Search results for "Putin"
showing 10 items of 25297 documents
Adaptive Consensus-Based Distributed Kalman Filter for WSNs with Random Link Failures
2016
Wireless Sensor Networks have emerged as a very powerful tool for the monitoring and control, over large areas, of diverse phenomena. One of the most appealing properties of these networks is their potentiality to perform complex tasks in a total distributed fashion, without requiring a central entity. In this scenario, where nodes are constrained to use only local information and communicate with one-hop neighbors, iterative consensus algorithms are extensively used due to their simplicity. In this work, we propose the design of a consensus-based distributed Kalman filter for state estimation, in a sensor network whose connections are subject to random failures. As a result of this unrelia…
Topology design to increase network lifetime in WSN for graph filtering in consensus processes
2018
Graph filters, which are considered as the workhorses of graph signal analysis in the emerging field of signal processing on graphs, are useful for many applications such as distributed estimation in wireless sensor networks. Many of these tasks are based on basic distributed operators such as consensus, which are carried out by sensor devices under limited energy supply. To cope with the energy constraints, this paper focuses on designing the network topology in order to maximize the network lifetime and reduce the energy consumption when applying graph filters. The problem is a complex combinatorial problem and in this work, we propose two efficient heuristic algorithms for solving it. We…
BIAM: a new bio-inspired analysis methodology for digital ecosystems based on a scale-free architecture
2017
Today we live in a world of digital objects and digital technology; industry and humanities as well as technologies are truly in the midst of a digital environment driven by ICT and cyber informatics. A digital ecosystem can be defined as a digital environment populated by interacting and competing digital species. Digital species have autonomous, proactive and adaptive behaviors, regulated by peer-to-peer interactions without central control point. An interconnecting architecture with few highly connected nodes (hubs) and many low connected nodes has a scale- free architecture. A new bio-inspired analysis methodology (BIAM) environment, an investigation strategy for information flow, fault…
Towards a Reference Architecture for Archival Systems: Use Case With Product Data
2014
Long-term preservation of product data is imperative for many organizations. A product data archive should be designed to ensure information accessibility and understanding over time. Approaches, such as the Open Archival Information System Reference Model (OAIS RM) and the Audit and Certification of Trustworthy Digital Repositories (ACTDR), provide a framework for conceptually describing and evaluating archives. These approaches are generic and do not focus on particular contexts or content types such as product data. Moreover, these approaches offer no guidance on how to formally and comprehensively describe archival systems. Such descriptions should include the business activities that a…
Visual contact with catadioptric cameras
2015
Abstract Time to contact or time to collision (TTC) is utmost important information for animals as well as for mobile robots because it enables them to avoid obstacles; it is a convenient way to analyze the surrounding environment. The problem of TTC estimation is largely discussed in perspective images. Although a lot of works have shown the interest of omnidirectional camera for robotic applications such as localization, motion, monitoring, few works use omnidirectional images to compute the TTC. In this paper, we show that TTC can be also estimated on catadioptric images. We present two approaches for TTC estimation using directly or indirectly the optical flow based on de-rotation strat…
Hankelet-based action classification for motor intention recognition
2017
Powered lower-limb prostheses require a natural, and an easy-to-use, interface for communicating amputee’s motor intention in order to select the appropriate motor program in any given context, or simply to commute from active (powered) to passive mode of functioning. To be widely accepted, such an interface should not put additional cognitive load at the end-user, it should be reliable and minimally invasive. In this paper we present a one such interface based on a robust method for detecting and recognizing motor actions from a low-cost wearable sensor network mounted on a sound leg providing inertial (accelerometer, gyrometer and magnetometer) data in real-time. We assume that the sensor…
Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
2019
The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. Thi…
Smart sensing and adaptive reasoning for enabling industrial robots with interactive human-robot capabilities in dynamic environments — a case study
2019
Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision a…
Scalability of GPU-Processed 3D Distance Maps for Industrial Environments
2018
This paper contains a benchmark analysis of the open source library GPU-Voxels together with the Robot Operating System (ROS) in large-scale industrial robotics environment. Six sensor nodes with embedded computing generate real-time point cloud data as ROS topics. The overall data from all sensor nodes is processed by a combination of CPU and GPU on a central ROS node. Experimental results demonstrate that the system is able to handle frame rates of 10 and 20 Hz with voxel sizes of 4, 6, 8 and 12 cm without saturation of the CPU or the GPU used by the GPU-Voxels library. The results in this paper show that ROS, in combination with GPU-Voxels, can be used as a viable solution for real-time …
High quality conservative surface mesh generation for swept volumes
2012
We present a novel, efficient and flexible scheme to generate a high quality mesh that approximates the outer boundary of a swept volume. Our approach comes with two guarantees. First, the approximation is conservative, i.e., the swept volume is enclosed by the generated mesh. Second, the one-sided Hausdorff distance of the generated mesh to the swept volume is upper bounded by a user defined tolerance. Exploiting this tolerance the algorithm generates a mesh that is adapted to the local complexity of the swept volume boundary, keeping the overall output complexity remarkably low. The algorithm is two-phased: the actual sweep and the mesh generation. In the sweeping phase we introduce a gen…