scholarly journals Development and Grasp Stability Estimation of Sensorized Soft Robotic Hand

2021 ◽  
Vol 8 ◽  
Author(s):  
P. M. Khin ◽  
Jin H. Low ◽  
Marcelo H. Ang ◽  
Chen H. Yeow
Keyword(s):  
State Estimation ◽  
Dynamic Change ◽  
Training Data ◽  
Estimation Accuracy ◽  
Robotic Hand ◽  
Stability Estimation ◽  
Pneumatic Pressure ◽  
Grasp Stability ◽  
Lstm Network ◽  
The Given

This paper introduces the development of an anthropomorphic soft robotic hand integrated with multiple flexible force sensors in the fingers. By leveraging on the integrated force sensing mechanism, grip state estimation networks have been developed. The robotic hand was tasked to hold the given object on the table for 1.5 s and lift it up within 1 s. The object manipulation experiment of grasping and lifting the given objects were conducted with various pneumatic pressure (50, 80, and 120 kPa). Learning networks were developed to estimate occurrence of object instability and slippage due to acceleration of the robot or insufficient grasp strength. Hence the grip state estimation network can potentially feedback object stability status to the pneumatic control system. This would allow the pneumatic system to use suitable pneumatic pressure to efficiently handle different objects, i.e., lower pneumatic pressure (50 kPa) for lightweight objects which do not require high grasping strength. The learning process of the soft hand is made challenging by curating a diverse selection of daily objects, some of which displays dynamic change in shape upon grasping. To address the cost of collecting extensive training datasets, we adopted one-shot learning (OSL) technique with a long short-term memory (LSTM) recurrent neural network. OSL aims to allow the networks to learn based on limited training data. It also promotes the scalability of the network to accommodate more grasping objects in the future. Three types of LSTM-based networks have been developed and their performance has been evaluated in this study. Among the three LSTM networks, triplet network achieved overall stability estimation accuracy at 89.96%, followed by LSTM network with 88.00% and Siamese LSTM network with 85.16%.

State Estimation Based on Generalized Gaussian Distributions

2013 ◽  
Vol 20 (1) ◽  
pp. 65-76 ◽  
Author(s):  
Xifeng Li ◽  
Yongle Xie
Keyword(s):  
State Estimation ◽  
Particle Filtering ◽  
Computational Cost ◽  
Estimation Accuracy ◽  
Statistical Characterization ◽  
Gaussian Distributions ◽  
Powerful Approach ◽  
Generalized Gaussian Distributions ◽  
Novel Strategy ◽  
The Given

Abstract This paper presents a novel strategy of particle filtering for state estimation based on Generalized Gaussian distributions (GGDs). The proposed strategy is implemented with the Gaussian particle pilter (GPF), which has been proved to be a powerful approach for state estimation of nonlinear systems with high accuracy and low computational cost. In our investigations, the distribution which gives the complete statistical characterization of the given data is obtained by exponent parameter estimation for GGDs, which has been solved by many methods. Based on GGDs, an extension of GPF is proposed and the simulation results show that the extension of GPF has higher estimation accuracy and nearly equal computational cost compared with the GPF which is based on Gaussian distribution assumption.

scholarly journals Multilayer Soil Moisture Mapping at a Regional Scale from Multisource Data via a Machine Learning Method

2019 ◽  
Vol 11 (3) ◽  
pp. 284 ◽  
Author(s):  
Linglin Zeng ◽  
Shun Hu ◽  
Daxiang Xiang ◽  
Xiang Zhang ◽  
Deren Li ◽  
...  
Keyword(s):  
Machine Learning ◽  
Soil Moisture ◽  
Regional Scale ◽  
Remotely Sensed ◽  
Temporal Variations ◽  
Training Data ◽  
Estimation Accuracy ◽  
Learning Approaches ◽  
Remotely Sensed Data ◽  
Deep Soil

Soil moisture mapping at a regional scale is commonplace since these data are required in many applications, such as hydrological and agricultural analyses. The use of remotely sensed data for the estimation of deep soil moisture at a regional scale has received far less emphasis. The objective of this study was to map the 500-m, 8-day average and daily soil moisture at different soil depths in Oklahoma from remotely sensed and ground-measured data using the random forest (RF) method, which is one of the machine-learning approaches. In order to investigate the estimation accuracy of the RF method at both a spatial and a temporal scale, two independent soil moisture estimation experiments were conducted using data from 2010 to 2014: a year-to-year experiment (with a root mean square error (RMSE) ranging from 0.038 to 0.050 m3/m3) and a station-to-station experiment (with an RMSE ranging from 0.044 to 0.057 m3/m3). Then, the data requirements, importance factors, and spatial and temporal variations in estimation accuracy were discussed based on the results using the training data selected by iterated random sampling. The highly accurate estimations of both the surface and the deep soil moisture for the study area reveal the potential of RF methods when mapping soil moisture at a regional scale, especially when considering the high heterogeneity of land-cover types and topography in the study area.

A Strong Tracking Cubature Kalman Filter for Nonlinear Estimation

2013 ◽  
Vol 313-314 ◽  
pp. 1115-1119
Author(s):  
Yong Qi Wang ◽  
Feng Yang ◽  
Yan Liang ◽  
Quan Pan
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Scaling Factor ◽  
Estimation Accuracy ◽  
Nonlinear State Estimation ◽  
Cubature Kalman Filter ◽  
Novel Method ◽  
Simulation Results ◽  
Tracking Filter ◽  
Nonlinear State

In this paper, a novel method based on cubature Kalman filter (CKF) and strong tracking filter (STF) has been proposed for nonlinear state estimation problem. The proposed method is named as strong tracking cubature Kalman filter (STCKF). In the STCKF, a scaling factor derived from STF is added and it can be tuned online to adjust the filtering gain accordingly. Simulation results indicate STCKF outperforms over EKF and CKF in state estimation accuracy.

scholarly journals Contactless analysis of heart rate variability during cold pressor test using radar interferometry and bidirectional LSTM networks

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Kilin Shi ◽  
Tobias Steigleder ◽  
Sven Schellenberger ◽  
Fabian Michler ◽  
Anke Malessa ◽  
...  
Keyword(s):  
Heart Rate ◽  
Heart Rate Variability ◽  
Dynamic Change ◽  
Cold Pressor Test ◽  
Cold Pressor ◽  
Contactless Measurement ◽  
Pressor Test ◽  
Skin Contact ◽  
Bidirectional Lstm ◽  
Lstm Network

AbstractContactless measurement of heart rate variability (HRV), which reflects changes of the autonomic nervous system (ANS) and provides crucial information on the health status of a person, would provide great benefits for both patients and doctors during prevention and aftercare. However, gold standard devices to record the HRV, such as the electrocardiograph, have the common disadvantage that they need permanent skin contact with the patient. Being connected to a monitoring device by cable reduces the mobility, comfort, and compliance by patients. Here, we present a contactless approach using a 24 GHz Six-Port-based radar system and an LSTM network for radar heart sound segmentation. The best scores are obtained using a two-layer bidirectional LSTM architecture. To verify the performance of the proposed system not only in a static measurement scenario but also during a dynamic change of HRV parameters, a stimulation of the ANS through a cold pressor test is integrated in the study design. A total of 638 minutes of data is gathered from 25 test subjects and is analysed extensively. High F-scores of over 95% are achieved for heartbeat detection. HRV indices such as HF norm are extracted with relative errors around 5%. Our proposed approach is capable to perform contactless and convenient HRV monitoring and is therefore suitable for long-term recordings in clinical environments and home-care scenarios.

scholarly journals A Novel Comprehensive Scheme for Vehicle State Estimation Using Dual Extended H-Infinity Kalman Filter

Electronics ◽  
2021 ◽  
Vol 10 (13) ◽  
pp. 1526
Author(s):  
Fengjiao Zhang ◽  
Yan Wang ◽  
Jingyu Hu ◽  
Guodong Yin ◽  
Song Chen ◽  
...  
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Estimation Accuracy ◽  
Vehicle Speed ◽  
Sideslip Angle ◽  
H Infinity ◽  
Yaw Rate ◽  
Cost Constraints ◽  
Active Safety Systems ◽  
Vehicle State Estimation

The performance of vehicle active safety systems relies on accurate vehicle state information. Estimation of vehicle state based on onboard sensors has been popular in research due to technical and cost constraints. Although many experts and scholars have made a lot of research efforts for vehicle state estimation, studies that simultaneously consider the effects of noise uncertainty and model parameter perturbation have rarely been reported. In this paper, a comprehensive scheme using dual Extended H-infinity Kalman Filter (EH∞KF) is proposed to estimate vehicle speed, yaw rate, and sideslip angle. A three-degree-of-freedom vehicle dynamics model is first established. Based on the model, the first EH∞KF estimator is used to identify the mass of the vehicle. Simultaneously, the second EH∞KF estimator uses the result of the first estimator to predict the vehicle speed, yaw rate, and sideslip angle. Finally, simulation tests are carried out to demonstrate the effectiveness of the proposed method. The test results indicate that the proposed method has higher estimation accuracy than the extended Kalman filter.

scholarly journals Three State Estimation Fusion Methods Based on the Characteristic Function Filtering

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1440
Author(s):  
Yiran Yuan ◽  
Chenglin Wen ◽  
Yiting Qiu ◽  
Xiaohui Sun
Keyword(s):  
Characteristic Function ◽  
State Estimation ◽  
Packet Loss ◽  
Estimation Accuracy ◽  
Measurement Systems ◽  
Fusion Methods ◽  
Estimation Fusion ◽  
Parallel Filter ◽  
Sequential Filter ◽  
Better Than

There are three state estimation fusion methods for a class of strong nonlinear measurement systems, based on the characteristic function filter, namely the centralized filter, parallel filter, and sequential filter. Under ideal communication conditions, the centralized filter can obtain the best state estimation accuracy, and the parallel filter can simplify centralized calculation complexity and improve feasibility; in addition, the performance of the sequential filter is very close to that of the centralized filter and far better than that of the parallel filter. However, the sequential filter can tolerate non-ideal conditions, such as delay and packet loss, and the first two filters cannot operate normally online for delay and will be invalid for packet loss. The performance of the three designed fusion filters is illustrated by three typical cases, which are all better than that of the most popular Extended Kalman Filter (EKF) performance.

scholarly journals Prediction of Socio-Economic Indicators for Urban Planning Using VHR Satellite Imagery and Spatial Analysis

2020 ◽  
Vol 12 (11) ◽  
pp. 1730 ◽  
Author(s):  
Gebhard Warth ◽  
Andreas Braun ◽  
Oliver Assmann ◽  
Kevin Fleckenstein ◽  
Volker Hochschild
Keyword(s):  
Spatial Analysis ◽  
Urban Planning ◽  
Urban Areas ◽  
Residential Buildings ◽  
Dynamic Change ◽  
Training Data ◽  
Infrastructure Planning ◽  
Economic Point ◽  
Steady Growth ◽  
Building Typology

Ongoing urbanization leads to steady growth of urban areas. In the case of highly dynamic change of municipalities, due to the rates of change, responsible administrations often are challenged or struggle with capturing present states of urban sites or accurately planning future urban development. An interest for urban planning lies on socio-economic conditions, as consumption and production of disposable goods are related to economic possibilities. Therefore, we developed an approach to generate relevant parameters for infrastructure planning by means of remote sensing and spatial analysis. In this study, the single building defines the spatial unit for the parameters. In the case city Belmopan (Belize), based on WorldView-1 data we manually define a city covering building dataset. Residential buildings are classified to eight building types which are locally adapted to Belmopan. A random forest (RF) classifier is trained with locally collected training data. Through household interviews focusing on household assets, income and educational level, a socio-economic point (SEP) scaling is defined, which correlates very well with the defined building typology. In order to assign socio-economic parameters to the single building, five socio-economic classes (SEC) are established based on SEP statistics for the building types. The RF building type classification resulted in high accuracies. Focusing on the three categories to describe residential socio-economic states allowed high correlations between the defined building and socio-economic points. Based on the SEP we projected a citywide residential socio-economic building classification to support supply and disposal infrastructure planning.

Intelligent localisation of multiple non-linear loads considering impact of harmonic state estimation accuracy

2017 ◽  
Vol 11 (8) ◽  
pp. 1943-1953 ◽  
Author(s):  
Amir Moradifar ◽  
Asghar Akbari Foroud ◽  
Khalil Gorgani Firouzjah
Keyword(s):  
State Estimation ◽  
Estimation Accuracy ◽  
Non Linear

scholarly journals State estimation for bilinear impulsive control systems under uncertainties

2018 ◽  
pp. 35-41 ◽  
Author(s):  
Oxana G. Matviychuk
Keyword(s):  
Differential Equations ◽  
State Estimation ◽  
Control Systems ◽  
Uncertain Systems ◽  
Impulsive Control ◽  
Compact Set ◽  
The Matrix ◽  
Initial States ◽  
Impulsive Control Systems ◽  
The Given

The state estimation problem for uncertain impulsive control systems with a special structure is considered. The initial states are taken to be unknown but bounded with given bounds. We assume here that the coefficients of the matrix included in the differential equations are not exactly known, but belong to the given compact set in the corresponding space. We present here algorithms that allow to find the external ellipsoidal estimates of reachable sets for such bilinear impulsive uncertain systems.

scholarly journals Exemplar Guided Neural Dialogue Generation

2020 ◽  
Author(s):  
Hengyi Cai ◽  
Hongshen Chen ◽  
Yonghao Song ◽  
Xiaofang Zhao ◽  
Dawei Yin
Keyword(s):  
Large Scale ◽  
State Of The Art ◽  
Training Data ◽  
Small Subset ◽  
Generation Model ◽  
Retrieval Model ◽  
Training Set ◽  
Dialogue Model ◽  
Quantitative Metrics ◽  
The Given

Humans benefit from previous experiences when taking actions. Similarly, related examples from the training data also provide exemplary information for neural dialogue models when responding to a given input message. However, effectively fusing such exemplary information into dialogue generation is non-trivial: useful exemplars are required to be not only literally-similar, but also topic-related with the given context. Noisy exemplars impair the neural dialogue models understanding the conversation topics and even corrupt the response generation. To address the issues, we propose an exemplar guided neural dialogue generation model where exemplar responses are retrieved in terms of both the text similarity and the topic proximity through a two-stage exemplar retrieval model. In the first stage, a small subset of conversations is retrieved from a training set given a dialogue context. These candidate exemplars are then finely ranked regarding the topical proximity to choose the best-matched exemplar response. To further induce the neural dialogue generation model consulting the exemplar response and the conversation topics more faithfully, we introduce a multi-source sampling mechanism to provide the dialogue model with both local exemplary semantics and global topical guidance during decoding. Empirical evaluations on a large-scale conversation dataset show that the proposed approach significantly outperforms the state-of-the-art in terms of both the quantitative metrics and human evaluations.

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