M-Estimator Application in Real-Time Sensor Fusion for Smooth Position Feedback of Heavy-Duty Field Robots

Author(s):  
Henri Liikanen ◽  
Mohammad M. Aref ◽  
Jouni Mattila
2021 ◽  
Vol 21 (2) ◽  
pp. 2241-2255 ◽  
Author(s):  
Tzuu-Hseng S. Li ◽  
Ping-Huan Kuo ◽  
Chuan-Han Cheng ◽  
Chia-Ching Hung ◽  
Po-Chien Luan ◽  
...  

2012 ◽  
Vol 463-464 ◽  
pp. 1277-1280 ◽  
Author(s):  
Constantin Bucşan ◽  
Mihai Avram

This paper presents a method for increasing the speed and the positioning accuracy of the positioning systems with mechanical position feedback. The method consists in using a position transducer for real time determination of the position of the load and correcting this position using an adequate algorithm. It is preferable not to modify the construction of the positioning unit, allowing the user to decide when to use this correction method according to the practical application. An interesting solution to this problem is to use an external space-position finding sensing system, as presented in the paper.


2021 ◽  
Vol 9 ◽  
Author(s):  
Sharnil Pandya ◽  
Anirban Sur ◽  
Nitin Solke

The presented deep learning and sensor-fusion based assistive technology (Smart Facemask and Thermal scanning kiosk) will protect the individual using auto face-mask detection and auto thermal scanning to detect the current body temperature. Furthermore, the presented system also facilitates a variety of notifications, such as an alarm, if an individual is not wearing a mask and detects thermal temperature beyond the standard body temperature threshold, such as 98.6°F (37°C). Design/methodology/approach—The presented deep Learning and sensor-fusion-based approach can also detect an individual in with or without mask situations and provide appropriate notification to the security personnel by raising the alarm. Moreover, the smart tunnel is also equipped with a thermal sensing unit embedded with a camera, which can detect the real-time body temperature of an individual concerning the prescribed body temperature limits as prescribed by WHO reports. Findings—The investigation results validate the performance evaluation of the presented smart face-mask and thermal scanning mechanism. The presented system can also detect an outsider entering the building with or without mask condition and be aware of the security control room by raising appropriate alarms. Furthermore, the presented smart epidemic tunnel is embedded with an intelligent algorithm that can perform real-time thermal scanning of an individual and store essential information in a cloud platform, such as Google firebase. Thus, the proposed system favors society by saving time and helps in lowering the spread of coronavirus.


Agriculture ◽  
2021 ◽  
Vol 11 (10) ◽  
pp. 954
Author(s):  
Abhijeet Ravankar ◽  
Ankit A. Ravankar ◽  
Arpit Rawankar ◽  
Yohei Hoshino

In recent years, autonomous robots have extensively been used to automate several vineyard tasks. Autonomous navigation is an indispensable component of such field robots. Autonomous and safe navigation has been well studied in indoor environments and many algorithms have been proposed. However, unlike structured indoor environments, vineyards pose special challenges for robot navigation. Particularly, safe robot navigation is crucial to avoid damaging the grapes. In this regard, we propose an algorithm that enables autonomous and safe robot navigation in vineyards. The proposed algorithm relies on data from a Lidar sensor and does not require a GPS. In addition, the proposed algorithm can avoid dynamic obstacles in the vineyard while smoothing the robot’s trajectories. The curvature of the trajectories can be controlled, keeping a safe distance from both the crop and the dynamic obstacles. We have tested the algorithm in both a simulation and with robots in an actual vineyard. The results show that the robot can safely navigate the lanes of the vineyard and smoothly avoid dynamic obstacles such as moving people without abruptly stopping or executing sharp turns. The algorithm performs in real-time and can easily be integrated into robots deployed in vineyards.


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