scholarly journals Using UHF-RFID Signals for Robot Localization Inside Pipelines

2021 ◽  
Author(s):  
Amal Gunatilake ◽  
Karthick Thiyagarajan ◽  
sarath kodagoda ◽  
Lasitha Piyathilaka ◽  
Poojaben Darji
Keyword(s):  
Particle Filter ◽  
Cost Effective ◽  
Measurement Model ◽  
Underground Water ◽  
Water Utilities ◽  
Robot Localization ◽  
Uhf Rfid ◽  
Localization Accuracy ◽  
Feature Based ◽  
Particle Filter Algorithm

<div>Underground water pipes are important to any country’s infrastructure. Overtime, the metallic pipes are prone to corrosion, which can lead to water leakage and pipe bursts. In order to prolong the service life of those assets, water utilities in Australia apply protective pipe linings. Long-term monitoring and timely intervention are crucial for maintaining those lining assets. However, the water utilities do not possess the comprehensive technology to achieve it. The main reasons for lacking such technology are the unavailability of sensors and accurate robot localization technologies. Feature based localization methods such as SLAM has limited use as the application of liners alters the features and the environment. Encoder based localization is not accurate enough to observe the evolution of defects over a long period of time requiring unique defect correspondence. This motivates us to explore accurate contact-less and wireless based localization methods. We propose a cost-effective localization method using UHFRFID signals for robot localization inside pipelines based on Gaussian process combined particle filter. Experiments carried out in field extracted pipe samples from the Sydney water pipe network show that using the RSSI and Phase data together in the measurement model with particle filter algorithm improves the localization accuracy up to 15 centimeters precision.</div>

scholarly journals Using UHF-RFID Signals for Robot Localization Inside Pipelines

2021 ◽  
Author(s):  
Amal Gunatilake ◽  
Karthick Thiyagarajan ◽  
sarath kodagoda ◽  
Lasitha Piyathilaka ◽  
Poojaben Darji
Keyword(s):  
Particle Filter ◽  
Cost Effective ◽  
Measurement Model ◽  
Underground Water ◽  
Water Utilities ◽  
Robot Localization ◽  
Uhf Rfid ◽  
Localization Accuracy ◽  
Feature Based ◽  
Particle Filter Algorithm

<div>Underground water pipes are important to any country’s infrastructure. Overtime, the metallic pipes are prone to corrosion, which can lead to water leakage and pipe bursts. In order to prolong the service life of those assets, water utilities in Australia apply protective pipe linings. Long-term monitoring and timely intervention are crucial for maintaining those lining assets. However, the water utilities do not possess the comprehensive technology to achieve it. The main reasons for lacking such technology are the unavailability of sensors and accurate robot localization technologies. Feature based localization methods such as SLAM has limited use as the application of liners alters the features and the environment. Encoder based localization is not accurate enough to observe the evolution of defects over a long period of time requiring unique defect correspondence. This motivates us to explore accurate contact-less and wireless based localization methods. We propose a cost-effective localization method using UHFRFID signals for robot localization inside pipelines based on Gaussian process combined particle filter. Experiments carried out in field extracted pipe samples from the Sydney water pipe network show that using the RSSI and Phase data together in the measurement model with particle filter algorithm improves the localization accuracy up to 15 centimeters precision.</div>

scholarly journals Creating a robot localization monitor using particle filter and machine learning approaches

2021 ◽  
Author(s):  
Matthias Eder ◽  
Michael Reip ◽  
Gerald Steinbauer
Keyword(s):  
Neural Networks ◽  
Particle Filter ◽  
Recurrent Neural Networks ◽  
Position Estimation ◽  
Robot Localization ◽  
Learning Approaches ◽  
Localization Accuracy ◽  
Robot Systems ◽  
Localization Performance ◽  
Localization Approach

AbstractRobot localization is a fundamental capability of all mobile robots. Because of uncertainties in acting and sensing, and environmental factors such as people flocking around robots, there is always the risk that a robot loses its localization. Very often behaviors of robots rely on a reliable position estimation. Thus, for dependability of robot systems it is of great interest for the system to know the state of its localization component. In this paper we present an approach that allows a robot to asses if the localization is still correct. The approach assumes that the underlying localization approach is based on a particle filter. We use deep learning to identify temporal patterns in the particles in the case of losing/lost localization. These patterns are then combined with weak classifiers from the particle set and sensor perception for boosted learning of a localization estimator. Through the extraction of features generated by neural networks and its usage for training strong classifiers, the robots localization accuracy can be estimated. The approach is evaluated in a simulated transport robot environment where a degraded localization is provoked by disturbances cased by dynamic obstacles. Results show that it is possible to monitor the robots localization accuracy using convolutional as well as recurrent neural networks. The additional boosting using Adaboost also yields an increase in training accuracy. Thus, this paper directly contributes to the verification of localization performance.

scholarly journals Robot Localization by Particle Filter using Visual Database

2012 ◽  
pp. 22-27
Author(s):  
Nagaraj N. Bhat ◽  
Tarun Vashisth
Keyword(s):  
Particle Filter ◽  
Image Database ◽  
Position Tracking ◽  
Great Success ◽  
Robot Localization ◽  
Pattern Recognition Technique ◽  
Probability Propagation ◽  
Visual Database ◽  
Particle Filter Algorithm ◽  
Recognition Technique

One of the major problems in robotics is to recognize the robots position with respect to a given environment. More recently researchers have begun to exploit the structural properties of robotic domains that have led to great success. A general solution for such problem is the implementation of particle filters. The particle filter is more efficient than any other tracking algorithm because this mechanism follows Bayesian estimation rule of conditional probability propagation. In this paper we would like to present an approach to improvise the particle filter algorithm using SIFT pattern recognition technique and image database processing to obtain unimodal uncertainty for effective position tracking.

scholarly journals Unscented Particle Filter Algorithm Based on Divide-and-Conquer Sampling for Target Tracking

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2236
Author(s):  
Sichun Du ◽  
Qing Deng
Keyword(s):  
Particle Filter ◽  
State Space ◽  
Adaptive Filtering ◽  
Divide And Conquer ◽  
Particle Swarm Algorithm ◽  
Tracking Accuracy ◽  
Filtering Algorithm ◽  
Maneuvering Target ◽  
Unscented Particle Filter ◽  
Particle Filter Algorithm

Unscented particle filter (UPF) struggles to completely cover the target state space when handling the maneuvering target tracing problem, and the tracking performance can be affected by the low sample diversity and algorithm redundancy. In order to solve this problem, the method of divide-and-conquer sampling is applied to the UPF tracking algorithm. By decomposing the state space, the descending dimension processing of the target maneuver is realized. When dealing with the maneuvering target, particles are sampled separately in each subspace, which directly prevents particles from degeneracy. Experiments and a comparative analysis were carried out to comprehensively analyze the performance of the divide-and-conquer sampling unscented particle filter (DCS-UPF). The simulation result demonstrates that the proposed algorithm can improve the diversity of particles and obtain higher tracking accuracy in less time than the particle swarm algorithm and intelligent adaptive filtering algorithm. This algorithm can be used in complex maneuvering conditions.

EEG Source Imaging (ESI) utility in clinical practice

2020 ◽  
Vol 65 (6) ◽  
pp. 673-682
Author(s):  
Pegah Khosropanah ◽  
Eric Tatt-Wei Ho ◽  
Kheng-Seang Lim ◽  
Si-Lei Fong ◽  
Minh-An Thuy Le ◽  
...  
Keyword(s):  
Focal Epilepsy ◽  
Cost Effective ◽  
Head Model ◽  
Computational Technique ◽  
Epileptogenic Zone ◽  
Clinical Tool ◽  
Source Imaging ◽  
Localization Accuracy ◽  
Eeg Source Imaging ◽  
Surgical Evaluation

AbstractEpilepsy surgery is an important treatment modality for medically refractory focal epilepsy. The outcome of surgery usually depends on the localization accuracy of the epileptogenic zone (EZ) during pre-surgical evaluation. Good localization can be achieved with various electrophysiological and neuroimaging approaches. However, each approach has its own merits and limitations. Electroencephalography (EEG) Source Imaging (ESI) is an emerging model-based computational technique to localize cortical sources of electrical activity within the brain volume, three-dimensionally. ESI based pre-surgical evaluation gives an overall clinical yield of 73–91%, depending on choice of head model, inverse solution and EEG electrode density. It is a cost effective, non-invasive method which provides valuable additional information in presurgical evaluation due to its high localizing value specifically in MRI-negative cases, extra or basal temporal lobe epilepsy, multifocal lesions such as tuberous sclerosis or cases with multiple hypotheses. Unfortunately, less than 1% of surgical centers in developing countries use this method as a part of pre-surgical evaluation. This review promotes ESI as a useful clinical tool especially for patients with lesion-negative MRI to determine EZ cost-effectively with high accuracy under the optimized conditions.

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