scholarly journals Cascaded Complementary Filter Architecture for Sensor Fusion in Attitude Estimation

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 1937
Author(s):  
Parag Narkhede ◽  
Shashi Poddar ◽  
Rahee Walambe ◽  
George Ghinea ◽  
Ketan Kotecha
Keyword(s):  
Sensor Fusion ◽  
State Of The Art ◽  
Attitude Estimation ◽  
Fixed Frame ◽  
Complementary Filter ◽  
Nonlinear Version ◽  
Filter Architecture ◽  
Linear Version ◽  
Real World Datasets ◽  
Selection Of

Attitude estimation is the process of computing the orientation angles of an object with respect to a fixed frame of reference. Gyroscope, accelerometer, and magnetometer are some of the fundamental sensors used in attitude estimation. The orientation angles computed from these sensors are combined using the sensor fusion methodologies to obtain accurate estimates. The complementary filter is one of the widely adopted techniques whose performance is highly dependent on the appropriate selection of its gain parameters. This paper presents a novel cascaded architecture of the complementary filter that employs a nonlinear and linear version of the complementary filter within one framework. The nonlinear version is used to correct the gyroscope bias, while the linear version estimates the attitude angle. The significant advantage of the proposed architecture is its independence of the filter parameters, thereby avoiding tuning the filter’s gain parameters. The proposed architecture does not require any mathematical modeling of the system and is computationally inexpensive. The proposed methodology is applied to the real-world datasets, and the estimation results were found to be promising compared to the other state-of-the-art algorithms.

3D Attitude Estimation in Indoor Environments with a Complementary Filter for the Special Orthogonal Group SO(3)

2013 ◽  
Vol 198 ◽  
pp. 153-158 ◽  
Author(s):  
Marcin Kmiecik ◽  
Krzysztof Sibilski
Keyword(s):  
Sensor Fusion ◽  
Orthogonal Group ◽  
Laser Scanner ◽  
Attitude Estimation ◽  
Practical Implementation ◽  
Indoor Environments ◽  
Test Bed ◽  
Complementary Filter ◽  
Satisfactory Quality

This paper presents a practical implementation of a complementary filter for 3D attitude estimation in an indoor setting. The structure of the filter is chosen basing on design principles described in [. It demonstrates the basic foundations of a complementary filter and proposes a simple and concise implementation for sensor fusion of data collected using an IMU and a Hokuyo URG 04LX laser scanner. Experimental results are shown for a handheld test bed satisfactory quality of estimation.

scholarly journals G-Tric: generating three-way synthetic datasets with triclustering solutions

2021 ◽  
Vol 22 (1) ◽  
Author(s):  
João Lobo ◽  
Rui Henriques ◽  
Sara C. Madeira
Keyword(s):  
State Of The Art ◽  
Synthetic Data ◽  
Ground Truth ◽  
Real Data ◽  
Three Dimensions ◽  
Additional Advantage ◽  
Urban Dynamics ◽  
Data Generator ◽  
Real World Datasets ◽  
Synthetic Datasets

Abstract Background Three-way data started to gain popularity due to their increasing capacity to describe inherently multivariate and temporal events, such as biological responses, social interactions along time, urban dynamics, or complex geophysical phenomena. Triclustering, subspace clustering of three-way data, enables the discovery of patterns corresponding to data subspaces (triclusters) with values correlated across the three dimensions (observations $$\times$$ × features $$\times$$ × contexts). With increasing number of algorithms being proposed, effectively comparing them with state-of-the-art algorithms is paramount. These comparisons are usually performed using real data, without a known ground-truth, thus limiting the assessments. In this context, we propose a synthetic data generator, G-Tric, allowing the creation of synthetic datasets with configurable properties and the possibility to plant triclusters. The generator is prepared to create datasets resembling real 3-way data from biomedical and social data domains, with the additional advantage of further providing the ground truth (triclustering solution) as output. Results G-Tric can replicate real-world datasets and create new ones that match researchers needs across several properties, including data type (numeric or symbolic), dimensions, and background distribution. Users can tune the patterns and structure that characterize the planted triclusters (subspaces) and how they interact (overlapping). Data quality can also be controlled, by defining the amount of missing, noise or errors. Furthermore, a benchmark of datasets resembling real data is made available, together with the corresponding triclustering solutions (planted triclusters) and generating parameters. Conclusions Triclustering evaluation using G-Tric provides the possibility to combine both intrinsic and extrinsic metrics to compare solutions that produce more reliable analyses. A set of predefined datasets, mimicking widely used three-way data and exploring crucial properties was generated and made available, highlighting G-Tric’s potential to advance triclustering state-of-the-art by easing the process of evaluating the quality of new triclustering approaches.

scholarly journals Displacement Estimation Based on Optical and Inertial Sensor Fusion

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1390
Author(s):  
Tomasz Ursel ◽  
Michał Olinski
Keyword(s):  
Sensor Fusion ◽  
Inertial Sensor ◽  
External Disturbance ◽  
Linear Displacement ◽  
Measuring System ◽  
Displacement Estimation ◽  
Mems Accelerometer ◽  
Pedestrian Navigation ◽  
Complementary Filter ◽  
Optical Flow Sensor

This article aims to develop a system capable of estimating the displacement of a moving object with the usage of a relatively cheap and easy to apply sensors. There is a growing need for such systems, not only for robots, but also, for instance, pedestrian navigation. In this paper, the theory for this idea, including data postprocessing algorithms for a MEMS accelerometer and an optical flow sensor (OFS), as well as the developed complementary filter applied for sensor fusion, are presented. In addition, a vital part of the accelerometer’s algorithm, the zero velocity states detection, is implemented. It is based on analysis of the acceleration’s signal and further application of acceleration symmetrization, greatly improving the obtained displacement. A test stand with a linear guide and motor enabling imposing a specified linear motion is built. The results of both sensors’ testing suggest that the displacement estimated by each of them is highly correct. Fusion of the sensors’ data gives even better outcomes, especially in cases with external disturbance of OFS. The comparative evaluation of estimated linear displacements, in each case related to encoder data, confirms the algorithms’ operation correctness and proves the chosen sensors’ usefulness in the development of a linear displacement measuring system.

scholarly journals TransET: Knowledge Graph Embedding with Entity Types

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1407
Author(s):  
Peng Wang ◽  
Jing Zhou ◽  
Yuzhang Liu ◽  
Xingchen Zhou
Keyword(s):  
Link Prediction ◽  
State Of The Art ◽  
Score Function ◽  
Graph Embedding ◽  
Vector Spaces ◽  
Knowledge Graph ◽  
Semantic Features ◽  
Knowledge Graphs ◽  
Real World Datasets ◽  
Low Dimensional

Knowledge graph embedding aims to embed entities and relations into low-dimensional vector spaces. Most existing methods only focus on triple facts in knowledge graphs. In addition, models based on translation or distance measurement cannot fully represent complex relations. As well-constructed prior knowledge, entity types can be employed to learn the representations of entities and relations. In this paper, we propose a novel knowledge graph embedding model named TransET, which takes advantage of entity types to learn more semantic features. More specifically, circle convolution based on the embeddings of entity and entity types is utilized to map head entity and tail entity to type-specific representations, then translation-based score function is used to learn the presentation triples. We evaluated our model on real-world datasets with two benchmark tasks of link prediction and triple classification. Experimental results demonstrate that it outperforms state-of-the-art models in most cases.

scholarly journals Density Guarantee on Finding Multiple Subgraphs and Subtensors

2021 ◽  
Vol 15 (5) ◽  
pp. 1-32
Author(s):  
Quang-huy Duong ◽  
Heri Ramampiaro ◽  
Kjetil Nørvåg ◽  
Thu-lan Dam
Keyword(s):  
Lower Bound ◽  
State Of The Art ◽  
The State ◽  
The Other ◽  
Exact Methods ◽  
Practical Solution ◽  
Novel Approach ◽  
Wide Range ◽  
Real World Datasets ◽  
Tensor Data

Dense subregion (subgraph & subtensor) detection is a well-studied area, with a wide range of applications, and numerous efficient approaches and algorithms have been proposed. Approximation approaches are commonly used for detecting dense subregions due to the complexity of the exact methods. Existing algorithms are generally efficient for dense subtensor and subgraph detection, and can perform well in many applications. However, most of the existing works utilize the state-or-the-art greedy 2-approximation algorithm to capably provide solutions with a loose theoretical density guarantee. The main drawback of most of these algorithms is that they can estimate only one subtensor, or subgraph, at a time, with a low guarantee on its density. While some methods can, on the other hand, estimate multiple subtensors, they can give a guarantee on the density with respect to the input tensor for the first estimated subsensor only. We address these drawbacks by providing both theoretical and practical solution for estimating multiple dense subtensors in tensor data and giving a higher lower bound of the density. In particular, we guarantee and prove a higher bound of the lower-bound density of the estimated subgraph and subtensors. We also propose a novel approach to show that there are multiple dense subtensors with a guarantee on its density that is greater than the lower bound used in the state-of-the-art algorithms. We evaluate our approach with extensive experiments on several real-world datasets, which demonstrates its efficiency and feasibility.

Interpreting testing and assessment: A state-of-the-art review

2021 ◽  
pp. 026553222110361
Author(s):  
Chao Han
Keyword(s):  
State Of The Art ◽  
Professional Certification ◽  
Automatic Assessment ◽  
Prospective Students ◽  
Assessment Practice ◽  
High Stakes ◽  
Future Directions ◽  
Assessment Tasks ◽  
Interpreter Education ◽  
Selection Of

Over the past decade, testing and assessing spoken-language interpreting has garnered an increasing amount of attention from stakeholders in interpreter education, professional certification, and interpreting research. This is because in these fields assessment results provide a critical evidential basis for high-stakes decisions, such as the selection of prospective students, the certification of interpreters, and the confirmation/refutation of research hypotheses. However, few reviews exist providing a comprehensive mapping of relevant practice and research. The present article therefore aims to offer a state-of-the-art review, summarizing the existing literature and discovering potential lacunae. In particular, the article first provides an overview of interpreting ability/competence and relevant research, followed by main testing and assessment practice (e.g., assessment tasks, assessment criteria, scoring methods, specificities of scoring operationalization), with a focus on operational diversity and psychometric properties. Second, the review describes a limited yet steadily growing body of empirical research that examines rater-mediated interpreting assessment, and casts light on automatic assessment as an emerging research topic. Third, the review discusses epistemological, psychometric, and practical challenges facing interpreting testers. Finally, it identifies future directions that could address the challenges arising from fast-changing pedagogical, educational, and professional landscapes.

scholarly journals Chi-Squared Distance Metric Learning for Histogram Data

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Wei Yang ◽  
Luhui Xu ◽  
Xiaopan Chen ◽  
Fengbin Zheng ◽  
Yang Liu
Keyword(s):  
Nearest Neighbor ◽  
State Of The Art ◽  
Metric Learning ◽  
Nearest Neighbors ◽  
Distance Metric Learning ◽  
Distance Metric ◽  
Projected Gradient Method ◽  
Proper Distance ◽  
Chi Squared ◽  
Real World Datasets

Learning a proper distance metric for histogram data plays a crucial role in many computer vision tasks. The chi-squared distance is a nonlinear metric and is widely used to compare histograms. In this paper, we show how to learn a general form of chi-squared distance based on the nearest neighbor model. In our method, the margin of sample is first defined with respect to the nearest hits (nearest neighbors from the same class) and the nearest misses (nearest neighbors from the different classes), and then the simplex-preserving linear transformation is trained by maximizing the margin while minimizing the distance between each sample and its nearest hits. With the iterative projected gradient method for optimization, we naturally introduce thel2,1norm regularization into the proposed method for sparse metric learning. Comparative studies with the state-of-the-art approaches on five real-world datasets verify the effectiveness of the proposed method.

scholarly journals Evaluation of Matrix Square Root Operations for UKF within a UAV GPS/INS Sensor Fusion Application

2011 ◽  
Vol 2011 ◽  
pp. 1-11 ◽  
Author(s):  
Matthew Rhudy ◽  
Yu Gu ◽  
Jason Gross ◽  
Marcello R. Napolitano
Keyword(s):  
Sensor Fusion ◽  
Unscented Kalman Filter ◽  
Attitude Estimation ◽  
Square Root ◽  
Fusion Algorithm ◽  
Matrix Square Root ◽  
Global Positioning ◽  
The Matrix ◽  
Aerial Vehicle ◽  
Diagonalization Method

Using an Unscented Kalman Filter (UKF) as the nonlinear estimator within a Global Positioning System/Inertial Navigation System (GPS/INS) sensor fusion algorithm for attitude estimation, various methods of calculating the matrix square root were discussed and compared. Specifically, the diagonalization method, Schur method, Cholesky method, and five different iterative methods were compared. Additionally, a different method of handling the matrix square root requirement, the square-root UKF (SR-UKF), was evaluated. The different matrix square root calculations were compared based on computational requirements and the sensor fusion attitude estimation performance, which was evaluated using flight data from an Unmanned Aerial Vehicle (UAV). The roll and pitch angle estimates were compared with independently measured values from a high quality mechanical vertical gyroscope. This manuscript represents the first comprehensive analysis of the matrix square root calculations in the context of UKF. From this analysis, it was determined that the best overall matrix square root calculation for UKF applications in terms of performance and execution time is the Cholesky method.

scholarly journals A look-ahead Monte Carlo simulation method for improving parental selection in trait introgression

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Saba Moeinizade ◽  
Ye Han ◽  
Hieu Pham ◽  
Guiping Hu ◽  
Lizhi Wang
Keyword(s):  
Monte Carlo ◽  
State Of The Art ◽  
Simulation Method ◽  
Multiple Trait ◽  
Look Ahead ◽  
Probability Of Success ◽  
Genetic Distribution ◽  
Selection Of ◽  
Trait Introgression

AbstractMultiple trait introgression is the process by which multiple desirable traits are converted from a donor to a recipient cultivar through backcrossing and selfing. The goal of this procedure is to recover all the attributes of the recipient cultivar, with the addition of the specified desirable traits. A crucial step in this process is the selection of parents to form new crosses. In this study, we propose a new selection approach that estimates the genetic distribution of the progeny of backcrosses after multiple generations using information of recombination events. Our objective is to select the most promising individuals for further backcrossing or selfing. To demonstrate the effectiveness of the proposed method, a case study has been conducted using maize data where our method is compared with state-of-the-art approaches. Simulation results suggest that the proposed method, look-ahead Monte Carlo, achieves higher probability of success than existing approaches. Our proposed selection method can assist breeders to efficiently design trait introgression projects.

Sign in / Sign up

Export Citation Format

Share Document