scholarly journals Weightless Neural System Employing Simple Sensor Data for Efficient Real-Time Round-Corner, Junction and Doorway Detection for Autonomous System Path Planning in Smart Robotic Assisted Healthcare Wheelchairs

2012 ◽  
Author(s):  
Michael Gillham ◽  
Ben McElroy ◽  
Gareth Howells ◽  
Steve Kelly ◽  
Sarah Spurgeon ◽  
...  
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Autonomous System ◽  
Neural System ◽  
Sensor Data ◽  
Robotic Assisted

scholarly journals Complete Coverage Path Planning in an Unknown Underwater Environment Based on D-S Data Fusion Real-Time Map Building

2012 ◽  
Vol 8 (10) ◽  
pp. 567959 ◽  
Author(s):  
Mingzhong Yan ◽  
Daqi Zhu ◽  
Simon X. Yang
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Autonomous Underwater Vehicle ◽  
Evidence Theory ◽  
Sensor Data ◽  
Map Building ◽  
Complete Coverage ◽  
Coverage Path Planning ◽  
Underwater Environment ◽  
Time Map

A real-time map-building system is proposed for an autonomous underwater vehicle (AUV) to build a map of an unknown underwater environment. The system, using the AUV's onboard sensor information, includes a neurodynamics model proposed for complete coverage path planning and an evidence theoretic method proposed for map building. The complete coverage of the environment guarantees that the AUV can acquire adequate environment information. The evidence theory is used to handle the noise and uncertainty of the sensor data. The AUV dynamically plans its path with obstacle avoidance through the landscape of neural activity. Concurrently, real-time sensor data are “fused” into a two-dimensional (2D) occupancy grid map of the environment using evidence inference rule based on the Dempster-Shafer theory. Simulation results show a good quality of map-building capabilities and path-planning behaviors of the AUV.

scholarly journals Real-time sensor data for efficient localisation employing a weightless neural system

2012 ◽  
Author(s):  
Ben McElroy ◽  
Michael Gillham ◽  
Gareth Howells ◽  
Steve Kelly ◽  
Sarah Spurgeon ◽  
...  
Keyword(s):  
Real Time ◽  
Neural System ◽  
Sensor Data

scholarly journals Indoor Path-Planning Algorithm for UAV-Based Contact Inspection

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 642
Author(s):  
Luis Miguel González de Santos ◽  
Ernesto Frías Nores ◽  
Joaquín Martínez Sánchez ◽  
Higinio González Jorge
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Execution Time ◽  
Point Cloud ◽  
Indoor Environments ◽  
Calculation Algorithm ◽  
Time Restrictions ◽  
Planning Algorithm ◽  
Inspection Tasks ◽  
Path Planning Algorithm

Nowadays, unmanned aerial vehicles (UAVs) are extensively used for multiple purposes, such as infrastructure inspections or surveillance. This paper presents a real-time path planning algorithm in indoor environments designed to perform contact inspection tasks using UAVs. The only input used by this algorithm is the point cloud of the building where the UAV is going to navigate. The algorithm is divided into two main parts. The first one is the pre-processing algorithm that processes the point cloud, segmenting it into rooms and discretizing each room. The second part is the path planning algorithm that has to be executed in real time. In this way, all the computational load is in the first step, which is pre-processed, making the path calculation algorithm faster. The method has been tested in different buildings, measuring the execution time for different paths calculations. As can be seen in the results section, the developed algorithm is able to calculate a new path in 8–9 milliseconds. The developed algorithm fulfils the execution time restrictions, and it has proven to be reliable for route calculation.

scholarly journals DOLARS, a Distributed On-Line Activity Recognition System by Means of Heterogeneous Sensors in Real-Life Deployments—A Case Study in the Smart Lab of The University of Almería

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 405
Author(s):  
Marcos Lupión ◽  
Javier Medina-Quero ◽  
Juan F. Sanjuan ◽  
Pilar M. Ortigosa
Keyword(s):  
Real Time ◽  
Activity Recognition ◽  
Real Life ◽  
Recognition System ◽  
Machine Learning Algorithms ◽  
Sensor Data ◽  
Heterogeneous Sensors ◽  
On Line ◽  
The University

Activity Recognition (AR) is an active research topic focused on detecting human actions and behaviours in smart environments. In this work, we present the on-line activity recognition platform DOLARS (Distributed On-line Activity Recognition System) where data from heterogeneous sensors are evaluated in real time, including binary, wearable and location sensors. Different descriptors and metrics from the heterogeneous sensor data are integrated in a common feature vector whose extraction is developed by a sliding window approach under real-time conditions. DOLARS provides a distributed architecture where: (i) stages for processing data in AR are deployed in distributed nodes, (ii) temporal cache modules compute metrics which aggregate sensor data for computing feature vectors in an efficient way; (iii) publish-subscribe models are integrated both to spread data from sensors and orchestrate the nodes (communication and replication) for computing AR and (iv) machine learning algorithms are used to classify and recognize the activities. A successful case study of daily activities recognition developed in the Smart Lab of The University of Almería (UAL) is presented in this paper. Results present an encouraging performance in recognition of sequences of activities and show the need for distributed architectures to achieve real time recognition.

scholarly journals Machine Learning Solutions for Bridge Scour Forecast Based on Monitoring Data

2021 ◽  
pp. 036119812110126
Author(s):  
Negin Yousefpour ◽  
Steve Downie ◽  
Steve Walker ◽  
Nathan Perkins ◽  
Hristo Dikanski
Keyword(s):  
Machine Learning ◽  
Real Time ◽  
Monitoring Data ◽  
Sensor Data ◽  
Monitoring Systems ◽  
Bridge Scour ◽  
Scour Monitoring ◽  
Novel Approach ◽  
Bayesian Inference Method ◽  
Water Level Variations

Bridge scour is a challenge throughout the U.S.A. and other countries. Despite the scale of the issue, there is still a substantial lack of robust methods for scour prediction to support reliable, risk-based management and decision making. Throughout the past decade, the use of real-time scour monitoring systems has gained increasing interest among state departments of transportation across the U.S.A. This paper introduces three distinct methodologies for scour prediction using advanced artificial intelligence (AI)/machine learning (ML) techniques based on real-time scour monitoring data. Scour monitoring data included the riverbed and river stage elevation time series at bridge piers gathered from various sources. Deep learning algorithms showed promising in prediction of bed elevation and water level variations as early as a week in advance. Ensemble neural networks proved successful in the predicting the maximum upcoming scour depth, using the observed sensor data at the onset of a scour episode, and based on bridge pier, flow and riverbed characteristics. In addition, two of the common empirical scour models were calibrated based on the observed sensor data using the Bayesian inference method, showing significant improvement in prediction accuracy. Overall, this paper introduces a novel approach for scour risk management by integrating emerging AI/ML algorithms with real-time monitoring systems for early scour forecast.

scholarly journals Addressing Real-Time Demands for Robotic Path Planning Systems: A Routing Protocol Approach

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Mohammed Baziyad ◽  
Mohamed Saad ◽  
Raouf Fareh ◽  
Tamer Rabie ◽  
Ibrahim Kamel
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Routing Protocol ◽  
Planning Systems ◽  
Time Demands

scholarly journals Examining the contribution of near real-time data for rapid seismic loss assessment of structures

2021 ◽  
pp. 147592172199621
Author(s):  
Enrico Tubaldi ◽  
Ekin Ozer ◽  
John Douglas ◽  
Pierre Gehl
Keyword(s):  
Real Time ◽  
Damage Assessment ◽  
Free Field ◽  
Seismic Source ◽  
Seismic Damage ◽  
Added Value ◽  
Sensor Data ◽  
Sources Of Information ◽  
Bridge Model ◽  
Seismic Damage Assessment

This study proposes a probabilistic framework for near real-time seismic damage assessment that exploits heterogeneous sources of information about the seismic input and the structural response to the earthquake. A Bayesian network is built to describe the relationship between the various random variables that play a role in the seismic damage assessment, ranging from those describing the seismic source (magnitude and location) to those describing the structural performance (drifts and accelerations) as well as relevant damage and loss measures. The a priori estimate of the damage, based on information about the seismic source, is updated by performing Bayesian inference using the information from multiple data sources such as free-field seismic stations, global positioning system receivers and structure-mounted accelerometers. A bridge model is considered to illustrate the application of the framework, and the uncertainty reduction stemming from sensor data is demonstrated by comparing prior and posterior statistical distributions. Two measures are used to quantify the added value of information from the observations, based on the concepts of pre-posterior variance and relative entropy reduction. The results shed light on the effectiveness of the various sources of information for the evaluation of the response, damage and losses of the considered bridge and on the benefit of data fusion from all considered sources.

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