scholarly journals Improved Continuum Joint Configuration Estimation Using a Linear Combination of Length Measurements and Optimization of Sensor Placement

2021 ◽  
Vol 8 ◽  
Author(s):  
Levi Rupert ◽  
Timothy Duggan ◽  
Marc D. Killpack
Keyword(s):  
Linear Regression ◽  
Linear Combination ◽  
Estimation Error ◽  
Sensor Placement ◽  
Estimation Method ◽  
Combination Method ◽  
Joint Configuration ◽  
Median Error ◽  
Single Sensor ◽  
Joint Length

This paper presents methods for placing length sensors on a soft continuum robot joint as well as a novel configuration estimation method that drastically minimizes configuration estimation error. The methods utilized for placing sensors along the length of the joint include a single joint length sensor, sensors lined end-to-end, sensors that overlap according to a heuristic, and sensors that are placed by an optimization that we describe in this paper. The methods of configuration estimation include directly relating sensor length to a segment of the joint's angle, using an equal weighting of overlapping sensors that cover a joint segment, and using a weighted linear combination of all sensors on the continuum joint. The weights for the linear combination method are determined using robust linear regression. Using a kinematic simulation we show that placing three or more overlapping sensors and estimating the configuration with a linear combination of sensors resulted in a median error of 0.026% of the max range of motion or less. This is over a 500 times improvement as compared to using a single sensor to estimate the joint configuration. This error was computed across 80 simulated robots of different lengths and ranges of motion. We also found that the fully optimized sensor placement performed only marginally better than the placement of sensors according to the heuristic. This suggests that the use of a linear combination of sensors, with weights found using linear regression is more important than the placement of the overlapping sensors. Further, using the heuristic significantly simplifies the application of these techniques when designing for hardware.

Estimating Traffic Volume on Minor Roads at Rural Stop-Controlled Intersections using Deep Learning

2019 ◽  
Vol 2673 (4) ◽  
pp. 108-116 ◽  
Author(s):  
Mostafa H. Tawfeek ◽  
Karim El-Basyouny
Keyword(s):  
Neural Network ◽  
Linear Regression ◽  
Network Model ◽  
Neural Network Model ◽  
Deep Neural Network ◽  
Safety Management ◽  
Estimation Method ◽  
Estimation Model ◽  
The Neural Network ◽  
Annual Average Daily Traffic

Safety Performance Functions (SPFs) are regression models used to predict the expected number of collisions as a function of various traffic and geometric characteristics. One of the integral components in developing SPFs is the availability of accurate exposure factors, that is, annual average daily traffic (AADT). However, AADTs are not often available for minor roads at rural intersections. This study aims to develop a robust AADT estimation model using a deep neural network. A total of 1,350 rural four-legged, stop-controlled intersections from the Province of Alberta, Canada, were used to train the neural network. The results of the deep neural network model were compared with the traditional estimation method, which uses linear regression. The results indicated that the deep neural network model improved the estimation of minor roads’ AADT by 35% when compared with the traditional method. Furthermore, SPFs developed using linear regression resulted in models with statistically insignificant AADTs on minor roads. Conversely, the SPF developed using the neural network provided a better fit to the data with both AADTs on minor and major roads being statistically significant variables. The findings indicated that the proposed model could enhance the predictive power of the SPF and therefore improve the decision-making process since SPFs are used in all parts of the safety management process.

scholarly journals Wide range and highly linear signal processed systematic humidity sensor array using Methylene Blue and Graphene composite

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Muhammad Umair Khan ◽  
Gul Hassan ◽  
Rayyan Ali Shaukat ◽  
Qazi Muhammad Saqib ◽  
Mahesh Y. Chougale ◽  
...  
Keyword(s):  
Methylene Blue ◽  
Linear Combination ◽  
Linear Function ◽  
Humidity Sensor ◽  
Sensor Array ◽  
Combination Method ◽  
Humidity Sensing ◽  
Sensing Applications ◽  
Wide Range ◽  
Graphene Flakes

AbstractThis paper proposes a signal processed systematic 3 × 3 humidity sensor array with all range and highly linear humidity response based on different particles size composite inks and different interspaces of interdigital electrodes (IDEs). The fabricated sensors are patterned through a commercial inkjet printer and the composite of Methylene Blue and Graphene with three different particle sizes of bulk Graphene Flakes (BGF), Graphene Flakes (GF), and Graphene Quantum Dots (GQD), which are employed as an active layer using spin coating technique on three types of IDEs with different interspaces of 300, 200, and 100 µm. All range linear function (0–100% RH) is achieved by applying the linear combination method of nine sensors in the signal processing field, where weights for linear combination are required, which are estimated by the least square solution. The humidity sensing array shows a fast response time (Tres) of 0.2 s and recovery time (Trec) of 0.4 s. From the results, the proposed humidity sensor array opens a new gateway for a wide range of humidity sensing applications with a linear function.

Functional Linear Regression

2018 ◽  
Author(s):  
Hervé Cardot ◽  
Pascal Sarda
Keyword(s):  
Linear Regression ◽  
Least Squares ◽  
Linear Models ◽  
Estimation Error ◽  
Asymptotic Properties ◽  
Principal Component Regression ◽  
Principal Component ◽  
Penalized Least Squares ◽  
Open Problems ◽  
Functional Linear Regression

This article presents a selected bibliography on functional linear regression (FLR) and highlights the key contributions from both applied and theoretical points of view. It first defines FLR in the case of a scalar response and shows how its modelization can also be extended to the case of a functional response. It then considers two kinds of estimation procedures for this slope parameter: projection-based estimators in which regularization is performed through dimension reduction, such as functional principal component regression, and penalized least squares estimators that take into account a penalized least squares minimization problem. The article proceeds by discussing the main asymptotic properties separating results on mean square prediction error and results on L2 estimation error. It also describes some related models, including generalized functional linear models and FLR on quantiles, and concludes with a complementary bibliography and some open problems.

A NEW PARAMETER ESTIMATION METHOD FOR ONLINE SOFT TISSUE CHARACTERIZATION

2016 ◽  
Vol 16 (08) ◽  
pp. 1640019 ◽  
Author(s):  
JAEHYUN SHIN ◽  
YONGMIN ZHONG ◽  
JULIAN SMITH ◽  
CHENGFAN GU
Keyword(s):  
Soft Tissue ◽  
Linear Regression ◽  
Tissue Characterization ◽  
Soft Tissues ◽  
Unscented Kalman Filter ◽  
Estimation Method ◽  
Regression Method ◽  
Linear Regression Method ◽  
Non Linear

Dynamic soft tissue characterization is of importance to robotic-assisted minimally invasive surgery. The traditional linear regression method is unsuited to handle the non-linear Hunt–Crossley (HC) model and its linearization process involves a linearization error. This paper presents a new non-linear estimation method for dynamic characterization of mechanical properties of soft tissues. In order to deal with non-linear and dynamic conditions involved in soft tissue characterization, this method improves the non-linearity and dynamics of the HC model by treating parameter [Formula: see text] as independent variable. Based on this, an unscented Kalman filter is developed for online estimation of soft tissue parameters. Simulations and comparison analysis demonstrate that the proposed method is able to estimate mechanical parameters for both homogeneous tissues and heterogeneous and multi-layer tissues, and the achieved performance is much better than that of the linear regression method.

scholarly journals End-Effector Pose Estimation in Complex Environments Using Complementary Enhancement and Adaptive Fusion of Multisensor

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Mingrui Luo ◽  
En Li ◽  
Rui Guo ◽  
Jiaxin Liu ◽  
Zize Liang
Keyword(s):  
Kalman Filter ◽  
Pose Estimation ◽  
Unscented Kalman Filter ◽  
Rbf Neural Network ◽  
Estimation Error ◽  
Estimation Method ◽  
Original Data ◽  
Measurement Unit ◽  
Complex Environments ◽  
End Effector

Redundant manipulators are suitable for working in narrow and complex environments due to their flexibility. However, a large number of joints and long slender links make it hard to obtain the accurate end-effector pose of the redundant manipulator directly through the encoders. In this paper, a pose estimation method is proposed with the fusion of vision sensors, inertial sensors, and encoders. Firstly, according to the complementary characteristics of each measurement unit in the sensors, the original data is corrected and enhanced. Furthermore, an improved Kalman filter (KF) algorithm is adopted for data fusion by establishing the nonlinear motion prediction of the end-effector and the synchronization update model of the multirate sensors. Finally, the radial basis function (RBF) neural network is used to adaptively adjust the fusion parameters. It is verified in experiments that the proposed method achieves better performances on estimation error and update frequency than the original extended Kalman filter (EKF) and unscented Kalman filter (UKF) algorithm, especially in complex environments.

scholarly journals The Parameter Estimation of Double Exponential Pulse Based on a Least Infinity Norm Fitting Method

2021 ◽  
Vol 2083 (4) ◽  
pp. 042002
Author(s):  
Yuewu Shi ◽  
Wei Wang ◽  
Zhizhen Zhu ◽  
Xin Nie
Keyword(s):  
Estimation Error ◽  
Estimation Method ◽  
Maximum Amplitude ◽  
Least Square Method ◽  
Least Square ◽  
Physical Parameters ◽  
Infinity Norm ◽  
Fitting Method ◽  
Double Exponential ◽  
Exponential Pulse

Abstract This paper presents an estimation method of double exponential pulse (DEP) between the physical parameters rise time (t r), full width at half maximum amplitude (t FWHM) and the mathematical parameters α, β. A newly fitting method based on the least infinity norm criterion is proposed to deal with the estimation problem of DEP. The calculation process and equation of parameters of this method is proposed based on an m-th-order polynomial fitting model. This estimation method is compared with the least square method by the same data and fitting function. The results show that the maximum estimation error of parameters of double exponential pulse obtained by the least infinity norm method is 1.5 %.

scholarly journals The Application of the BSSD Iono-Free Linear Combination Method in the Processing of Aircraft Positioning

2019 ◽  
Vol 26 (3) ◽  
pp. 15-21
Author(s):  
Janusz Ćwiklak ◽  
Marek Grzegorzewski ◽  
Kamil Krasuski
Keyword(s):  
Linear Combination ◽  
Experimental Test ◽  
Combination Method ◽  
Dual Frequency ◽  
Chi Square ◽  
Internal Reliability ◽  
Navigation Data ◽  
Positioning Method ◽  
Gps System ◽  
Positioning Algorithm

Abstract The article presents the results of research into the use of the differentiation technique of BSSD (Between Satellite Single Difference) observations for the Iono-Free LC combination (Linear Combination) in the GPS system for the needs of aircraft positioning. Within the conducted investigations, a positioning algorithm for the BSSD Iono-Free LC positioning method was presented. In addition, an experimental test was conducted, in which raw observational data and GPS navigation data were exploited in order to recover the aircraft position. The examination was conducted for the Cessna 172 and the on-board dual-frequency receiver Topcon HiperPro. The experimental test presents the results of average errors of determining the position of the Cessna 172 in the XYZ geocentric frame and in the ellipsoidal BLh frame. Furthermore, the article presents the results of DOP (Dilution of Precision) coefficients, the test of the Chi square internal reliability test and the HPL and VPL confidence levels in GNSS precision approach (PA) in air transport. The calculations were performed in the original APS software (APS Aircraft Positioning Software) developed in the Department of Air Navigation of the Faculty of Aeronautics at the Polish Air Force University.

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