scholarly journals Estimation of camera-space manipulation parameters by means of an extended Kalman filter: Applications to parallel robots

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141984298
Author(s):  
Alejandro González ◽  
Emilio J Gonzalez-Galvan ◽  
Mauro Maya ◽  
Antonio Cardenas ◽  
Davide Piovesan
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
High Speed ◽  
Computational Cost ◽  
Time Estimation ◽  
Industrial Applications ◽  
Parallel Robots ◽  
Filter Method ◽  
Open Problems ◽  
Wide Range

Parallel robots have a growing range of applications due to their appealing characteristics (high speed and acceleration, increased rigidity, etc.). However, several open problems make it difficult to model and control them. Low computational-cost algorithms are needed for high speed tasks where high accelerations are required. This article develops the nonlinear camera-space manipulation method and makes use of an extended Kalman filter (EKF) for the estimation of the camera-space manipulation parameters. This is presented as an alternative to the traditional method which can be time consuming while reaching convergence. The proposed camera-space manipulation parameter identification was performed in positioning tasks for a parallel manipulator and the experimental results are reported. Results show that it is possible to estimate the set of camera-space manipulation parameters by means of an extended Kalman filter. Using the proposed Kalman filter method we observed a significant reduction of the computational effort when estimating the camera-space manipulation parameters. However, there was no significant reduction of the robot’s positioning error. The proposed extended Kalman filter implementation requires only 2 ms to update the camera-space manipulation parameters compared to the 85 ms required by the traditional camera-space manipulation algorithm. Such time reduction is beneficial for the implementation of the method for a wide range of high speed and industrial applications. This article presents a novel use of an extended Kalman filter for the real-time estimation of the camera-space manipulation parameters and shows that it can be used to increase the positioning accuracy of a parallel robot.

scholarly journals Performance evaluation of GPS / BDS combined single-point positioning based on RTKLIB

2020 ◽  
Vol 165 ◽  
pp. 03009
Author(s):  
Li Yan-yi ◽  
Huang Jin ◽  
Tang Ming-xiu
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Single Point ◽  
Least Square Method ◽  
Least Square ◽  
Filter Method ◽  
Single System ◽  
Positioning Error ◽  
Dual Mode ◽  
Kalman Filter Method

In order to evaluate the performance of GPS / BDS, RTKLIB, an open-source software of GNSS, is used in this paper. In this paper, the least square method, the weighted least square method and the extended Kalman filter method are respectively applied to BDS / GPS single system for data solution. Then, the BDS system and GPS system are used for fusion positioning and the positioning results of the two systems are compared with that of the single system. Through the comparison of experiments, on the premise of using the extended Kalman filter method for positioning, when the GPS signal is not good, BDS data is introduced for dual-mode positioning, the positioning error in e direction is reduced by 36.97%, the positioning error in U direction is reduced by 22.95%, and the spatial positioning error is reduced by 16.01%, which further reflects the advantages of dual-mode positioning in improving a system robustness and reducing the error.

scholarly journals The Design and Implementation of an Inertial GNSS Odometer Integrated Navigation System Based on a Federated Kalman Filter for High-Speed Railway Track Inspection

2021 ◽  
Vol 11 (11) ◽  
pp. 5244
Author(s):  
Xinchun Zhang ◽  
Ximin Cui ◽  
Bo Huang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
High Speed ◽  
Measurement Accuracy ◽  
Railway Track ◽  
Filter Method ◽  
Integrated Navigation ◽  
High Speed Railway ◽  
Track Geometry ◽  
Integrated Navigation System

The detection of track geometry parameters is essential for the safety of high-speed railway operation. To improve the accuracy and efficiency of the state detector of track geometry parameters, in this study we propose an inertial GNSS odometer integrated navigation system based on the federated Kalman, and a corresponding inertial track measurement system was also developed. This paper systematically introduces the construction process for the Kalman filter and data smoothing algorithm based on forward filtering and reverse smoothing. The engineering results show that the measurement accuracy of the track geometry parameters was better than 0.2 mm, and the detection speed was about 3 km/h. Thus, compared with the traditional Kalman filter method, the proposed design improved the measurement accuracy and met the requirements for the detection of geometric parameters of high-speed railway tracks.

Examining Swarm Intelligence-based Feature Selection for Multi-Label Classification

2021 ◽  
Vol 2 (2) ◽  
Author(s):  
Awder Mohammed Ahmed ◽  
◽  
Adnan Mohsin Abdulazeez ◽  
Keyword(s):  
Feature Selection ◽  
Swarm Intelligence ◽  
Real World ◽  
Computational Cost ◽  
Computing Methods ◽  
Open Problems ◽  
Label Data ◽  
Filter Methods ◽  
Wide Range ◽  
Classification Tasks

Multi-label classification addresses the issues that more than one class label assigns to each instance. Many real-world multi-label classification tasks are high-dimensional due to digital technologies, leading to reduced performance of traditional multi-label classifiers. Feature selection is a common and successful approach to tackling this problem by retaining relevant features and eliminating redundant ones to reduce dimensionality. There is several feature selection that is successfully applied in multi-label learning. Most of those features are wrapper methods that employ a multi-label classifier in their processes. They run a classifier in each step, which requires a high computational cost, and thus they suffer from scalability issues. Filter methods are introduced to evaluate the feature subsets using information-theoretic mechanisms instead of running classifiers to deal with this issue. Most of the existing researches and review papers dealing with feature selection in single-label data. While, recently multi-label classification has a wide range of real-world applications such as image classification, emotion analysis, text mining, and bioinformatics. Moreover, researchers have recently focused on applying swarm intelligence methods in selecting prominent features of multi-label data. To the best of our knowledge, there is no review paper that reviews swarm intelligence-based methods for multi-label feature selection. Thus, in this paper, we provide a comprehensive review of different swarm intelligence and evolutionary computing methods of feature selection presented for multi-label classification tasks. To this end, in this review, we have investigated most of the well-known and state-of-the-art methods and categorize them based on different perspectives. We then provided the main characteristics of the existing multi-label feature selection techniques and compared them analytically. We also introduce benchmarks, evaluation measures, and standard datasets to facilitate research in this field. Moreover, we performed some experiments to compare existing works, and at the end of this survey, some challenges, issues, and open problems of this field are introduced to be considered by researchers in the future.

Nonlinear Kalman Filtering With Expensive Forward Models Via Measure Change

2019 ◽  
Vol 142 (2) ◽  
Author(s):  
Brian J. Burrows ◽  
Douglas Allaire
Keyword(s):  
Kalman Filter ◽  
Kalman Filtering ◽  
High Speed ◽  
Unscented Kalman Filter ◽  
Computational Cost ◽  
Test Problems ◽  
Model Approximation ◽  
Forward Models ◽  
Estimation Scheme ◽  
Increase In Accuracy

Abstract Filtering is a subset of a more general probabilistic estimation scheme for estimating the unobserved parameters from the observed measurements. For nonlinear, high speed applications, the extended Kalman filter (EKF) and the unscented Kalman filter (UKF) are common estimators; however, expensive and strongly nonlinear forward models remain a challenge. In this paper, a novel Kalman filtering algorithm for nonlinear systems is developed, where the numerical approximation is achieved via a change of measure. The accuracy is identical in the linear case and superior in two nonlinear test problems: a challenging 1D benchmarking problem and a 4D structural health monitoring problem. This increase in accuracy is achieved without the need for tuning parameters, rather relying on a more complete approximation of the underlying distributions than the Unscented Transform. In addition, when expensive forward models are used, we achieve a significant reduction in computational cost without resorting to model approximation.

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