Investigation on optimized relative localization of a mobile robot using regression analysis

2016 ◽  
Author(s):  
Abhishek Sharma ◽  
Ravi Kumar Patel ◽  
Vikas Thapa ◽  
Beena Gairola ◽  
Bhupesh Pandey ◽  
...  
Keyword(s):  
Regression Analysis ◽  
Mobile Robot ◽  
Relative Localization

INDOOR LOCALIZATION OF AN OMNI-DIRECTIONAL WHEELED MOBILE ROBOT

2013 ◽  
Vol 37 (4) ◽  
pp. 1043-1056 ◽  
Author(s):  
Sasha Ginzburg ◽  
Scott Nokleby
Keyword(s):  
Mobile Robot ◽  
Indoor Environment ◽  
Indoor Localization ◽  
Wheeled Mobile Robot ◽  
Fusion Algorithm ◽  
Distance Measurements ◽  
Localization System ◽  
Relative Localization ◽  
Position And Orientation ◽  
Improved Performance

This paper presents a localization system developed for estimating the pose, i.e., position and orientation, of an omni-directional wheeled mobile robot operating in indoor structured environments. The developed system uses a combination of relative and absolute localization methods for pose estimation. Odometry serves as the relative localization method providing pose estimates through the integration of measurements obtained from shaft encoders on the robot’s drive motors. Absolute localization is achieved with a novel GPS-like system that performs localization of active beacons mounted on the mobile robot based on distance measurements to receivers fixed at known positions in the robot’s indoor workspace. A simple data fusion algorithm is used in the localization system to combine the pose estimates from the two localization methods and achieve improved performance. Experimental results demonstrating the performance of the developed system at localizing the omni-directional robot in an indoor environment are presented.

Geometric Formulation of Rectangle Based Relative Localization of Mobile Robot

2016 ◽  
Vol 11 (1) ◽  
pp. 9-18 ◽  
Author(s):  
Joo-Haeng Lee ◽  
◽  
Jaeyeon Lee ◽  
Ahyun Lee ◽  
Jaehong Kim
Keyword(s):  
Mobile Robot ◽  
Relative Localization ◽  
Geometric Formulation

Experimental investigation for better relative localization of a mobile robot using Taguchi method

Robotica ◽  
2014 ◽  
Vol 33 (7) ◽  
pp. 1415-1423
Author(s):  
T. Mathavaraj Ravikumar ◽  
R. Saravanan
Keyword(s):  
Mathematical Model ◽  
Taguchi Method ◽  
Mobile Robot ◽  
Mobile Robotics ◽  
Kinematic Parameters ◽  
Absolute Position ◽  
Relative Localization ◽  
Wheeled Robot ◽  
Position And Orientation

SUMMARYThe positioning of a wheeled robot is an imperative manipulation problem in mobile robotics. Odometry is a familiar method for determining the relative position of a mobile robot. It comprises the detection of a set of kinematic parameters that permit reconstructing the robot's absolute position and orientation starting from the wheels' encoder measurements. This paper deals with the determination of better relative localization of a mobile robot by means of odometry by considering the influence of parameters namely total weight, speed, diameter of wheel, and width of wheel. Experiments have been conducted based on L9 orthogonal array suggested in Taguchi method to obtain the optimum condition. A mathematical model has also been developed for the mobile robot with the help of MINITAB software.

Arteriovenous fistulas ipsilateral to internal jugular catheters for hemodialysis have decreased patency rates

Vascular ◽  
2018 ◽  
Vol 27 (3) ◽  
pp. 270-276 ◽  
Author(s):  
Berkan Ozpak ◽  
Yeliz Yilmaz
Keyword(s):  
Overall Survival ◽  
Regression Analysis ◽  
Arteriovenous Fistula ◽  
Multivariate Analyses ◽  
Dialysis Therapy ◽  
Effective Factors ◽  
Hemodialysis Catheter ◽  
Arteriovenous Fistulas ◽  
Relative Localization ◽  
Relative Placement

Purpose This study aimed to evaluate the effects of hemodialysis catheters on the survival of subsequent arteriovenous fistulas, according to the relative localization to the catheters. Methods A total of 201 patients who initiated dialysis therapy using a hemodialysis catheter were eligible for this retrospective study. Arteriovenous fistulas were created on the nondominant upper extremity after the placement of hemodialysis catheters. The catheters were removed after four consecutive successful dialyses via arteriovenous fistulas. The effective factors on arteriovenous fistula failure were determined in and the prognostic factors for survival were modeled by regression analysis. Results The relative placement of catheters as ipsi- or contralateral was found to significantly affect the survival of the arteriovenous fistulas. The overall survival was significantly longer in the contralateral arteriovenous fistula group (778.7 ± 28.8 vs. 247.3 ± 26.1 days; p < 0.001). The independent predictors of arteriovenous fistula survival were found to be relative side of arteriovenous fistula and hemodialysis catheter, age, and the presence of hypertension in multivariate analyses. Conclusion This study showed that ipsilateral localization of the catheters and arteriovenous fistulas negatively affect the cumulative arteriovenous fistula survival. Therefore, to improve vascular access survival, side of catheters or arteriovenous fistulas should always be considered.

scholarly journals Behavior Generation for Mobile Robot Coordinating Simple Behavior

1999 ◽  
Vol 3 (3) ◽  
pp. 186-192
Author(s):  
Yasuhisa Hasegawa ◽  
◽  
Toshio Fukuda ◽  
Keyword(s):  
Regression Analysis ◽  
Mobile Robot ◽  
Multiple Regression Analysis ◽  
Learning Algorithm ◽  
Search Space ◽  
Complex Behavior ◽  
Learning Time ◽  
Search Area ◽  
And Behavior ◽  
Simple Behavior

Complex behavior is rarely obtained using unsupervised learning because of the enormous search space. To reduce search space, a hierarchical behavior structure is effective. We proposed the hierarchical behavior controller, which consists of three types of modules - a behavior coordinator, behavior controller, and feedback controller. We also propose a learning algorithm to for a behavior coordinator and behavior controller consisting of subcoordinators and subcontrollers, This algorithm selects a deficient by evaluating each subcoordinator or subcontroller using multiple regression analysis based on previously obtained evaluation values. This reduces the search area and learning time by avoiding trying to tune good subcoordinators or subcontrollers. The hierarchical behavior controller is applied to controlling a seven-link brachiation robot, which moves dynamically from branch to branch swinging its body like a gibbon.

Regression Analysis of Count Data

1998 ◽  
Author(s):  
A. Colin Cameron ◽  
Pravin K. Trivedi
Keyword(s):  
Regression Analysis ◽  
Count Data

Poor Acceptance of the Past is Related to Depressive Symptoms in Older Adults

GeroPsych ◽  
2020 ◽  
Vol 33 (4) ◽  
pp. 246-251
Author(s):  
Gozde Cetinkol ◽  
Gulbahar Bastug ◽  
E. Tugba Ozel Kizil
Keyword(s):  
Older Adults ◽  
Regression Analysis ◽  
Depressive Symptoms ◽  
Death Anxiety ◽  
Geriatric Depression ◽  
Ego Integrity ◽  
The Past ◽  
Depressed Group ◽  
Total Death ◽  
The Relationship

Abstract. Depression in older adults can be explained by Erikson’s theory on the conflict of ego integrity versus hopelessness. The study investigated the relationship between past acceptance, hopelessness, death anxiety, and depressive symptoms in 100 older (≥50 years) adults. The total Beck Hopelessness (BHS), Geriatric Depression (GDS), and Accepting the Past (ACPAST) subscale scores of the depressed group were higher, while the total Death Anxiety (DAS) and Reminiscing the Past (REM) subscale scores of both groups were similar. A regression analysis revealed that the BHS, DAS, and ACPAST predicted the GDS. Past acceptance seems to be important for ego integrity in older adults.

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