Real world application of a low-cost high-performance sensor system for autonomous mobile robots

2002 ◽  
Author(s):  
V.P. Burhanpurkar
Keyword(s):  
Mobile Robots ◽  
Real World ◽  
High Performance ◽  
Low Cost ◽  
Autonomous Mobile Robots ◽  
Sensor System ◽  
Real World Application

scholarly journals Experiences Using Hybrid MPI/OpenMP in the Real World: Parallelization of a 3D CFD Solver for Multi-Core Node Clusters

2010 ◽  
Vol 18 (3-4) ◽  
pp. 127-138 ◽  
Author(s):  
Gabriele Jost ◽  
Bob Robins
Keyword(s):  
Real World ◽  
High Performance ◽  
Programming Model ◽  
Hybrid Approach ◽  
Underwater Vehicles ◽  
Core Node ◽  
Real World Application ◽  
Hardware Platforms ◽  
Control Surfaces ◽  
Performance Computing

Today most systems in high-performance computing (HPC) feature a hierarchical hardware design: shared-memory nodes with several multi-core CPUs are connected via a network infrastructure. When parallelizing an application for these architectures it seems natural to employ a hierarchical programming model such as combining MPI and OpenMP. Nevertheless, there is the general lore that pure MPI outperforms the hybrid MPI/OpenMP approach. In this paper, we describe the hybrid MPI/OpenMP parallelization of IR3D (Incompressible Realistic 3-D) code, a full-scale real-world application, which simulates the environmental effects on the evolution of vortices trailing behind control surfaces of underwater vehicles. We discuss performance, scalability and limitations of the pure MPI version of the code on a variety of hardware platforms and show how the hybrid approach can help to overcome certain limitations.

Pre-Driving Needless System for Autonomous Mobile Robots Navigation in Real World Robot Challenge 2013

2014 ◽  
Vol 26 (2) ◽  
pp. 185-195 ◽  
Author(s):  
Masanobu Saito ◽  
◽  
Kentaro Kiuchi ◽  
Shogo Shimizu ◽  
Takayuki Yokota ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Real World ◽  
Urban Areas ◽  
Human Life ◽  
Dead Reckoning ◽  
Point Clouds ◽  
Autonomous Mobile Robots ◽  
Navigation Systems ◽  
Global Planning ◽  
The Web

This paper describes navigation systems for autonomous mobile robots taking part in the real-world Tsukuba Challenge 2013 robot competition. Tsukuba Challenge 2013 enables any information on the route to be collected beforehand and used on the day of the challenge. At the same time, however, autonomous mobile robots should function appropriately in daily human life even in areas where they have never been before. System thus need not capture pre-driving details. We analyzed traverses in complex urban areas without prior environmental information using light detection and ranging (LIDAR). We also determined robot status, such as its position and orientation using the gauss maps derived from LIDAR without gyro sensors. Dead reckoning was combined with wheel odometry and orientation from above. We corrected 2D robot poses by matching electronics maps from the Web. Because drift inevitably causes errors, slippage and failure, etc., our robot also traced waypoints derived beforehand from the same electronics map, so localization is consistent even if we do not drive through an area ahead of time. Trajectory candidates are generated along global planning routes based on these waypoints and an optimal trajectory is selected. Tsukuba Challenge 2013 required that robots find specified human targets indicated by features released on the Web. To find the target correctly without driving in Tsukuba beforehand, we searched for point cloud clusters similar to specified human targets based on predefined features. These point clouds were then projected on the camera image at the time, and we extracted points of interest such as SURF to apply fast appearance-based mapping (FAB-MAP). This enabled us to find specified targets highly accurately. To demonstrate the feasibility of our system, experiments were conducted over our university route and over that in the Tsukuba Challenge.

scholarly journals Fuzzy Configuration Space for Moving Obstacle Avoidance of Autonomous Mobile Robots

2006 ◽  
Vol 10 (1) ◽  
pp. 26-34
Author(s):  
Jorge Guerra ◽  
◽  
Hajime Nobuhara ◽  
Kaoru Hirota
Keyword(s):  
Mobile Robots ◽  
Configuration Space ◽  
High Performance ◽  
Computational Cost ◽  
Ccd Camera ◽  
Autonomous Mobile Robots ◽  
Reactive Control ◽  
Starting Point ◽  
Planning Algorithm ◽  
Proximity Measures

A fuzzy configuration space description method that provides the path planning solution for autonomous mobile robots in dynamically changing environment is proposed based on a hybrid planning algorithm that combines total solutions and reactive control through fuzzy proximity measures. The system (made with C++) that monitors and controls mobile robots remotely is created using a multithreaded model while taking advantage of high performance OpenGL routines to counter the increase in computational cost generated by this approach. Experiments on a real Lego robot are performed using a personal computer with a 1.5GHz Pentium4 CPU and a CCD camera. The efficiency of the hybrid algorithm and the potential of this approach, as a distributed system, in greatly changing dynamic environments are shown. The system provides a starting point for further development of distributed robotic systems, for application in human support tasks where interaction with nonprecise human behaviors are better mentioned with fuzzy parameters.

scholarly journals Classification of Fetal State through the application of Machine Learning techniques on Cardiotocography records: Towards Real World Application.

2021 ◽  
Author(s):  
Andrew M V Dadario ◽  
Christian Espinoza ◽  
Wellington Araujo Nogueira
Keyword(s):  
Machine Learning ◽  
Real World ◽  
Cross Validation ◽  
Low Cost ◽  
Gaussian Process Regression ◽  
Machine Learning Techniques ◽  
Real World Application ◽  
Learning Techniques ◽  
Qualified Personnel

Objective Anticipating fetal risk is a major factor in reducing child and maternal mortality and suffering. In this context cardiotocography (CTG) is a low cost, well established procedure that has been around for decades, despite lacking consensus regarding its impact on outcomes. Machine learning emerged as an option for automatic classification of CTG records, as previous studies showed expert level results, but often came at the price of reduced generalization potential. With that in mind, the present study sought to improve statistical rigor of evaluation towards real world application. Materials and Methods In this study, a dataset of 2126 CTG recordings labeled as normal, suspect or pathological by the consensus of three expert obstetricians was used to create a baseline random forest model. This was followed by creating a lightgbm model tuned using gaussian process regression and post processed using cross validation ensembling. Performance was assessed using the area under the precision-recall curve (AUPRC) metric over 100 experiment executions, each using a testing set comprised of 30% of data stratified by the class label. Results The best model was a cross validation ensemble of lightgbm models that yielded 95.82% AUPRC. Conclusions The model is shown to produce consistent expert level performance at a less than negligible cost. At an estimated 0.78 USD per million predictions the model can generate value in settings with CTG qualified personnel and all the more in their absence.

scholarly journals A Redundant Configuration of Four Low-Cost GNSS-RTK Receivers for Reliable Estimation of Vehicular Position and Posture

Sensors ◽  
2021 ◽  
Vol 21 (17) ◽  
pp. 5853
Author(s):  
Jesús Morales ◽  
Jorge L. Martínez ◽  
Alfonso J. García-Cerezo
Keyword(s):  
Operating System ◽  
Real Time ◽  
Reference System ◽  
High Performance ◽  
Low Cost ◽  
Sensor System ◽  
Dynamic Tests ◽  
Irregular Terrain ◽  
Reliable Estimation ◽  
Accurate Position

This paper proposes a low-cost sensor system composed of four GNSS-RTK receivers to obtain accurate position and posture estimations for a vehicle in real-time. The four antennas of the receivers are placed so that every three-antennas combination is optimal to get the most precise 3D coordinates with respect to a global reference system. The redundancy provided by the fourth receiver allows to improve estimations even more and to maintain accuracy when one of the receivers fails. A mini computer with the Robotic Operating System is responsible for merging all the available measurements reliably. Successful experiments have been carried out with a ground rover on irregular terrain. Angular estimates similar to those of a high-performance IMU have been achieved in dynamic tests.

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