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State estimation of fast-rate systems using slow-rate image sensors

Jacopo Tani, Sandipan Mishra, John Wen
2013 2013 American Control Conference  
This paper presents algorithms for state estimation of adaptive optics (AO) systems with fast-rate actuators and slow-rate image sensors.  ...  Experimental results on a fast-rate beam steering mirror and a slow-rate image sensor verify that using the integrative sensor model and exploiting its structure for state estimation can result in lower  ...  This information can be used to estimate the states of a fast rate system through slow rate image sensor measurements.  ... 
doi:10.1109/acc.2013.6580809 fatcat:5yefhiky2zah7kwqwrfdkwzi2u

Vision based multi-rate estimation and control of body slip angle for electric vehicles

Yafei Wang, BinhMinh Nguyen, Hiroshi Fujimoto, Yoichi Hori
2012 IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society  
From the viewpoint of sensor configuration, gyroscope, steering angle sensor, etc. are often employed for body slip angle estimation; in this research, two pieces of information provided by vision system  ...  Due to the high costs to measure body slip angle with specific devices, it is necessary to investigate estimation methods using existing cheap sensors.  ...  As the multi-rate ratio between fast and slow sensors is generally high, it is desirable to consider the delay using interpretation b) that can simplify estimator design. ( ) ( ) ( ) ( ) ( d d d d y k  ... 
doi:10.1109/iecon.2012.6389202 dblp:conf/iecon/WangNFH12 fatcat:2zqc3mvc5jdjna7kn52dmolksm

State Variables Estimation of Flexible Link Robot Using Vision Sensor Data

Mustafa T. Hussein, Dirk Söffker
2012 IFAC Proceedings Volumes  
Two observers are designed, the first one to estimate the vibrations using strain gauges (fast and complete dynamics), and the second one to estimate the vibrations using vision data (slow dynamical parts  ...  The task to be solved is to combine the estimations of the slow observer (based on vision measurements) with those of the fast observer based on strain gauges.  ...  sensor to estimate a modal set of slow dynamics based on the frequency of the system states.  ... 
doi:10.3182/20120215-3-at-3016.00034 fatcat:o3rygqsxhbeqfei7xcrxpcr5hm

Fast Ego-motion Estimation with Multi-rate Fusion of Inertial and Vision

Leopoldo Armesto, Josep Tornero, Markus Vincze
2007 The international journal of robotics research  
It also considers the multi-rate nature of the sensors: inertial sensing is sampled at a fast sampling frequency while the sampling frequency of vision is lower. the proposed approach uses a constant linear  ...  KEY WORDS-vision and inertial, multi-rate systems, sensor fusion, tracking  ...  Results show that the combination of vision and inertial data gives better estimation in a wide variety of situations (slow and fast motions).  ... 
doi:10.1177/0278364907079283 fatcat:ksa3xw6qgfaafftssizniotej4

Visual-lidar odometry and mapping: low-drift, robust, and fast

Ji Zhang, Sanjiv Singh
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
In addition to comparison of the motion estimation accuracy, we evaluate robustness of the method when the sensor suite moves at a high speed and is subject to significant ambient lighting changes.  ...  The method shows improvements in performance over the state of the art, particularly in robustness to aggressive motion and temporary lack of visual features.  ...  The visual odometry section estimates frame to frame motion of the sensor at the image frame rate, using visual images with assistance from lidar clouds.  ... 
doi:10.1109/icra.2015.7139486 dblp:conf/icra/ZhangS15 fatcat:xotkut6f4be53logj5vb4k4iw4

Optimizing Particle Filter Parameters for Self-localization [chapter]

Armin Burchardt, Tim Laue, Thomas Röfer
2011 Lecture Notes in Computer Science  
The approach has been applied to the self-localization component of a Standard Platform League team and shown to be capable of finding a parameter set that leads to more precise position estimates than  ...  Nevertheless, they require a proper parametrization -for sensor models and dynamic models as well as for the configuration of the algorithm -to operate reliably.  ...  Estimation errors in respect to α are rated by the sensor model using the density function of a normal distribution with the standard deviation σ GoalpostSizeDistance .  ... 
doi:10.1007/978-3-642-20217-9_13 fatcat:rrei4z5mhvaenm4e4axlazdt2a

Enhancing Performance and Bit Rates in a Brain–Computer Interface System With Phase-to-Amplitude Cross-Frequency Coupling: Evidences From Traditional c-VEP, Fast c-VEP, and SSVEP Designs

Stavros I. Dimitriadis, Avraam D. Marimpis
2018 Frontiers in Neuroinformatics  
able-bodied and disabled subjects; (b) a multi-class (N = 32) c-VEP with slow and fast stimulus representation; and (c) a steady-state Visual Evoked potential (SSVEP) multi-class (N = 5) flickering BCI  ...  In the second data set, we succeeded in achieving an average ITR of 124.40 ± 11.68 for the slow 60 Hz and an average ITR of 233.99 ± 15.75 for the fast 120 Hz.  ...  This work is the only one suggesting CFC features and namely PAC for both c-VEP (slow and fast) and SSVEP BCI systems.  ... 
doi:10.3389/fninf.2018.00019 pmid:29867425 pmcid:PMC5952007 fatcat:kikjhve22jhslmmy2hkbfzxi6i

Multirate Estimation and Control of Body Slip Angle for Electric Vehicles Based on Onboard Vision System

Yafei Wang, Binh Minh Nguyen, Hiroshi Fujimoto, Yoichi Hori
2014 IEEE transactions on industrial electronics (1982. Print)  
A new method for vehicle body-slip-angle estimation using nontraditional sensor configuration and system model is proposed, which enables robust estimation against vehicle parameter uncertainties.  ...  that of other onboard sensors.  ...  Given that the multirate ratio between the fast and slow sensors is generally high, the order of the state space equation using the lifting method can become large [12] .  ... 
doi:10.1109/tie.2013.2271596 fatcat:sxt7nfox4zgqzinpbxldyl3pda

Real-Time Video Analysis of Pedestrians to Support Agent Simulation of People Behavior [chapter]

O. Junker, V. Strauss, R. Majer, N. Link
2011 Pedestrian and Evacuation Dynamics  
This proposed system is largely supported by the state observer of the control theory. Within a laboratory one room model pedestrian behavior is monitored and analyzed by video cameras.  ...  Online simulation coupled with real-time measurements of pedestrians in public buildings is a novel application which can be used to increase the security and safety of pedestrians within those buildings  ...  Acknowledgements This research was supported of the BMBF (German Federal Ministry of Education and Research) within the program "Research for Civil Security" under grant 13N9709.  ... 
doi:10.1007/978-1-4419-9725-8_8 fatcat:jh3reeaqgrhufkesu5jpt2i4ny

Deployment of a Wireless Ultrasonic Sensor Array for Psychological Monitoring [chapter]

Roland Cheng, Wendi Heinzelman, Melissa Sturge-Apple, Zeljko Ignjatovic
2010 Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering  
Moreover, tracking subjects using ultrasound sensors is less error-prone than existing methods that track based on human coding of video.  ...  This WiPsy (Wireless sensors for Psychology research) system provides accurate, real-time quantitative metrics for psychological evaluation in lieu of traditional qualitative manual coding.  ...  The choice of the variance value for Q was empirically determined to balance between the smoothness of tracking target movements against the slow response time of tracking fast-moving targets.  ... 
doi:10.1007/978-3-642-11870-8_5 fatcat:fwrxdl7oefeg3at4q6xk7v5tsu

The Fractional Kalman Filter-Based Asynchronous Multirate Sensor Information Fusion

Guangyue Xue, Yubin Xu, Jing Guo, Wei Zhao
2018 Complexity  
Based on the characteristics of multirate and delay measurement, the state is reestimated at the time when the delayed measurement occurs by using weighted fractional Kalman filter, and then the state  ...  A fractional Kalman filter-based multirate sensor fusion algorithm is presented to fuse the asynchronous measurements of the multirate sensors.  ...  Acknowledgments This work is supported by the National Natural Science Foundation of China (no. U1533114).  ... 
doi:10.1155/2018/1450353 fatcat:rxoso2jcg5drlh5q5tuhiiqesm

A view finder control system for an earth observation satellite

Willem H. Steyn
2006 Aerospace Science and Technology  
This paper will present an extended Kalman filter used to estimate the satellite's attitude angles using quaternions and the bias vector component of the 3-axis inertial rate sensors (gyros).  ...  Absolute attitude sensors (i.e. sun, horizon and magnetic) are used to supply the measurement vectors to correct the filter states during the view finder manoeuvres.  ...  Full attitude and rate information are obtained from an EKF, using attitude vector sensors to accurately estimate attitude and FOG bias rates, during view finder control modes when large and fast attitude  ... 
doi:10.1016/j.ast.2005.11.008 fatcat:rxqt3b55gzbdldbgibqlofsglu

Imaging neural spiking in brain tissue using FRET-opsin protein voltage sensors

Yiyang Gong, Mark J. Wagner, Jin Zhong Li, Mark J. Schnitzer
2014 Nature Communications  
Using FRET-opsin sensors we imaged neural spiking and sub-threshold membrane voltage dynamics in cultured neurons and in pyramidal cells within neocortical tissue slices.  ...  Here we describe sensors that use fluorescence resonance energy transfer (FRET) to combine the rapid kinetics and substantial voltage-dependence of rhodopsin family voltage-sensing domains with the brightness  ...  Lin for providing Arclight, mCitrine, and mOrange2 plasmids, and Larry Zweifel of University of Washington for providing the CAG-DIO backbone plasmid.  ... 
doi:10.1038/ncomms4674 pmid:24755708 pmcid:PMC4247277 fatcat:qyvebblvgjfztmdfpc4im5xmfe

Spectral signature and behavioral consequence of spontaneous shifts of pupil-linked arousal in human

Ella Podvalny, Leana E King, Biyu J He
2021 eLife  
When dissociated from pupil-linked state, prestimulus spectral power of resting state networks still predicts perceptual behavior.  ...  Spontaneously varying pupil size correlates with power of brain activity in most frequency bands across large-scale resting-state cortical networks.  ...  Real-image trials were used to determine the hit rate and scrambled-image trials were used to 180 determine the false alarm rate ( Figure 4A ), which were subsequently used to calculate shifts in criterion  ... 
doi:10.7554/elife.68265 pmid:34463255 pmcid:PMC8486382 fatcat:73igrj5purclziwbbeb6uvf5se

Geometric Sequence (GS) imaging with Bayesian smoothing for optical and capacitive imaging sensors

Kuntal Sengupta, Fatih Porikli
2009 2009 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops  
The GS imaging system reliably tracks slow movement as well as fast movements, a feature that is important in realizing applications such as a touchpad type system.  ...  The GS imaging system reliably tracks slow movements as well as fast movements, a feature that is important in realizing applications such as a touchpad type system.  ...  Here, the camera underwent slow as well as fast motion. Note that the system can estimate slow as well as fast motion reliably.  ... 
doi:10.1109/cvprw.2009.5205205 dblp:conf/cvpr/SenguptaP09 fatcat:3jbq6ykce5ewpmf3rhp4odmtiu
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