scholarly journals A Methodology for Design and Analysis of Sensor Fusion with Real Data in UAV Platforms

Author(s):  
Jesús García ◽  
Jose Manuel Molina ◽  
Jorge Trincado

This paper presents a methodology to design sensor fusion parameters using real performance indicators of navigation in UAVs based on PixHawk flight controller and peripherals. This methodology and the selected performance indicators allows to find the best parameters for the fusion system of a determined configuration of sensors and a predefined real mission. The selected real platform is described with stress on available sensors and data processing software, and the experimental methodology is proposed to characterize sensor data fusion output and determine the best choice of parameters using quality measurements of tracking output with performance metrics not requiring ground truth.

2020 ◽  
Vol 41 (Supplement_2) ◽  
Author(s):  
S Mehta ◽  
J Avila ◽  
S Niklitschek ◽  
F Fernandez ◽  
C Villagran ◽  
...  

Abstract Background As EKG interpretation paradigms to a physician-free milieu, accumulating massive quantities of distilled pre-processed data becomes a must for machine learning techniques. In our pursuit of reducing ischemic times in STEMI management, we have improved our Artificial Intelligence (AI)-guided diagnostic tool by following a three-step approach: 1) Increase accuracy by adding larger clusters of data. 2) Increase the breadth of EKG classifications to provide more precise feedback and further refine the inputs which ultimately reflects in better and more accurate outputs. 3) Improving the algorithms' ability to discern between cardiovascular entities reflected in the EKG records. Purpose To bolster our algorithm's accuracy and reliability for electrocardiographic STEMI recognition. Methods Dataset: A total of 7,286 12-lead EKG records of 10-seconds length with a sampling frequency of 500 Hz obtained from Latin America Telemedicine Infarct Network from April 2014 to December 2019. This included the following balanced classes: angiographically confirmed STEMI, branch blocks, non-specific ST-T abnormalities, normal, and abnormal (200+ CPT codes, excluding the ones included in other classes). Labels of each record were manually checked by cardiologists to ensure precision (Ground truth). Pre-processing: First and last 250 samples were discarded to avoid a standardization pulse. Order 5 digital low pass filters with a 35 Hz cut-off was applied. For each record, the mean was subtracted to each individual lead. Classification: Determined classes were “STEMI” and “Not-STEMI” (A combination of randomly sampled normal, branch blocks, non-specific ST-T abnormalities and abnormal records – 25% of each subclass). Training & Testing: A 1-D Convolutional Neural Network was trained and tested with a dataset proportion of 90/10, respectively. The last dense layer outputs a probability for each record of being STEMI or Not-STEMI. Additional testing was performed with a subset of the original complete dataset of unconfirmed STEMI. Performance indicators (accuracy, sensitivity, and specificity) were calculated for each model and results were compared with our previous findings from past experiments. Results Complete STEMI data: Accuracy: 95.9% Sensitivity: 95.7% Specificity: 96.5%; Confirmed STEMI: Accuracy: 98.1% Sensitivity: 98.1% Specificity: 98.1%; Prior Data obtained in our previous experiments are shown below for comparison. Conclusion(s) After the addition of clustered pre-processed data, all performance indicators for STEMI detection increased considerably between both Confirmed STEMI datasets. On the other hand, the Complete STEMI dataset kept a strong and steady set of performance metrics when compared with past results. These findings not only validate the consistency and reliability of our algorithm but also connotes the importance of creating a pristine dataset for this and any other AI-derived medical tools. Funding Acknowledgement Type of funding source: None


2021 ◽  
Vol 22 (1) ◽  
Author(s):  
João Lobo ◽  
Rui Henriques ◽  
Sara C. Madeira

Abstract Background Three-way data started to gain popularity due to their increasing capacity to describe inherently multivariate and temporal events, such as biological responses, social interactions along time, urban dynamics, or complex geophysical phenomena. Triclustering, subspace clustering of three-way data, enables the discovery of patterns corresponding to data subspaces (triclusters) with values correlated across the three dimensions (observations $$\times$$ × features $$\times$$ × contexts). With increasing number of algorithms being proposed, effectively comparing them with state-of-the-art algorithms is paramount. These comparisons are usually performed using real data, without a known ground-truth, thus limiting the assessments. In this context, we propose a synthetic data generator, G-Tric, allowing the creation of synthetic datasets with configurable properties and the possibility to plant triclusters. The generator is prepared to create datasets resembling real 3-way data from biomedical and social data domains, with the additional advantage of further providing the ground truth (triclustering solution) as output. Results G-Tric can replicate real-world datasets and create new ones that match researchers needs across several properties, including data type (numeric or symbolic), dimensions, and background distribution. Users can tune the patterns and structure that characterize the planted triclusters (subspaces) and how they interact (overlapping). Data quality can also be controlled, by defining the amount of missing, noise or errors. Furthermore, a benchmark of datasets resembling real data is made available, together with the corresponding triclustering solutions (planted triclusters) and generating parameters. Conclusions Triclustering evaluation using G-Tric provides the possibility to combine both intrinsic and extrinsic metrics to compare solutions that produce more reliable analyses. A set of predefined datasets, mimicking widely used three-way data and exploring crucial properties was generated and made available, highlighting G-Tric’s potential to advance triclustering state-of-the-art by easing the process of evaluating the quality of new triclustering approaches.


2021 ◽  
Vol 4 (1) ◽  
pp. 3
Author(s):  
Parag Narkhede ◽  
Rahee Walambe ◽  
Shruti Mandaokar ◽  
Pulkit Chandel ◽  
Ketan Kotecha ◽  
...  

With the rapid industrialization and technological advancements, innovative engineering technologies which are cost effective, faster and easier to implement are essential. One such area of concern is the rising number of accidents happening due to gas leaks at coal mines, chemical industries, home appliances etc. In this paper we propose a novel approach to detect and identify the gaseous emissions using the multimodal AI fusion techniques. Most of the gases and their fumes are colorless, odorless, and tasteless, thereby challenging our normal human senses. Sensing based on a single sensor may not be accurate, and sensor fusion is essential for robust and reliable detection in several real-world applications. We manually collected 6400 gas samples (1600 samples per class for four classes) using two specific sensors: the 7-semiconductor gas sensors array, and a thermal camera. The early fusion method of multimodal AI, is applied The network architecture consists of a feature extraction module for individual modality, which is then fused using a merged layer followed by a dense layer, which provides a single output for identifying the gas. We obtained the testing accuracy of 96% (for fused model) as opposed to individual model accuracies of 82% (based on Gas Sensor data using LSTM) and 93% (based on thermal images data using CNN model). Results demonstrate that the fusion of multiple sensors and modalities outperforms the outcome of a single sensor.


Author(s):  
Wei Sun ◽  
Ethan Stoop ◽  
Scott S. Washburn

Florida’s interstate rest areas are heavily utilized by commercial trucks for overnight parking. Many of these rest areas regularly experience 100% utilization of available commercial truck parking spaces during the evening and early-morning hours. Being able to communicate availability of commercial truck parking space to drivers in advance of arriving at a rest area would reduce unnecessary stops at full rest areas as well as driver anxiety. In order to do this, it is critical to implement a vehicle detection technology to reflect the parking status of the rest area correctly. The objective of this project was to evaluate three different wireless in-pavement vehicle detection technologies as applied to commercial truck parking at interstate rest areas. This paper mainly focuses on the following aspects: (a) accuracy of the vehicle detection in parking spaces, (b) installation, setup, and maintenance of the vehicle detection technology, and (c) truck parking trends at the rest area study site. The final project report includes a more detailed summary of the evaluation. The research team recorded video of the rest areas as the ground-truth data and developed a software tool to compare the video data with the parking sensor data. Two accuracy tests (event accuracy and occupancy accuracy) were conducted to evaluate each sensor’s ability to reflect the status of each parking space correctly. Overall, it was found that all three technologies performed well, with accuracy rates of 95% or better for both tests. This result suggests that, for implementation, pricing, and/or maintenance issues may be more significant factors for the choice of technology.


2014 ◽  
Vol 607 ◽  
pp. 791-794 ◽  
Author(s):  
Wei Kang Tey ◽  
Che Fai Yeong ◽  
Yip Loon Seow ◽  
Eileen Lee Ming Su ◽  
Swee Ho Tang

Omnidirectional mobile robot has gained popularity among researchers. However, omnidirectional mobile robot is rarely been applied in industry field especially in the factory which is relatively more dynamic than normal research setting condition. Hence, it is very important to have a stable yet reliable feedback system to allow a more efficient and better performance controller on the robot. In order to ensure the reliability of the robot, many of the researchers use high cost solution in the feedback of the robot. For example, there are researchers use global camera as feedback. This solution has increases the cost of the robot setup fee to a relatively high amount. The setup system is also hard to modify and lack of flexibility. In this paper, a novel sensor fusion technique is proposed and the result is discussed.


2018 ◽  
Vol 7 (2.26) ◽  
pp. 25
Author(s):  
E Ramya ◽  
R Gobinath

Data mining plays an important role in analysis of data in modern sensor networks. A sensor network is greatly constrained by the various challenges facing a modern Wireless Sensor Network. This survey paper focuses on basic idea about the algorithms and measurements taken by the Researchers in the area of Wireless Sensor Network with Health Care. This survey also catego-ries various constraints in Wireless Body Area Sensor Networks data and finds the best suitable techniques for analysing the Sensor Data. Due to resource constraints and dynamic topology, the quality of service is facing a challenging issue in Wireless Sensor Networks. In this paper, we review the quality of service parameters with respect to protocols, algorithms and Simulations. 


Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 4029 ◽  
Author(s):  
Jiaxuan Wu ◽  
Yunfei Feng ◽  
Peng Sun

Activity of daily living (ADL) is a significant predictor of the independence and functional capabilities of an individual. Measurements of ADLs help to indicate one’s health status and capabilities of quality living. Recently, the most common ways to capture ADL data are far from automation, including a costly 24/7 observation by a designated caregiver, self-reporting by the user laboriously, or filling out a written ADL survey. Fortunately, ubiquitous sensors exist in our surroundings and on electronic devices in the Internet of Things (IoT) era. We proposed the ADL Recognition System that utilizes the sensor data from a single point of contact, such as smartphones, and conducts time-series sensor fusion processing. Raw data is collected from the ADL Recorder App constantly running on a user’s smartphone with multiple embedded sensors, including the microphone, Wi-Fi scan module, heading orientation of the device, light proximity, step detector, accelerometer, gyroscope, magnetometer, etc. Key technologies in this research cover audio processing, Wi-Fi indoor positioning, proximity sensing localization, and time-series sensor data fusion. By merging the information of multiple sensors, with a time-series error correction technique, the ADL Recognition System is able to accurately profile a person’s ADLs and discover his life patterns. This paper is particularly concerned with the care for the older adults who live independently.


2020 ◽  
Author(s):  
Yoonjee Kang ◽  
Denis Thieffry ◽  
Laura Cantini

AbstractNetworks are powerful tools to represent and investigate biological systems. The development of algorithms inferring regulatory interactions from functional genomics data has been an active area of research. With the advent of single-cell RNA-seq data (scRNA-seq), numerous methods specifically designed to take advantage of single-cell datasets have been proposed. However, published benchmarks on single-cell network inference are mostly based on simulated data. Once applied to real data, these benchmarks take into account only a small set of genes and only compare the inferred networks with an imposed ground-truth.Here, we benchmark four single-cell network inference methods based on their reproducibility, i.e. their ability to infer similar networks when applied to two independent datasets for the same biological condition. We tested each of these methods on real data from three biological conditions: human retina, T-cells in colorectal cancer, and human hematopoiesis.GENIE3 results to be the most reproducible algorithm, independently from the single-cell sequencing platform, the cell type annotation system, the number of cells constituting the dataset, or the thresholding applied to the links of the inferred networks. In order to ensure the reproducibility and ease extensions of this benchmark study, we implemented all the analyses in scNET, a Jupyter notebook available at https://github.com/ComputationalSystemsBiology/scNET.


2021 ◽  
Vol 2 ◽  
Author(s):  
Mysore Narasimhamurthy Sharath ◽  
Babak Mehran

The article presents a review of recent literature on the performance metrics of Automated Driving Systems (ADS). More specifically, performance indicators of environment perception and motion planning modules are reviewed as they are the most complicated ADS modules. The need for the incorporation of the level of threat an obstacle poses in the performance metrics is described. A methodology to quantify the level of threat of an obstacle is presented in this regard. The approach involves simultaneously considering multiple stimulus parameters (that elicit responses from drivers), thereby not ignoring multivariate interactions. Human-likeness of ADS is a desirable characteristic as ADS share road infrastructure with humans. The described method can be used to develop human-like perception and motion planning modules of ADS. In this regard, performance metrics capable of quantifying human-likeness of ADS are also presented. A comparison of different performance metrics is then summarized. ADS operators have an obligation to report any incident (crash/disengagement) to safety regulating authorities. However, precrash events/states are not being reported. The need for the collection of the precrash scenario is described. A desirable modification to the data reporting/collecting is suggested as a framework. The framework describes the precrash sequences to be reported along with the possible ways of utilizing such a valuable dataset (by the safety regulating authorities) to comprehensively assess (and consequently improve) the safety of ADS. The framework proposes to collect and maintain a repository of precrash sequences. Such a repository can be used to 1) comprehensively learn and model the precrash scenarios, 2) learn the characteristics of precrash scenarios and eventually anticipate them, 3) assess the appropriateness of the different performance metrics in precrash scenarios, 4) synthesize a diverse dataset of precrash scenarios, 5) identify the ideal configuration of sensors and algorithms to enhance safety, and 6) monitor the performance of perception and motion planning modules.


2020 ◽  
Vol 1 ◽  
pp. 1-15
Author(s):  
Rodrique Kafando ◽  
Rémy Decoupes ◽  
Lucile Sautot ◽  
Maguelonne Teisseire

Abstract. In this paper, we propose a methodology for designing data lake dedicated to Spatial Data and an implementation of this specific framework. Inspired from previous proposals on general data lake Design and based on the Geographic information – Metadata normalization (ISO 19115), the contribution presented in this paper integrates, with the same philosophy, the spatial and thematic dimensions of heterogeneous data (remote sensing images, textual documents and sensor data, etc). To support our proposal, the process has been implemented in a real data project in collaboration with Montpellier Métropole Méditerranée (3M), a metropolis in the South of France. This framework offers a uniform management of the spatial and thematic information embedded in the elements of the data lake.


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