linear Programming ladimir Zoloov IBM. J. Wason Research Cener, Yorkown Heighs, NY zoloov@us.ibm.com Peer Feldmann D. E. Shaw Research, New York,
More informationTable of Contents. 3.0 SMPS Topologies. For Further Research. 3.1 Basic Components. 3.2 Buck (Step Down) 3.3 Boost (Step Up) 3.4 Inverter (Buck/Boost)
Table of Conens 3.0 SMPS Topologies 3.1 Basic Componens 3.2 Buck (Sep Down) 3.3 Boos (Sep Up) 3.4 nverer (Buck/Boos) 3.5 Flyback Converer 3.6 Curren Boosed Boos 3.7 Curren Boosed Buck 3.8 Forward Converer
More informationPulse Train Controlled PCCM Buck-Boost Converter Ming Qina, Fangfang Lib
5h Inernaional Conference on Environmen, Maerials, Chemisry and Power Elecronics (EMCPE 016 Pulse Train Conrolled PCCM Buck-Boos Converer Ming Qina, Fangfang ib School of Elecrical Engineering, Zhengzhou
More informationA Segmentation Method for Uneven Illumination Particle Images
Research Journal of Applied Sciences, Engineering and Technology 5(4): 1284-1289, 2013 ISSN: 2040-7459; e-issn: 2040-7467 Maxwell Scienific Organizaion, 2013 Submied: July 17, 2012 Acceped: Augus 15, 2012
More informationAbstract. 1 Introduction
Texure and Disincness Analysis for Naural Feaure Exracion Kai-Ming Kiang, Richard Willgoss School of Mechanical and Manufacuring Engineering, Universiy of New Souh Wales, Sydne NSW 2052, Ausralia. kai-ming.kiang@suden.unsw.edu.au,
More informationDistributed Tracking in Wireless Ad Hoc Sensor Networks
Disribued Tracing in Wireless Ad Hoc Newors Chee-Yee Chong Booz Allen Hamilon San Francisco, CA, U.S.A. chong_chee@bah.com cychong@ieee.org Feng Zhao Palo Alo Research Cener (PARC) Palo Alo, CA, U.S.A.
More informationFusing sensor information for location estimation
Fusing sensor informaion for locaion esimaion Odysseas Sekkas, Sahes Hadjiefhymiades, Evangelos Zervas 2 Communicaion Neworks aboraory, Universiy of Ahens, Dep. of Informaics and Telecommunicaions, anepisimiopolis,
More informationTHE OSCILLOSCOPE AND NOISE. Objectives:
-26- Preparaory Quesions. Go o he Web page hp://www.ek.com/measuremen/app_noes/xyzs/ and read a leas he firs four subsecions of he secion on Trigger Conrols (which iself is a subsecion of he secion The
More informationElectrical connection
Reference scanner Dimensioned drawing en 02-2014/06 50117040-01 200 500mm Disance on background/reference 10-30 V DC We reserve he righ o make changes DS_HRTR46Bref_en_50117040_01.fm Robus objec deecion
More informationEvaluation of the Digital images of Penaeid Prawns Species Using Canny Edge Detection and Otsu Thresholding Segmentation
Inernaional Associaion of Scienific Innovaion and Research (IASIR) (An Associaion Unifying he Sciences, Engineering, and Applied Research) Inernaional Journal of Emerging Technologies in Compuaional and
More informationInternational Journal of Electrical & Computer Sciences IJECS-IJENS Vol:15 No:03 7
Inernaional Journal of Elecrical & Compuer Sciences IJECS-IJENS Vol:15 No:03 7 Applying Muliple Paricle Swarm Opimizaion Algorihm o he Opimal Seing of Time Coordinaion Curve of in Disribuion Feeder Auomaed
More informationLecture September 6, 2011
cs294-p29 Seminar on Algorihmic Game heory Sepember 6, 2011 Lecure Sepember 6, 2011 Lecurer: Chrisos H. Papadimiriou Scribes: Aloni Cohen and James Andrews 1 Game Represenaion 1.1 abular Form and he Problem
More informationA new image security system based on cellular automata and chaotic systems
A new image securiy sysem based on cellular auomaa and chaoic sysems Weinan Wang Jan 2013 Absrac A novel image encrypion scheme based on Cellular Auomaa and chaoic sysem is proposed in his paper. The suggesed
More informationCloud Based Localization for Mobile Robot in Outdoors
Cloud Based Localizaion for Mobile Robo in Oudoors Xiaorui Zhu, Member, IEEE, Chunxin Qiu, Yulong Tao and Qi Jin Absrac Cloud Roboics is he applicaion of he cloud compuing concep o he robo. I uilizes modern
More informationMultiple target tracking by a distributed UWB sensor network based on the PHD filter
Muliple arge racking by a disribued UWB sensor nework based on he PHD filer Snezhana Jovanoska and Reiner Thomä Deparmen of Elecrical Engineering and Informaion Technology Technical Universiy of Ilmenau,
More informationPhase-Shifting Control of Double Pulse in Harmonic Elimination Wei Peng1, a*, Junhong Zhang1, Jianxin gao1, b, Guangyi Li1, c
Inernaional Symposium on Mechanical Engineering and Maerial Science (ISMEMS 016 Phase-Shifing Conrol of Double Pulse in Harmonic Eliminaion Wei Peng1, a*, Junhong Zhang1, Jianxin gao1, b, Guangyi i1, c
More informationRobot Control using Genetic Algorithms
Robo Conrol using Geneic Algorihms Summary Inroducion Robo Conrol Khepera Simulaor Geneic Model for Pah Planning Chromosome Represenaion Evaluaion Funcion Case Sudies Conclusions The Robo Conroller Problem
More informationLecture #7: Discrete-time Signals and Sampling
EEL335: Discree-Time Signals and Sysems Lecure #7: Discree-ime Signals and Sampling. Inroducion Lecure #7: Discree-ime Signals and Sampling Unlike coninuous-ime signals, discree-ime signals have defined
More informationR. Stolkin a *, A. Greig b, J. Gilby c
MESURING COMPLETE GROUND-TRUTH DT ND ERROR ESTIMTES FOR REL VIDEO SEQUENCES, FOR PERFORMNCE EVLUTION OF TRCKING, CMER POSE ND MOTION ESTIMTION LGORITHMS R Solkin a *, Greig b, J Gilby c a Cener for Mariime
More informationDouble Tangent Sampling Method for Sinusoidal Pulse Width Modulation
Compuaional and Applied Mahemaics Journal 2018; 4(1): 8-14 hp://www.aasci.org/journal/camj ISS: 2381-1218 (Prin); ISS: 2381-1226 (Online) Double Tangen Sampling Mehod for Sinusoidal Pulse Widh Modulaion
More informationDimensions. Transmitter Receiver ø2.6. Electrical connection. Transmitter +UB 0 V. Emitter selection. = Light on = Dark on
OBE-R-SE Dimensions Transmier.. 7.5 9..5.8 4.9 4 5 M 8.9 7.5 9..5.8 4 5 M 8.9 ø.6 ø.6 Model Number OBE-R-SE Thru-beam sensor wih m fixed cable Elecrical connecion Transmier Feaures BN +UB WH IN Ulra-small
More informationDimensions. Transmitter Receiver ø2.6. Electrical connection. Transmitter +UB 0 V. Emitter selection. = Light on = Dark on
OBE-R-SE Dimensions Transmier.. 7.5 9..5.8 4.9 4 5 M 8.9 7.5 9..5.8 4 5 M 8.9 ø.6 ø.6 Model Number OBE-R-SE Thru-beam sensor wih m fixed cable Elecrical connecion Transmier Feaures BN +UB WH IN Ulra-small
More informationNEURAL NETWORK APPROACH TO BAYESIAN BACKGROUND MODELING FOR VIDEO OBJECT SEGMENTATION
NEURAL NETWORK APPROACH TO BAYESIAN BACKGROUND MODELING FOR VIDEO OBJECT SEGMENTATION Dubravko Ćulibrk, Oge Marques, Daniel Socek, Hari Kalva and Borko Furh Deparmen of Compuer Science and Engineering
More informationEXPERIMENT #9 FIBER OPTIC COMMUNICATIONS LINK
EXPERIMENT #9 FIBER OPTIC COMMUNICATIONS LINK INTRODUCTION: Much of daa communicaions is concerned wih sending digial informaion hrough sysems ha normally only pass analog signals. A elephone line is such
More informationTransmit Beamforming with Reduced Feedback Information in OFDM Based Wireless Systems
Transmi Beamforming wih educed Feedback Informaion in OFDM Based Wireless Sysems Seung-Hyeon Yang, Jae-Yun Ko, and Yong-Hwan Lee School of Elecrical Engineering and INMC, Seoul Naional Universiy Kwanak
More informationECMA-373. Near Field Communication Wired Interface (NFC-WI) 2 nd Edition / June Reference number ECMA-123:2009
ECMA-373 2 nd Ediion / June 2012 Near Field Communicaion Wired Inerface (NFC-WI) Reference number ECMA-123:2009 Ecma Inernaional 2009 COPYRIGHT PROTECTED DOCUMENT Ecma Inernaional 2012 Conens Page 1 Scope...
More informationAttitude Estimation of A Rocking Ship with The Angle of Arrival Measurements Using Beacons
IOSR Journal of VLSI and Signal Processing (IOSR-JVSP) Volume 6, Issue 5, Ver. I (Sep. - Oc. 2016), PP 60-66 e-issn: 2319 4200, p-issn No. : 2319 4197 www.iosrjournals.org Aiude Esimaion of A Rocing Ship
More informationLow-cost loosely-coupled GPS/odometer fusion: a pattern recognition aided approach
Low-cos loosely-coupled GPS/odomeer fusion: a paern recogniion aided approach C. Chen and J. Ibañez -Guzmán Advanced Elecronic Deparmen Renaul Guyancour, France {cheng.chen; avier.ibanez-guzman}@ renaul.
More informationParticle Filtering and Sensor Fusion for Robust Heart Rate Monitoring using Wearable Sensors
Paricle Filering and Sensor Fusion for Robus Hear Rae Monioring using Wearable Sensors Viswam Nahan, IEEE Suden Member, and Roozbeh Jafari, IEEE Senior Member Absrac This aricle describes a novel mehodology
More informationDAGSTUHL SEMINAR EPIDEMIC ALGORITHMS AND PROCESSES: FROM THEORY TO APPLICATIONS
DAGSTUHL SEMINAR 342 EPIDEMIC ALGORITHMS AND PROCESSES: FROM THEORY TO APPLICATIONS A Sysems Perspecive Pascal Felber Pascal.Felber@unine.ch hp://iiun.unine.ch/! Gossip proocols Inroducion! Decenralized
More informationLecture 4. EITN Chapter 12, 13 Modulation and diversity. Antenna noise is usually given as a noise temperature!
Lecure 4 EITN75 2018 Chaper 12, 13 Modulaion and diversiy Receiver noise: repeiion Anenna noise is usually given as a noise emperaure! Noise facors or noise figures of differen sysem componens are deermined
More informationAdaptive Approach Based on Curve Fitting and Interpolation for Boundary Effects Reduction
Adapive Approach Based on Curve Fiing and Inerpolaion for Boundary Effecs Reducion HANG SU, JINGSONG LI School of Informaion Engineering Wuhan Universiy of Technology 122 Loushi Road, Wuhan CHINA hangsu@whu.edu.cn,
More informationUniversal microprocessor-based ON/OFF and P programmable controller MS8122A MS8122B
COMPETENCE IN MEASUREMENT Universal microprocessor-based ON/OFF and P programmable conroller MS8122A MS8122B TECHNICAL DESCRIPTION AND INSTRUCTION FOR USE PLOVDIV 2003 1 I. TECHNICAL DATA Analog inpus
More informationEXPERIMENT #4 AM MODULATOR AND POWER AMPLIFIER
EXPERIMENT #4 AM MODULATOR AND POWER AMPLIFIER INTRODUCTION: Being able o ransmi a radio frequency carrier across space is of no use unless we can place informaion or inelligence upon i. This las ransmier
More informationA Smart Sensor with Hyperspectral/Range Fovea and Panoramic Peripheral View
A Smar Sensor wih Hyperspecral/Range Fovea and Panoramic Peripheral View Tao Wang,2, Zhigang Zhu,2 and Harvey Rhody 3 Deparmen of Compuer Science, The Ciy College of New York 38 h Sree and Conven Avenue,
More informationParticle Filter-based State Estimation in a Competitive and Uncertain Environment
Paricle Filer-based Sae Esimaion in a Compeiive and Uncerain Environmen Tim Laue Thomas Röfer Universiä Bremen DFKI-Labor Bremen Fachbereich 3 Mahemaik / Informaik Sichere Kogniive Sseme Enrique-Schmid-Sraße
More informationAn Application System of Probabilistic Sound Source Localization
Inernaional Conference on Conrol, Auomaion and Sysems 28 Oc. 14-17, 28 in COEX, Seoul, Korea An Applicaion Sysem of Probabilisic Sound Source Localizaion Seung Seob Yeom 1,2, Yoon Seob Lim 1, Hong Sick
More informationPREVENTIVE MAINTENANCE WITH IMPERFECT REPAIRS OF VEHICLES
Journal of KONES Powerrain and Transpor, Vol.14, No. 3 2007 PEVENTIVE MAINTENANCE WITH IMPEFECT EPAIS OF VEHICLES Józef Okulewicz, Tadeusz Salamonowicz Warsaw Universiy of Technology Faculy of Transpor
More informationLine Structure-based Localization for Soccer Robots
Line Srucure-based Localizaion for Soccer Robos Hannes Schulz, Weichao Liu, Jörg Sückler, Sven Behnke Universiy of Bonn, Insiue for Compuer Science VI, Auonomous Inelligen Sysems, Römersr. 164, 53117 Bonn,
More informationAbstract. 1 Introduction
A Low Sample Rae Real Time Advanced Sonar Ring Saeid Fazli and Lindsay Kleeman ARC Cenre for Percepive and Inelligen Machines in Complex Environmens (PIMCE) Inelligen Roboics Research Cenre(IRRC) Monash
More informationExamination Mobile & Wireless Networking ( ) April 12,
Page 1 of 5 Examinaion Mobile & Wireless Neworking (192620010) April 12, 2017 13.45 16.45 Noes: Only he overhead shees used in he course, 2 double-sided shees of noes (any fon size/densiy!), and a dicionary
More informationProceedings of International Conference on Mechanical, Electrical and Medical Intelligent System 2017
on Mechanical, Elecrical and Medical Inelligen Sysem 7 Consan On-ime Conrolled Four-phase Buck Converer via Saw-oohwave Circui and is Elemen Sensiiviy Yi Xiong a, Koyo Asaishi b, Nasuko Miki c, Yifei Sun
More informationLearning Spatial-Semantic Representations from Natural Language Descriptions and Scene Classifications
Learning Spaial-Semanic Represenaions from Naural Language Descripions and Scene Classificaions Sachihra Hemachandra, Mahew R. Waler, Sefanie Tellex, and Seh Teller Absrac We describe a semanic mapping
More informationDimensions. Model Number. Electrical connection emitter. Features. Electrical connection receiver. Product information. Indicators/operating means
OBE-R-SE Dimensions.8.8 ø..75 7.5 6. 5 6.7 4.9 4. 5.9 ø.6 Model Number OBE-R-SE Elecrical connecion emier Thru-beam sensor wih m fixed cable Feaures 45 cable oule for maximum mouning freedom under exremely
More informationComparitive Analysis of Image Segmentation Techniques
ISSN: 78 33 Volume, Issue 9, Sepember 3 Compariive Analysis of Image Segmenaion echniques Rohi Sardana Pursuing Maser of echnology (Compuer Science and Engineering) GJU S& Hissar, Haryana Absrac Image
More informationEE201 Circuit Theory I Fall
EE1 Circui Theory I 17 Fall 1. Basic Conceps Chaper 1 of Nilsson - 3 Hrs. Inroducion, Curren and Volage, Power and Energy. Basic Laws Chaper &3 of Nilsson - 6 Hrs. Volage and Curren Sources, Ohm s Law,
More informationA New and Robust Segmentation Technique Based on Pixel Gradient and Nearest Neighbors for Efficient Classification of MRI Images
A New and Robus Segmenaion Technique Based on Pixel Gradien and Neares Neighbors for Efficien Classificaion of MRI Images Sanchi Kumar, Sahil Dalal Absrac This paper proposes a new fully auomaed mehod
More informationHumanoid Robot Simulation with a Joint Trajectory Optimized Controller
Humanoid Robo Simulaion wih a Join Trajecory Opimized Conroller José L. Lima, José C. Gonçalves, Paulo G. Cosa, A. Paulo Moreira Deparmen of Elecrical and Compuer Engineering Faculy of Engineering of Universiy
More informationAn off-line multiprocessor real-time scheduling algorithm to reduce static energy consumption
An off-line muliprocessor real-ime scheduling algorihm o reduce saic energy consumpion Firs Workshop on Highly-Reliable Power-Efficien Embedded Designs Shenzhen, China Vincen Legou, Mahieu Jan, Lauren
More information