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Probabilistic Framework For Sensor Management
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Book Synopsis Probabilistic Framework for Sensor Management by : Marco Huber
Download or read book Probabilistic Framework for Sensor Management written by Marco Huber and published by KIT Scientific Publishing. This book was released on 2009 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: A probabilistic sensor management framework is introduced, which maximizes the utility of sensor systems with many different sensing modalities by dynamically configuring the sensor system in the most beneficial way. For this purpose, techniques from stochastic control and Bayesian estimation are combined such that long-term effects of possible sensor configurations and stochastic uncertainties resulting from noisy measurements can be incorporated into the sensor management decisions.
Book Synopsis Physics-Based Probabilistic Motion Compensation of Elastically Deformable Objects by : Evgeniya Ballmann
Download or read book Physics-Based Probabilistic Motion Compensation of Elastically Deformable Objects written by Evgeniya Ballmann and published by KIT Scientific Publishing. This book was released on 2014-07-30 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: A predictive tracking approach and a novel method for visual motion compensation are introduced, which accurately reconstruct and compensate the deformation of the elastic object, even in the case of complete measurement information loss. The core of the methods involves a probabilistic physical model of the object, from which all other mathematical models are systematically derived. Due to flexible adaptation of the models, the balance between their complexity and their accuracy is achieved.
Book Synopsis Distributed Sensor Networks by : S. Sitharama Iyengar
Download or read book Distributed Sensor Networks written by S. Sitharama Iyengar and published by CRC Press. This book was released on 2004-12-29 with total page 1142 pages. Available in PDF, EPUB and Kindle. Book excerpt: The vision of researchers to create smart environments through the deployment of thousands of sensors, each with a short range wireless communications channel and capable of detecting ambient conditions such as temperature, movement, sound, light, or the presence of certain objects is becoming a reality. With the emergence of high-speed networks an
Book Synopsis Linear Estimation in Interconnected Sensor Systems with Information Constraints by : Reinhardt, Marc
Download or read book Linear Estimation in Interconnected Sensor Systems with Information Constraints written by Reinhardt, Marc and published by KIT Scientific Publishing. This book was released on 2015-04-15 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: A ubiquitous challenge in many technical applications is to estimate an unknown state by means of data that stems from several, often heterogeneous sensor sources. In this book, information is interpreted stochastically, and techniques for the distributed processing of data are derived that minimize the error of estimates about the unknown state. Methods for the reconstruction of dependencies are proposed and novel approaches for the distributed processing of noisy data are developed.
Book Synopsis Optimal Sequence-Based Control of Networked Linear Systems by : Fischer, Joerg
Download or read book Optimal Sequence-Based Control of Networked Linear Systems written by Fischer, Joerg and published by KIT Scientific Publishing. This book was released on 2015-01-12 with total page 184 pages. Available in PDF, EPUB and Kindle. Book excerpt: In Networked Control Systems (NCS), components of a control loop are connected by data networks that may introduce time-varying delays and packet losses into the system, which can severly degrade control performance. Hence, this book presents the newly developed S-LQG (Sequence-Based Linear Quadratic Gaussian) controller that combines the sequence-based control method with the well-known LQG approach to stochastic optimal control in order to compensate for the network-induced effects.
Book Synopsis On Informative Path Planning for Tracking and Surveillance by : Per Boström-Rost
Download or read book On Informative Path Planning for Tracking and Surveillance written by Per Boström-Rost and published by Linköping University Electronic Press. This book was released on 2019-05-23 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis studies a class of sensor management problems called informative path planning (IPP). Sensor management refers to the problem of optimizing control inputs for sensor systems in dynamic environments in order to achieve operational objectives. The problems are commonly formulated as stochastic optimal control problems, where to objective is to maximize the information gained from future measurements. In IPP, the control inputs affect the movement of the sensor platforms, and the goal is to compute trajectories from where the sensors can obtain measurements that maximize the estimation performance. The core challenge lies in making decisions based on the predicted utility of future measurements. In linear Gaussian settings, the estimation performance is independent of the actual measurements. This means that IPP becomes a deterministic optimal control problem, for which standard numerical optimization techniques can be applied. This is exploited in the first part of this thesis. A surveillance application is considered, where a mobile sensor is gathering information about features of interest while avoiding being tracked by an adversarial observer. The problem is formulated as an optimization problem that allows for a trade-off between informativeness and stealth. We formulate a theorem that makes it possible to reformulate a class of nonconvex optimization problems with matrix-valued variables as convex optimization problems. This theorem is then used to prove that the seemingly intractable IPP problem can be solved to global optimality using off-the-shelf optimization tools. The second part of this thesis considers tracking of a maneuvering target using a mobile sensor with limited field of view. The problem is formulated as an IPP problem, where the goal is to generate a sensor trajectory that maximizes the expected tracking performance, captured by a measure of the covariance matrix of the target state estimate. When the measurements are nonlinear functions of the target state, the tracking performance depends on the actual measurements, which depend on the target’s trajectory. Since these are unavailable in the planning stage, the problem becomes a stochastic optimal control problem. An approximation of the problem based on deterministic sampling of the distribution of the predicted target trajectory is proposed. It is demonstrated in a simulation study that the proposed method significantly increases the tracking performance compared to a conventional approach that neglects the uncertainty in the future target trajectory.
Author : Publisher :CRC Press ISBN 13 :1135439621 Total Pages :1142 pages Book Rating :4.1/5 (354 download)
Download or read book written by and published by CRC Press. This book was released on with total page 1142 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Proceedings of the 2009 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory by : Jürgen Beyerer
Download or read book Proceedings of the 2009 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory written by Jürgen Beyerer and published by KIT Scientific Publishing. This book was released on 2014-10-16 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: The joint workshop of the Fraunhofer Institute of Optronics, System Technologies and Image Exploitation IOSB, Karlsruhe, and the Vision and Fusion Laboratory (Institute for Anthropomatics, Karlsruhe Institute of Technology (KIT)), is organized annually since 2005 with the aim to report on the latest research and development findings of the doctoral students of both institutions. This book provides a collection of 16 technical reports on the research results presented on the 2009 workshop.
Book Synopsis Learning Dynamic Systems for Intention Recognition in Human-Robot-Cooperation by : Peter Krauthausen
Download or read book Learning Dynamic Systems for Intention Recognition in Human-Robot-Cooperation written by Peter Krauthausen and published by KIT Scientific Publishing. This book was released on 2014-07-31 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis is concerned with intention recognition for a humanoid robot and investigates how the challenges of uncertain and incomplete observations, a high degree of detail of the used models, and real-time inference may be addressed by modeling the human rationale as hybrid, dynamic Bayesian networks and performing inference with these models. The key focus lies on the automatic identification of the employed nonlinear stochastic dependencies and the situation-specific inference.
Book Synopsis Deterministic Sampling for Nonlinear Dynamic State Estimation by : Gilitschenski, Igor
Download or read book Deterministic Sampling for Nonlinear Dynamic State Estimation written by Gilitschenski, Igor and published by KIT Scientific Publishing. This book was released on 2016-04-19 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this work is improving existing and suggesting novel filtering algorithms for nonlinear dynamic state estimation. Nonlinearity is considered in two ways: First, propagation is improved by proposing novel methods for approximating continuous probability distributions by discrete distributions defined on the same continuous domain. Second, nonlinear underlying domains are considered by proposing novel filters that inherently take the underlying geometry of these domains into account.
Book Synopsis State Estimation for Distributed Systems with Stochastic and Set-membership Uncertainties by : Noack, Benjamin
Download or read book State Estimation for Distributed Systems with Stochastic and Set-membership Uncertainties written by Noack, Benjamin and published by KIT Scientific Publishing. This book was released on 2014-01-02 with total page 292 pages. Available in PDF, EPUB and Kindle. Book excerpt: State estimation techniques for centralized, distributed, and decentralized systems are studied. An easy-to-implement state estimation concept is introduced that generalizes and combines basic principles of Kalman filter theory and ellipsoidal calculus. By means of this method, stochastic and set-membership uncertainties can be taken into consideration simultaneously. Different solutions for implementing these estimation algorithms in distributed networked systems are presented.
Book Synopsis Simultaneous Tracking and Shape Estimation of Extended Objects by : Baum, Marcus
Download or read book Simultaneous Tracking and Shape Estimation of Extended Objects written by Baum, Marcus and published by KIT Scientific Publishing. This book was released on 2014-07-30 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work is concerned with the simultaneous tracking and shape estimation of a mobile extended object based on noisy sensor measurements. Novel methods are developed for coping with the following two main challenges: i) The computational complexity due to the nonlinearity and high-dimensionality of the problem, and ii) the lack of statistical knowledge about possible measurement sources on the extended object.
Book Synopsis Tracking Extended Objects in Noisy Point Clouds with Application in Telepresence Systems by : Faion, Florian
Download or read book Tracking Extended Objects in Noisy Point Clouds with Application in Telepresence Systems written by Faion, Florian and published by KIT Scientific Publishing. This book was released on 2016-09-13 with total page 229 pages. Available in PDF, EPUB and Kindle. Book excerpt: We discuss theory and application of extended object tracking. This task is challenging as sensor noise prevents a correct association of the measurements to their sources on the object, the shape itself might be unknown a priori, and due to occlusion effects, only parts of the object are visible at a given time. We propose an approach to track the parameters of arbitrary objects, which provides new solutions to the above challenges, and marks a significant advance to the state of the art.
Book Synopsis Directional Estimation for Robotic Beating Heart Surgery by : Kurz, Gerhard
Download or read book Directional Estimation for Robotic Beating Heart Surgery written by Kurz, Gerhard and published by KIT Scientific Publishing. This book was released on 2015-05-26 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: In robotic beating heart surgery, a remote-controlled robot can be used to carry out the operation while automatically canceling out the heart motion. The surgeon controlling the robot is shown a stabilized view of the heart. First, we consider the use of directional statistics for estimation of the phase of the heartbeat. Second, we deal with reconstruction of a moving and deformable surface. Third, we address the question of obtaining a stabilized image of the heart.
Book Synopsis Haptic Guidance for Extended Range Telepresence by : Antonia Pérez Arias
Download or read book Haptic Guidance for Extended Range Telepresence written by Antonia Pérez Arias and published by KIT Scientific Publishing. This book was released on 2014-05-22 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: A novel navigation assistance for extended range telepresence is presented. The haptic information from the target environment is augmented with guidance commands to assist the user in reaching desired goals in the arbitrarily large target environment from the spatially restricted user environment. Furthermore, a semi-mobile haptic interface was developed, one whose lightweight design and setup configuration atop the user provide for an absolutely safe operation and high force display quality.
Book Synopsis Aviation and Human Factors by : Jose Sanchez-Alarcos
Download or read book Aviation and Human Factors written by Jose Sanchez-Alarcos and published by CRC Press. This book was released on 2019-06-19 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Air safety is right now at a point where the chances of being killed in an aviation accident are far lower than the chances to winning a jackpot in any of the major lotteries. However, keeping or improving that performance level requires a critical analysis of some events that, despite scarce, point to structural failures in the learning process. The effect of these failures could increase soon if there is not a clear and right development path. This book tries to identify what is wrong, why there are things to fix, and some human factors principles to keep in aircraft design and operations. Features Shows, through different events, how the system learns through technology, practices, and regulations and the pitfalls of that learning process Discusses the use of information technology in safety-critical environments and why procedural knowledge is not enough Presents air safety management as a successful process, but at the same time, failures coming from technological and organizational features are shown Offers ways to improve from the human factors side by getting the right lessons from recent events
Book Synopsis Proceedings of the 2011 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory by : Jürgen Beyerer
Download or read book Proceedings of the 2011 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory written by Jürgen Beyerer and published by KIT Scientific Publishing. This book was released on 2014-07-29 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a collection of 15 reviewed technical reports summarizing the presentations at the 2011 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory. The covered topics include image processing, optical signal processing, visual inspection, pattern recognition and classification, human-machine interaction, world and situation modeling, autonomous system localization and mapping, information fusion, and trust propagation in sensor networks.
