Дисертації з теми "Distributed Data Fusion (DDF)"
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Aziz, Ashraf Mamdouh Abdel. "New data fusion algorithms for distributed multi-sensor multi-target environments." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1999. http://handle.dtic.mil/100.2/ADA369780.
Повний текст джерела"September 1999". Dissertation supervisor(s): Robert Cristi, Murali Tummala. Includes bibliographical references (p. 199-214). Also avaliable online.
Wallace, Christopher John. "Distributed data fusion for condition monitoring of graphite nuclear reactor cores." Thesis, University of Strathclyde, 2013. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=20607.
Повний текст джерелаVilsmaier, Christian. "Contextualized access to distributed and heterogeneous multimedia data sources." Thesis, Lyon, INSA, 2014. http://www.theses.fr/2014ISAL0094/document.
Повний текст джерелаMaking multimedia data available online becomes less expensive and more convenient on a daily basis. This development promotes web phenomenons such as Facebook, Twitter, and Flickr. These phenomena and their increased acceptance in society in turn leads to a multiplication of the amount of available images online. This vast amount of, frequently public and therefore searchable, images already exceeds the zettabyte bound. Executing a similarity search on the magnitude of images that are publicly available and receiving a top quality result is a challenge that the scientific community has recently attempted to rise to. One approach to cope with this problem assumes the use of distributed heterogeneous Content Based Image Retrieval system (CBIRs). Following from this anticipation, the problems that emerge from a distributed query scenario must be dealt with. For example the involved CBIRs’ usage of distinct metadata formats for describing their content, as well as their unequal technical and structural information. An addition issue is the individual metrics that are used by the CBIRs to calculate the similarity between pictures, as well as their specific way of being combined. Overall, receiving good results in this environment is a very labor intensive task which has been scientifically but not yet comprehensively explored. The problem primarily addressed in this work is the collection of pictures from CBIRs, that are similar to a given picture, as a response to a distributed multimedia query. The main contribution of this thesis is the construction of a network of Content Based Image Retrieval systems that are able to extract and exploit the information about an input image’s semantic concept. This so called semantic CBIRn is mainly composed of CBIRs that are configured by the semantic CBIRn itself. Complementarily, there is a possibility that allows the integration of specialized external sources. The semantic CBIRn is able to collect and merge results of all of these attached CBIRs. In order to be able to integrate external sources that are willing to join the network, but are not willing to disclose their configuration, an algorithm was developed that approximates these configurations. By categorizing existing as well as external CBIRs and analyzing incoming queries, image queries are exclusively forwarded to the most suitable CBIRs. In this way, images that are not of any use for the user can be omitted beforehand. The hereafter returned images are rendered comparable in order to be able to merge them to one single result list of images, that are similar to the input image. The feasibility of the approach and the hereby obtained improvement of the search process is demonstrated by a prototypical implementation. Using this prototypical implementation an augmentation of the number of returned images that are of the same semantic concept as the input images is achieved by a factor of 4.75 with respect to a predefined non-semantic CBIRn
Lin, Erwei Kam Moshe. "Detection in distributed sensor networks /." Philadelphia, Pa. : Drexel University, 2005. http://hdl.handle.net/1860/1303.
Повний текст джерелаGnanapandithan, Nithya. "Data detection and fusion in decentralized sensor networks." Thesis, Manhattan, Kan. : Kansas State University, 2005. http://hdl.handle.net/2097/132.
Повний текст джерелаPalaniappan, Ravishankar. "A SELF-ORGANIZING HYBRID SENSOR SYSTEM WITH DISTRIBUTED DATA FUSION FOR INTRUDER TRACKING AND SURVEILLANCE." Doctoral diss., University of Central Florida, 2010. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2407.
Повний текст джерелаPh.D.
School of Electrical Engineering and Computer Science
Engineering and Computer Science
Modeling and Simulation PhD
Cadell, Philip. "BabelFuse data fusion unit with precision wireless clock synchronisation." Thesis, Queensland University of Technology, 2012. https://eprints.qut.edu.au/55225/1/Philip_Cadell_Thesis.pdf.
Повний текст джерелаGallagher, Jonathan G. "Likelihood as a Method of Multi Sensor Data Fusion for Target Tracking." The Ohio State University, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=osu1244041862.
Повний текст джерелаBorkar, Milind. "A distributed Monte Carlo method for initializing state vector distributions in heterogeneous smart sensor networks." Diss., Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/22680.
Повний текст джерелаJones, Malachi Gabriel. "Design and implementation of a multi-agent systems laboratory." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/29617.
Повний текст джерелаCommittee Chair: Jeff Shamma; Committee Member: Eric Feron; Committee Member: Magnus Egerstedt. Part of the SMARTech Electronic Thesis and Dissertation Collection.
Holtzhausen, David Schalk. "Development of distributed control system for SSL soccer robots." Thesis, Stellenbosch : Stellenbosch University, 2013. http://hdl.handle.net/10019.1/80221.
Повний текст джерелаENGLISH ABSTRACT: This thesis describes the development of a distributed control system for SSL soccer robots. The project continues on work done to develop a robotics research platform at Stellenbosch University. The wireless communication system is implemented using Player middleware. This enables high level programming of the robot drivers and communication clients, resulting in an easily modifiable system. The system is developed to be used as either a centralised or decentralised control system. The software of the robot’s motor controller unit is updated to ensure optimal movement. Slippage of the robot’s wheels restricts the robot’s movement capabilities. Trajectory tracking software is developed to ensure that the robot follows the desired trajectory while operating within its physical limits. The distributed control architecture reduces the robots dependency on the wireless network and the off-field computer. The robots are given some autonomy by integrating the navigation and control on the robot self. Kalman filters are designed to estimate the robots translational and rotational velocities. The Kalman filters fuse vision data from an overhead vision system with inertial measurements of an on-board IMU. This ensures reliable and accurate position, orientation and velocity information on the robot. Test results show an improvement in the controller performance as a result of the proposed system.
AFRIKAANSE OPSOMMING: Hierdie tesis beskryf die ontwikkeling van ’n verspreidebeheerstelsel vir SSL sokker robotte. Die projek gaan voort op vorige werk wat gedoen is om ’n robotika navorsingsplatform aan die Universiteit van Stellenbosch te ontwikkel. Die kommunikasiestelsel is geïmplementeer met behulp van Player middelware. Dit stel die robotbeheerders en kommunikasiekliënte in staat om in hoë vlak tale geprogrameer te word. Dit lei tot ’n maklik veranderbare stelsel. Die stelsel is so ontwikkel dat dit gebruik kan word as óf ’n gesentraliseerde of verspreidebeheerstelsel. Die sagteware van die motorbeheer eenheid is opgedateer om optimale robot beweging te verseker. As die robot se wiele gly beperk dit die robot se bewegingsvermoëns. Trajekvolgings sagteware is ontwikkel om te verseker dat die robot die gewenste pad volg, terwyl dit binne sy fisiese operasionele grense bly. Die verspreibeheerargitektuur verminder die robot se afhanklikheid op die kommunikasienetwerk en die sentrale rekenaar. Die robot is ’n mate van outonomie gegee deur die integrasie van die navigasie en beheer op die robot self te doen. Kalman filters is ontwerp om die robot se translasie en rotasie snelhede te beraam. Die Kalman filters kombineer visuele data van ’n oorhoofse visiestelsel met inertia metings van ’n IMU op die robot. Dit verseker betroubare en akkurate posisie, oriëntasie en snelheids inligting. Toetsresultate toon ’n verbetering in die beheervermoë as ’n gevolg van die voorgestelde stelsel.
Nachabe, Ismail Lina. "Automatic sensor discovery and management to implement effective mechanism for data fusion and data aggregation." Thesis, Evry, Institut national des télécommunications, 2015. http://www.theses.fr/2015TELE0021/document.
Повний текст джерелаThe constant evolution of technology in terms of inexpensive and embedded wireless interfaces and powerful chipsets has leads to the massive usage and development of wireless sensor networks (WSNs). This potentially affects all aspects of our lives ranging from home automation (e.g. Smart Buildings), passing through e-Health applications, environmental observations and broadcasting, food sustainability, energy management and Smart Grids, military services to many other applications. WSNs are formed of an increasing number of sensor/actuator/relay/sink devices, generally self-organized in clusters and domain dedicated, that are provided by an increasing number of manufacturers, which leads to interoperability problems (e.g., heterogeneous interfaces and/or grounding, heterogeneous descriptions, profiles, models …). Moreover, these networks are generally implemented as vertical solutions not able to interoperate with each other. The data provided by these WSNs are also very heterogeneous because they are coming from sensing nodes with various abilities (e.g., different sensing ranges, formats, coding schemes …). To tackle this heterogeneity and interoperability problems, these WSNs’ nodes, as well as the data sensed and/or transmitted, need to be consistently and formally represented and managed through suitable abstraction techniques and generic information models. Therefore, an explicit semantic to every terminology should be assigned and an open data model dedicated for WSNs should be introduced. SensorML, proposed by OGC in 2010, has been considered an essential step toward data modeling specification in WSNs. Nevertheless, it is based on XML schema only permitting basic hierarchical description of the data, hence neglecting any semantic representation. Furthermore, most of the researches that have used semantic techniques for developing their data models are only focused on modeling merely sensors and actuators (this is e.g. the case of SSN-XG). Other researches dealt with data provided by WSNs, but without modelling the data type, quality and states (like e.g. OntoSensor). That is why the main aim of this thesis is to specify and formalize an open data model for WSNs in order to mask the aforementioned heterogeneity and interoperability between different systems and applications. This model will also facilitate the data fusion and aggregation through an open management architecture like environment as, for example, a service oriented one. This thesis can thus be split into two main objectives: 1)To formalize a semantic open data model for generically describing a WSN, sensors/actuators and their corresponding data. This model should be light enough to respect the low power and thus low energy limitation of such network, generic for enabling the description of the wide variety of WSNs, and extensible in a way that it can be modified and adapted based on the application. 2)To propose an upper service model and standardized enablers for enhancing sensor/actuator discovery, data fusion, data aggregation and WSN control and management. These service layer enablers will be used for improving the data collection in a large scale network and will facilitate the implementation of more efficient routing protocols, as well as decision making mechanisms in WSNs
Ko, Ming Hsiao. "Using dynamic time warping for multi-sensor fusion." Thesis, Curtin University, 2009. http://hdl.handle.net/20.500.11937/384.
Повний текст джерелаKo, Ming Hsiao. "Using dynamic time warping for multi-sensor fusion." Curtin University of Technology, Department of Computing, 2009. http://espace.library.curtin.edu.au:80/R/?func=dbin-jump-full&object_id=129032.
Повний текст джерелаHence, we proposed a multi-agent framework for temporal fusion, which emphasises the time dimension of the fusion process, that is, fusion of the multi-sensor data or events derived over a period of time. The proposed multi-agent framework has three major layers: hardware, agents, and users. There are three different fusion architectures: centralized, hierarchical, and distributed, for organising the group of agents. The temporal fusion process of the proposed framework is elaborated by using the information graph. Finally, the core of the proposed temporal fusion framework – Dynamic Time Warping (DTW) temporal fusion agent is described in detail.
Fusing multisensory data over a period of time is a challenging task, since the data to be fused consists of complex sequences that are multi–dimensional, multimodal, interacting, and time–varying in nature. Additionally, performing temporal fusion efficiently in real–time is another challenge due to the large amount of data to be fused. To address these issues, we proposed the DTW temporal fusion agent that includes four major modules: data pre-processing, DTW recogniser, class templates, and decision making. The DTW recogniser is extended in various ways to deal with the variability of multimodal sequences acquired from multiple heterogeneous sensors, the problems of unknown start and end points, multimodal sequences of the same class that hence has different lengths locally and/or globally, and the challenges of online temporal fusion.
We evaluate the performance of the proposed DTW temporal fusion agent on two real world datasets: 1) accelerometer data acquired from performing two hand gestures, and 2) a benchmark dataset acquired from carrying a mobile device and performing pre-defined user scenarios. Performance results of the DTW based system are compared with those of a Hidden Markov Model (HMM) based system. The experimental results from both datasets demonstrate that the proposed DTW temporal fusion agent outperforms HMM based systems, and has the capability to perform online temporal fusion efficiently and accurately in real–time.
KALLAS, KASSEM. "A Game-Theoretic Approach for Adversarial Information Fusion in Distributed Sensor Networks." Doctoral thesis, Università di Siena, 2017. http://hdl.handle.net/11365/1005735.
Повний текст джерелаAgarwalla, Bikash Kumar. "Resource management for data streaming applications." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/34836.
Повний текст джерелаOtto, Carola [Verfasser]. "Fusion of Data from Heterogeneous Sensors with Distributed Fields of View and Situation Evaluation for Advanced Driver Assistance Systems / Carola Otto." Karlsruhe : KIT Scientific Publishing, 2013. http://www.ksp.kit.edu.
Повний текст джерелаKenyeres, Martin. "Analýza a zefektivnění distribuovaných systémů." Doctoral thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2018. http://www.nusl.cz/ntk/nusl-390292.
Повний текст джерелаEstrada, Camilo Ernesto Restrepo. "Use of social media data in flood monitoring." Universidade de São Paulo, 2018. http://www.teses.usp.br/teses/disponiveis/18/18138/tde-19032019-143847/.
Повний текст джерелаAs inundações são um dos tipos mais devastadores de desastres em todo o mundo em termos de perdas humanas, econômicas e sociais. Se os dados oficiais forem escassos ou indisponíveis por alguns períodos, outras fontes de informação são necessárias para melhorar a estimativa de vazões e antecipar avisos de inundação. Esta tese tem como objetivo mostrar uma metodologia que mostra uma maneira de fechar a lacuna de pesquisa em relação ao uso de redes sociais como uma proxy para as estimativas de precipitação e escoamento. Para resolver isso, propõe-se usar uma função de transformação que cria uma variável proxy para a precipitação, analisando mensagens de medições geo-sociais e precipitação de fontes oficiais, que são incorporadas em um modelo hidrológico para a estimativa de fluxo. Em seguida, os dados de proxy e precipitação oficial são fusionados para serem usados em um esquema de assimilação de dados usando o Ensemble Kalman Filter (EnKF). Descobriu-se que o uso combinado de valores oficiais de precipitação com a variável proxy das mídias sociais como entrada para o modelo distribuído de probabilidade (Probability Distributed Model - PDM) melhora as simulações de fluxo para o monitoramento de inundações. A principal contribuição desta tese é a criação de uma fonte completamente original de monitoramento de chuva, que não havia sido explorada na literatura de forma quantitativa.
Matta, Natalie. "Vers une gestion décentralisée des données des réseaux de capteurs dans le contexte des smart grids." Thesis, Troyes, 2014. http://www.theses.fr/2014TROY0010/document.
Повний текст джерелаThis thesis focuses on the decentralized management of data collected by wireless sensor networks which are deployed in a smart grid, i.e. the evolved new generation electricity network. It proposes a decentralized architecture based on multi-agent systems for both data and energy management in the smart grid. In particular, our works deal with data management of sensor networks which are deployed in the distribution electric subsystem of a smart grid. They aim at answering two key challenges: (1) detection and identification of failure and disturbances requiring swift reporting and appropriate reactions; (2) efficient management of the growing volume of data caused by the proliferation of sensors and other sensing entities such as smart meters. The management of this data can call upon several methods, including the aggregation of data packets on which we focus in this thesis. To this end, we propose to aggregate (PriBaCC) and/or to correlate (CoDA) the contents of these data packets in a decentralized manner. Data processing will thus be done faster, consequently leading to rapid and efficient decision-making concerning energy management. The validation of our contributions by means of simulation has shown that they meet the identified challenges. It has also put forward their enhancements with respect to other existing approaches, particularly in terms of reducing data volume as well as transmission delay of high priority data
Ribas, Afonso Degmar. "Classificação distribuída de anuros usando rede de sensores sem fio." Universidade Federal do Amazonas, 2013. http://tede.ufam.edu.br/handle/tede/2922.
Повний текст джерелаWireless Sensor Networks (WSNs) can be used in environmental conservation applications and studies due to its wireless communication, sensing, and monitoring capabilities. In the Ecology context, amphibians are used as bioindicators of ecosystemic changes of a region and can early indicate environmental problems. Thus, biologists monitor the anuran (frogs and toads) population in order to establish environmental conservational strategies. Anuran were chosen because the sounds they emit allow classification by using microphones and signal processing. In this work we propose and evaluate some distributed algorithms for anuran classification based on their calls (vocalizations) in the habit using WSNs. This method is interesting because it is not intrusive and it allows remote monitoring. Our solution builds cluster of nodes whose acoustic collected measurements are correlated. The nodes of the same group are combined to generate local classification decisions. Then, these decisions are combined to generate a global decision. We use k-means algorithm for clustering nodes with correlated measurements, which groups instances by similarity. Experiments show that, in comparison with other literature algorithms, the error rate of our solution were 26 pp (percentage points) lower.
As Redes de Sensores Sem Fios (RSSFs) podem ser utilizadas em aplicações de conservação e estudo ambiental devido à sua capacidade de sensoriamento, monitoramento e comunicação sem fio. Dentro do contexto da Ecologia, os anfíbios são utilizados como bioindicadores de mudanças no ecossistema de uma região e podem precocemente indicar problemas ambientais. Desta forma, os biólogos monitoram a população de anuros (sapos e rãs) a fim de estabelecer estratégias de conservação do meio ambiente. Os anuros são escolhidos por causa sons que emitem (coaxar), que permitem a identificação dessas espécies por meio de microfones e processamento do sinal. Portanto, neste trabalho propomos e avaliamos alguns algoritmos distribuídos para classificação de anuros baseados em suas vocalizações em seu habitat usando RSSF. Este método é interessante pois não é intrusivo e permite o monitoramento remoto. Nossa solução cria grupos de nós sensores cujas medidas acústicas coletadas estão correlacionadas. Os dados dos nós de um mesmo grupo são combinados para gerar decisões de classificação locais. Essas decisões são então combinadas para formar uma decisão global. Para agrupar os nós com medidas correlacionadas, utilizamos o algoritmo k-means, que agrupa instâncias similares. Os experimentos mostram que, em comparação com outros algoritmos da literatura, a taxa de erro da nossa solução chegou ser até 26 pp (pontos percentuais) menor.
Euawatana, Teerapong. "Implementation business-to-business electronic commercial website using ColdFusion 4.5." CSUSB ScholarWorks, 2001. https://scholarworks.lib.csusb.edu/etd-project/1917.
Повний текст джерелаTabella, Gianluca. "Subsea Oil Spill Risk Management based on Sensor Networks." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
Знайти повний текст джерелаOsman, Ousama. "Méthodes de diagnostic en ligne, embarqué et distribué dans les réseaux filaires complexes." Thesis, Université Clermont Auvergne (2017-2020), 2020. http://www.theses.fr/2020CLFAC038.
Повний текст джерелаThe research conducted in this thesis focuses on the diagnosis of complex wired networks using distributed reflectometry. It aims to develop new distributed diagnostic techniques for complex networks that allow data fusion as well as communication between reflectometers to detect, locate and characterize electrical faults (soft and hard faults). This collaboration between reflectometers solves the problem of fault location ambiguity and improves the quality of diagnosis. The first contribution is the development of a graph theory-based method for combining data between distributed reflectometers, thus facilitating the location of the fault. Then, the amplitude of the reflected signal is used to identify the type of fault and estimate its impedance. The latter is based on the regeneration of the signal by compensating for the degradation suffered by the diagnosis signal during its propagation through the network. The second contribution enables data fusion between distributed reflectometers in complex networks affected by multiple faults. To achieve this objective, two methods have been proposed and developed: the first is based on genetic algorithms (GA) and the second is based on neural networks (RN). These tools combined with distributed reflectometryallow automatic detection, location, and characterization of several faults in different types and topologies of wired networks. The third contribution proposes the use of information-carrying diagnosis signal to integrate communication between distributed reflectometers. It properly uses the phases of the MCTDR multi-carrier signal to transmit data. This communication ensures the exchange of useful information (such as fault location and amplitude) between reflectometers on the state of the cables, thus enabling data fusion and unambiguous fault location. Interference problems between the reflectometers are also addressed when they simultaneously inject their test signals into the network. These studies illustrate the efficiency and applicability of the proposed methods. They also demonstrate their potential to improve the performance of the current wired diagnosis systems to meet the need and the problem of detecting and locating faults that manufacturers and users face today in electrical systems to improve their operational safety
Zhou, Shuting. "Navigation of a quad-rotor to access the interior of a building." Thesis, Compiègne, 2015. http://www.theses.fr/2015COMP2237.
Повний текст джерелаThis research work is dedicated to the development of an autonomous navigation strategy which includes generating an optimal trajectory with obstacles avoiding capabilities, detecting specific object of interest (i.e. a window) and then conducting the subsequent maneuver to approach the window and finally access into the building. The vehicle is navigated by a vision system and a combination of inertial and altitude sensors, which achieve a relative localization of the quad-rotor with respect to its surrounding environment. A MPC-based path planning method using the information provided by the GPS and the visual sensor has been developed to generate an optimal real-time trajectory with collision avoidance capabilities, which starts from an initial point given by the user and guides the vehicle to achieve the final point outside the target building. With the aim of detecting and locating the object of interest, two different vision-based object detection strategies are proposed and are applied respectively in the stereo vision system and the vision system using the Kinect. After estimating the target window model, a motion estimation framework is developed to estimate the vehicle’s ego-motion from the images provided by the visual sensor. There have been two versions of the motion estimation frameworks for both vision systems. A quad-rotor experimental platform is developed. For estimating the translational dynamic of the vehicle, a Kalman filter is implemented to combine the imaging, inertial and altitude sensors. A hierarchical sensing and control system is designed to perform the navigation and control of the quad-rotor helicopter, which allows the vehicle to estimate the state without artificial marks or other external positioning systems
Peñarrocha, Alós Ignacio. "Sensores virtuales para procesos con medidas escasas y retardos temporales." Doctoral thesis, Universitat Politècnica de València, 2008. http://hdl.handle.net/10251/3882.
Повний текст джерелаPeñarrocha Alós, I. (2006). Sensores virtuales para procesos con medidas escasas y retardos temporales [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/3882
Palancia
Trivedi, Neeta. "Robust, Energy‐efficient Distributed Inference in Wireless Sensor Networks With Applications to Multitarget Tracking." Thesis, 2014. https://etd.iisc.ac.in/handle/2005/4569.
Повний текст джерелаKhaleghi, Bahador. "Distributed Random Set Theoretic Soft/Hard Data Fusion." Thesis, 2012. http://hdl.handle.net/10012/6842.
Повний текст джерелаyu-jie, chang, and 張栯榤. "A Research on Nonlinear Distributed Data Fusion System." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/65001580899063562919.
Повний текст джерела大葉大學
電機工程學系碩士班
93
Multi-target tracking is very important role in the research area of radar. If the system combines the multiple sensor fusion algorithm, it can adopt another sensor data and have mutual correction. Therefore, the tracking results will be more accuracy. The method of a distributed multiple sensor data fusion is investigated in this research. In this system, each sensor has its own tracking data, besides sensors’ tracking data will communicate mutually and will revise the tracking data of distributed sensors. Moreover, a data association technique is used to solve the mutual coincidence of targets and an adaptive procedure will reduce the tracking error while targets produce suddenly acceleration.
Garimella, Bhavani Jayaweera Sudharman K. "Distributed detection and data fusion in resource constrained wireless sensor networks." Diss., 2005. http://il.proquest.com/products_umi/dissertations.
Повний текст джерела"December 2005." Title from PDF title page (viewed on April 19, 2007). Thesis adviser: Sudharman K. Jayaweera. UMI Number: AAT 1436557 Includes bibliographic references (leaves 39-45).
Garimella, Bhavani. "Distributed detection and data fusion in resource constrained wireless sensor networks." Thesis, 2005. http://hdl.handle.net/10057/740.
Повний текст джерелаThesis (M.S.)--Wichita State University, College of Engineering, Dept. of Electrical Engineering.
"December 2005."
Wu, Bin-shin, and 吳秉勳. "Distributed Extended Kalman Filter-based Multisensor Data Fusion for Mobile robot Systems." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/43000423413934733969.
Повний текст джерела義守大學
機械與自動化工程學系碩士班
94
With prevalence and development of mobile robots, mobile robots have extended their application from industrial manufacturing to home. In recent years, the development of mobile robots attract much attention in various applications. Due to the widespread use of mobile robots, one of the most important requirement is technique position-tracking. With the increasing demand of precise position-tracking, researchers investigated algorithms to increase tracking accuracy. Kalman Filter is the most extensively used algorithm for position-tracking but the accuracy is restricted for some nonlinear cases. This research aims to develop the Distributed Extended Kalman Filter for multisensor data fusion. As the multisensor data were communicated and fused between distributed platforms, the precision of the position-tracking of mobile robots improves accordingly. This work studies use the ranging parameter and measurement errors in sensors using Extended Kalman Filter and Distributed Extended Kalman Filter. Numerical simulations are conducted to investigate the tracking accuracy for various mobile robot systems.
Hsueh, Chin-sheng, and 薛智升. "Distributed TDOA/AOA Location and Data Fusion Methods with NLOS Mitigation in UWB Systems." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/10927576908621977395.
Повний текст джерела國立中山大學
電機工程學系研究所
94
Ultra Wideband (UWB) signal can offer an accurate location service in wireless sensor networks because its high range resolution. Target tracking by multiple sensors can provide better performance, but the centralized algorithms are not suitable for wireless sensor networks. In additional, the non line of sight (NLOS) propagation error leads to severe degradation of the accuracy in location systems. In this thesis, NLOS identification and mitigation technique utilizing modified biased Kalman filter (KF) is proposed to reduce the NLOS time of arrival (TOA) errors in UWB environments. We combine the modified biased Kalman filter with sliding window to identify and mitigate different degree of NLOS errors immediately. In order to deal with the influence of inaccurate NLOS angle of arrival (AOA) measurements, we also had a discussion on AOA selection and fusion methods. In the distributed location structure, we used the extended Information filter (EIF) to process the formulated time difference of arrival (TDOA) and AOA measurements for the target positioning and tracking. Instead of using extended Kalman filter, extended Information filter can assimilate selected AOA easily without dynamic dimensions. The sensors are divided into different groups for distributed TDOA/AOA location to reduce computation and then each group can assimilate information from other groups easily to maintain precise location. The simulation results show that the proposed architecture can mitigate NLOS errors effectively and improve the accuracy of target positioning and tracking from distributed location and data fusion in wireless sensor networks.
Chen, Chien-Wen, and 陳建文. "Distributed TDOA/AOA Wireless Location for Multi-sensor Data Fusion System with Correlated Measurement Noises." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/3dz989.
Повний текст джерела國立中山大學
電機工程學系研究所
95
In multi-sensor data fusion target tracking system, using information filtering can implement distributed location with uncorrelated measurement noises, but the measurement noises of different sensors are often correlated. If measurement noises are correlated, the covariance matrix of measurement noises is not a diagonal matrix. We can not use information filtering to implement distributed location with correlated measurement noises. By using the matrix theory, the covariance matrix of measurement noises can be transformed to a diagonal matrix. The observation models are transformed to new observation models, and the multi-sensor measurements with correlated measurement noises are transformed to equivalent pseudo ones with uncorrelated measurement noises. There are many methods in the matrix theory, we use Cholesky fatorization in this thesis. Cholesky fatorization is from Gaussian elimination, and there are many advantages in the computation process.However, the observation models need to be transformed to new observation models, and the measurement datas for the approach need to be separated and recombined. For measurement datas being separated and recombined, every sensor must communicate with each other. In practice, one sensor does not directly communicate with other sensors except its direct neighbors. By formulating the Cholesky factorization process, we present architectures which are applied in wireless distributed location. Distributed architectures with clustered nodes are proposed to achieve measurement exchange and information sharing for wireless location and target tracking. With limited times of data exchanges between clustered nodes, the correlated noise components in the measurements are transformed into uncorrelated ones through the Cholesky process, and the resultant information can be directly shared and processed by the derived extended information filters at the nodes in the distributed system. Hybrid TDOA/AOA wireless location systems with the NLOS error effects are used as examples in investigating the distributed information architecture. Simulation results show that the proposed distributed information processing and data fusion architecture effectively achieve improved location and tracking accuracy.
Ballal, Prasanna M. "Decision and control in distributed cooperative systems." 2008. http://hdl.handle.net/10106/1053.
Повний текст джерелаRybarczyk, Ryan Thomas. "e-DTS 2.0: A Next-Generation of a Distributed Tracking System." 2012. http://hdl.handle.net/1805/2782.
Повний текст джерелаA key component in tracking is identifying relevant data and combining the data in an effort to provide an accurate estimate of both the location and the orientation of an object marker as it moves through an environment. This thesis proposes an enhancement to an existing tracking system, the enhanced distributed tracking system (e-DTS), in the form of the e-DTS 2.0 and provides an empirical analysis of these enhancements. The thesis also provides suggestions on future enhancements and improvements. When a Camera identifies an object within its frame of view, it communicates with a JINI-based service in an effort to expose this information to any client who wishes to consume it. This aforementioned communication utilizes the JINI Multicast Lookup Protocol to provide the means for a dynamic discovery of any sensors as they are added or removed from the environment during the tracking process. The client can then retrieve this information from the service and perform a fusion technique in an effort to provide an estimation of the marker's current location with respect to a given coordinate system. The coordinate system handoff and transformation is a key component of the e-DTS 2.0 tracking process as it improves the agility of the system.
Phadke, Aboli Manas. "Designing and experimenting with e-DTS 3.0." Thesis, 2014. http://hdl.handle.net/1805/4932.
Повний текст джерелаWith the advances in embedded technology and the omnipresence of smartphones, tracking systems do not need to be confined to a specific tracking environment. By introducing mobile devices into a tracking system, we can leverage their mobility and the availability of multiple sensors such as camera, Wi-Fi, Bluetooth and Inertial sensors. This thesis proposes to improve the existing tracking systems, enhanced Distributed Tracking System (e-DTS 2.0) [19] and enhanced Distributed Object Tracking System (eDOTS)[26], in the form of e-DTS 3.0 and provides an empirical analysis of these improvements. The enhancements proposed are to introduce Android-based mobile devices into the tracking system, to use multiple sensors on the mobile devices such as the camera, the Wi-Fi and Bluetooth sensors and inertial sensors and to utilize possible resources that may be available in the environment to make the tracking opportunistic. This thesis empirically validates the proposed enhancements through the experiments carried out on a prototype of e-DTS 3.0.