Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449209
Xiaolong Zhang, Teemu Mononen, J. Mattila, M. M. Aref
This paper shows the use of microelectromechanical system (MEMS) low-cost inertial measurement units (IMUs) to realize absolute odometry information for a mobile vehicle or field robotics, by providing the rotation angle of a wheel and its suspensions with respect to gravity. In addition, with the proposed algorithm we calculate the yaw and roll angle information for the bogie by integrating the output of the rotation gyroscope, which decreases the angle drift considerably. A test bed was set up to validate the algorithm, and the results are analyzed in detail.
{"title":"Mobile Robotic Spatial Odometry by Low-Cost IMUs","authors":"Xiaolong Zhang, Teemu Mononen, J. Mattila, M. M. Aref","doi":"10.1109/MESA.2018.8449209","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449209","url":null,"abstract":"This paper shows the use of microelectromechanical system (MEMS) low-cost inertial measurement units (IMUs) to realize absolute odometry information for a mobile vehicle or field robotics, by providing the rotation angle of a wheel and its suspensions with respect to gravity. In addition, with the proposed algorithm we calculate the yaw and roll angle information for the bogie by integrating the output of the rotation gyroscope, which decreases the angle drift considerably. A test bed was set up to validate the algorithm, and the results are analyzed in detail.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128876786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449186
Jia Xu
The failure of safety-critical hard real-time embedded systems, can have catastrophic consequences. In such systems, a fault tolerant design is often necessary to enable the system to continue to provide a specified service, possibly at a reduced level of performance, rather than failing completely, in spite of system errors. One approach for achieving fault tolerance in real-time embedded systems, is to provide two versions of programs for each real-time task: a primary and an alternate. If an error in the execution of the primary of a task is detected, or if the successful completion of the primary cannot be guaranteed, then the alternate will be activated, while the primary will be aborted. This paper presents a method which provides a higher level of system dependency and reliability by effectively handling underruns and overruns in a fault tolerant real-time embedded system which uses a primary and an alternate for each real-time task to achieve fault tolerance. A main advantage of this method is that it significantly increases the chances that either the primary or the alternate of each process will be able to successfully complete its computation before its deadline despite overrunning, which significantly increases system robustness and reliability, while at the same time any additional processor capacity created at run-time due to primary or alternate underruns can be efficiently utilized, which increases system resource and processor utilization, while also satisfying additional complex constraints defined on the primaries and alternates such as precedence and exclusion relations.
{"title":"Handling Process Overruns and Underruns on Multiprocessors in a Fault-Tolerant Real-Time Embedded System","authors":"Jia Xu","doi":"10.1109/MESA.2018.8449186","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449186","url":null,"abstract":"The failure of safety-critical hard real-time embedded systems, can have catastrophic consequences. In such systems, a fault tolerant design is often necessary to enable the system to continue to provide a specified service, possibly at a reduced level of performance, rather than failing completely, in spite of system errors. One approach for achieving fault tolerance in real-time embedded systems, is to provide two versions of programs for each real-time task: a primary and an alternate. If an error in the execution of the primary of a task is detected, or if the successful completion of the primary cannot be guaranteed, then the alternate will be activated, while the primary will be aborted. This paper presents a method which provides a higher level of system dependency and reliability by effectively handling underruns and overruns in a fault tolerant real-time embedded system which uses a primary and an alternate for each real-time task to achieve fault tolerance. A main advantage of this method is that it significantly increases the chances that either the primary or the alternate of each process will be able to successfully complete its computation before its deadline despite overrunning, which significantly increases system robustness and reliability, while at the same time any additional processor capacity created at run-time due to primary or alternate underruns can be efficiently utilized, which increases system resource and processor utilization, while also satisfying additional complex constraints defined on the primaries and alternates such as precedence and exclusion relations.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125303046","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449191
Jiajun Liu, Z. Dong, Tianxu Jin, Li Liu
A hybrid energy storage system (HESS) that combines batteries and ultracapacitors (UCs) presents unique electric energy storage capability over traditional Energy Storage Systems (ESS) made of pure batteries or UCs. As a critical powertrain component of an electrified vehicle (EV), the performance and life of the ESS dominate the performance and life-cycle cost of the pure electric vehicle (PEV) and plug-in hybrid electric vehicle (PHEV) due to the large size of their ESS. Different from traditional power density and energy density considerations, the use of battery and UC HESS today is more geared toward the use of UCs to take over the high frequency, dynamic charge and discharge to ensure quick system response and to extend battery life by reducing its frequent charge and discharge. In this paper, the recent advance of HESS and relevant technologies have been reviewed. The state-of-the-art of battery ESS and modeling method, considering its performance degradation under different use patterns are first presented. Methods for modeling the UC and DC/DC converter in the HESS, along with various HESS architectures, are also overviewed. Energy management methods of HESS are then reviewed according to recent literature to derive appropriate energy split strategies between the batteries and UCs. Finally, various HESS-based applications from public transportation to construction machinery are discussed to illustrate the benefits of HESS.
{"title":"Recent Advance of Hybrid Energy Storage Systems for Electrified Vehicles","authors":"Jiajun Liu, Z. Dong, Tianxu Jin, Li Liu","doi":"10.1109/MESA.2018.8449191","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449191","url":null,"abstract":"A hybrid energy storage system (HESS) that combines batteries and ultracapacitors (UCs) presents unique electric energy storage capability over traditional Energy Storage Systems (ESS) made of pure batteries or UCs. As a critical powertrain component of an electrified vehicle (EV), the performance and life of the ESS dominate the performance and life-cycle cost of the pure electric vehicle (PEV) and plug-in hybrid electric vehicle (PHEV) due to the large size of their ESS. Different from traditional power density and energy density considerations, the use of battery and UC HESS today is more geared toward the use of UCs to take over the high frequency, dynamic charge and discharge to ensure quick system response and to extend battery life by reducing its frequent charge and discharge. In this paper, the recent advance of HESS and relevant technologies have been reviewed. The state-of-the-art of battery ESS and modeling method, considering its performance degradation under different use patterns are first presented. Methods for modeling the UC and DC/DC converter in the HESS, along with various HESS architectures, are also overviewed. Energy management methods of HESS are then reviewed according to recent literature to derive appropriate energy split strategies between the batteries and UCs. Finally, various HESS-based applications from public transportation to construction machinery are discussed to illustrate the benefits of HESS.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125809673","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449194
Chin-Sheng Chen, Ming-Shium Hsieh, Feng-Chi Lee, Yu-Hsin Lin
This paper proposes the design and control of passive and active motion of lower limb rehabilitation system. The dynamic model of the rehabilitation machine is firstly derived for further controller design. Then, an intelligent sliding-mode control (ISMC) system which involved recurrent Hermite neural network (RHNN) estimator to estimate the unknown external disturbance and uncertainty is proposed to track the angular position and velocity in the passive motion. In the active motion, the position-based impedance control is implemented to achieve human-machine compliance.
{"title":"Intelligent control for lower limb rehabilitation system","authors":"Chin-Sheng Chen, Ming-Shium Hsieh, Feng-Chi Lee, Yu-Hsin Lin","doi":"10.1109/MESA.2018.8449194","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449194","url":null,"abstract":"This paper proposes the design and control of passive and active motion of lower limb rehabilitation system. The dynamic model of the rehabilitation machine is firstly derived for further controller design. Then, an intelligent sliding-mode control (ISMC) system which involved recurrent Hermite neural network (RHNN) estimator to estimate the unknown external disturbance and uncertainty is proposed to track the angular position and velocity in the passive motion. In the active motion, the position-based impedance control is implemented to achieve human-machine compliance.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125406887","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449164
Manon Fourniol, V. Gies, V. Barchasz, E. Kussener, H. Barthélemy, R. Vauché, H. Glotin
Being used in for environmental and military Internet of Things (IoT), a low power wake-up system based on frequency analysis is presented in this paper. It aims at detecting continuously the presence of specific very high frequencies in the input acoustic signal of an embedded system. This can be used for detecting specific animal species, and for triggering a recording system or generating alerts. Used for harmful species detection, this helps to save harvests or to protect strict nature reserves. It can also be used for detecting the presence of drones in a specific restricted area.This acoustic low power wake-up system uses a simple 16 bits micro-controller (MCU), with a strong emphasis on the low power management of the system, having a target of continuous detection for at least one year on a single standard 1.2Ah - 12V lead battery. For that, it makes the most of mixed analog and digital low power MCU modules. They are including comparators, timers and a special one present on Microchip MCU, called Charge Time Measurement Unit (CTMU). This is a driven constant current source for making time to frequency conversions at a very low power and algorithmic cost.Optimizing low power modes, this low power wake-up system based on frequency analysis has a power consumption of 0.56mW, leading to approximately 3 years of battery life on a single standard 1.2Ah - 12Vlead cell.
{"title":"Low-Power Wake-Up System based on Frequency Analysis for Environmental Internet of Things","authors":"Manon Fourniol, V. Gies, V. Barchasz, E. Kussener, H. Barthélemy, R. Vauché, H. Glotin","doi":"10.1109/MESA.2018.8449164","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449164","url":null,"abstract":"Being used in for environmental and military Internet of Things (IoT), a low power wake-up system based on frequency analysis is presented in this paper. It aims at detecting continuously the presence of specific very high frequencies in the input acoustic signal of an embedded system. This can be used for detecting specific animal species, and for triggering a recording system or generating alerts. Used for harmful species detection, this helps to save harvests or to protect strict nature reserves. It can also be used for detecting the presence of drones in a specific restricted area.This acoustic low power wake-up system uses a simple 16 bits micro-controller (MCU), with a strong emphasis on the low power management of the system, having a target of continuous detection for at least one year on a single standard 1.2Ah - 12V lead battery. For that, it makes the most of mixed analog and digital low power MCU modules. They are including comparators, timers and a special one present on Microchip MCU, called Charge Time Measurement Unit (CTMU). This is a driven constant current source for making time to frequency conversions at a very low power and algorithmic cost.Optimizing low power modes, this low power wake-up system based on frequency analysis has a power consumption of 0.56mW, leading to approximately 3 years of battery life on a single standard 1.2Ah - 12Vlead cell.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121628725","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449169
Jake D. Campbell, C. Pretty, J. Chase, P. Bones
Pulse oximeters are used in hospitals to continuously monitor the blood oxygen levels (SpO2) and heart rates of the patients. Calculation of SpO2 is found by taking the ratio of the AC to the DC components of the photoplethysmograph (PPG) signals measured by the pulse oximeter. Often the AC component is hidden in noise, which conventional filtering methods are unable to effectively extract. This paper describes a robust method of peak and trough detection in the presence of high levels of noise (SNR of 13 dB) using a structure of IIR filters. Two lowpass IIR filters with a cut off frequency difference of 5 Hz are used. The lower frequency (LF) cutoff filter extracts the peaks and troughs of the fundamental pulse frequency and the higher frequency (HF) filter closely tracks the raw data so that when a LF peak/trough is found, the maximum/minimum HF value across the LF pulse period is considered the peak/trough. The cut-off frequencies of the LF and HF filters adjust to the measured heart rate to track the heart rate. Testing and comparison to the typical bandpass filter method produced a specificity of 0.97 and a sensitivity of 0.96, demonstrating the accuracy of the method.
{"title":"A Robust Method of Peak Detection in Noisy PPG Signals Using a Structure of IIR Filters","authors":"Jake D. Campbell, C. Pretty, J. Chase, P. Bones","doi":"10.1109/MESA.2018.8449169","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449169","url":null,"abstract":"Pulse oximeters are used in hospitals to continuously monitor the blood oxygen levels (SpO2) and heart rates of the patients. Calculation of SpO2 is found by taking the ratio of the AC to the DC components of the photoplethysmograph (PPG) signals measured by the pulse oximeter. Often the AC component is hidden in noise, which conventional filtering methods are unable to effectively extract. This paper describes a robust method of peak and trough detection in the presence of high levels of noise (SNR of 13 dB) using a structure of IIR filters. Two lowpass IIR filters with a cut off frequency difference of 5 Hz are used. The lower frequency (LF) cutoff filter extracts the peaks and troughs of the fundamental pulse frequency and the higher frequency (HF) filter closely tracks the raw data so that when a LF peak/trough is found, the maximum/minimum HF value across the LF pulse period is considered the peak/trough. The cut-off frequencies of the LF and HF filters adjust to the measured heart rate to track the heart rate. Testing and comparison to the typical bandpass filter method produced a specificity of 0.97 and a sensitivity of 0.96, demonstrating the accuracy of the method.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131193580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449184
T. Heikkilä, Jari M. Ahola
This paper considers robot control and programming from modelling point of view: re-usable robot operations are modelled as skills, which integrate and synchronize robot actions and sensor data in a consistent way. We put focus on contact motions and their programming and have the basis on parametrized impedance control. The characteristic of impedance controlled motions, i.e., effects of speed and environment changes to resulting forces, are studied in details by modelling and practical tests. With appropriate parameter settings a variety of tasks and skills with contact motions can be established relying on the same force/torque control strategy.
{"title":"Robot skills - modeling and control aspects","authors":"T. Heikkilä, Jari M. Ahola","doi":"10.1109/MESA.2018.8449184","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449184","url":null,"abstract":"This paper considers robot control and programming from modelling point of view: re-usable robot operations are modelled as skills, which integrate and synchronize robot actions and sensor data in a consistent way. We put focus on contact motions and their programming and have the basis on parametrized impedance control. The characteristic of impedance controlled motions, i.e., effects of speed and environment changes to resulting forces, are studied in details by modelling and practical tests. With appropriate parameter settings a variety of tasks and skills with contact motions can be established relying on the same force/torque control strategy.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122299999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449182
A. Nagchaudhuri, M. Mitra, C. Hartman, Travis Ford, J. Pandya
Experiential learning and research effort titled AIRSPACES: Autonomous Instrumented Robotic Sensory Platforms to Advance Creativity and Engage Students has been ongoing at University Maryland Eastern Shore (UMES) campus for the past several years with support from Maryland Space Grant Consortium (MDSGC). The project has provided a multidisciplinary platform for a team of faculty, students and staff from across the Science, Technology, Engineering, Agriculture, and Mathematics (STEAM) disciplines to explore exciting and innovative ideas that promote the core values of the land grant mission of UMES and engage students. Synergy with United States Department of Agriculture (USDA) supported project(s) provided additional impetus and breadth to these endeavors. While the field based efforts pertaining to environmental robotics and agricultural automation have been the dominant focus, in the past year the project investigators have also initiated laboratory based education, experiential learning, and research activities involving manufacturing automation and mobile robotics. These efforts have been integrated with ongoing activities involving remote sensing using small unmanned aerial systems (sUAS) and development of aquatic robot and ground robot platforms for water quality monitoring and field data collection largely related to environmentally friendly smart farming endeavors. This paper will provide an overview of the past efforts and future plans for smart farming efforts at UMES with particular emphases on mechatronics and embedded systems.
{"title":"Mobile Robotic Platforms to Support Smart Farming Efforts at UMES","authors":"A. Nagchaudhuri, M. Mitra, C. Hartman, Travis Ford, J. Pandya","doi":"10.1109/MESA.2018.8449182","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449182","url":null,"abstract":"Experiential learning and research effort titled AIRSPACES: Autonomous Instrumented Robotic Sensory Platforms to Advance Creativity and Engage Students has been ongoing at University Maryland Eastern Shore (UMES) campus for the past several years with support from Maryland Space Grant Consortium (MDSGC). The project has provided a multidisciplinary platform for a team of faculty, students and staff from across the Science, Technology, Engineering, Agriculture, and Mathematics (STEAM) disciplines to explore exciting and innovative ideas that promote the core values of the land grant mission of UMES and engage students. Synergy with United States Department of Agriculture (USDA) supported project(s) provided additional impetus and breadth to these endeavors. While the field based efforts pertaining to environmental robotics and agricultural automation have been the dominant focus, in the past year the project investigators have also initiated laboratory based education, experiential learning, and research activities involving manufacturing automation and mobile robotics. These efforts have been integrated with ongoing activities involving remote sensing using small unmanned aerial systems (sUAS) and development of aquatic robot and ground robot platforms for water quality monitoring and field data collection largely related to environmentally friendly smart farming endeavors. This paper will provide an overview of the past efforts and future plans for smart farming efforts at UMES with particular emphases on mechatronics and embedded systems.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131681664","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449193
J. Nissilä
The calculation of fractional or integer order derivatives and integrals has been demonstrated to be simple and fast in the frequency domain. It is also the most sensible method if one wishes to calculate derivatives or integrals of periodic signals. In this paper, error analysis is carried out for the numerical algorithm for Weyl fractional derivatives. To derive an upper bound for the numerical error, some knowledge of the smoothness of the signal must be known in advance or it must be estimated. The derived error analysis is tested with sampled functions with known regularity and with real vibration measurements from rotating machines. Compared to previous publications which deal with error analysis of integer order numerical derivatives in the frequency domain using L2 errors, the result of this paper is in terms of maximum absolute error and it is based on a novel result on the signal's regularity. The general conclusion using either error estimates is the same: the error of numerical Weyl derivatives is bounded by some constant times the sequence length raised to a negative power. The exponent depends on the smoothness of the signal. This contrasts with using difference quotients in numerical differentiation, in which case the error is bounded by a constant times the sequence length raised to a some fixed negative power and the order of the method defines that exponent.
{"title":"Error analysis of numerical Weyl fractional derivatives in the case of certain Hölder continuous functions","authors":"J. Nissilä","doi":"10.1109/MESA.2018.8449193","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449193","url":null,"abstract":"The calculation of fractional or integer order derivatives and integrals has been demonstrated to be simple and fast in the frequency domain. It is also the most sensible method if one wishes to calculate derivatives or integrals of periodic signals. In this paper, error analysis is carried out for the numerical algorithm for Weyl fractional derivatives. To derive an upper bound for the numerical error, some knowledge of the smoothness of the signal must be known in advance or it must be estimated. The derived error analysis is tested with sampled functions with known regularity and with real vibration measurements from rotating machines. Compared to previous publications which deal with error analysis of integer order numerical derivatives in the frequency domain using L2 errors, the result of this paper is in terms of maximum absolute error and it is based on a novel result on the signal's regularity. The general conclusion using either error estimates is the same: the error of numerical Weyl derivatives is bounded by some constant times the sequence length raised to a negative power. The exponent depends on the smoothness of the signal. This contrasts with using difference quotients in numerical differentiation, in which case the error is bounded by a constant times the sequence length raised to a some fixed negative power and the order of the method defines that exponent.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129563537","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449203
Atle Aalerud, J. Dybedal, Erind Ujkani, G. Hovland
This paper presents a system architecture for mapping and real-time monitoring of a relatively large industrial robotic environment of size 10 m × 15 m × 5 m. Six sensor nodes with embedded computing power and local processing of the 3D point clouds are placed close to the ceiling. The system architecture and data processing is based on the Robot Operating System (ROS) and the Point Cloud Library (PCL). The 3D sensors used are the Microsoft Kinect for Xbox One and point cloud data is collected at 20 Hz. A new manual calibration procedure is developed using reflective planes. The specified range of the used sensor is 0.8 m to 4.2 m, while depth data up to 9 m is used in this paper. Despite the fact that only six sensors are used and that the Kinect sensors are operated beyond the specified range, a benchmark of the accuracy compared with a Leica laser distance meter demonstrates an accuracy of 10 mm or better in the final 3D point cloud.
本文提出了一种用于对尺寸为10 m × 15 m × 5 m的较大工业机器人环境进行测绘和实时监控的系统架构。六个具有嵌入式计算能力和局部处理3D点云的传感器节点被放置在靠近天花板的位置。系统架构和数据处理基于机器人操作系统(ROS)和点云库(PCL)。使用的3D传感器是微软Xbox One的Kinect，点云数据收集频率为20hz。提出了一种利用反射面进行手动标定的新方法。使用的传感器的指定量程为0.8 m ~ 4.2 m，而本文使用的深度数据可达9 m。尽管只使用了6个传感器，而且Kinect传感器的操作也超出了规定的范围，但与徕卡激光测距仪相比，其精度基准显示，在最终的3D点云中，精度达到10毫米或更高。
{"title":"Industrial Environment Mapping Using Distributed Static 3D Sensor Nodes","authors":"Atle Aalerud, J. Dybedal, Erind Ujkani, G. Hovland","doi":"10.1109/MESA.2018.8449203","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449203","url":null,"abstract":"This paper presents a system architecture for mapping and real-time monitoring of a relatively large industrial robotic environment of size 10 m × 15 m × 5 m. Six sensor nodes with embedded computing power and local processing of the 3D point clouds are placed close to the ceiling. The system architecture and data processing is based on the Robot Operating System (ROS) and the Point Cloud Library (PCL). The 3D sensors used are the Microsoft Kinect for Xbox One and point cloud data is collected at 20 Hz. A new manual calibration procedure is developed using reflective planes. The specified range of the used sensor is 0.8 m to 4.2 m, while depth data up to 9 m is used in this paper. Despite the fact that only six sensors are used and that the Kinect sensors are operated beyond the specified range, a benchmark of the accuracy compared with a Leica laser distance meter demonstrates an accuracy of 10 mm or better in the final 3D point cloud.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122252468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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