Reliability of Measured Data for pH Sensor Arrays with Fault Diagnosis and Data Fusion Based on LabVIEW

PubMed Central

Liao, Yi-Hung; Chou, Jung-Chuan; Lin, Chin-Yi

2013-01-01

Fault diagnosis (FD) and data fusion (DF) technologies implemented in the LabVIEW program were used for a ruthenium dioxide pH sensor array. The purpose of the fault diagnosis and data fusion technologies is to increase the reliability of measured data. Data fusion is a very useful statistical method used for sensor arrays in many fields. Fault diagnosis is used to avoid sensor faults and to measure errors in the electrochemical measurement system, therefore, in this study, we use fault diagnosis to remove any faulty sensors in advance, and then proceed with data fusion in the sensor array. The average, self-adaptive and coefficient of variance data fusion methods are used in this study. The pH electrode is fabricated with ruthenium dioxide (RuO2) sensing membrane using a sputtering system to deposit it onto a silicon substrate, and eight RuO2 pH electrodes are fabricated to form a sensor array for this study. PMID:24351636

Reliability of measured data for pH sensor arrays with fault diagnosis and data fusion based on LabVIEW.

PubMed

Liao, Yi-Hung; Chou, Jung-Chuan; Lin, Chin-Yi

2013-12-13

Fault diagnosis (FD) and data fusion (DF) technologies implemented in the LabVIEW program were used for a ruthenium dioxide pH sensor array. The purpose of the fault diagnosis and data fusion technologies is to increase the reliability of measured data. Data fusion is a very useful statistical method used for sensor arrays in many fields. Fault diagnosis is used to avoid sensor faults and to measure errors in the electrochemical measurement system, therefore, in this study, we use fault diagnosis to remove any faulty sensors in advance, and then proceed with data fusion in the sensor array. The average, self-adaptive and coefficient of variance data fusion methods are used in this study. The pH electrode is fabricated with ruthenium dioxide (RuO2) sensing membrane using a sputtering system to deposit it onto a silicon substrate, and eight RuO2 pH electrodes are fabricated to form a sensor array for this study.

Hand-writing motion tracking with vision-inertial sensor fusion: calibration and error correction.

PubMed

Zhou, Shengli; Fei, Fei; Zhang, Guanglie; Liu, Yunhui; Li, Wen J

2014-08-25

The purpose of this study was to improve the accuracy of real-time ego-motion tracking through inertial sensor and vision sensor fusion. Due to low sampling rates supported by web-based vision sensor and accumulation of errors in inertial sensors, ego-motion tracking with vision sensors is commonly afflicted by slow updating rates, while motion tracking with inertial sensor suffers from rapid deterioration in accuracy with time. This paper starts with a discussion of developed algorithms for calibrating two relative rotations of the system using only one reference image. Next, stochastic noises associated with the inertial sensor are identified using Allan Variance analysis, and modeled according to their characteristics. Finally, the proposed models are incorporated into an extended Kalman filter for inertial sensor and vision sensor fusion. Compared with results from conventional sensor fusion models, we have shown that ego-motion tracking can be greatly enhanced using the proposed error correction model.

SVM-based multi-sensor fusion for free-living physical activity assessment.

PubMed

Liu, Shaopeng; Gao, Robert X; John, Dinesh; Staudenmayer, John; Freedson, Patty S

2011-01-01

This paper presents a sensor fusion method for assessing physical activity (PA) of human subjects, based on the support vector machines (SVMs). Specifically, acceleration and ventilation measured by a wearable multi-sensor device on 50 test subjects performing 13 types of activities of varying intensities are analyzed, from which the activity types and related energy expenditures are derived. The result shows that the method correctly recognized the 13 activity types 84.7% of the time, which is 26% higher than using a hip accelerometer alone. Also, the method predicted the associated energy expenditure with a root mean square error of 0.43 METs, 43% lower than using a hip accelerometer alone. Furthermore, the fusion method was effective in reducing the subject-to-subject variability (standard deviation of recognition accuracies across subjects) in activity recognition, especially when data from the ventilation sensor was added to the fusion model. These results demonstrate that the multi-sensor fusion technique presented is more effective in assessing activities of varying intensities than the traditional accelerometer-alone based methods.

Integrative Multi-Spectral Sensor Device for Far-Infrared and Visible Light Fusion

NASA Astrophysics Data System (ADS)

Qiao, Tiezhu; Chen, Lulu; Pang, Yusong; Yan, Gaowei

2018-06-01

Infrared and visible light image fusion technology is a hot spot in the research of multi-sensor fusion technology in recent years. Existing infrared and visible light fusion technologies need to register before fusion because of using two cameras. However, the application effect of the registration technology has yet to be improved. Hence, a novel integrative multi-spectral sensor device is proposed for infrared and visible light fusion, and by using the beam splitter prism, the coaxial light incident from the same lens is projected to the infrared charge coupled device (CCD) and visible light CCD, respectively. In this paper, the imaging mechanism of the proposed sensor device is studied with the process of the signals acquisition and fusion. The simulation experiment, which involves the entire process of the optic system, signal acquisition, and signal fusion, is constructed based on imaging effect model. Additionally, the quality evaluation index is adopted to analyze the simulation result. The experimental results demonstrate that the proposed sensor device is effective and feasible.

POF-IMU sensor system: A fusion between inertial measurement units and POF sensors for low-cost and highly reliable systems

NASA Astrophysics Data System (ADS)

Leal-Junior, Arnaldo G.; Vargas-Valencia, Laura; dos Santos, Wilian M.; Schneider, Felipe B. A.; Siqueira, Adriano A. G.; Pontes, Maria José; Frizera, Anselmo

2018-07-01

This paper presents a low cost and highly reliable system for angle measurement based on a sensor fusion between inertial and fiber optic sensors. The system consists of the sensor fusion through Kalman filter of two inertial measurement units (IMUs) and an intensity variation-based polymer optical fiber (POF) curvature sensor. In addition, the IMU was applied as a reference for a compensation technique of POF curvature sensor hysteresis. The proposed system was applied on the knee angle measurement of a lower limb exoskeleton in flexion/extension cycles and in gait analysis. Results show the accuracy of the system, where the Root Mean Square Error (RMSE) between the POF-IMU sensor system and the encoder was below 4° in the worst case and about 1° in the best case. Then, the POF-IMU sensor system was evaluated as a wearable sensor for knee joint angle assessment without the exoskeleton, where its suitability for this purpose was demonstrated. The results obtained in this paper pave the way for future applications of sensor fusion between electronic and fiber optic sensors in movement analysis.

Sensor fusion V; Proceedings of the Meeting, Boston, MA, Nov. 15-17, 1992

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Topics addressed include 3D object perception, human-machine interface in multisensor systems, sensor fusion architecture, fusion of multiple and distributed sensors, interface and decision models for sensor fusion, computational networks, simple sensing for complex action, multisensor-based control, and metrology and calibration of multisensor systems. Particular attention is given to controlling 3D objects by sketching 2D views, the graphical simulation and animation environment for flexible structure robots, designing robotic systems from sensorimotor modules, cylindrical object reconstruction from a sequence of images, an accurate estimation of surface properties by integrating information using Bayesian networks, an adaptive fusion model for a distributed detection system, multiple concurrent object descriptions in support of autonomous navigation, robot control with multiple sensors and heuristic knowledge, and optical array detectors for image sensors calibration. (No individual items are abstracted in this volume)

Accurate human limb angle measurement: sensor fusion through Kalman, least mean squares and recursive least-squares adaptive filtering

NASA Astrophysics Data System (ADS)

Olivares, A.; Górriz, J. M.; Ramírez, J.; Olivares, G.

2011-02-01

Inertial sensors are widely used in human body motion monitoring systems since they permit us to determine the position of the subject's limbs. Limb angle measurement is carried out through the integration of the angular velocity measured by a rate sensor and the decomposition of the components of static gravity acceleration measured by an accelerometer. Different factors derived from the sensors' nature, such as the angle random walk and dynamic bias, lead to erroneous measurements. Dynamic bias effects can be reduced through the use of adaptive filtering based on sensor fusion concepts. Most existing published works use a Kalman filtering sensor fusion approach. Our aim is to perform a comparative study among different adaptive filters. Several least mean squares (LMS), recursive least squares (RLS) and Kalman filtering variations are tested for the purpose of finding the best method leading to a more accurate and robust limb angle measurement. A new angle wander compensation sensor fusion approach based on LMS and RLS filters has been developed.

Design and implementation of PAVEMON: A GIS web-based pavement monitoring system based on large amounts of heterogeneous sensors data

NASA Astrophysics Data System (ADS)

Shahini Shamsabadi, Salar

A web-based PAVEment MONitoring system, PAVEMON, is a GIS oriented platform for accommodating, representing, and leveraging data from a multi-modal mobile sensor system. Stated sensor system consists of acoustic, optical, electromagnetic, and GPS sensors and is capable of producing as much as 1 Terabyte of data per day. Multi-channel raw sensor data (microphone, accelerometer, tire pressure sensor, video) and processed results (road profile, crack density, international roughness index, micro texture depth, etc.) are outputs of this sensor system. By correlating the sensor measurements and positioning data collected in tight time synchronization, PAVEMON attaches a spatial component to all the datasets. These spatially indexed outputs are placed into an Oracle database which integrates seamlessly with PAVEMON's web-based system. The web-based system of PAVEMON consists of two major modules: 1) a GIS module for visualizing and spatial analysis of pavement condition information layers, and 2) a decision-support module for managing maintenance and repair (Mℝ) activities and predicting future budget needs. PAVEMON weaves together sensor data with third-party climate and traffic information from the National Oceanic and Atmospheric Administration (NOAA) and Long Term Pavement Performance (LTPP) databases for an organized data driven approach to conduct pavement management activities. PAVEMON deals with heterogeneous and redundant observations by fusing them for jointly-derived higher-confidence results. A prominent example of the fusion algorithms developed within PAVEMON is a data fusion algorithm used for estimating the overall pavement conditions in terms of ASTM's Pavement Condition Index (PCI). PAVEMON predicts PCI by undertaking a statistical fusion approach and selecting a subset of all the sensor measurements. Other fusion algorithms include noise-removal algorithms to remove false negatives in the sensor data in addition to fusion algorithms developed for identifying features on the road. PAVEMON offers an ideal research and monitoring platform for rapid, intelligent and comprehensive evaluation of tomorrow's transportation infrastructure based on up-to-date data from heterogeneous sensor systems.

A New Multi-Sensor Fusion Scheme to Improve the Accuracy of Knee Flexion Kinematics for Functional Rehabilitation Movements.

PubMed

Tannous, Halim; Istrate, Dan; Benlarbi-Delai, Aziz; Sarrazin, Julien; Gamet, Didier; Ho Ba Tho, Marie Christine; Dao, Tien Tuan

2016-11-15

Exergames have been proposed as a potential tool to improve the current practice of musculoskeletal rehabilitation. Inertial or optical motion capture sensors are commonly used to track the subject's movements. However, the use of these motion capture tools suffers from the lack of accuracy in estimating joint angles, which could lead to wrong data interpretation. In this study, we proposed a real time quaternion-based fusion scheme, based on the extended Kalman filter, between inertial and visual motion capture sensors, to improve the estimation accuracy of joint angles. The fusion outcome was compared to angles measured using a goniometer. The fusion output shows a better estimation, when compared to inertial measurement units and Kinect outputs. We noted a smaller error (3.96°) compared to the one obtained using inertial sensors (5.04°). The proposed multi-sensor fusion system is therefore accurate enough to be applied, in future works, to our serious game for musculoskeletal rehabilitation.

How Magnetic Disturbance Influences the Attitude and Heading in Magnetic and Inertial Sensor-Based Orientation Estimation.

PubMed

Fan, Bingfei; Li, Qingguo; Liu, Tao

2017-12-28

With the advancements in micro-electromechanical systems (MEMS) technologies, magnetic and inertial sensors are becoming more and more accurate, lightweight, smaller in size as well as low-cost, which in turn boosts their applications in human movement analysis. However, challenges still exist in the field of sensor orientation estimation, where magnetic disturbance represents one of the obstacles limiting their practical application. The objective of this paper is to systematically analyze exactly how magnetic disturbances affects the attitude and heading estimation for a magnetic and inertial sensor. First, we reviewed four major components dealing with magnetic disturbance, namely decoupling attitude estimation from magnetic reading, gyro bias estimation, adaptive strategies of compensating magnetic disturbance and sensor fusion algorithms. We review and analyze the features of existing methods of each component. Second, to understand each component in magnetic disturbance rejection, four representative sensor fusion methods were implemented, including gradient descent algorithms, improved explicit complementary filter, dual-linear Kalman filter and extended Kalman filter. Finally, a new standardized testing procedure has been developed to objectively assess the performance of each method against magnetic disturbance. Based upon the testing results, the strength and weakness of the existing sensor fusion methods were easily examined, and suggestions were presented for selecting a proper sensor fusion algorithm or developing new sensor fusion method.

Enhanced chemical weapon warning via sensor fusion

NASA Astrophysics Data System (ADS)

Flaherty, Michael; Pritchett, Daniel; Cothren, Brian; Schwaiger, James

2011-05-01

Torch Technologies Inc., is actively involved in chemical sensor networking and data fusion via multi-year efforts with Dugway Proving Ground (DPG) and the Defense Threat Reduction Agency (DTRA). The objective of these efforts is to develop innovative concepts and advanced algorithms that enhance our national Chemical Warfare (CW) test and warning capabilities via the fusion of traditional and non-traditional CW sensor data. Under Phase I, II, and III Small Business Innovative Research (SBIR) contracts with DPG, Torch developed the Advanced Chemical Release Evaluation System (ACRES) software to support non real-time CW sensor data fusion. Under Phase I and II SBIRs with DTRA in conjunction with the Edgewood Chemical Biological Center (ECBC), Torch is using the DPG ACRES CW sensor data fuser as a framework from which to develop the Cloud state Estimation in a Networked Sensor Environment (CENSE) data fusion system. Torch is currently developing CENSE to implement and test innovative real-time sensor network based data fusion concepts using CW and non-CW ancillary sensor data to improve CW warning and detection in tactical scenarios.

Sensor fusion of monocular cameras and laser rangefinders for line-based Simultaneous Localization and Mapping (SLAM) tasks in autonomous mobile robots.

PubMed

Zhang, Xinzheng; Rad, Ahmad B; Wong, Yiu-Kwong

2012-01-01

This paper presents a sensor fusion strategy applied for Simultaneous Localization and Mapping (SLAM) in dynamic environments. The designed approach consists of two features: (i) the first one is a fusion module which synthesizes line segments obtained from laser rangefinder and line features extracted from monocular camera. This policy eliminates any pseudo segments that appear from any momentary pause of dynamic objects in laser data. (ii) The second characteristic is a modified multi-sensor point estimation fusion SLAM (MPEF-SLAM) that incorporates two individual Extended Kalman Filter (EKF) based SLAM algorithms: monocular and laser SLAM. The error of the localization in fused SLAM is reduced compared with those of individual SLAM. Additionally, a new data association technique based on the homography transformation matrix is developed for monocular SLAM. This data association method relaxes the pleonastic computation. The experimental results validate the performance of the proposed sensor fusion and data association method.

Cooperative angle-only orbit initialization via fusion of admissible areas

NASA Astrophysics Data System (ADS)

Jia, Bin; Pham, Khanh; Blasch, Erik; Chen, Genshe; Shen, Dan; Wang, Zhonghai

2017-05-01

For the short-arc angle only orbit initialization problem, the admissible area is often used. However, the accuracy using a single sensor is often limited. For high value space objects, it is desired to achieve more accurate results. Fortunately, multiple sensors, which are dedicated to space situational awareness, are available. The work in this paper uses multiple sensors' information to cooperatively initialize the orbit based on the fusion of multiple admissible areas. Both the centralized fusion and decentralized fusion are discussed. Simulation results verify the expectation that the orbit initialization accuracy is improved by using information from multiple sensors.

Distributed data fusion across multiple hard and soft mobile sensor platforms

NASA Astrophysics Data System (ADS)

Sinsley, Gregory

One of the biggest challenges currently facing the robotics field is sensor data fusion. Unmanned robots carry many sophisticated sensors including visual and infrared cameras, radar, laser range finders, chemical sensors, accelerometers, gyros, and global positioning systems. By effectively fusing the data from these sensors, a robot would be able to form a coherent view of its world that could then be used to facilitate both autonomous and intelligent operation. Another distinct fusion problem is that of fusing data from teammates with data from onboard sensors. If an entire team of vehicles has the same worldview they will be able to cooperate much more effectively. Sharing worldviews is made even more difficult if the teammates have different sensor types. The final fusion challenge the robotics field faces is that of fusing data gathered by robots with data gathered by human teammates (soft sensors). Humans sense the world completely differently from robots, which makes this problem particularly difficult. The advantage of fusing data from humans is that it makes more information available to the entire team, thus helping each agent to make the best possible decisions. This thesis presents a system for fusing data from multiple unmanned aerial vehicles, unmanned ground vehicles, and human observers. The first issue this thesis addresses is that of centralized data fusion. This is a foundational data fusion issue, which has been very well studied. Important issues in centralized fusion include data association, classification, tracking, and robotics problems. Because these problems are so well studied, this thesis does not make any major contributions in this area, but does review it for completeness. The chapter on centralized fusion concludes with an example unmanned aerial vehicle surveillance problem that demonstrates many of the traditional fusion methods. The second problem this thesis addresses is that of distributed data fusion. Distributed data fusion is a younger field than centralized fusion. The main issues in distributed fusion that are addressed are distributed classification and distributed tracking. There are several well established methods for performing distributed fusion that are first reviewed. The chapter on distributed fusion concludes with a multiple unmanned vehicle collaborative test involving an unmanned aerial vehicle and an unmanned ground vehicle. The third issue this thesis addresses is that of soft sensor only data fusion. Soft-only fusion is a newer field than centralized or distributed hard sensor fusion. Because of the novelty of the field, the chapter on soft only fusion contains less background information and instead focuses on some new results in soft sensor data fusion. Specifically, it discusses a novel fuzzy logic based soft sensor data fusion method. This new method is tested using both simulations and field measurements. The biggest issue addressed in this thesis is that of combined hard and soft fusion. Fusion of hard and soft data is the newest area for research in the data fusion community; therefore, some of the largest theoretical contributions in this thesis are in the chapter on combined hard and soft fusion. This chapter presents a novel combined hard and soft data fusion method based on random set theory, which processes random set data using a particle filter. Furthermore, the particle filter is designed to be distributed across multiple robots and portable computers (used by human observers) so that there is no centralized failure point in the system. After laying out a theoretical groundwork for hard and soft sensor data fusion the thesis presents practical applications for hard and soft sensor data fusion in simulation. Through a series of three progressively more difficult simulations, some important hard and soft sensor data fusion capabilities are demonstrated. The first simulation demonstrates fusing data from a single soft sensor and a single hard sensor in order to track a car that could be driving normally or erratically. The second simulation adds the extra complication of classifying the type of target to the simulation. The third simulation uses multiple hard and soft sensors, with a limited field of view, to track a moving target and classify it as a friend, foe, or neutral. The final chapter builds on the work done in previous chapters by performing a field test of the algorithms for hard and soft sensor data fusion. The test utilizes an unmanned aerial vehicle, an unmanned ground vehicle, and a human observer with a laptop. The test is designed to mimic a collaborative human and robot search and rescue problem. This test makes some of the most important practical contributions of the thesis by showing that the algorithms that have been developed for hard and soft sensor data fusion are capable of running in real time on relatively simple hardware.

An Improved Multi-Sensor Fusion Navigation Algorithm Based on the Factor Graph

PubMed Central

Zeng, Qinghua; Chen, Weina; Liu, Jianye; Wang, Huizhe

2017-01-01

An integrated navigation system coupled with additional sensors can be used in the Micro Unmanned Aerial Vehicle (MUAV) applications because the multi-sensor information is redundant and complementary, which can markedly improve the system accuracy. How to deal with the information gathered from different sensors efficiently is an important problem. The fact that different sensors provide measurements asynchronously may complicate the processing of these measurements. In addition, the output signals of some sensors appear to have a non-linear character. In order to incorporate these measurements and calculate a navigation solution in real time, the multi-sensor fusion algorithm based on factor graph is proposed. The global optimum solution is factorized according to the chain structure of the factor graph, which allows for a more general form of the conditional probability density. It can convert the fusion matter into connecting factors defined by these measurements to the graph without considering the relationship between the sensor update frequency and the fusion period. An experimental MUAV system has been built and some experiments have been performed to prove the effectiveness of the proposed method. PMID:28335570

An Improved Multi-Sensor Fusion Navigation Algorithm Based on the Factor Graph.

PubMed

Zeng, Qinghua; Chen, Weina; Liu, Jianye; Wang, Huizhe

2017-03-21

An integrated navigation system coupled with additional sensors can be used in the Micro Unmanned Aerial Vehicle (MUAV) applications because the multi-sensor information is redundant and complementary, which can markedly improve the system accuracy. How to deal with the information gathered from different sensors efficiently is an important problem. The fact that different sensors provide measurements asynchronously may complicate the processing of these measurements. In addition, the output signals of some sensors appear to have a non-linear character. In order to incorporate these measurements and calculate a navigation solution in real time, the multi-sensor fusion algorithm based on factor graph is proposed. The global optimum solution is factorized according to the chain structure of the factor graph, which allows for a more general form of the conditional probability density. It can convert the fusion matter into connecting factors defined by these measurements to the graph without considering the relationship between the sensor update frequency and the fusion period. An experimental MUAV system has been built and some experiments have been performed to prove the effectiveness of the proposed method.

Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

PubMed Central

Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

2015-01-01

Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot’s wheels, and 24 fuzzy rules for the robot’s movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes. PMID:26712766

Sensor Fusion Based Model for Collision Free Mobile Robot Navigation.

PubMed

Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

2015-12-26

Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and 24 fuzzy rules for the robot's movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes.

Assessing the Performance of Sensor Fusion Methods: Application to Magnetic-Inertial-Based Human Body Tracking.

PubMed

Ligorio, Gabriele; Bergamini, Elena; Pasciuto, Ilaria; Vannozzi, Giuseppe; Cappozzo, Aurelio; Sabatini, Angelo Maria

2016-01-26

Information from complementary and redundant sensors are often combined within sensor fusion algorithms to obtain a single accurate observation of the system at hand. However, measurements from each sensor are characterized by uncertainties. When multiple data are fused, it is often unclear how all these uncertainties interact and influence the overall performance of the sensor fusion algorithm. To address this issue, a benchmarking procedure is presented, where simulated and real data are combined in different scenarios in order to quantify how each sensor's uncertainties influence the accuracy of the final result. The proposed procedure was applied to the estimation of the pelvis orientation using a waist-worn magnetic-inertial measurement unit. Ground-truth data were obtained from a stereophotogrammetric system and used to obtain simulated data. Two Kalman-based sensor fusion algorithms were submitted to the proposed benchmarking procedure. For the considered application, gyroscope uncertainties proved to be the main error source in orientation estimation accuracy for both tested algorithms. Moreover, although different performances were obtained using simulated data, these differences became negligible when real data were considered. The outcome of this evaluation may be useful both to improve the design of new sensor fusion methods and to drive the algorithm tuning process.

Unmanned Aerial System (UAS)-based phenotyping of soybean using multi-sensor data fusion and extreme learning machine

NASA Astrophysics Data System (ADS)

Maimaitijiang, Maitiniyazi; Ghulam, Abduwasit; Sidike, Paheding; Hartling, Sean; Maimaitiyiming, Matthew; Peterson, Kyle; Shavers, Ethan; Fishman, Jack; Peterson, Jim; Kadam, Suhas; Burken, Joel; Fritschi, Felix

2017-12-01

Estimating crop biophysical and biochemical parameters with high accuracy at low-cost is imperative for high-throughput phenotyping in precision agriculture. Although fusion of data from multiple sensors is a common application in remote sensing, less is known on the contribution of low-cost RGB, multispectral and thermal sensors to rapid crop phenotyping. This is due to the fact that (1) simultaneous collection of multi-sensor data using satellites are rare and (2) multi-sensor data collected during a single flight have not been accessible until recent developments in Unmanned Aerial Systems (UASs) and UAS-friendly sensors that allow efficient information fusion. The objective of this study was to evaluate the power of high spatial resolution RGB, multispectral and thermal data fusion to estimate soybean (Glycine max) biochemical parameters including chlorophyll content and nitrogen concentration, and biophysical parameters including Leaf Area Index (LAI), above ground fresh and dry biomass. Multiple low-cost sensors integrated on UASs were used to collect RGB, multispectral, and thermal images throughout the growing season at a site established near Columbia, Missouri, USA. From these images, vegetation indices were extracted, a Crop Surface Model (CSM) was advanced, and a model to extract the vegetation fraction was developed. Then, spectral indices/features were combined to model and predict crop biophysical and biochemical parameters using Partial Least Squares Regression (PLSR), Support Vector Regression (SVR), and Extreme Learning Machine based Regression (ELR) techniques. Results showed that: (1) For biochemical variable estimation, multispectral and thermal data fusion provided the best estimate for nitrogen concentration and chlorophyll (Chl) a content (RMSE of 9.9% and 17.1%, respectively) and RGB color information based indices and multispectral data fusion exhibited the largest RMSE 22.6%; the highest accuracy for Chl a + b content estimation was obtained by fusion of information from all three sensors with an RMSE of 11.6%. (2) Among the plant biophysical variables, LAI was best predicted by RGB and thermal data fusion while multispectral and thermal data fusion was found to be best for biomass estimation. (3) For estimation of the above mentioned plant traits of soybean from multi-sensor data fusion, ELR yields promising results compared to PLSR and SVR in this study. This research indicates that fusion of low-cost multiple sensor data within a machine learning framework can provide relatively accurate estimation of plant traits and provide valuable insight for high spatial precision in agriculture and plant stress assessment.

Hand-Writing Motion Tracking with Vision-Inertial Sensor Fusion: Calibration and Error Correction

PubMed Central

Zhou, Shengli; Fei, Fei; Zhang, Guanglie; Liu, Yunhui; Li, Wen J.

2014-01-01

The purpose of this study was to improve the accuracy of real-time ego-motion tracking through inertial sensor and vision sensor fusion. Due to low sampling rates supported by web-based vision sensor and accumulation of errors in inertial sensors, ego-motion tracking with vision sensors is commonly afflicted by slow updating rates, while motion tracking with inertial sensor suffers from rapid deterioration in accuracy with time. This paper starts with a discussion of developed algorithms for calibrating two relative rotations of the system using only one reference image. Next, stochastic noises associated with the inertial sensor are identified using Allan Variance analysis, and modeled according to their characteristics. Finally, the proposed models are incorporated into an extended Kalman filter for inertial sensor and vision sensor fusion. Compared with results from conventional sensor fusion models, we have shown that ego-motion tracking can be greatly enhanced using the proposed error correction model. PMID:25157546

Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Various papers on control paradigms and data structures in sensor fusion are presented. The general topics addressed include: decision models and computational methods, sensor modeling and data representation, active sensing strategies, geometric planning and visualization, task-driven sensing, motion analysis, models motivated biology and psychology, decentralized detection and distributed decision, data fusion architectures, robust estimation of shapes and features, application and implementation. Some of the individual subjects considered are: the Firefly experiment on neural networks for distributed sensor data fusion, manifold traversing as a model for learning control of autonomous robots, choice of coordinate systems for multiple sensor fusion, continuous motion using task-directed stereo vision, interactive and cooperative sensing and control for advanced teleoperation, knowledge-based imaging for terrain analysis, physical and digital simulations for IVA robotics.

Deep data fusion method for missile-borne inertial/celestial system

NASA Astrophysics Data System (ADS)

Zhang, Chunxi; Chen, Xiaofei; Lu, Jiazhen; Zhang, Hao

2018-05-01

Strap-down inertial-celestial integrated navigation system has the advantages of autonomy and high precision and is very useful for ballistic missiles. The star sensor installation error and inertial measurement error have a great influence for the system performance. Based on deep data fusion, this paper establishes measurement equations including star sensor installation error and proposes the deep fusion filter method. Simulations including misalignment error, star sensor installation error, IMU error are analyzed. Simulation results indicate that the deep fusion method can estimate the star sensor installation error and IMU error. Meanwhile, the method can restrain the misalignment errors caused by instrument errors.

Science of Land Target Spectral Signatures

DTIC Science & Technology

2013-04-03

F. Meriaudeau, T. Downey , A. Wig , A. Passian, M. Buncick, T.L. Ferrell, Fiber optic sensor based on gold island plasmon resonance , Sensors and...processing, detection algorithms, sensor fusion, spectral signature modeling Dr. J. Michael Cathcart Georgia Tech Research Corporation Office of...target detection and sensor fusion. The phenomenology research continued to focus on spectroscopic soil measurements, optical property analyses, field

How Magnetic Disturbance Influences the Attitude and Heading in Magnetic and Inertial Sensor-Based Orientation Estimation

PubMed Central

Li, Qingguo

2017-01-01

With the advancements in micro-electromechanical systems (MEMS) technologies, magnetic and inertial sensors are becoming more and more accurate, lightweight, smaller in size as well as low-cost, which in turn boosts their applications in human movement analysis. However, challenges still exist in the field of sensor orientation estimation, where magnetic disturbance represents one of the obstacles limiting their practical application. The objective of this paper is to systematically analyze exactly how magnetic disturbances affects the attitude and heading estimation for a magnetic and inertial sensor. First, we reviewed four major components dealing with magnetic disturbance, namely decoupling attitude estimation from magnetic reading, gyro bias estimation, adaptive strategies of compensating magnetic disturbance and sensor fusion algorithms. We review and analyze the features of existing methods of each component. Second, to understand each component in magnetic disturbance rejection, four representative sensor fusion methods were implemented, including gradient descent algorithms, improved explicit complementary filter, dual-linear Kalman filter and extended Kalman filter. Finally, a new standardized testing procedure has been developed to objectively assess the performance of each method against magnetic disturbance. Based upon the testing results, the strength and weakness of the existing sensor fusion methods were easily examined, and suggestions were presented for selecting a proper sensor fusion algorithm or developing new sensor fusion method. PMID:29283432

A Simulation Environment for Benchmarking Sensor Fusion-Based Pose Estimators.

PubMed

Ligorio, Gabriele; Sabatini, Angelo Maria

2015-12-19

In-depth analysis and performance evaluation of sensor fusion-based estimators may be critical when performed using real-world sensor data. For this reason, simulation is widely recognized as one of the most powerful tools for algorithm benchmarking. In this paper, we present a simulation framework suitable for assessing the performance of sensor fusion-based pose estimators. The systems used for implementing the framework were magnetic/inertial measurement units (MIMUs) and a camera, although the addition of further sensing modalities is straightforward. Typical nuisance factors were also included for each sensor. The proposed simulation environment was validated using real-life sensor data employed for motion tracking. The higher mismatch between real and simulated sensors was about 5% of the measured quantity (for the camera simulation), whereas a lower correlation was found for an axis of the gyroscope (0.90). In addition, a real benchmarking example of an extended Kalman filter for pose estimation from MIMU and camera data is presented.

Assessing the Performance of Sensor Fusion Methods: Application to Magnetic-Inertial-Based Human Body Tracking

PubMed Central

Ligorio, Gabriele; Bergamini, Elena; Pasciuto, Ilaria; Vannozzi, Giuseppe; Cappozzo, Aurelio; Sabatini, Angelo Maria

2016-01-01

Information from complementary and redundant sensors are often combined within sensor fusion algorithms to obtain a single accurate observation of the system at hand. However, measurements from each sensor are characterized by uncertainties. When multiple data are fused, it is often unclear how all these uncertainties interact and influence the overall performance of the sensor fusion algorithm. To address this issue, a benchmarking procedure is presented, where simulated and real data are combined in different scenarios in order to quantify how each sensor’s uncertainties influence the accuracy of the final result. The proposed procedure was applied to the estimation of the pelvis orientation using a waist-worn magnetic-inertial measurement unit. Ground-truth data were obtained from a stereophotogrammetric system and used to obtain simulated data. Two Kalman-based sensor fusion algorithms were submitted to the proposed benchmarking procedure. For the considered application, gyroscope uncertainties proved to be the main error source in orientation estimation accuracy for both tested algorithms. Moreover, although different performances were obtained using simulated data, these differences became negligible when real data were considered. The outcome of this evaluation may be useful both to improve the design of new sensor fusion methods and to drive the algorithm tuning process. PMID:26821027

Frequency domain surface EMG sensor fusion for estimating finger forces.

PubMed

Potluri, Chandrasekhar; Kumar, Parmod; Anugolu, Madhavi; Urfer, Alex; Chiu, Steve; Naidu, D; Schoen, Marco P

2010-01-01

Extracting or estimating skeletal hand/finger forces using surface electro myographic (sEMG) signals poses many challenges due to cross-talk, noise, and a temporal and spatially modulated signal characteristics. Normal sEMG measurements are based on single sensor data. In this paper, array sensors are used along with a proposed sensor fusion scheme that result in a simple Multi-Input-Single-Output (MISO) transfer function. Experimental data is used along with system identification to find this MISO system. A Genetic Algorithm (GA) approach is employed to optimize the characteristics of the MISO system. The proposed fusion-based approach is tested experimentally and indicates improvement in finger/hand force estimation.

On the Use of Sensor Fusion to Reduce the Impact of Rotational and Additive Noise in Human Activity Recognition

PubMed Central

Banos, Oresti; Damas, Miguel; Pomares, Hector; Rojas, Ignacio

2012-01-01

The main objective of fusion mechanisms is to increase the individual reliability of the systems through the use of the collectivity knowledge. Moreover, fusion models are also intended to guarantee a certain level of robustness. This is particularly required for problems such as human activity recognition where runtime changes in the sensor setup seriously disturb the reliability of the initial deployed systems. For commonly used recognition systems based on inertial sensors, these changes are primarily characterized as sensor rotations, displacements or faults related to the batteries or calibration. In this work we show the robustness capabilities of a sensor-weighted fusion model when dealing with such disturbances under different circumstances. Using the proposed method, up to 60% outperformance is obtained when a minority of the sensors are artificially rotated or degraded, independent of the level of disturbance (noise) imposed. These robustness capabilities also apply for any number of sensors affected by a low to moderate noise level. The presented fusion mechanism compensates the poor performance that otherwise would be obtained when just a single sensor is considered. PMID:22969386

On the use of sensor fusion to reduce the impact of rotational and additive noise in human activity recognition.

PubMed

Banos, Oresti; Damas, Miguel; Pomares, Hector; Rojas, Ignacio

2012-01-01

The main objective of fusion mechanisms is to increase the individual reliability of the systems through the use of the collectivity knowledge. Moreover, fusion models are also intended to guarantee a certain level of robustness. This is particularly required for problems such as human activity recognition where runtime changes in the sensor setup seriously disturb the reliability of the initial deployed systems. For commonly used recognition systems based on inertial sensors, these changes are primarily characterized as sensor rotations, displacements or faults related to the batteries or calibration. In this work we show the robustness capabilities of a sensor-weighted fusion model when dealing with such disturbances under different circumstances. Using the proposed method, up to 60% outperformance is obtained when a minority of the sensors are artificially rotated or degraded, independent of the level of disturbance (noise) imposed. These robustness capabilities also apply for any number of sensors affected by a low to moderate noise level. The presented fusion mechanism compensates the poor performance that otherwise would be obtained when just a single sensor is considered.

A flexible data fusion architecture for persistent surveillance using ultra-low-power wireless sensor networks

NASA Astrophysics Data System (ADS)

Hanson, Jeffrey A.; McLaughlin, Keith L.; Sereno, Thomas J.

2011-06-01

We have developed a flexible, target-driven, multi-modal, physics-based fusion architecture that efficiently searches sensor detections for targets and rejects clutter while controlling the combinatoric problems that commonly arise in datadriven fusion systems. The informational constraints imposed by long lifetime requirements make systems vulnerable to false alarms. We demonstrate that our data fusion system significantly reduces false alarms while maintaining high sensitivity to threats. In addition, mission goals can vary substantially in terms of targets-of-interest, required characterization, acceptable latency, and false alarm rates. Our fusion architecture provides the flexibility to match these trade-offs with mission requirements unlike many conventional systems that require significant modifications for each new mission. We illustrate our data fusion performance with case studies that span many of the potential mission scenarios including border surveillance, base security, and infrastructure protection. In these studies, we deployed multi-modal sensor nodes - including geophones, magnetometers, accelerometers and PIR sensors - with low-power processing algorithms and low-bandwidth wireless mesh networking to create networks capable of multi-year operation. The results show our data fusion architecture maintains high sensitivities while suppressing most false alarms for a variety of environments and targets.

Motion Artifact Quantification and Sensor Fusion for Unobtrusive Health Monitoring.

PubMed

Hoog Antink, Christoph; Schulz, Florian; Leonhardt, Steffen; Walter, Marian

2017-12-25

Sensors integrated into objects of everyday life potentially allow unobtrusive health monitoring at home. However, since the coupling of sensors and subject is not as well-defined as compared to a clinical setting, the signal quality is much more variable and can be disturbed significantly by motion artifacts. One way of tackling this challenge is the combined evaluation of multiple channels via sensor fusion. For robust and accurate sensor fusion, analyzing the influence of motion on different modalities is crucial. In this work, a multimodal sensor setup integrated into an armchair is presented that combines capacitively coupled electrocardiography, reflective photoplethysmography, two high-frequency impedance sensors and two types of ballistocardiography sensors. To quantify motion artifacts, a motion protocol performed by healthy volunteers is recorded with a motion capture system, and reference sensors perform cardiorespiratory monitoring. The shape-based signal-to-noise ratio SNR S is introduced and used to quantify the effect on motion on different sensing modalities. Based on this analysis, an optimal combination of sensors and fusion methodology is developed and evaluated. Using the proposed approach, beat-to-beat heart-rate is estimated with a coverage of 99.5% and a mean absolute error of 7.9 ms on 425 min of data from seven volunteers in a proof-of-concept measurement scenario.

A review of potential image fusion methods for remote sensing-based irrigation management: Part II

USDA-ARS?s Scientific Manuscript database

Satellite-based sensors provide data at either greater spectral and coarser spatial resolutions, or lower spectral and finer spatial resolutions due to complementary spectral and spatial characteristics of optical sensor systems. In order to overcome this limitation, image fusion has been suggested ...

Finite Element Modelling of a Field-Sensed Magnetic Suspended System for Accurate Proximity Measurement Based on a Sensor Fusion Algorithm with Unscented Kalman Filter

PubMed Central

Chowdhury, Amor; Sarjaš, Andrej

2016-01-01

The presented paper describes accurate distance measurement for a field-sensed magnetic suspension system. The proximity measurement is based on a Hall effect sensor. The proximity sensor is installed directly on the lower surface of the electro-magnet, which means that it is very sensitive to external magnetic influences and disturbances. External disturbances interfere with the information signal and reduce the usability and reliability of the proximity measurements and, consequently, the whole application operation. A sensor fusion algorithm is deployed for the aforementioned reasons. The sensor fusion algorithm is based on the Unscented Kalman Filter, where a nonlinear dynamic model was derived with the Finite Element Modelling approach. The advantage of such modelling is a more accurate dynamic model parameter estimation, especially in the case when the real structure, materials and dimensions of the real-time application are known. The novelty of the paper is the design of a compact electro-magnetic actuator with a built-in low cost proximity sensor for accurate proximity measurement of the magnetic object. The paper successively presents a modelling procedure with the finite element method, design and parameter settings of a sensor fusion algorithm with Unscented Kalman Filter and, finally, the implementation procedure and results of real-time operation. PMID:27649197

Finite Element Modelling of a Field-Sensed Magnetic Suspended System for Accurate Proximity Measurement Based on a Sensor Fusion Algorithm with Unscented Kalman Filter.

PubMed

Chowdhury, Amor; Sarjaš, Andrej

2016-09-15

The presented paper describes accurate distance measurement for a field-sensed magnetic suspension system. The proximity measurement is based on a Hall effect sensor. The proximity sensor is installed directly on the lower surface of the electro-magnet, which means that it is very sensitive to external magnetic influences and disturbances. External disturbances interfere with the information signal and reduce the usability and reliability of the proximity measurements and, consequently, the whole application operation. A sensor fusion algorithm is deployed for the aforementioned reasons. The sensor fusion algorithm is based on the Unscented Kalman Filter, where a nonlinear dynamic model was derived with the Finite Element Modelling approach. The advantage of such modelling is a more accurate dynamic model parameter estimation, especially in the case when the real structure, materials and dimensions of the real-time application are known. The novelty of the paper is the design of a compact electro-magnetic actuator with a built-in low cost proximity sensor for accurate proximity measurement of the magnetic object. The paper successively presents a modelling procedure with the finite element method, design and parameter settings of a sensor fusion algorithm with Unscented Kalman Filter and, finally, the implementation procedure and results of real-time operation.

Facility Monitoring: A Qualitative Theory for Sensor Fusion

NASA Technical Reports Server (NTRS)

Figueroa, Fernando

2001-01-01

Data fusion and sensor management approaches have largely been implemented with centralized and hierarchical architectures. Numerical and statistical methods are the most common data fusion methods found in these systems. Given the proliferation and low cost of processing power, there is now an emphasis on designing distributed and decentralized systems. These systems use analytical/quantitative techniques or qualitative reasoning methods for date fusion.Based on other work by the author, a sensor may be treated as a highly autonomous (decentralized) unit. Each highly autonomous sensor (HAS) is capable of extracting qualitative behaviours from its data. For example, it detects spikes, disturbances, noise levels, off-limit excursions, step changes, drift, and other typical measured trends. In this context, this paper describes a distributed sensor fusion paradigm and theory where each sensor in the system is a HAS. Hence, given the reach qualitative information from each HAS, a paradigm and formal definitions are given so that sensors and processes can reason and make decisions at the qualitative level. This approach to sensor fusion makes it possible the implementation of intuitive (effective) methods to monitor, diagnose, and compensate processes/systems and their sensors. This paradigm facilitates a balanced distribution of intelligence (code and/or hardware) to the sensor level, the process/system level, and a higher controller level. The primary application of interest is in intelligent health management of rocket engine test stands.

Towards a Unified Approach to Information Integration - A review paper on data/information fusion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Whitney, Paul D.; Posse, Christian; Lei, Xingye C.

2005-10-14

Information or data fusion of data from different sources are ubiquitous in many applications, from epidemiology, medical, biological, political, and intelligence to military applications. Data fusion involves integration of spectral, imaging, text, and many other sensor data. For example, in epidemiology, information is often obtained based on many studies conducted by different researchers at different regions with different protocols. In the medical field, the diagnosis of a disease is often based on imaging (MRI, X-Ray, CT), clinical examination, and lab results. In the biological field, information is obtained based on studies conducted on many different species. In military field, informationmore » is obtained based on data from radar sensors, text messages, chemical biological sensor, acoustic sensor, optical warning and many other sources. Many methodologies are used in the data integration process, from classical, Bayesian, to evidence based expert systems. The implementation of the data integration ranges from pure software design to a mixture of software and hardware. In this review we summarize the methodologies and implementations of data fusion process, and illustrate in more detail the methodologies involved in three examples. We propose a unified multi-stage and multi-path mapping approach to the data fusion process, and point out future prospects and challenges.« less

Distributed multimodal data fusion for large scale wireless sensor networks

NASA Astrophysics Data System (ADS)

Ertin, Emre

2006-05-01

Sensor network technology has enabled new surveillance systems where sensor nodes equipped with processing and communication capabilities can collaboratively detect, classify and track targets of interest over a large surveillance area. In this paper we study distributed fusion of multimodal sensor data for extracting target information from a large scale sensor network. Optimal tracking, classification, and reporting of threat events require joint consideration of multiple sensor modalities. Multiple sensor modalities improve tracking by reducing the uncertainty in the track estimates as well as resolving track-sensor data association problems. Our approach to solving the fusion problem with large number of multimodal sensors is construction of likelihood maps. The likelihood maps provide a summary data for the solution of the detection, tracking and classification problem. The likelihood map presents the sensory information in an easy format for the decision makers to interpret and is suitable with fusion of spatial prior information such as maps, imaging data from stand-off imaging sensors. We follow a statistical approach to combine sensor data at different levels of uncertainty and resolution. The likelihood map transforms each sensor data stream to a spatio-temporal likelihood map ideally suitable for fusion with imaging sensor outputs and prior geographic information about the scene. We also discuss distributed computation of the likelihood map using a gossip based algorithm and present simulation results.

Health-Enabled Smart Sensor Fusion Technology

NASA Technical Reports Server (NTRS)

Wang, Ray

2012-01-01

A process was designed to fuse data from multiple sensors in order to make a more accurate estimation of the environment and overall health in an intelligent rocket test facility (IRTF), to provide reliable, high-confidence measurements for a variety of propulsion test articles. The object of the technology is to provide sensor fusion based on a distributed architecture. Specifically, the fusion technology is intended to succeed in providing health condition monitoring capability at the intelligent transceiver, such as RF signal strength, battery reading, computing resource monitoring, and sensor data reading. The technology also provides analytic and diagnostic intelligence at the intelligent transceiver, enhancing the IEEE 1451.x-based standard for sensor data management and distributions, as well as providing appropriate communications protocols to enable complex interactions to support timely and high-quality flow of information among the system elements.

Mixed H2/H∞-Based Fusion Estimation for Energy-Limited Multi-Sensors in Wearable Body Networks

PubMed Central

Li, Chao; Zhang, Zhenjiang; Chao, Han-Chieh

2017-01-01

In wireless sensor networks, sensor nodes collect plenty of data for each time period. If all of data are transmitted to a Fusion Center (FC), the power of sensor node would run out rapidly. On the other hand, the data also needs a filter to remove the noise. Therefore, an efficient fusion estimation model, which can save the energy of the sensor nodes while maintaining higher accuracy, is needed. This paper proposes a novel mixed H2/H∞-based energy-efficient fusion estimation model (MHEEFE) for energy-limited Wearable Body Networks. In the proposed model, the communication cost is firstly reduced efficiently while keeping the estimation accuracy. Then, the parameters in quantization method are discussed, and we confirm them by an optimization method with some prior knowledge. Besides, some calculation methods of important parameters are researched which make the final estimates more stable. Finally, an iteration-based weight calculation algorithm is presented, which can improve the fault tolerance of the final estimate. In the simulation, the impacts of some pivotal parameters are discussed. Meanwhile, compared with the other related models, the MHEEFE shows a better performance in accuracy, energy-efficiency and fault tolerance. PMID:29280950

Flexible Fusion Structure-Based Performance Optimization Learning for Multisensor Target Tracking

PubMed Central

Ge, Quanbo; Wei, Zhongliang; Cheng, Tianfa; Chen, Shaodong; Wang, Xiangfeng

2017-01-01

Compared with the fixed fusion structure, the flexible fusion structure with mixed fusion methods has better adjustment performance for the complex air task network systems, and it can effectively help the system to achieve the goal under the given constraints. Because of the time-varying situation of the task network system induced by moving nodes and non-cooperative target, and limitations such as communication bandwidth and measurement distance, it is necessary to dynamically adjust the system fusion structure including sensors and fusion methods in a given adjustment period. Aiming at this, this paper studies the design of a flexible fusion algorithm by using an optimization learning technology. The purpose is to dynamically determine the sensors’ numbers and the associated sensors to take part in the centralized and distributed fusion processes, respectively, herein termed sensor subsets selection. Firstly, two system performance indexes are introduced. Especially, the survivability index is presented and defined. Secondly, based on the two indexes and considering other conditions such as communication bandwidth and measurement distance, optimization models for both single target tracking and multi-target tracking are established. Correspondingly, solution steps are given for the two optimization models in detail. Simulation examples are demonstrated to validate the proposed algorithms. PMID:28481243

Sensor fusion II: Human and machine strategies; Proceedings of the Meeting, Philadelphia, PA, Nov. 6-9, 1989

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1990-01-01

Various papers on human and machine strategies in sensor fusion are presented. The general topics addressed include: active vision, measurement and analysis of visual motion, decision models for sensor fusion, implementation of sensor fusion algorithms, applying sensor fusion to image analysis, perceptual modules and their fusion, perceptual organization and object recognition, planning and the integration of high-level knowledge with perception, using prior knowledge and context in sensor fusion.

All-IP-Ethernet architecture for real-time sensor-fusion processing

NASA Astrophysics Data System (ADS)

Hiraki, Kei; Inaba, Mary; Tezuka, Hiroshi; Tomari, Hisanobu; Koizumi, Kenichi; Kondo, Shuya

2016-03-01

Serendipter is a device that distinguishes and selects very rare particles and cells from huge amount of population. We are currently designing and constructing information processing system for a Serendipter. The information processing system for Serendipter is a kind of sensor-fusion system but with much more difficulties: To fulfill these requirements, we adopt All IP based architecture: All IP-Ethernet based data processing system consists of (1) sensor/detector directly output data as IP-Ethernet packet stream, (2) single Ethernet/TCP/IP streams by a L2 100Gbps Ethernet switch, (3) An FPGA board with 100Gbps Ethernet I/F connected to the switch and a Xeon based server. Circuits in the FPGA include 100Gbps Ethernet MAC, buffers and preprocessing, and real-time Deep learning circuits using multi-layer neural networks. Proposed All-IP architecture solves existing problem to construct large-scale sensor-fusion systems.

A practical approach for active camera coordination based on a fusion-driven multi-agent system

NASA Astrophysics Data System (ADS)

Bustamante, Alvaro Luis; Molina, José M.; Patricio, Miguel A.

2014-04-01

In this paper, we propose a multi-agent system architecture to manage spatially distributed active (or pan-tilt-zoom) cameras. Traditional video surveillance algorithms are of no use for active cameras, and we have to look at different approaches. Such multi-sensor surveillance systems have to be designed to solve two related problems: data fusion and coordinated sensor-task management. Generally, architectures proposed for the coordinated operation of multiple cameras are based on the centralisation of management decisions at the fusion centre. However, the existence of intelligent sensors capable of decision making brings with it the possibility of conceiving alternative decentralised architectures. This problem is approached by means of a MAS, integrating data fusion as an integral part of the architecture for distributed coordination purposes. This paper presents the MAS architecture and system agents.

Probabilistic Multi-Sensor Fusion Based Indoor Positioning System on a Mobile Device

PubMed Central

He, Xiang; Aloi, Daniel N.; Li, Jia

2015-01-01

Nowadays, smart mobile devices include more and more sensors on board, such as motion sensors (accelerometer, gyroscope, magnetometer), wireless signal strength indicators (WiFi, Bluetooth, Zigbee), and visual sensors (LiDAR, camera). People have developed various indoor positioning techniques based on these sensors. In this paper, the probabilistic fusion of multiple sensors is investigated in a hidden Markov model (HMM) framework for mobile-device user-positioning. We propose a graph structure to store the model constructed by multiple sensors during the offline training phase, and a multimodal particle filter to seamlessly fuse the information during the online tracking phase. Based on our algorithm, we develop an indoor positioning system on the iOS platform. The experiments carried out in a typical indoor environment have shown promising results for our proposed algorithm and system design. PMID:26694387

Probabilistic Multi-Sensor Fusion Based Indoor Positioning System on a Mobile Device.

PubMed

He, Xiang; Aloi, Daniel N; Li, Jia

2015-12-14

Nowadays, smart mobile devices include more and more sensors on board, such as motion sensors (accelerometer, gyroscope, magnetometer), wireless signal strength indicators (WiFi, Bluetooth, Zigbee), and visual sensors (LiDAR, camera). People have developed various indoor positioning techniques based on these sensors. In this paper, the probabilistic fusion of multiple sensors is investigated in a hidden Markov model (HMM) framework for mobile-device user-positioning. We propose a graph structure to store the model constructed by multiple sensors during the offline training phase, and a multimodal particle filter to seamlessly fuse the information during the online tracking phase. Based on our algorithm, we develop an indoor positioning system on the iOS platform. The experiments carried out in a typical indoor environment have shown promising results for our proposed algorithm and system design.

An Adaptive Multi-Sensor Data Fusion Method Based on Deep Convolutional Neural Networks for Fault Diagnosis of Planetary Gearbox

PubMed Central

Jing, Luyang; Wang, Taiyong; Zhao, Ming; Wang, Peng

2017-01-01

A fault diagnosis approach based on multi-sensor data fusion is a promising tool to deal with complicated damage detection problems of mechanical systems. Nevertheless, this approach suffers from two challenges, which are (1) the feature extraction from various types of sensory data and (2) the selection of a suitable fusion level. It is usually difficult to choose an optimal feature or fusion level for a specific fault diagnosis task, and extensive domain expertise and human labor are also highly required during these selections. To address these two challenges, we propose an adaptive multi-sensor data fusion method based on deep convolutional neural networks (DCNN) for fault diagnosis. The proposed method can learn features from raw data and optimize a combination of different fusion levels adaptively to satisfy the requirements of any fault diagnosis task. The proposed method is tested through a planetary gearbox test rig. Handcraft features, manual-selected fusion levels, single sensory data, and two traditional intelligent models, back-propagation neural networks (BPNN) and a support vector machine (SVM), are used as comparisons in the experiment. The results demonstrate that the proposed method is able to detect the conditions of the planetary gearbox effectively with the best diagnosis accuracy among all comparative methods in the experiment. PMID:28230767

A Method for Improving the Pose Accuracy of a Robot Manipulator Based on Multi-Sensor Combined Measurement and Data Fusion

PubMed Central

Liu, Bailing; Zhang, Fumin; Qu, Xinghua

2015-01-01

An improvement method for the pose accuracy of a robot manipulator by using a multiple-sensor combination measuring system (MCMS) is presented. It is composed of a visual sensor, an angle sensor and a series robot. The visual sensor is utilized to measure the position of the manipulator in real time, and the angle sensor is rigidly attached to the manipulator to obtain its orientation. Due to the higher accuracy of the multi-sensor, two efficient data fusion approaches, the Kalman filter (KF) and multi-sensor optimal information fusion algorithm (MOIFA), are used to fuse the position and orientation of the manipulator. The simulation and experimental results show that the pose accuracy of the robot manipulator is improved dramatically by 38%∼78% with the multi-sensor data fusion. Comparing with reported pose accuracy improvement methods, the primary advantage of this method is that it does not require the complex solution of the kinematics parameter equations, increase of the motion constraints and the complicated procedures of the traditional vision-based methods. It makes the robot processing more autonomous and accurate. To improve the reliability and accuracy of the pose measurements of MCMS, the visual sensor repeatability is experimentally studied. An optimal range of 1 × 0.8 × 1 ∼ 2 × 0.8 × 1 m in the field of view (FOV) is indicated by the experimental results. PMID:25850067

Projection-based circular constrained state estimation and fusion over long-haul links

DOE Office of Scientific and Technical Information (OSTI.GOV)

Liu, Qiang; Rao, Nageswara S.

In this paper, we consider a scenario where sensors are deployed over a large geographical area for tracking a target with circular nonlinear constraints on its motion dynamics. The sensor state estimates are sent over long-haul networks to a remote fusion center for fusion. We are interested in different ways to incorporate the constraints into the estimation and fusion process in the presence of communication loss. In particular, we consider closed-form projection-based solutions, including rules for fusing the estimates and for incorporating the constraints, which jointly can guarantee timely fusion often required in realtime systems. We test the performance ofmore » these methods in the long-haul tracking environment using a simple example.« less

Enhancing the Discrimination Ability of a Gas Sensor Array Based on a Novel Feature Selection and Fusion Framework.

PubMed

Deng, Changjian; Lv, Kun; Shi, Debo; Yang, Bo; Yu, Song; He, Zhiyi; Yan, Jia

2018-06-12

In this paper, a novel feature selection and fusion framework is proposed to enhance the discrimination ability of gas sensor arrays for odor identification. Firstly, we put forward an efficient feature selection method based on the separability and the dissimilarity to determine the feature selection order for each type of feature when increasing the dimension of selected feature subsets. Secondly, the K-nearest neighbor (KNN) classifier is applied to determine the dimensions of the optimal feature subsets for different types of features. Finally, in the process of establishing features fusion, we come up with a classification dominance feature fusion strategy which conducts an effective basic feature. Experimental results on two datasets show that the recognition rates of Database I and Database II achieve 97.5% and 80.11%, respectively, when k = 1 for KNN classifier and the distance metric is correlation distance (COR), which demonstrates the superiority of the proposed feature selection and fusion framework in representing signal features. The novel feature selection method proposed in this paper can effectively select feature subsets that are conducive to the classification, while the feature fusion framework can fuse various features which describe the different characteristics of sensor signals, for enhancing the discrimination ability of gas sensors and, to a certain extent, suppressing drift effect.

A Data Fusion Method in Wireless Sensor Networks

PubMed Central

Izadi, Davood; Abawajy, Jemal H.; Ghanavati, Sara; Herawan, Tutut

2015-01-01

The success of a Wireless Sensor Network (WSN) deployment strongly depends on the quality of service (QoS) it provides regarding issues such as data accuracy, data aggregation delays and network lifetime maximisation. This is especially challenging in data fusion mechanisms, where a small fraction of low quality data in the fusion input may negatively impact the overall fusion result. In this paper, we present a fuzzy-based data fusion approach for WSN with the aim of increasing the QoS whilst reducing the energy consumption of the sensor network. The proposed approach is able to distinguish and aggregate only true values of the collected data as such, thus reducing the burden of processing the entire data at the base station (BS). It is also able to eliminate redundant data and consequently reduce energy consumption thus increasing the network lifetime. We studied the effectiveness of the proposed data fusion approach experimentally and compared it with two baseline approaches in terms of data collection, number of transferred data packets and energy consumption. The results of the experiments show that the proposed approach achieves better results than the baseline approaches. PMID:25635417

Enhancing hyperspectral spatial resolution using multispectral image fusion: A wavelet approach

NASA Astrophysics Data System (ADS)

Jazaeri, Amin

High spectral and spatial resolution images have a significant impact in remote sensing applications. Because both spatial and spectral resolutions of spaceborne sensors are fixed by design and it is not possible to further increase the spatial or spectral resolution, techniques such as image fusion must be applied to achieve such goals. This dissertation introduces the concept of wavelet fusion between hyperspectral and multispectral sensors in order to enhance the spectral and spatial resolution of a hyperspectral image. To test the robustness of this concept, images from Hyperion (hyperspectral sensor) and Advanced Land Imager (multispectral sensor) were first co-registered and then fused using different wavelet algorithms. A regression-based fusion algorithm was also implemented for comparison purposes. The results show that the fused images using a combined bi-linear wavelet-regression algorithm have less error than other methods when compared to the ground truth. In addition, a combined regression-wavelet algorithm shows more immunity to misalignment of the pixels due to the lack of proper registration. The quantitative measures of average mean square error show that the performance of wavelet-based methods degrades when the spatial resolution of hyperspectral images becomes eight times less than its corresponding multispectral image. Regardless of what method of fusion is utilized, the main challenge in image fusion is image registration, which is also a very time intensive process. Because the combined regression wavelet technique is computationally expensive, a hybrid technique based on regression and wavelet methods was also implemented to decrease computational overhead. However, the gain in faster computation was offset by the introduction of more error in the outcome. The secondary objective of this dissertation is to examine the feasibility and sensor requirements for image fusion for future NASA missions in order to be able to perform onboard image fusion. In this process, the main challenge of image registration was resolved by registering the input images using transformation matrices of previously acquired data. The composite image resulted from the fusion process remarkably matched the ground truth, indicating the possibility of real time onboard fusion processing.

Enhancement of Tropical Land Cover Mapping with Wavelet-Based Fusion and Unsupervised Clustering of SAR and Landsat Image Data

NASA Technical Reports Server (NTRS)

LeMoigne, Jacqueline; Laporte, Nadine; Netanyahuy, Nathan S.; Zukor, Dorothy (Technical Monitor)

2001-01-01

The characterization and the mapping of land cover/land use of forest areas, such as the Central African rainforest, is a very complex task. This complexity is mainly due to the extent of such areas and, as a consequence, to the lack of full and continuous cloud-free coverage of those large regions by one single remote sensing instrument, In order to provide improved vegetation maps of Central Africa and to develop forest monitoring techniques for applications at the local and regional scales, we propose to utilize multi-sensor remote sensing observations coupled with in-situ data. Fusion and clustering of multi-sensor data are the first steps towards the development of such a forest monitoring system. In this paper, we will describe some preliminary experiments involving the fusion of SAR and Landsat image data of the Lope Reserve in Gabon. Similarly to previous fusion studies, our fusion method is wavelet-based. The fusion provides a new image data set which contains more detailed texture features and preserves the large homogeneous regions that are observed by the Thematic Mapper sensor. The fusion step is followed by unsupervised clustering and provides a vegetation map of the area.

Multi-Sensor Fusion with Interaction Multiple Model and Chi-Square Test Tolerant Filter.

PubMed

Yang, Chun; Mohammadi, Arash; Chen, Qing-Wei

2016-11-02

Motivated by the key importance of multi-sensor information fusion algorithms in the state-of-the-art integrated navigation systems due to recent advancements in sensor technologies, telecommunication, and navigation systems, the paper proposes an improved and innovative fault-tolerant fusion framework. An integrated navigation system is considered consisting of four sensory sub-systems, i.e., Strap-down Inertial Navigation System (SINS), Global Navigation System (GPS), the Bei-Dou2 (BD2) and Celestial Navigation System (CNS) navigation sensors. In such multi-sensor applications, on the one hand, the design of an efficient fusion methodology is extremely constrained specially when no information regarding the system's error characteristics is available. On the other hand, the development of an accurate fault detection and integrity monitoring solution is both challenging and critical. The paper addresses the sensitivity issues of conventional fault detection solutions and the unavailability of a precisely known system model by jointly designing fault detection and information fusion algorithms. In particular, by using ideas from Interacting Multiple Model (IMM) filters, the uncertainty of the system will be adjusted adaptively by model probabilities and using the proposed fuzzy-based fusion framework. The paper also addresses the problem of using corrupted measurements for fault detection purposes by designing a two state propagator chi-square test jointly with the fusion algorithm. Two IMM predictors, running in parallel, are used and alternatively reactivated based on the received information form the fusion filter to increase the reliability and accuracy of the proposed detection solution. With the combination of the IMM and the proposed fusion method, we increase the failure sensitivity of the detection system and, thereby, significantly increase the overall reliability and accuracy of the integrated navigation system. Simulation results indicate that the proposed fault tolerant fusion framework provides superior performance over its traditional counterparts.

Multi-Sensor Fusion with Interaction Multiple Model and Chi-Square Test Tolerant Filter

PubMed Central

Yang, Chun; Mohammadi, Arash; Chen, Qing-Wei

2016-01-01

Motivated by the key importance of multi-sensor information fusion algorithms in the state-of-the-art integrated navigation systems due to recent advancements in sensor technologies, telecommunication, and navigation systems, the paper proposes an improved and innovative fault-tolerant fusion framework. An integrated navigation system is considered consisting of four sensory sub-systems, i.e., Strap-down Inertial Navigation System (SINS), Global Navigation System (GPS), the Bei-Dou2 (BD2) and Celestial Navigation System (CNS) navigation sensors. In such multi-sensor applications, on the one hand, the design of an efficient fusion methodology is extremely constrained specially when no information regarding the system’s error characteristics is available. On the other hand, the development of an accurate fault detection and integrity monitoring solution is both challenging and critical. The paper addresses the sensitivity issues of conventional fault detection solutions and the unavailability of a precisely known system model by jointly designing fault detection and information fusion algorithms. In particular, by using ideas from Interacting Multiple Model (IMM) filters, the uncertainty of the system will be adjusted adaptively by model probabilities and using the proposed fuzzy-based fusion framework. The paper also addresses the problem of using corrupted measurements for fault detection purposes by designing a two state propagator chi-square test jointly with the fusion algorithm. Two IMM predictors, running in parallel, are used and alternatively reactivated based on the received information form the fusion filter to increase the reliability and accuracy of the proposed detection solution. With the combination of the IMM and the proposed fusion method, we increase the failure sensitivity of the detection system and, thereby, significantly increase the overall reliability and accuracy of the integrated navigation system. Simulation results indicate that the proposed fault tolerant fusion framework provides superior performance over its traditional counterparts. PMID:27827832

Evaluation of taste solutions by sensor fusion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kojima, Yohichiro; Sato, Eriko; Atobe, Masahiko

In our previous studies, properties of taste solutions were discriminated based on sound velocity and amplitude of ultrasonic waves propagating through the solutions. However, to make this method applicable to beverages which contain many taste substances, further studies are required. In this study, the waveform of an ultrasonic wave with frequency of approximately 5 MHz propagating through a solution was measured and subjected to frequency analysis. Further, taste sensors require various techniques of sensor fusion to effectively obtain chemical and physical parameter of taste solutions. A sensor fusion method of ultrasonic wave sensor and various sensors, such as the surfacemore » plasmon resonance (SPR) sensor, to estimate tastes were proposed and examined in this report. As a result, differences among pure water and two basic taste solutions were clearly observed as differences in their properties. Furthermore, a self-organizing neural network was applied to obtained data which were used to clarify the differences among solutions.« less

Multisensor Parallel Largest Ellipsoid Distributed Data Fusion with Unknown Cross-Covariances

PubMed Central

Liu, Baoyu; Zhan, Xingqun; Zhu, Zheng H.

2017-01-01

As the largest ellipsoid (LE) data fusion algorithm can only be applied to two-sensor system, in this contribution, parallel fusion structure is proposed to introduce the LE algorithm into a multisensor system with unknown cross-covariances, and three parallel fusion structures based on different estimate pairing methods are presented and analyzed. In order to assess the influence of fusion structure on fusion performance, two fusion performance assessment parameters are defined as Fusion Distance and Fusion Index. Moreover, the formula for calculating the upper bounds of actual fused error covariances of the presented multisensor LE fusers is also provided. Demonstrated with simulation examples, the Fusion Index indicates fuser’s actual fused accuracy and its sensitivity to the sensor orders, as well as its robustness to the accuracy of newly added sensors. Compared to the LE fuser with sequential structure, the LE fusers with proposed parallel structures not only significantly improve their properties in these aspects, but also embrace better performances in consistency and computation efficiency. The presented multisensor LE fusers generally have better accuracies than covariance intersection (CI) fusion algorithm and are consistent when the local estimates are weakly correlated. PMID:28661442

Data fusion algorithm for rapid multi-mode dust concentration measurement system based on MEMS

NASA Astrophysics Data System (ADS)

Liao, Maohao; Lou, Wenzhong; Wang, Jinkui; Zhang, Yan

2018-03-01

As single measurement method cannot fully meet the technical requirements of dust concentration measurement, the multi-mode detection method is put forward, as well as the new requirements for data processing. This paper presents a new dust concentration measurement system which contains MEMS ultrasonic sensor and MEMS capacitance sensor, and presents a new data fusion algorithm for this multi-mode dust concentration measurement system. After analyzing the relation between the data of the composite measurement method, the data fusion algorithm based on Kalman filtering is established, which effectively improve the measurement accuracy, and ultimately forms a rapid data fusion model of dust concentration measurement. Test results show that the data fusion algorithm is able to realize the rapid and exact concentration detection.

Research on the strategy of underwater united detection fusion and communication using multi-sensor

NASA Astrophysics Data System (ADS)

Xu, Zhenhua; Huang, Jianguo; Huang, Hai; Zhang, Qunfei

2011-09-01

In order to solve the distributed detection fusion problem of underwater target detection, when the signal to noise ratio (SNR) of the acoustic channel is low, a new strategy for united detection fusion and communication using multiple sensors was proposed. The performance of detection fusion was studied and compared based on the Neyman-Pearson principle when the binary phase shift keying (BPSK) and on-off keying (OOK) modes were used by the local sensors. The comparative simulation and analysis between the optimal likelihood ratio test and the proposed strategy was completed, and both the theoretical analysis and simulation indicate that using the proposed new strategy could improve the detection performance effectively. In theory, the proposed strategy of united detection fusion and communication is of great significance to the establishment of an underwater target detection system.

The addition of a sagittal image fusion improves the prostate cancer detection in a sensor-based MRI /ultrasound fusion guided targeted biopsy.

PubMed

Günzel, Karsten; Cash, Hannes; Buckendahl, John; Königbauer, Maximilian; Asbach, Patrick; Haas, Matthias; Neymeyer, Jörg; Hinz, Stefan; Miller, Kurt; Kempkensteffen, Carsten

2017-01-13

To explore the diagnostic benefit of an additional image fusion of the sagittal plane in addition to the standard axial image fusion, using a sensor-based MRI/US fusion platform. During July 2013 and September 2015, 251 patients with at least one suspicious lesion on mpMRI (rated by PI-RADS) were included into the analysis. All patients underwent MRI/US targeted biopsy (TB) in combination with a 10 core systematic prostate biopsy (SB). All biopsies were performed on a sensor-based fusion system. Group A included 162 men who received TB by an axial MRI/US image fusion. Group B comprised 89 men in whom the TB was performed with an additional sagittal image fusion. The median age in group A was 67 years (IQR 61-72) and in group B 68 years (IQR 60-71). The median PSA level in group A was 8.10 ng/ml (IQR 6.05-14) and in group B 8.59 ng/ml (IQR 5.65-12.32). In group A the proportion of patients with a suspicious digital rectal examination (DRE) (14 vs. 29%, p = 0.007) and the proportion of primary biopsies (33 vs 46%, p = 0.046) were significantly lower. The rate of PI-RADS 3 lesions were overrepresented in group A compared to group B (19 vs. 9%; p = 0.044). Classified according to PI-RADS 3, 4 and 5, the detection rates of TB were 42, 48, 75% in group A and 25, 74, 90% in group B. The rate of PCa with a Gleason score ≥7 missed by TB was 33% (18 cases) in group A and 9% (5 cases) in group B; p-value 0.072. An explorative multivariate binary logistic regression analysis revealed that PI-RADS, a suspicious DRE and performing an additional sagittal image fusion were significant predictors for PCa detection in TB. 9 PCa were only detected by TB with sagittal fusion (sTB) and sTB identified 10 additional clinically significant PCa (Gleason ≥7). Performing an additional sagittal image fusion besides the standard axial fusion appears to improve the accuracy of the sensor-based MRI/US fusion platform.

Energy Logic (EL): a novel fusion engine of multi-modality multi-agent data/information fusion for intelligent surveillance systems

NASA Astrophysics Data System (ADS)

Rababaah, Haroun; Shirkhodaie, Amir

2009-04-01

The rapidly advancing hardware technology, smart sensors and sensor networks are advancing environment sensing. One major potential of this technology is Large-Scale Surveillance Systems (LS3) especially for, homeland security, battlefield intelligence, facility guarding and other civilian applications. The efficient and effective deployment of LS3 requires addressing number of aspects impacting the scalability of such systems. The scalability factors are related to: computation and memory utilization efficiency, communication bandwidth utilization, network topology (e.g., centralized, ad-hoc, hierarchical or hybrid), network communication protocol and data routing schemes; and local and global data/information fusion scheme for situational awareness. Although, many models have been proposed to address one aspect or another of these issues but, few have addressed the need for a multi-modality multi-agent data/information fusion that has characteristics satisfying the requirements of current and future intelligent sensors and sensor networks. In this paper, we have presented a novel scalable fusion engine for multi-modality multi-agent information fusion for LS3. The new fusion engine is based on a concept we call: Energy Logic. Experimental results of this work as compared to a Fuzzy logic model strongly supported the validity of the new model and inspired future directions for different levels of fusion and different applications.

The fusion of satellite and UAV data: simulation of high spatial resolution band

NASA Astrophysics Data System (ADS)

Jenerowicz, Agnieszka; Siok, Katarzyna; Woroszkiewicz, Malgorzata; Orych, Agata

2017-10-01

Remote sensing techniques used in the precision agriculture and farming that apply imagery data obtained with sensors mounted on UAV platforms became more popular in the last few years due to the availability of low- cost UAV platforms and low- cost sensors. Data obtained from low altitudes with low- cost sensors can be characterised by high spatial and radiometric resolution but quite low spectral resolution, therefore the application of imagery data obtained with such technology is quite limited and can be used only for the basic land cover classification. To enrich the spectral resolution of imagery data acquired with low- cost sensors from low altitudes, the authors proposed the fusion of RGB data obtained with UAV platform with multispectral satellite imagery. The fusion is based on the pansharpening process, that aims to integrate the spatial details of the high-resolution panchromatic image with the spectral information of lower resolution multispectral or hyperspectral imagery to obtain multispectral or hyperspectral images with high spatial resolution. The key of pansharpening is to properly estimate the missing spatial details of multispectral images while preserving their spectral properties. In the research, the authors presented the fusion of RGB images (with high spatial resolution) obtained with sensors mounted on low- cost UAV platforms and multispectral satellite imagery with satellite sensors, i.e. Landsat 8 OLI. To perform the fusion of UAV data with satellite imagery, the simulation of the panchromatic bands from RGB data based on the spectral channels linear combination, was conducted. Next, for simulated bands and multispectral satellite images, the Gram-Schmidt pansharpening method was applied. As a result of the fusion, the authors obtained several multispectral images with very high spatial resolution and then analysed the spatial and spectral accuracies of processed images.

Biometric image enhancement using decision rule based image fusion techniques

NASA Astrophysics Data System (ADS)

Sagayee, G. Mary Amirtha; Arumugam, S.

2010-02-01

Introducing biometrics into information systems may result in considerable benefits. Most of the researchers confirmed that the finger print is widely used than the iris or face and more over it is the primary choice for most privacy concerned applications. For finger prints applications, choosing proper sensor is at risk. The proposed work deals about, how the image quality can be improved by introducing image fusion technique at sensor levels. The results of the images after introducing the decision rule based image fusion technique are evaluated and analyzed with its entropy levels and root mean square error.

Hierarchical adaptation scheme for multiagent data fusion and resource management in situation analysis

NASA Astrophysics Data System (ADS)

Benaskeur, Abder R.; Roy, Jean

2001-08-01

Sensor Management (SM) has to do with how to best manage, coordinate and organize the use of sensing resources in a manner that synergistically improves the process of data fusion. Based on the contextual information, SM develops options for collecting further information, allocates and directs the sensors towards the achievement of the mission goals and/or tunes the parameters for the realtime improvement of the effectiveness of the sensing process. Conscious of the important role that SM has to play in modern data fusion systems, we are currently studying advanced SM Concepts that would help increase the survivability of the current Halifax and Iroquois Class ships, as well as their possible future upgrades. For this purpose, a hierarchical scheme has been proposed for data fusion and resource management adaptation, based on the control theory and within the process refinement paradigm of the JDL data fusion model, and taking into account the multi-agent model put forward by the SASS Group for the situation analysis process. The novelty of this work lies in the unified framework that has been defined for tackling the adaptation of both the fusion process and the sensor/weapon management.

An epidemic model for biological data fusion in ad hoc sensor networks

NASA Astrophysics Data System (ADS)

Chang, K. C.; Kotari, Vikas

2009-05-01

Bio terrorism can be a very refined and a catastrophic approach of attacking a nation. This requires the development of a complete architecture dedicatedly designed for this purpose which includes but is not limited to Sensing/Detection, Tracking and Fusion, Communication, and others. In this paper we focus on one such architecture and evaluate its performance. Various sensors for this specific purpose have been studied. The accent has been on use of Distributed systems such as ad-hoc networks and on application of epidemic data fusion algorithms to better manage the bio threat data. The emphasis has been on understanding the performance characteristics of these algorithms under diversified real time scenarios which are implemented through extensive JAVA based simulations. Through comparative studies on communication and fusion the performance of channel filter algorithm for the purpose of biological sensor data fusion are validated.

Extended Logic Intelligent Processing System for a Sensor Fusion Processor Hardware

NASA Technical Reports Server (NTRS)

Stoica, Adrian; Thomas, Tyson; Li, Wei-Te; Daud, Taher; Fabunmi, James

2000-01-01

The paper presents the hardware implementation and initial tests from a low-power, highspeed reconfigurable sensor fusion processor. The Extended Logic Intelligent Processing System (ELIPS) is described, which combines rule-based systems, fuzzy logic, and neural networks to achieve parallel fusion of sensor signals in compact low power VLSI. The development of the ELIPS concept is being done to demonstrate the interceptor functionality which particularly underlines the high speed and low power requirements. The hardware programmability allows the processor to reconfigure into different machines, taking the most efficient hardware implementation during each phase of information processing. Processing speeds of microseconds have been demonstrated using our test hardware.

Regular Deployment of Wireless Sensors to Achieve Connectivity and Information Coverage

PubMed Central

Cheng, Wei; Li, Yong; Jiang, Yi; Yin, Xipeng

2016-01-01

Coverage and connectivity are two of the most critical research subjects in WSNs, while regular deterministic deployment is an important deployment strategy and results in some pattern-based lattice WSNs. Some studies of optimal regular deployment for generic values of rc/rs were shown recently. However, most of these deployments are subject to a disk sensing model, and cannot take advantage of data fusion. Meanwhile some other studies adapt detection techniques and data fusion to sensing coverage to enhance the deployment scheme. In this paper, we provide some results on optimal regular deployment patterns to achieve information coverage and connectivity as a variety of rc/rs, which are all based on data fusion by sensor collaboration, and propose a novel data fusion strategy for deployment patterns. At first the relation between variety of rc/rs and density of sensors needed to achieve information coverage and connectivity is derived in closed form for regular pattern-based lattice WSNs. Then a dual triangular pattern deployment based on our novel data fusion strategy is proposed, which can utilize collaborative data fusion more efficiently. The strip-based deployment is also extended to a new pattern to achieve information coverage and connectivity, and its characteristics are deduced in closed form. Some discussions and simulations are given to show the efficiency of all deployment patterns, including previous patterns and the proposed patterns, to help developers make more impactful WSN deployment decisions. PMID:27529246

Instrumental intelligent test of food sensory quality as mimic of human panel test combining multiple cross-perception sensors and data fusion.

PubMed

Ouyang, Qin; Zhao, Jiewen; Chen, Quansheng

2014-09-02

Instrumental test of food quality using perception sensors instead of human panel test is attracting massive attention recently. A novel cross-perception multi-sensors data fusion imitating multiple mammal perception was proposed for the instrumental test in this work. First, three mimic sensors of electronic eye, electronic nose and electronic tongue were used in sequence for data acquisition of rice wine samples. Then all data from the three different sensors were preprocessed and merged. Next, three cross-perception variables i.e., color, aroma and taste, were constructed using principal components analysis (PCA) and multiple linear regression (MLR) which were used as the input of models. MLR, back-propagation artificial neural network (BPANN) and support vector machine (SVM) were comparatively used for modeling, and the instrumental test was achieved for the comprehensive quality of samples. Results showed the proposed cross-perception multi-sensors data fusion presented obvious superiority to the traditional data fusion methodologies, also achieved a high correlation coefficient (>90%) with the human panel test results. This work demonstrated that the instrumental test based on the cross-perception multi-sensors data fusion can actually mimic the human test behavior, therefore is of great significance to ensure the quality of products and decrease the loss of the manufacturers. Copyright © 2014 Elsevier B.V. All rights reserved.

Dual-Tree Complex Wavelet Transform and Image Block Residual-Based Multi-Focus Image Fusion in Visual Sensor Networks

PubMed Central

Yang, Yong; Tong, Song; Huang, Shuying; Lin, Pan

2014-01-01

This paper presents a novel framework for the fusion of multi-focus images explicitly designed for visual sensor network (VSN) environments. Multi-scale based fusion methods can often obtain fused images with good visual effect. However, because of the defects of the fusion rules, it is almost impossible to completely avoid the loss of useful information in the thus obtained fused images. The proposed fusion scheme can be divided into two processes: initial fusion and final fusion. The initial fusion is based on a dual-tree complex wavelet transform (DTCWT). The Sum-Modified-Laplacian (SML)-based visual contrast and SML are employed to fuse the low- and high-frequency coefficients, respectively, and an initial composited image is obtained. In the final fusion process, the image block residuals technique and consistency verification are used to detect the focusing areas and then a decision map is obtained. The map is used to guide how to achieve the final fused image. The performance of the proposed method was extensively tested on a number of multi-focus images, including no-referenced images, referenced images, and images with different noise levels. The experimental results clearly indicate that the proposed method outperformed various state-of-the-art fusion methods, in terms of both subjective and objective evaluations, and is more suitable for VSNs. PMID:25587878

Dual-tree complex wavelet transform and image block residual-based multi-focus image fusion in visual sensor networks.

PubMed

Yang, Yong; Tong, Song; Huang, Shuying; Lin, Pan

2014-11-26

This paper presents a novel framework for the fusion of multi-focus images explicitly designed for visual sensor network (VSN) environments. Multi-scale based fusion methods can often obtain fused images with good visual effect. However, because of the defects of the fusion rules, it is almost impossible to completely avoid the loss of useful information in the thus obtained fused images. The proposed fusion scheme can be divided into two processes: initial fusion and final fusion. The initial fusion is based on a dual-tree complex wavelet transform (DTCWT). The Sum-Modified-Laplacian (SML)-based visual contrast and SML are employed to fuse the low- and high-frequency coefficients, respectively, and an initial composited image is obtained. In the final fusion process, the image block residuals technique and consistency verification are used to detect the focusing areas and then a decision map is obtained. The map is used to guide how to achieve the final fused image. The performance of the proposed method was extensively tested on a number of multi-focus images, including no-referenced images, referenced images, and images with different noise levels. The experimental results clearly indicate that the proposed method outperformed various state-of-the-art fusion methods, in terms of both subjective and objective evaluations, and is more suitable for VSNs.

The application of machine learning in multi sensor data fusion for activity recognition in mobile device space

NASA Astrophysics Data System (ADS)

Marhoubi, Asmaa H.; Saravi, Sara; Edirisinghe, Eran A.

2015-05-01

The present generation of mobile handheld devices comes equipped with a large number of sensors. The key sensors include the Ambient Light Sensor, Proximity Sensor, Gyroscope, Compass and the Accelerometer. Many mobile applications are driven based on the readings obtained from either one or two of these sensors. However the presence of multiple-sensors will enable the determination of more detailed activities that are carried out by the user of a mobile device, thus enabling smarter mobile applications to be developed that responds more appropriately to user behavior and device usage. In the proposed research we use recent advances in machine learning to fuse together the data obtained from all key sensors of a mobile device. We investigate the possible use of single and ensemble classifier based approaches to identify a mobile device's behavior in the space it is present. Feature selection algorithms are used to remove non-discriminant features that often lead to poor classifier performance. As the sensor readings are noisy and include a significant proportion of missing values and outliers, we use machine learning based approaches to clean the raw data obtained from the sensors, before use. Based on selected practical case studies, we demonstrate the ability to accurately recognize device behavior based on multi-sensor data fusion.

Multisource image fusion method using support value transform.

PubMed

Zheng, Sheng; Shi, Wen-Zhong; Liu, Jian; Zhu, Guang-Xi; Tian, Jin-Wen

2007-07-01

With the development of numerous imaging sensors, many images can be simultaneously pictured by various sensors. However, there are many scenarios where no one sensor can give the complete picture. Image fusion is an important approach to solve this problem and produces a single image which preserves all relevant information from a set of different sensors. In this paper, we proposed a new image fusion method using the support value transform, which uses the support value to represent the salient features of image. This is based on the fact that, in support vector machines (SVMs), the data with larger support values have a physical meaning in the sense that they reveal relative more importance of the data points for contributing to the SVM model. The mapped least squares SVM (mapped LS-SVM) is used to efficiently compute the support values of image. The support value analysis is developed by using a series of multiscale support value filters, which are obtained by filling zeros in the basic support value filter deduced from the mapped LS-SVM to match the resolution of the desired level. Compared with the widely used image fusion methods, such as the Laplacian pyramid, discrete wavelet transform methods, the proposed method is an undecimated transform-based approach. The fusion experiments are undertaken on multisource images. The results demonstrate that the proposed approach is effective and is superior to the conventional image fusion methods in terms of the pertained quantitative fusion evaluation indexes, such as quality of visual information (Q(AB/F)), the mutual information, etc.

Sensor fusion for antipersonnel landmine detection: a case study

NASA Astrophysics Data System (ADS)

den Breejen, Eric; Schutte, Klamer; Cremer, Frank

1999-08-01

In this paper the multi sensor fusion results obtained within the European research project GEODE are presented. The layout of the test lane and the individual sensors used are described. The implementation of the SCOOP algorithm improves the ROC curves, as the false alarm surface and the number of false alarms both are taken into account. The confidence grids, as produced by the sensor manufacturers, of the sensors are used as input for the different sensor fusion methods implemented. The multisensor fusion methods implemented are Bayes, Dempster-Shafer, fuzzy probabilities and rules. The mapping of the confidence grids to the input parameters for fusion methods is an important step. Due to limited amount of the available data the entire test lane is used for training and evaluation. All four sensor fusion methods provide better detection results than the individual sensors.

Decision Fusion with Channel Errors in Distributed Decode-Then-Fuse Sensor Networks

PubMed Central

Yan, Yongsheng; Wang, Haiyan; Shen, Xiaohong; Zhong, Xionghu

2015-01-01

Decision fusion for distributed detection in sensor networks under non-ideal channels is investigated in this paper. Usually, the local decisions are transmitted to the fusion center (FC) and decoded, and a fusion rule is then applied to achieve a global decision. We propose an optimal likelihood ratio test (LRT)-based fusion rule to take the uncertainty of the decoded binary data due to modulation, reception mode and communication channel into account. The average bit error rate (BER) is employed to characterize such an uncertainty. Further, the detection performance is analyzed under both non-identical and identical local detection performance indices. In addition, the performance of the proposed method is compared with the existing optimal and suboptimal LRT fusion rules. The results show that the proposed fusion rule is more robust compared to these existing ones. PMID:26251908

A methodology for hard/soft information fusion in the condition monitoring of aircraft

NASA Astrophysics Data System (ADS)

Bernardo, Joseph T.

2013-05-01

Condition-based maintenance (CBM) refers to the philosophy of performing maintenance when the need arises, based upon indicators of deterioration in the condition of the machinery. Traditionally, CBM involves equipping machinery with electronic sensors that continuously monitor components and collect data for analysis. The addition of the multisensory capability of human cognitive functions (i.e., sensemaking, problem detection, planning, adaptation, coordination, naturalistic decision making) to traditional CBM may create a fuller picture of machinery condition. Cognitive systems engineering techniques provide an opportunity to utilize a dynamic resource—people acting as soft sensors. The literature is extensive on techniques to fuse data from electronic sensors, but little work exists on fusing data from humans with that from electronic sensors (i.e., hard/soft fusion). The purpose of my research is to explore, observe, investigate, analyze, and evaluate the fusion of pilot and maintainer knowledge, experiences, and sensory perceptions with digital maintenance resources. Hard/soft information fusion has the potential to increase problem detection capability, improve flight safety, and increase mission readiness. This proposed project consists the creation of a methodology that is based upon the Living Laboratories framework, a research methodology that is built upon cognitive engineering principles1. This study performs a critical assessment of concept, which will support development of activities to demonstrate hard/soft information fusion in operationally relevant scenarios of aircraft maintenance. It consists of fieldwork, knowledge elicitation to inform a simulation and a prototype.

An integrated multi-sensor fusion-based deep feature learning approach for rotating machinery diagnosis

NASA Astrophysics Data System (ADS)

Liu, Jie; Hu, Youmin; Wang, Yan; Wu, Bo; Fan, Jikai; Hu, Zhongxu

2018-05-01

The diagnosis of complicated fault severity problems in rotating machinery systems is an important issue that affects the productivity and quality of manufacturing processes and industrial applications. However, it usually suffers from several deficiencies. (1) A considerable degree of prior knowledge and expertise is required to not only extract and select specific features from raw sensor signals, and but also choose a suitable fusion for sensor information. (2) Traditional artificial neural networks with shallow architectures are usually adopted and they have a limited ability to learn the complex and variable operating conditions. In multi-sensor-based diagnosis applications in particular, massive high-dimensional and high-volume raw sensor signals need to be processed. In this paper, an integrated multi-sensor fusion-based deep feature learning (IMSFDFL) approach is developed to identify the fault severity in rotating machinery processes. First, traditional statistics and energy spectrum features are extracted from multiple sensors with multiple channels and combined. Then, a fused feature vector is constructed from all of the acquisition channels. Further, deep feature learning with stacked auto-encoders is used to obtain the deep features. Finally, the traditional softmax model is applied to identify the fault severity. The effectiveness of the proposed IMSFDFL approach is primarily verified by a one-stage gearbox experimental platform that uses several accelerometers under different operating conditions. This approach can identify fault severity more effectively than the traditional approaches.

Sensor fusion approaches for EMI and GPR-based subsurface threat identification

NASA Astrophysics Data System (ADS)

Torrione, Peter; Morton, Kenneth, Jr.; Besaw, Lance E.

2011-06-01

Despite advances in both electromagnetic induction (EMI) and ground penetrating radar (GPR) sensing and related signal processing, neither sensor alone provides a perfect tool for detecting the myriad of possible buried objects that threaten the lives of Soldiers and civilians. However, while neither GPR nor EMI sensing alone can provide optimal detection across all target types, the two approaches are highly complementary. As a result, many landmine systems seek to make use of both sensing modalities simultaneously and fuse the results from both sensors to improve detection performance for targets with widely varying metal content and GPR responses. Despite this, little work has focused on large-scale comparisons of different approaches to sensor fusion and machine learning for combining data from these highly orthogonal phenomenologies. In this work we explore a wide array of pattern recognition techniques for algorithm development and sensor fusion. Results with the ARA Nemesis landmine detection system suggest that nonlinear and non-parametric classification algorithms provide significant performance benefits for single-sensor algorithm development, and that fusion of multiple algorithms can be performed satisfactorily using basic parametric approaches, such as logistic discriminant classification, for the targets under consideration in our data sets.

Research on the Fusion of Dependent Evidence Based on Rank Correlation Coefficient.

PubMed

Shi, Fengjian; Su, Xiaoyan; Qian, Hong; Yang, Ning; Han, Wenhua

2017-10-16

In order to meet the higher accuracy and system reliability requirements, the information fusion for multi-sensor systems is an increasing concern. Dempster-Shafer evidence theory (D-S theory) has been investigated for many applications in multi-sensor information fusion due to its flexibility in uncertainty modeling. However, classical evidence theory assumes that the evidence is independent of each other, which is often unrealistic. Ignoring the relationship between the evidence may lead to unreasonable fusion results, and even lead to wrong decisions. This assumption severely prevents D-S evidence theory from practical application and further development. In this paper, an innovative evidence fusion model to deal with dependent evidence based on rank correlation coefficient is proposed. The model first uses rank correlation coefficient to measure the dependence degree between different evidence. Then, total discount coefficient is obtained based on the dependence degree, which also considers the impact of the reliability of evidence. Finally, the discount evidence fusion model is presented. An example is illustrated to show the use and effectiveness of the proposed method.

Research on the Fusion of Dependent Evidence Based on Rank Correlation Coefficient

PubMed Central

Su, Xiaoyan; Qian, Hong; Yang, Ning; Han, Wenhua

2017-01-01

In order to meet the higher accuracy and system reliability requirements, the information fusion for multi-sensor systems is an increasing concern. Dempster–Shafer evidence theory (D–S theory) has been investigated for many applications in multi-sensor information fusion due to its flexibility in uncertainty modeling. However, classical evidence theory assumes that the evidence is independent of each other, which is often unrealistic. Ignoring the relationship between the evidence may lead to unreasonable fusion results, and even lead to wrong decisions. This assumption severely prevents D–S evidence theory from practical application and further development. In this paper, an innovative evidence fusion model to deal with dependent evidence based on rank correlation coefficient is proposed. The model first uses rank correlation coefficient to measure the dependence degree between different evidence. Then, total discount coefficient is obtained based on the dependence degree, which also considers the impact of the reliability of evidence. Finally, the discount evidence fusion model is presented. An example is illustrated to show the use and effectiveness of the proposed method. PMID:29035341

Optimal Sensor Fusion for Structural Health Monitoring of Aircraft Composite Components

DTIC Science & Technology

2011-09-01

sensor networks combine or fuse different types of sensors. Fiber Bragg Grating ( FBG ) sensors can be inserted in layers of composite structures to...consideration. This paper describes an example of optimal sensor fusion, which combines FBG sensors and PZT sensors. Optimal sensor fusion tries to find...Fiber Bragg Grating ( FBG ) sensors can be inserted in layers of composite structures to provide local damage detection, while surface mounted

Technologies for Fire and Damage Control and Condition Based Maintenance

DTIC Science & Technology

2011-12-01

sheathing, thermal and acoustic insulation, furnishing, bedding, mattresses, flooring , and wood fibre (paper and cardboard) and plastic packaging...Condition Based Maintenance”. The project objective was to develop an improved understanding of how materials, sensors and sensor systems choices impact the...ultraviolet spectral sensors and an acoustic sensor. The system also has data fusion software that analyses the sensor input and determines if the input

Decentralized Hypothesis Testing in Energy Harvesting Wireless Sensor Networks

NASA Astrophysics Data System (ADS)

Tarighati, Alla; Gross, James; Jalden, Joakim

2017-09-01

We consider the problem of decentralized hypothesis testing in a network of energy harvesting sensors, where sensors make noisy observations of a phenomenon and send quantized information about the phenomenon towards a fusion center. The fusion center makes a decision about the present hypothesis using the aggregate received data during a time interval. We explicitly consider a scenario under which the messages are sent through parallel access channels towards the fusion center. To avoid limited lifetime issues, we assume each sensor is capable of harvesting all the energy it needs for the communication from the environment. Each sensor has an energy buffer (battery) to save its harvested energy for use in other time intervals. Our key contribution is to formulate the problem of decentralized detection in a sensor network with energy harvesting devices. Our analysis is based on a queuing-theoretic model for the battery and we propose a sensor decision design method by considering long term energy management at the sensors. We show how the performance of the system changes for different battery capacities. We then numerically show how our findings can be used in the design of sensor networks with energy harvesting sensors.

Effect of retransmission and retrodiction on estimation and fusion in long-haul sensor networks

DOE PAGES

Liu, Qiang; Wang, Xin; Rao, Nageswara S. V.; ...

2016-01-01

In a long-haul sensor network, sensors are remotely deployed over a large geographical area to perform certain tasks, such as target tracking. In this work, we study the scenario where sensors take measurements of one or more dynamic targets and send state estimates of the targets to a fusion center via satellite links. The severe loss and delay inherent over the satellite channels reduce the number of estimates successfully arriving at the fusion center, thereby limiting the potential fusion gain and resulting in suboptimal accuracy performance of the fused estimates. In addition, the errors in target-sensor data association can alsomore » degrade the estimation performance. To mitigate the effect of imperfect communications on state estimation and fusion, we consider retransmission and retrodiction. The system adopts certain retransmission-based transport protocols so that lost messages can be recovered over time. Besides, retrodiction/smoothing techniques are applied so that the chances of incurring excess delay due to retransmission are greatly reduced. We analyze the extent to which retransmission and retrodiction can improve the performance of delay-sensitive target tracking tasks under variable communication loss and delay conditions. Lastly, simulation results of a ballistic target tracking application are shown in the end to demonstrate the validity of our analysis.« less

[MRI/TRUS fusion-guided prostate biopsy : Value in the context of focal therapy].

PubMed

Franz, T; von Hardenberg, J; Blana, A; Cash, H; Baumunk, D; Salomon, G; Hadaschik, B; Henkel, T; Herrmann, J; Kahmann, F; Köhrmann, K-U; Köllermann, J; Kruck, S; Liehr, U-B; Machtens, S; Peters, I; Radtke, J P; Roosen, A; Schlemmer, H-P; Sentker, L; Wendler, J J; Witzsch, U; Stolzenburg, J-U; Schostak, M; Ganzer, R

2017-02-01

Several systems for MRI/TRUS fusion-guided biopsy of the prostate are commercially available. Many studies have shown superiority of fusion systems for tumor detection and diagnostic quality compared to random biopsy. The benefit of fusion systems in focal therapy of prostate cancer (PC) is less clear. Critical considerations of fusion systems for planning and monitoring of focal therapy of PC were investigated. A systematic literature review of available fusion systems for the period 2013-5/2016 was performed. A checklist of technical details, suitability for special anatomic situations and suitability for focal therapy was established by the German working group for focal therapy (Arbeitskreis fokale und Mikrotherapie). Eight fusion systems were considered (Artemis™, BioJet, BiopSee®, iSR´obot™ Mona Lisa, Hitachi HI-RVS, UroNav and Urostation®). Differences were found for biopsy mode (transrectal, perineal, both), fusion mode (elastic or rigid), navigation (image-based, electromagnetic sensor-based or mechanical sensor-based) and space requirements. Several consensus groups recommend fusion systems for focal therapy. Useful features are "needle tracking" and compatibility between fusion system and treatment device (available for Artemis™, BiopSee® and Urostation® with Focal One®; BiopSee®, Hitachi HI-RVS with NanoKnife®; BioJet, BiopSee® with cryoablation, brachytherapy). There are a few studies for treatment planning. However, studies on treatment monitoring after focal therapy are missing.

Issues and challenges in resource management and its interaction with levels 2/3 fusion with applications to real-world problems: an annotated perspective

NASA Astrophysics Data System (ADS)

Blasch, Erik; Kadar, Ivan; Hintz, Kenneth; Biermann, Joachim; Chong, Chee-Yee; Salerno, John; Das, Subrata

2007-04-01

Resource management (or process refinement) is critical for information fusion operations in that users, sensors, and platforms need to be informed, based on mission needs, on how to collect, process, and exploit data. To meet these growing concerns, a panel session was conducted at the International Society of Information Fusion Conference in 2006 to discuss the various issues surrounding the interaction of Resource Management with Level 2/3 Situation and Threat Assessment. This paper briefly consolidates the discussion of the invited panel panelists. The common themes include: (1) Addressing the user in system management, sensor control, and knowledge based information collection (2) Determining a standard set of fusion metrics for optimization and evaluation based on the application (3) Allowing dynamic and adaptive updating to deliver timely information needs and information rates (4) Optimizing the joint objective functions at all information fusion levels based on decision-theoretic analysis (5) Providing constraints from distributed resource mission planning and scheduling; and (6) Defining L2/3 situation entity definitions for knowledge discovery, modeling, and information projection

Joint sparsity based heterogeneous data-level fusion for target detection and estimation

NASA Astrophysics Data System (ADS)

Niu, Ruixin; Zulch, Peter; Distasio, Marcello; Blasch, Erik; Shen, Dan; Chen, Genshe

2017-05-01

Typical surveillance systems employ decision- or feature-level fusion approaches to integrate heterogeneous sensor data, which are sub-optimal and incur information loss. In this paper, we investigate data-level heterogeneous sensor fusion. Since the sensors monitor the common targets of interest, whose states can be determined by only a few parameters, it is reasonable to assume that the measurement domain has a low intrinsic dimensionality. For heterogeneous sensor data, we develop a joint-sparse data-level fusion (JSDLF) approach based on the emerging joint sparse signal recovery techniques by discretizing the target state space. This approach is applied to fuse signals from multiple distributed radio frequency (RF) signal sensors and a video camera for joint target detection and state estimation. The JSDLF approach is data-driven and requires minimum prior information, since there is no need to know the time-varying RF signal amplitudes, or the image intensity of the targets. It can handle non-linearity in the sensor data due to state space discretization and the use of frequency/pixel selection matrices. Furthermore, for a multi-target case with J targets, the JSDLF approach only requires discretization in a single-target state space, instead of discretization in a J-target state space, as in the case of the generalized likelihood ratio test (GLRT) or the maximum likelihood estimator (MLE). Numerical examples are provided to demonstrate that the proposed JSDLF approach achieves excellent performance with near real-time accurate target position and velocity estimates.

The Human Factors of Sensor Fusion

DTIC Science & Technology

2008-05-01

tool in future military operations. 23 7. References Abdi, H. Neural Networks. In M. Lewis-Beck, A . Bryman , T. Futing (Eds), Encyclopedia for... a collection of information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. 1...This report discusses select, cognitively based principles associated with the sensor fusion process. A review is made of the standard

Application of Sensor Fusion to Improve Uav Image Classification

NASA Astrophysics Data System (ADS)

Jabari, S.; Fathollahi, F.; Zhang, Y.

2017-08-01

Image classification is one of the most important tasks of remote sensing projects including the ones that are based on using UAV images. Improving the quality of UAV images directly affects the classification results and can save a huge amount of time and effort in this area. In this study, we show that sensor fusion can improve image quality which results in increasing the accuracy of image classification. Here, we tested two sensor fusion configurations by using a Panchromatic (Pan) camera along with either a colour camera or a four-band multi-spectral (MS) camera. We use the Pan camera to benefit from its higher sensitivity and the colour or MS camera to benefit from its spectral properties. The resulting images are then compared to the ones acquired by a high resolution single Bayer-pattern colour camera (here referred to as HRC). We assessed the quality of the output images by performing image classification tests. The outputs prove that the proposed sensor fusion configurations can achieve higher accuracies compared to the images of the single Bayer-pattern colour camera. Therefore, incorporating a Pan camera on-board in the UAV missions and performing image fusion can help achieving higher quality images and accordingly higher accuracy classification results.

Application of data fusion technology based on D-S evidence theory in fire detection

NASA Astrophysics Data System (ADS)

Cai, Zhishan; Chen, Musheng

2015-12-01

Judgment and identification based on single fire characteristic parameter information in fire detection is subject to environmental disturbances, and accordingly its detection performance is limited with the increase of false positive rate and false negative rate. The compound fire detector employs information fusion technology to judge and identify multiple fire characteristic parameters in order to improve the reliability and accuracy of fire detection. The D-S evidence theory is applied to the multi-sensor data-fusion: first normalize the data from all sensors to obtain the normalized basic probability function of the fire occurrence; then conduct the fusion processing using the D-S evidence theory; finally give the judgment results. The results show that the method meets the goal of accurate fire signal identification and increases the accuracy of fire alarm, and therefore is simple and effective.

Data Fusion for a Vision-Radiological System: a Statistical Calibration Algorithm

DOE Office of Scientific and Technical Information (OSTI.GOV)

Enqvist, Andreas; Koppal, Sanjeev; Riley, Phillip

2015-07-01

Presented here is a fusion system based on simple, low-cost computer vision and radiological sensors for tracking of multiple objects and identifying potential radiological materials being transported or shipped. The main focus of this work is the development of calibration algorithms for characterizing the fused sensor system as a single entity. There is an apparent need for correcting for a scene deviation from the basic inverse distance-squared law governing the detection rates even when evaluating system calibration algorithms. In particular, the computer vision system enables a map of distance-dependence of the sources being tracked, to which the time-dependent radiological datamore » can be incorporated by means of data fusion of the two sensors' output data. (authors)« less

Navigation and Elctro-Optic Sensor Integration Technology for Fusion of Imagery and Digital Mapping Products

DTIC Science & Technology

1999-08-01

Electro - Optic Sensor Integration Technology (NEOSIT) software application. The design is highly modular and based on COTS tools to facilitate integration with sensors, navigation and digital data sources already installed on different host

Marker-Based Multi-Sensor Fusion Indoor Localization System for Micro Air Vehicles.

PubMed

Xing, Boyang; Zhu, Quanmin; Pan, Feng; Feng, Xiaoxue

2018-05-25

A novel multi-sensor fusion indoor localization algorithm based on ArUco marker is designed in this paper. The proposed ArUco mapping algorithm can build and correct the map of markers online with Grubbs criterion and K-mean clustering, which avoids the map distortion due to lack of correction. Based on the conception of multi-sensor information fusion, the federated Kalman filter is utilized to synthesize the multi-source information from markers, optical flow, ultrasonic and the inertial sensor, which can obtain a continuous localization result and effectively reduce the position drift due to the long-term loss of markers in pure marker localization. The proposed algorithm can be easily implemented in a hardware of one Raspberry Pi Zero and two STM32 micro controllers produced by STMicroelectronics (Geneva, Switzerland). Thus, a small-size and low-cost marker-based localization system is presented. The experimental results show that the speed estimation result of the proposed system is better than Px4flow, and it has the centimeter accuracy of mapping and positioning. The presented system not only gives satisfying localization precision, but also has the potential to expand other sensors (such as visual odometry, ultra wideband (UWB) beacon and lidar) to further improve the localization performance. The proposed system can be reliably employed in Micro Aerial Vehicle (MAV) visual localization and robotics control.

Embedded Relative Navigation Sensor Fusion Algorithms for Autonomous Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

DeKock, Brandon K.; Betts, Kevin M.; McDuffie, James H.; Dreas, Christine B.

2008-01-01

bd Systems (a subsidiary of SAIC) has developed a suite of embedded relative navigation sensor fusion algorithms to enable NASA autonomous rendezvous and docking (AR&D) missions. Translational and rotational Extended Kalman Filters (EKFs) were developed for integrating measurements based on the vehicles' orbital mechanics and high-fidelity sensor error models and provide a solution with increased accuracy and robustness relative to any single relative navigation sensor. The filters were tested tinough stand-alone covariance analysis, closed-loop testing with a high-fidelity multi-body orbital simulation, and hardware-in-the-loop (HWIL) testing in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL).

IMU-Based Gait Recognition Using Convolutional Neural Networks and Multi-Sensor Fusion.

PubMed

Dehzangi, Omid; Taherisadr, Mojtaba; ChangalVala, Raghvendar

2017-11-27

The wide spread usage of wearable sensors such as in smart watches has provided continuous access to valuable user generated data such as human motion that could be used to identify an individual based on his/her motion patterns such as, gait. Several methods have been suggested to extract various heuristic and high-level features from gait motion data to identify discriminative gait signatures and distinguish the target individual from others. However, the manual and hand crafted feature extraction is error prone and subjective. Furthermore, the motion data collected from inertial sensors have complex structure and the detachment between manual feature extraction module and the predictive learning models might limit the generalization capabilities. In this paper, we propose a novel approach for human gait identification using time-frequency (TF) expansion of human gait cycles in order to capture joint 2 dimensional (2D) spectral and temporal patterns of gait cycles. Then, we design a deep convolutional neural network (DCNN) learning to extract discriminative features from the 2D expanded gait cycles and jointly optimize the identification model and the spectro-temporal features in a discriminative fashion. We collect raw motion data from five inertial sensors placed at the chest, lower-back, right hand wrist, right knee, and right ankle of each human subject synchronously in order to investigate the impact of sensor location on the gait identification performance. We then present two methods for early (input level) and late (decision score level) multi-sensor fusion to improve the gait identification generalization performance. We specifically propose the minimum error score fusion (MESF) method that discriminatively learns the linear fusion weights of individual DCNN scores at the decision level by minimizing the error rate on the training data in an iterative manner. 10 subjects participated in this study and hence, the problem is a 10-class identification task. Based on our experimental results, 91% subject identification accuracy was achieved using the best individual IMU and 2DTF-DCNN. We then investigated our proposed early and late sensor fusion approaches, which improved the gait identification accuracy of the system to 93.36% and 97.06%, respectively.

A sensor fusion method for tracking vertical velocity and height based on inertial and barometric altimeter measurements.

PubMed

Sabatini, Angelo Maria; Genovese, Vincenzo

2014-07-24

A sensor fusion method was developed for vertical channel stabilization by fusing inertial measurements from an Inertial Measurement Unit (IMU) and pressure altitude measurements from a barometric altimeter integrated in the same device (baro-IMU). An Extended Kalman Filter (EKF) estimated the quaternion from the sensor frame to the navigation frame; the sensed specific force was rotated into the navigation frame and compensated for gravity, yielding the vertical linear acceleration; finally, a complementary filter driven by the vertical linear acceleration and the measured pressure altitude produced estimates of height and vertical velocity. A method was also developed to condition the measured pressure altitude using a whitening filter, which helped to remove the short-term correlation due to environment-dependent pressure changes from raw pressure altitude. The sensor fusion method was implemented to work on-line using data from a wireless baro-IMU and tested for the capability of tracking low-frequency small-amplitude vertical human-like motions that can be critical for stand-alone inertial sensor measurements. Validation tests were performed in different experimental conditions, namely no motion, free-fall motion, forced circular motion and squatting. Accurate on-line tracking of height and vertical velocity was achieved, giving confidence to the use of the sensor fusion method for tracking typical vertical human motions: velocity Root Mean Square Error (RMSE) was in the range 0.04-0.24 m/s; height RMSE was in the range 5-68 cm, with statistically significant performance gains when the whitening filter was used by the sensor fusion method to track relatively high-frequency vertical motions.

Modeling Sensor Reliability in Fault Diagnosis Based on Evidence Theory

PubMed Central

Yuan, Kaijuan; Xiao, Fuyuan; Fei, Liguo; Kang, Bingyi; Deng, Yong

2016-01-01

Sensor data fusion plays an important role in fault diagnosis. Dempster–Shafer (D-R) evidence theory is widely used in fault diagnosis, since it is efficient to combine evidence from different sensors. However, under the situation where the evidence highly conflicts, it may obtain a counterintuitive result. To address the issue, a new method is proposed in this paper. Not only the statistic sensor reliability, but also the dynamic sensor reliability are taken into consideration. The evidence distance function and the belief entropy are combined to obtain the dynamic reliability of each sensor report. A weighted averaging method is adopted to modify the conflict evidence by assigning different weights to evidence according to sensor reliability. The proposed method has better performance in conflict management and fault diagnosis due to the fact that the information volume of each sensor report is taken into consideration. An application in fault diagnosis based on sensor fusion is illustrated to show the efficiency of the proposed method. The results show that the proposed method improves the accuracy of fault diagnosis from 81.19% to 89.48% compared to the existing methods. PMID:26797611

Noncontact Sleep Study by Multi-Modal Sensor Fusion.

PubMed

Chung, Ku-Young; Song, Kwangsub; Shin, Kangsoo; Sohn, Jinho; Cho, Seok Hyun; Chang, Joon-Hyuk

2017-07-21

Polysomnography (PSG) is considered as the gold standard for determining sleep stages, but due to the obtrusiveness of its sensor attachments, sleep stage classification algorithms using noninvasive sensors have been developed throughout the years. However, the previous studies have not yet been proven reliable. In addition, most of the products are designed for healthy customers rather than for patients with sleep disorder. We present a novel approach to classify sleep stages via low cost and noncontact multi-modal sensor fusion, which extracts sleep-related vital signals from radar signals and a sound-based context-awareness technique. This work is uniquely designed based on the PSG data of sleep disorder patients, which were received and certified by professionals at Hanyang University Hospital. The proposed algorithm further incorporates medical/statistical knowledge to determine personal-adjusted thresholds and devise post-processing. The efficiency of the proposed algorithm is highlighted by contrasting sleep stage classification performance between single sensor and sensor-fusion algorithms. To validate the possibility of commercializing this work, the classification results of this algorithm were compared with the commercialized sleep monitoring device, ResMed S+. The proposed algorithm was investigated with random patients following PSG examination, and results show a promising novel approach for determining sleep stages in a low cost and unobtrusive manner.

Noncontact Sleep Study by Multi-Modal Sensor Fusion

PubMed Central

Chung, Ku-young; Song, Kwangsub; Shin, Kangsoo; Sohn, Jinho; Cho, Seok Hyun; Chang, Joon-Hyuk

2017-01-01

Polysomnography (PSG) is considered as the gold standard for determining sleep stages, but due to the obtrusiveness of its sensor attachments, sleep stage classification algorithms using noninvasive sensors have been developed throughout the years. However, the previous studies have not yet been proven reliable. In addition, most of the products are designed for healthy customers rather than for patients with sleep disorder. We present a novel approach to classify sleep stages via low cost and noncontact multi-modal sensor fusion, which extracts sleep-related vital signals from radar signals and a sound-based context-awareness technique. This work is uniquely designed based on the PSG data of sleep disorder patients, which were received and certified by professionals at Hanyang University Hospital. The proposed algorithm further incorporates medical/statistical knowledge to determine personal-adjusted thresholds and devise post-processing. The efficiency of the proposed algorithm is highlighted by contrasting sleep stage classification performance between single sensor and sensor-fusion algorithms. To validate the possibility of commercializing this work, the classification results of this algorithm were compared with the commercialized sleep monitoring device, ResMed S+. The proposed algorithm was investigated with random patients following PSG examination, and results show a promising novel approach for determining sleep stages in a low cost and unobtrusive manner. PMID:28753994

Detection scheme for a partially occluded pedestrian based on occluded depth in lidar-radar sensor fusion

NASA Astrophysics Data System (ADS)

Kwon, Seong Kyung; Hyun, Eugin; Lee, Jin-Hee; Lee, Jonghun; Son, Sang Hyuk

2017-11-01

Object detections are critical technologies for the safety of pedestrians and drivers in autonomous vehicles. Above all, occluded pedestrian detection is still a challenging topic. We propose a new detection scheme for occluded pedestrian detection by means of lidar-radar sensor fusion. In the proposed method, the lidar and radar regions of interest (RoIs) have been selected based on the respective sensor measurement. Occluded depth is a new means to determine whether an occluded target exists or not. The occluded depth is a region projected out by expanding the longitudinal distance with maintaining the angle formed by the outermost two end points of the lidar RoI. The occlusion RoI is the overlapped region made by superimposing the radar RoI and the occluded depth. The object within the occlusion RoI is detected by the radar measurement information and the occluded object is estimated as a pedestrian based on human Doppler distribution. Additionally, various experiments are performed in detecting a partially occluded pedestrian in outdoor as well as indoor environments. According to experimental results, the proposed sensor fusion scheme has much better detection performance compared to the case without our proposed method.

Multi-Sensor Fusion with Interacting Multiple Model Filter for Improved Aircraft Position Accuracy

PubMed Central

Cho, Taehwan; Lee, Changho; Choi, Sangbang

2013-01-01

The International Civil Aviation Organization (ICAO) has decided to adopt Communications, Navigation, and Surveillance/Air Traffic Management (CNS/ATM) as the 21st century standard for navigation. Accordingly, ICAO members have provided an impetus to develop related technology and build sufficient infrastructure. For aviation surveillance with CNS/ATM, Ground-Based Augmentation System (GBAS), Automatic Dependent Surveillance-Broadcast (ADS-B), multilateration (MLAT) and wide-area multilateration (WAM) systems are being established. These sensors can track aircraft positions more accurately than existing radar and can compensate for the blind spots in aircraft surveillance. In this paper, we applied a novel sensor fusion method with Interacting Multiple Model (IMM) filter to GBAS, ADS-B, MLAT, and WAM data in order to improve the reliability of the aircraft position. Results of performance analysis show that the position accuracy is improved by the proposed sensor fusion method with the IMM filter. PMID:23535715

Multi-sensor fusion with interacting multiple model filter for improved aircraft position accuracy.

PubMed

Cho, Taehwan; Lee, Changho; Choi, Sangbang

2013-03-27

The International Civil Aviation Organization (ICAO) has decided to adopt Communications, Navigation, and Surveillance/Air Traffic Management (CNS/ATM) as the 21st century standard for navigation. Accordingly, ICAO members have provided an impetus to develop related technology and build sufficient infrastructure. For aviation surveillance with CNS/ATM, Ground-Based Augmentation System (GBAS), Automatic Dependent Surveillance-Broadcast (ADS-B), multilateration (MLAT) and wide-area multilateration (WAM) systems are being established. These sensors can track aircraft positions more accurately than existing radar and can compensate for the blind spots in aircraft surveillance. In this paper, we applied a novel sensor fusion method with Interacting Multiple Model (IMM) filter to GBAS, ADS-B, MLAT, and WAM data in order to improve the reliability of the aircraft position. Results of performance analysis show that the position accuracy is improved by the proposed sensor fusion method with the IMM filter.

Multisensor data fusion for physical activity assessment.

PubMed

Liu, Shaopeng; Gao, Robert X; John, Dinesh; Staudenmayer, John W; Freedson, Patty S

2012-03-01

This paper presents a sensor fusion method for assessing physical activity (PA) of human subjects, based on support vector machines (SVMs). Specifically, acceleration and ventilation measured by a wearable multisensor device on 50 test subjects performing 13 types of activities of varying intensities are analyzed, from which activity type and energy expenditure are derived. The results show that the method correctly recognized the 13 activity types 88.1% of the time, which is 12.3% higher than using a hip accelerometer alone. Also, the method predicted energy expenditure with a root mean square error of 0.42 METs, 22.2% lower than using a hip accelerometer alone. Furthermore, the fusion method was effective in reducing the subject-to-subject variability (standard deviation of recognition accuracies across subjects) in activity recognition, especially when data from the ventilation sensor were added to the fusion model. These results demonstrate that the multisensor fusion technique presented is more effective in identifying activity type and energy expenditure than the traditional accelerometer-alone-based methods.

Fault tolerant multi-sensor fusion based on the information gain

NASA Astrophysics Data System (ADS)

Hage, Joelle Al; El Najjar, Maan E.; Pomorski, Denis

2017-01-01

In the last decade, multi-robot systems are used in several applications like for example, the army, the intervention areas presenting danger to human life, the management of natural disasters, the environmental monitoring, exploration and agriculture. The integrity of localization of the robots must be ensured in order to achieve their mission in the best conditions. Robots are equipped with proprioceptive (encoders, gyroscope) and exteroceptive sensors (Kinect). However, these sensors could be affected by various faults types that can be assimilated to erroneous measurements, bias, outliers, drifts,… In absence of a sensor fault diagnosis step, the integrity and the continuity of the localization are affected. In this work, we present a muti-sensors fusion approach with Fault Detection and Exclusion (FDE) based on the information theory. In this context, we are interested by the information gain given by an observation which may be relevant when dealing with the fault tolerance aspect. Moreover, threshold optimization based on the quantity of information given by a decision on the true hypothesis is highlighted.

Rolling bearing fault diagnosis based on information fusion using Dempster-Shafer evidence theory

NASA Astrophysics Data System (ADS)

Pei, Di; Yue, Jianhai; Jiao, Jing

2017-10-01

This paper presents a fault diagnosis method for rolling bearing based on information fusion. Acceleration sensors are arranged at different position to get bearing vibration data as diagnostic evidence. The Dempster-Shafer (D-S) evidence theory is used to fuse multi-sensor data to improve diagnostic accuracy. The efficiency of the proposed method is demonstrated by the high speed train transmission test bench. The results of experiment show that the proposed method in this paper improves the rolling bearing fault diagnosis accuracy compared with traditional signal analysis methods.

Statistical sensor fusion analysis of near-IR polarimetric and thermal imagery for the detection of minelike targets

NASA Astrophysics Data System (ADS)

Weisenseel, Robert A.; Karl, William C.; Castanon, David A.; DiMarzio, Charles A.

1999-02-01

We present an analysis of statistical model based data-level fusion for near-IR polarimetric and thermal data, particularly for the detection of mines and mine-like targets. Typical detection-level data fusion methods, approaches that fuse detections from individual sensors rather than fusing at the level of the raw data, do not account rationally for the relative reliability of different sensors, nor the redundancy often inherent in multiple sensors. Representative examples of such detection-level techniques include logical AND/OR operations on detections from individual sensors and majority vote methods. In this work, we exploit a statistical data model for the detection of mines and mine-like targets to compare and fuse multiple sensor channels. Our purpose is to quantify the amount of knowledge that each polarimetric or thermal channel supplies to the detection process. With this information, we can make reasonable decisions about the usefulness of each channel. We can use this information to improve the detection process, or we can use it to reduce the number of required channels.

Sensor data fusion for spectroscopy-based detection of explosives

NASA Astrophysics Data System (ADS)

Shah, Pratik V.; Singh, Abhijeet; Agarwal, Sanjeev; Sedigh, Sahra; Ford, Alan; Waterbury, Robert

2009-05-01

In-situ trace detection of explosive compounds such as RDX, TNT, and ammonium nitrate, is an important problem for the detection of IEDs and IED precursors. Spectroscopic techniques such as LIBS and Raman have shown promise for the detection of residues of explosive compounds on surfaces from standoff distances. Individually, both LIBS and Raman techniques suffer from various limitations, e.g., their robustness and reliability suffers due to variations in peak strengths and locations. However, the orthogonal nature of the spectral and compositional information provided by these techniques makes them suitable candidates for the use of sensor fusion to improve the overall detection performance. In this paper, we utilize peak energies in a region by fitting Lorentzian or Gaussian peaks around the location of interest. The ratios of peak energies are used for discrimination, in order to normalize the effect of changes in overall signal strength. Two data fusion techniques are discussed in this paper. Multi-spot fusion is performed on a set of independent samples from the same region based on the maximum likelihood formulation. Furthermore, the results from LIBS and Raman sensors are fused using linear discriminators. Improved detection performance with significantly reduced false alarm rates is reported using fusion techniques on data collected for sponsor demonstration at Fort Leonard Wood.

Decision-Level Fusion of Spatially Scattered Multi-Modal Data for Nondestructive Inspection of Surface Defects

PubMed Central

Heideklang, René; Shokouhi, Parisa

2016-01-01

This article focuses on the fusion of flaw indications from multi-sensor nondestructive materials testing. Because each testing method makes use of a different physical principle, a multi-method approach has the potential of effectively differentiating actual defect indications from the many false alarms, thus enhancing detection reliability. In this study, we propose a new technique for aggregating scattered two- or three-dimensional sensory data. Using a density-based approach, the proposed method explicitly addresses localization uncertainties such as registration errors. This feature marks one of the major of advantages of this approach over pixel-based image fusion techniques. We provide guidelines on how to set all the key parameters and demonstrate the technique’s robustness. Finally, we apply our fusion approach to experimental data and demonstrate its capability to locate small defects by substantially reducing false alarms under conditions where no single-sensor method is adequate. PMID:26784200

An Extension to Deng's Entropy in the Open World Assumption with an Application in Sensor Data Fusion.

PubMed

Tang, Yongchuan; Zhou, Deyun; Chan, Felix T S

2018-06-11

Quantification of uncertain degree in the Dempster-Shafer evidence theory (DST) framework with belief entropy is still an open issue, even a blank field for the open world assumption. Currently, the existed uncertainty measures in the DST framework are limited to the closed world where the frame of discernment (FOD) is assumed to be complete. To address this issue, this paper focuses on extending a belief entropy to the open world by considering the uncertain information represented as the FOD and the nonzero mass function of the empty set simultaneously. An extension to Deng’s entropy in the open world assumption (EDEOW) is proposed as a generalization of the Deng’s entropy and it can be degenerated to the Deng entropy in the closed world wherever necessary. In order to test the reasonability and effectiveness of the extended belief entropy, an EDEOW-based information fusion approach is proposed and applied to sensor data fusion under uncertainty circumstance. The experimental results verify the usefulness and applicability of the extended measure as well as the modified sensor data fusion method. In addition, a few open issues still exist in the current work: the necessary properties for a belief entropy in the open world assumption, whether there exists a belief entropy that satisfies all the existed properties, and what is the most proper fusion frame for sensor data fusion under uncertainty.

The continuum fusion theory of signal detection applied to a bi-modal fusion problem

NASA Astrophysics Data System (ADS)

Schaum, A.

2011-05-01

A new formalism has been developed that produces detection algorithms for model-based problems, in which one or more parameter values is unknown. Continuum Fusion can be used to generate different flavors of algorithm for any composite hypothesis testing problem. The methodology is defined by a fusion logic that can be translated into max/min conditions. Here it is applied to a simple sensor fusion model, but one for which the generalized likelihood ratio test is intractable. By contrast, a fusion-based response to the same problem can be devised that is solvable in closed form and represents a good approximation to the GLR test.

Neuromechanical sensor fusion yields highest accuracies in predicting ambulation mode transitions for trans-tibial amputees.

PubMed

Tkach, D C; Hargrove, L J

2013-01-01

Advances in battery and actuator technology have enabled clinical use of powered lower limb prostheses such as the BiOM Powered Ankle. To allow ambulation over various types of terrains, such devices rely on built-in mechanical sensors or manual actuation by the amputee to transition into an operational mode that is suitable for a given terrain. It is unclear if mechanical sensors alone can accurately modulate operational modes while voluntary actuation prevents seamless, naturalistic gait. Ensuring that the prosthesis is ready to accommodate new terrain types at first step is critical for user safety. EMG signals from patient's residual leg muscles may provide additional information to accurately choose the proper mode of prosthesis operation. Using a pattern recognition classifier we compared the accuracy of predicting 8 different mode transitions based on (1) prosthesis mechanical sensor output (2) EMG recorded from residual limb and (3) fusion of EMG and mechanical sensor data. Our findings indicate that the neuromechanical sensor fusion significantly decreases errors in predicting 10 mode transitions as compared to using either mechanical sensors or EMG alone (2.3±0.7% vs. 7.8±0.9% and 20.2±2.0% respectively).

Fusion of radar and satellite target measurements

NASA Astrophysics Data System (ADS)

Moy, Gabriel; Blaty, Donald; Farber, Morton; Nealy, Carlton

2011-06-01

A potentially high payoff for the ballistic missile defense system (BMDS) is the ability to fuse the information gathered by various sensor systems. In particular, it may be valuable in the future to fuse measurements made using ground based radars with passive measurements obtained from satellite-based EO/IR sensors. This task can be challenging in a multitarget environment in view of the widely differing resolution between active ground-based radar and an observation made by a sensor at long range from a satellite platform. Additionally, each sensor system could have a residual pointing bias which has not been calibrated out. The problem is further compounded by the possibility that an EO/IR sensor may not see exactly the same set of targets as a microwave radar. In order to better understand the problems involved in performing the fusion of metric information from EO/IR satellite measurements with active microwave radar measurements, we have undertaken a study of this data fusion issue and of the associated data processing techniques. To carry out this analysis, we have made use of high fidelity simulations to model the radar observations from a missile target and the observations of the same simulated target, as gathered by a constellation of satellites. In the paper, we discuss the improvements seen in our tests when fusing the state vectors, along with the improvements in sensor bias estimation. The limitations in performance due to the differing phenomenology between IR and microwave radar are discussed as well.

A Sensor Fusion Method for Tracking Vertical Velocity and Height Based on Inertial and Barometric Altimeter Measurements

PubMed Central

Sabatini, Angelo Maria; Genovese, Vincenzo

2014-01-01

A sensor fusion method was developed for vertical channel stabilization by fusing inertial measurements from an Inertial Measurement Unit (IMU) and pressure altitude measurements from a barometric altimeter integrated in the same device (baro-IMU). An Extended Kalman Filter (EKF) estimated the quaternion from the sensor frame to the navigation frame; the sensed specific force was rotated into the navigation frame and compensated for gravity, yielding the vertical linear acceleration; finally, a complementary filter driven by the vertical linear acceleration and the measured pressure altitude produced estimates of height and vertical velocity. A method was also developed to condition the measured pressure altitude using a whitening filter, which helped to remove the short-term correlation due to environment-dependent pressure changes from raw pressure altitude. The sensor fusion method was implemented to work on-line using data from a wireless baro-IMU and tested for the capability of tracking low-frequency small-amplitude vertical human-like motions that can be critical for stand-alone inertial sensor measurements. Validation tests were performed in different experimental conditions, namely no motion, free-fall motion, forced circular motion and squatting. Accurate on-line tracking of height and vertical velocity was achieved, giving confidence to the use of the sensor fusion method for tracking typical vertical human motions: velocity Root Mean Square Error (RMSE) was in the range 0.04–0.24 m/s; height RMSE was in the range 5–68 cm, with statistically significant performance gains when the whitening filter was used by the sensor fusion method to track relatively high-frequency vertical motions. PMID:25061835

New distributed fusion filtering algorithm based on covariances over sensor networks with random packet dropouts

NASA Astrophysics Data System (ADS)

Caballero-Águila, R.; Hermoso-Carazo, A.; Linares-Pérez, J.

2017-07-01

This paper studies the distributed fusion estimation problem from multisensor measured outputs perturbed by correlated noises and uncertainties modelled by random parameter matrices. Each sensor transmits its outputs to a local processor over a packet-erasure channel and, consequently, random losses may occur during transmission. Different white sequences of Bernoulli variables are introduced to model the transmission losses. For the estimation, each lost output is replaced by its estimator based on the information received previously, and only the covariances of the processes involved are used, without requiring the signal evolution model. First, a recursive algorithm for the local least-squares filters is derived by using an innovation approach. Then, the cross-correlation matrices between any two local filters is obtained. Finally, the distributed fusion filter weighted by matrices is obtained from the local filters by applying the least-squares criterion. The performance of the estimators and the influence of both sensor uncertainties and transmission losses on the estimation accuracy are analysed in a numerical example.

Optimization-Based Sensor Fusion of GNSS and IMU Using a Moving Horizon Approach

PubMed Central

Girrbach, Fabian; Hol, Jeroen D.; Bellusci, Giovanni; Diehl, Moritz

2017-01-01

The rise of autonomous systems operating close to humans imposes new challenges in terms of robustness and precision on the estimation and control algorithms. Approaches based on nonlinear optimization, such as moving horizon estimation, have been shown to improve the accuracy of the estimated solution compared to traditional filter techniques. This paper introduces an optimization-based framework for multi-sensor fusion following a moving horizon scheme. The framework is applied to the often occurring estimation problem of motion tracking by fusing measurements of a global navigation satellite system receiver and an inertial measurement unit. The resulting algorithm is used to estimate position, velocity, and orientation of a maneuvering airplane and is evaluated against an accurate reference trajectory. A detailed study of the influence of the horizon length on the quality of the solution is presented and evaluated against filter-like and batch solutions of the problem. The versatile configuration possibilities of the framework are finally used to analyze the estimated solutions at different evaluation times exposing a nearly linear behavior of the sensor fusion problem. PMID:28534857

Optimization-Based Sensor Fusion of GNSS and IMU Using a Moving Horizon Approach.

PubMed

Girrbach, Fabian; Hol, Jeroen D; Bellusci, Giovanni; Diehl, Moritz

2017-05-19

The rise of autonomous systems operating close to humans imposes new challenges in terms of robustness and precision on the estimation and control algorithms. Approaches based on nonlinear optimization, such as moving horizon estimation, have been shown to improve the accuracy of the estimated solution compared to traditional filter techniques. This paper introduces an optimization-based framework for multi-sensor fusion following a moving horizon scheme. The framework is applied to the often occurring estimation problem of motion tracking by fusing measurements of a global navigation satellite system receiver and an inertial measurement unit. The resulting algorithm is used to estimate position, velocity, and orientation of a maneuvering airplane and is evaluated against an accurate reference trajectory. A detailed study of the influence of the horizon length on the quality of the solution is presented and evaluated against filter-like and batch solutions of the problem. The versatile configuration possibilities of the framework are finally used to analyze the estimated solutions at different evaluation times exposing a nearly linear behavior of the sensor fusion problem.

Multi-Source Sensor Fusion for Small Unmanned Aircraft Systems Using Fuzzy Logic

NASA Technical Reports Server (NTRS)

Cook, Brandon; Cohen, Kelly

2017-01-01

As the applications for using small Unmanned Aircraft Systems (sUAS) beyond visual line of sight (BVLOS) continue to grow in the coming years, it is imperative that intelligent sensor fusion techniques be explored. In BVLOS scenarios the vehicle position must accurately be tracked over time to ensure no two vehicles collide with one another, no vehicle crashes into surrounding structures, and to identify off-nominal scenarios. Therefore, in this study an intelligent systems approach is used to estimate the position of sUAS given a variety of sensor platforms, including, GPS, radar, and on-board detection hardware. Common research challenges include, asynchronous sensor rates and sensor reliability. In an effort to realize these challenges, techniques such as a Maximum a Posteriori estimation and a Fuzzy Logic based sensor confidence determination are used.

The role of data fusion in predictive maintenance using digital twin

NASA Astrophysics Data System (ADS)

Liu, Zheng; Meyendorf, Norbert; Mrad, Nezih

2018-04-01

Modern aerospace industry is migrating from reactive to proactive and predictive maintenance to increase platform operational availability and efficiency, extend its useful life cycle and reduce its life cycle cost. Multiphysics modeling together with data-driven analytics generate a new paradigm called "Digital Twin." The digital twin is actually a living model of the physical asset or system, which continually adapts to operational changes based on the collected online data and information, and can forecast the future of the corresponding physical counterpart. This paper reviews the overall framework to develop a digital twin coupled with the industrial Internet of Things technology to advance aerospace platforms autonomy. Data fusion techniques particularly play a significant role in the digital twin framework. The flow of information from raw data to high-level decision making is propelled by sensor-to-sensor, sensor-to-model, and model-to-model fusion. This paper further discusses and identifies the role of data fusion in the digital twin framework for aircraft predictive maintenance.

Conflict management based on belief function entropy in sensor fusion.

PubMed

Yuan, Kaijuan; Xiao, Fuyuan; Fei, Liguo; Kang, Bingyi; Deng, Yong

2016-01-01

Wireless sensor network plays an important role in intelligent navigation. It incorporates a group of sensors to overcome the limitation of single detection system. Dempster-Shafer evidence theory can combine the sensor data of the wireless sensor network by data fusion, which contributes to the improvement of accuracy and reliability of the detection system. However, due to different sources of sensors, there may be conflict among the sensor data under uncertain environment. Thus, this paper proposes a new method combining Deng entropy and evidence distance to address the issue. First, Deng entropy is adopted to measure the uncertain information. Then, evidence distance is applied to measure the conflict degree. The new method can cope with conflict effectually and improve the accuracy and reliability of the detection system. An example is illustrated to show the efficiency of the new method and the result is compared with that of the existing methods.

Sensor Research Targets Smart Building Technology Using Radio-Frequency

Science.gov Websites

a battery-free radio-frequency identification (RFID) sensor network with spatiotemporal pattern network based data fusion system for human presence sensing, with ARPA-E awarding the team $2 million over

Comparison and Intercalibration of Vegetation Indices from Different Sensors for Monitoring Above-Ground Plant Nitrogen Uptake in Winter Wheat

PubMed Central

Yao, Xinfeng; Yao, Xia; Jia, Wenqing; Tian, Yongchao; Ni, Jun; Cao, Weixing; Zhu, Yan

2013-01-01

Various sensors have been used to obtain the canopy spectral reflectance for monitoring above-ground plant nitrogen (N) uptake in winter wheat. Comparison and intercalibration of spectral reflectance and vegetation indices derived from different sensors are important for multi-sensor data fusion and utilization. In this study, the spectral reflectance and its derived vegetation indices from three ground-based sensors (ASD Field Spec Pro spectrometer, CropScan MSR 16 and GreenSeeker RT 100) in six winter wheat field experiments were compared. Then, the best sensor (ASD) and its normalized difference vegetation index (NDVI (807, 736)) for estimating above-ground plant N uptake were determined (R2 of 0.885 and RMSE of 1.440 g·N·m−2 for model calibration). In order to better utilize the spectral reflectance from the three sensors, intercalibration models for vegetation indices based on different sensors were developed. The results indicated that the vegetation indices from different sensors could be intercalibrated, which should promote application of data fusion and make monitoring of above-ground plant N uptake more precise and accurate. PMID:23462622

Fusion or confusion: knowledge or nonsense?

NASA Astrophysics Data System (ADS)

Rothman, Peter L.; Denton, Richard V.

1991-08-01

The terms 'data fusion,' 'sensor fusion,' multi-sensor integration,' and 'multi-source integration' have been used widely in the technical literature to refer to a variety of techniques, technologies, systems, and applications which employ and/or combine data derived from multiple information sources. Applications of data fusion range from real-time fusion of sensor information for the navigation of mobile robots to the off-line fusion of both human and technical strategic intelligence data. The Department of Defense Critical Technologies Plan lists data fusion in the highest priority group of critical technologies, but just what is data fusion? The DoD Critical Technologies Plan states that data fusion involves 'the acquisition, integration, filtering, correlation, and synthesis of useful data from diverse sources for the purposes of situation/environment assessment, planning, detecting, verifying, diagnosing problems, aiding tactical and strategic decisions, and improving system performance and utility.' More simply states, sensor fusion refers to the combination of data from multiple sources to provide enhanced information quality and availability over that which is available from any individual source alone. This paper presents a survey of the state-of-the- art in data fusion technologies, system components, and applications. A set of characteristics which can be utilized to classify data fusion systems is presented. Additionally, a unifying mathematical and conceptual framework within which to understand and organize fusion technologies is described. A discussion of often overlooked issues in the development of sensor fusion systems is also presented.

Fusion of WiFi, smartphone sensors and landmarks using the Kalman filter for indoor localization.

PubMed

Chen, Zhenghua; Zou, Han; Jiang, Hao; Zhu, Qingchang; Soh, Yeng Chai; Xie, Lihua

2015-01-05

Location-based services (LBS) have attracted a great deal of attention recently. Outdoor localization can be solved by the GPS technique, but how to accurately and efficiently localize pedestrians in indoor environments is still a challenging problem. Recent techniques based on WiFi or pedestrian dead reckoning (PDR) have several limiting problems, such as the variation of WiFi signals and the drift of PDR. An auxiliary tool for indoor localization is landmarks, which can be easily identified based on specific sensor patterns in the environment, and this will be exploited in our proposed approach. In this work, we propose a sensor fusion framework for combining WiFi, PDR and landmarks. Since the whole system is running on a smartphone, which is resource limited, we formulate the sensor fusion problem in a linear perspective, then a Kalman filter is applied instead of a particle filter, which is widely used in the literature. Furthermore, novel techniques to enhance the accuracy of individual approaches are adopted. In the experiments, an Android app is developed for real-time indoor localization and navigation. A comparison has been made between our proposed approach and individual approaches. The results show significant improvement using our proposed framework. Our proposed system can provide an average localization accuracy of 1 m.

Fusion of WiFi, Smartphone Sensors and Landmarks Using the Kalman Filter for Indoor Localization

PubMed Central

Chen, Zhenghua; Zou, Han; Jiang, Hao; Zhu, Qingchang; Soh, Yeng Chai; Xie, Lihua

2015-01-01

Location-based services (LBS) have attracted a great deal of attention recently. Outdoor localization can be solved by the GPS technique, but how to accurately and efficiently localize pedestrians in indoor environments is still a challenging problem. Recent techniques based on WiFi or pedestrian dead reckoning (PDR) have several limiting problems, such as the variation of WiFi signals and the drift of PDR. An auxiliary tool for indoor localization is landmarks, which can be easily identified based on specific sensor patterns in the environment, and this will be exploited in our proposed approach. In this work, we propose a sensor fusion framework for combining WiFi, PDR and landmarks. Since the whole system is running on a smartphone, which is resource limited, we formulate the sensor fusion problem in a linear perspective, then a Kalman filter is applied instead of a particle filter, which is widely used in the literature. Furthermore, novel techniques to enhance the accuracy of individual approaches are adopted. In the experiments, an Android app is developed for real-time indoor localization and navigation. A comparison has been made between our proposed approach and individual approaches. The results show significant improvement using our proposed framework. Our proposed system can provide an average localization accuracy of 1 m. PMID:25569750

Distributed Autonomous Control Action Based on Sensor and Mission Fusion

DTIC Science & Technology

2005-09-01

programmable control algorithm driven by the readings of two pressure switch sensors located on either side of the valve unit. Thus, a micro-controller...and Characterization The process of leak detection and characterization must be accomplished with a set of pressure switch sensors. This sensor...economically supplementing existing widely used pressure switch type sensors which are characterized by prohibitively long inertial lag responses

Fusion solution for soldier wearable gunfire detection systems

NASA Astrophysics Data System (ADS)

Cakiades, George; Desai, Sachi; Deligeorges, Socrates; Buckland, Bruce E.; George, Jemin

2012-06-01

Currently existing acoustic based Gunfire Detection Systems (GDS) such as soldier wearable, vehicle mounted, and fixed site devices provide enemy detection and localization capabilities to the user. However, the solution to the problem of portability versus performance tradeoff remains elusive. The Data Fusion Module (DFM), described herein, is a sensor/platform agnostic software supplemental tool that addresses this tradeoff problem by leveraging existing soldier networks to enhance GDS performance across a Tactical Combat Unit (TCU). The DFM software enhances performance by leveraging all available acoustic GDS information across the TCU synergistically to calculate highly accurate solutions more consistently than any individual GDS in the TCU. The networked sensor architecture provides additional capabilities addressing the multiple shooter/fire-fight problems in addition to sniper detection/localization. The addition of the fusion solution to the overall Size, Weight and Power & Cost (SWaP&C) is zero to negligible. At the end of the first-year effort, the DFM integrated sensor network's performance was impressive showing improvements upwards of 50% in comparison to a single sensor solution. Further improvements are expected when the networked sensor architecture created in this effort is fully exploited.

Data fusion for target tracking and classification with wireless sensor network

NASA Astrophysics Data System (ADS)

Pannetier, Benjamin; Doumerc, Robin; Moras, Julien; Dezert, Jean; Canevet, Loic

2016-10-01

In this paper, we address the problem of multiple ground target tracking and classification with information obtained from a unattended wireless sensor network. A multiple target tracking (MTT) algorithm, taking into account road and vegetation information, is proposed based on a centralized architecture. One of the key issue is how to adapt classical MTT approach to satisfy embedded processing. Based on track statistics, the classification algorithm uses estimated location, velocity and acceleration to help to classify targets. The algorithms enables tracking human and vehicles driving both on and off road. We integrate road or trail width and vegetation cover, as constraints in target motion models to improve performance of tracking under constraint with classification fusion. Our algorithm also presents different dynamic models, to palliate the maneuvers of targets. The tracking and classification algorithms are integrated into an operational platform (the fusion node). In order to handle realistic ground target tracking scenarios, we use an autonomous smart computer deposited in the surveillance area. After the calibration step of the heterogeneous sensor network, our system is able to handle real data from a wireless ground sensor network. The performance of system is evaluated in a real exercise for intelligence operation ("hunter hunt" scenario).

A real-time photogrammetric algorithm for sensor and synthetic image fusion with application to aviation combined vision

NASA Astrophysics Data System (ADS)

Lebedev, M. A.; Stepaniants, D. G.; Komarov, D. V.; Vygolov, O. V.; Vizilter, Yu. V.; Zheltov, S. Yu.

2014-08-01

The paper addresses a promising visualization concept related to combination of sensor and synthetic images in order to enhance situation awareness of a pilot during an aircraft landing. A real-time algorithm for a fusion of a sensor image, acquired by an onboard camera, and a synthetic 3D image of the external view, generated in an onboard computer, is proposed. The pixel correspondence between the sensor and the synthetic images is obtained by an exterior orientation of a "virtual" camera using runway points as a geospatial reference. The runway points are detected by the Projective Hough Transform, which idea is to project the edge map onto a horizontal plane in the object space (the runway plane) and then to calculate intensity projections of edge pixels on different directions of intensity gradient. The performed experiments on simulated images show that on a base glide path the algorithm provides image fusion with pixel accuracy, even in the case of significant navigation errors.

Advances in Multi-Sensor Information Fusion: Theory and Applications 2017.

PubMed

Jin, Xue-Bo; Sun, Shuli; Wei, Hong; Yang, Feng-Bao

2018-04-11

The information fusion technique can integrate a large amount of data and knowledge representing the same real-world object and obtain a consistent, accurate, and useful representation of that object. The data may be independent or redundant, and can be obtained by different sensors at the same time or at different times. A suitable combination of investigative methods can substantially increase the profit of information in comparison with that from a single sensor. Multi-sensor information fusion has been a key issue in sensor research since the 1970s, and it has been applied in many fields. For example, manufacturing and process control industries can generate a lot of data, which have real, actionable business value. The fusion of these data can greatly improve productivity through digitization. The goal of this special issue is to report innovative ideas and solutions for multi-sensor information fusion in the emerging applications era, focusing on development, adoption, and applications.

From Data Acquisition to Data Fusion: A Comprehensive Review and a Roadmap for the Identification of Activities of Daily Living Using Mobile Devices

PubMed Central

Pires, Ivan Miguel; Garcia, Nuno M.; Pombo, Nuno; Flórez-Revuelta, Francisco

2016-01-01

This paper focuses on the research on the state of the art for sensor fusion techniques, applied to the sensors embedded in mobile devices, as a means to help identify the mobile device user’s daily activities. Sensor data fusion techniques are used to consolidate the data collected from several sensors, increasing the reliability of the algorithms for the identification of the different activities. However, mobile devices have several constraints, e.g., low memory, low battery life and low processing power, and some data fusion techniques are not suited to this scenario. The main purpose of this paper is to present an overview of the state of the art to identify examples of sensor data fusion techniques that can be applied to the sensors available in mobile devices aiming to identify activities of daily living (ADLs). PMID:26848664

Radar E-O image fusion

NASA Technical Reports Server (NTRS)

Oneil, William F.

1993-01-01

The fusion of radar and electro-optic (E-O) sensor images presents unique challenges. The two sensors measure different properties of the real three-dimensional (3-D) world. Forming the sensor outputs into a common format does not mask these differences. In this paper, the conditions under which fusion of the two sensor signals is possible are explored. The program currently planned to investigate this problem is briefly discussed.

A method based on multi-sensor data fusion for fault detection of planetary gearboxes.

PubMed

Lei, Yaguo; Lin, Jing; He, Zhengjia; Kong, Detong

2012-01-01

Studies on fault detection and diagnosis of planetary gearboxes are quite limited compared with those of fixed-axis gearboxes. Different from fixed-axis gearboxes, planetary gearboxes exhibit unique behaviors, which invalidate fault diagnosis methods that work well for fixed-axis gearboxes. It is a fact that for systems as complex as planetary gearboxes, multiple sensors mounted on different locations provide complementary information on the health condition of the systems. On this basis, a fault detection method based on multi-sensor data fusion is introduced in this paper. In this method, two features developed for planetary gearboxes are used to characterize the gear health conditions, and an adaptive neuro-fuzzy inference system (ANFIS) is utilized to fuse all features from different sensors. In order to demonstrate the effectiveness of the proposed method, experiments are carried out on a planetary gearbox test rig, on which multiple accelerometers are mounted for data collection. The comparisons between the proposed method and the methods based on individual sensors show that the former achieves much higher accuracies in detecting planetary gearbox faults.

Experimental measurement of oil-water two-phase flow by data fusion of electrical tomography sensors and venturi tube

NASA Astrophysics Data System (ADS)

Liu, Yinyan; Deng, Yuchi; Zhang, Maomao; Yu, Peining; Li, Yi

2017-09-01

Oil-water two-phase flows are commonly found in the production processes of the petroleum industry. Accurate online measurement of flow rates is crucial to ensure the safety and efficiency of oil exploration and production. A research team from Tsinghua University has developed an experimental apparatus for multiphase flow measurement based on an electrical capacitance tomography (ECT) sensor, an electrical resistance tomography (ERT) sensor, and a venturi tube. This work presents the phase fraction and flow rate measurements of oil-water two-phase flows based on the developed apparatus. Full-range phase fraction can be obtained by the combination of the ECT sensor and the ERT sensor. By data fusion of differential pressures measured by venturi tube and the phase fraction, the total flow rate and single-phase flow rate can be calculated. Dynamic experiments were conducted on the multiphase flow loop in horizontal and vertical pipelines and at various flow rates.

Improved GSO Optimized ESN Soft-Sensor Model of Flotation Process Based on Multisource Heterogeneous Information Fusion

PubMed Central

Wang, Jie-sheng; Han, Shuang; Shen, Na-na

2014-01-01

For predicting the key technology indicators (concentrate grade and tailings recovery rate) of flotation process, an echo state network (ESN) based fusion soft-sensor model optimized by the improved glowworm swarm optimization (GSO) algorithm is proposed. Firstly, the color feature (saturation and brightness) and texture features (angular second moment, sum entropy, inertia moment, etc.) based on grey-level co-occurrence matrix (GLCM) are adopted to describe the visual characteristics of the flotation froth image. Then the kernel principal component analysis (KPCA) method is used to reduce the dimensionality of the high-dimensional input vector composed by the flotation froth image characteristics and process datum and extracts the nonlinear principal components in order to reduce the ESN dimension and network complex. The ESN soft-sensor model of flotation process is optimized by the GSO algorithm with congestion factor. Simulation results show that the model has better generalization and prediction accuracy to meet the online soft-sensor requirements of the real-time control in the flotation process. PMID:24982935

Information Fusion for High Level Situation Assessment and Prediction

DTIC Science & Technology

2007-03-01

procedure includes deciding a sensor set that achieves the optimal trade -off between its cost and benefit, activating the identified sensors, integrating...and effective decision can be made by dynamic inference based on selecting a subset of sensors with the optimal trade -off between their cost and...first step is achieved by designing a sensor selection criterion that represents the trade -off between the sensor benefit and sensor cost. This is then

Average Throughput Performance of Myopic Policy in Energy Harvesting Wireless Sensor Networks.

PubMed

Gul, Omer Melih; Demirekler, Mubeccel

2017-09-26

This paper considers a single-hop wireless sensor network where a fusion center collects data from M energy harvesting wireless sensors. The harvested energy is stored losslessly in an infinite-capacity battery at each sensor. In each time slot, the fusion center schedules K sensors for data transmission over K orthogonal channels. The fusion center does not have direct knowledge on the battery states of sensors, or the statistics of their energy harvesting processes. The fusion center only has information of the outcomes of previous transmission attempts. It is assumed that the sensors are data backlogged, there is no battery leakage and the communication is error-free. An energy harvesting sensor can transmit data to the fusion center whenever being scheduled only if it has enough energy for data transmission. We investigate average throughput of Round-Robin type myopic policy both analytically and numerically under an average reward (throughput) criterion. We show that Round-Robin type myopic policy achieves optimality for some class of energy harvesting processes although it is suboptimal for a broad class of energy harvesting processes.

Average Throughput Performance of Myopic Policy in Energy Harvesting Wireless Sensor Networks

PubMed Central

Demirekler, Mubeccel

2017-01-01

This paper considers a single-hop wireless sensor network where a fusion center collects data from M energy harvesting wireless sensors. The harvested energy is stored losslessly in an infinite-capacity battery at each sensor. In each time slot, the fusion center schedules K sensors for data transmission over K orthogonal channels. The fusion center does not have direct knowledge on the battery states of sensors, or the statistics of their energy harvesting processes. The fusion center only has information of the outcomes of previous transmission attempts. It is assumed that the sensors are data backlogged, there is no battery leakage and the communication is error-free. An energy harvesting sensor can transmit data to the fusion center whenever being scheduled only if it has enough energy for data transmission. We investigate average throughput of Round-Robin type myopic policy both analytically and numerically under an average reward (throughput) criterion. We show that Round-Robin type myopic policy achieves optimality for some class of energy harvesting processes although it is suboptimal for a broad class of energy harvesting processes. PMID:28954420

Environmental sensing with optical fiber sensors processed with focused ion beam and atomic layer deposition

NASA Astrophysics Data System (ADS)

Flores, Raquel; Janeiro, Ricardo; Dahlem, Marcus; Viegas, Jaime

2015-03-01

We report an optical fiber chemical sensor based on a focused ion beam processed optical fiber. The demonstrated sensor is based on a cavity formed onto a standard 1550 nm single-mode fiber by either chemical etching, focused ion beam milling (FIB) or femtosecond laser ablation, on which side channels are drilled by either ion beam milling or femtosecond laser irradiation. The encapsulation of the cavity is achieved by optimized fusion splicing onto a standard single or multimode fiber. The empty cavity can be used as semi-curved Fabry-Pérot resonator for gas or liquid sensing. Increased reflectivity of the formed cavity mirrors can be achieved with atomic layer deposition (ALD) of alternating metal oxides. For chemical selective optical sensors, we demonstrate the same FIB-formed cavity concept, but filled with different materials, such as polydimethylsiloxane (PDMS), poly(methyl methacrylate) (PMMA) which show selective swelling when immersed in different solvents. Finally, a reducing agent sensor based on a FIB formed cavity partially sealed by fusion splicing and coated with a thin ZnO layer by ALD is presented and the results discussed. Sensor interrogation is achieved with spectral or multi-channel intensity measurements.

Estimating orientation using magnetic and inertial sensors and different sensor fusion approaches: accuracy assessment in manual and locomotion tasks.

PubMed

Bergamini, Elena; Ligorio, Gabriele; Summa, Aurora; Vannozzi, Giuseppe; Cappozzo, Aurelio; Sabatini, Angelo Maria

2014-10-09

Magnetic and inertial measurement units are an emerging technology to obtain 3D orientation of body segments in human movement analysis. In this respect, sensor fusion is used to limit the drift errors resulting from the gyroscope data integration by exploiting accelerometer and magnetic aiding sensors. The present study aims at investigating the effectiveness of sensor fusion methods under different experimental conditions. Manual and locomotion tasks, differing in time duration, measurement volume, presence/absence of static phases, and out-of-plane movements, were performed by six subjects, and recorded by one unit located on the forearm or the lower trunk, respectively. Two sensor fusion methods, representative of the stochastic (Extended Kalman Filter) and complementary (Non-linear observer) filtering, were selected, and their accuracy was assessed in terms of attitude (pitch and roll angles) and heading (yaw angle) errors using stereophotogrammetric data as a reference. The sensor fusion approaches provided significantly more accurate results than gyroscope data integration. Accuracy improved mostly for heading and when the movement exhibited stationary phases, evenly distributed 3D rotations, it occurred in a small volume, and its duration was greater than approximately 20 s. These results were independent from the specific sensor fusion method used. Practice guidelines for improving the outcome accuracy are provided.

Identifying and Tracking Pedestrians Based on Sensor Fusion and Motion Stability Predictions

PubMed Central

Musleh, Basam; García, Fernando; Otamendi, Javier; Armingol, José Mª; de la Escalera, Arturo

2010-01-01

The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS) applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem) and dense disparity maps and u-v disparity (vision subsystem). Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle. PMID:22163639

Identifying and tracking pedestrians based on sensor fusion and motion stability predictions.

PubMed

Musleh, Basam; García, Fernando; Otamendi, Javier; Armingol, José Maria; de la Escalera, Arturo

2010-01-01

The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS) applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem) and dense disparity maps and u-v disparity (vision subsystem). Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle.

A Weighted Measurement Fusion Particle Filter for Nonlinear Multisensory Systems Based on Gauss–Hermite Approximation

PubMed Central

Li, Yun

2017-01-01

We addressed the fusion estimation problem for nonlinear multisensory systems. Based on the Gauss–Hermite approximation and weighted least square criterion, an augmented high-dimension measurement from all sensors was compressed into a lower dimension. By combining the low-dimension measurement function with the particle filter (PF), a weighted measurement fusion PF (WMF-PF) is presented. The accuracy of WMF-PF appears good and has a lower computational cost when compared to centralized fusion PF (CF-PF). An example is given to show the effectiveness of the proposed algorithms. PMID:28956862

Multisensor Fusion for Change Detection

NASA Astrophysics Data System (ADS)

Schenk, T.; Csatho, B.

2005-12-01

Combining sensors that record different properties of a 3-D scene leads to complementary and redundant information. If fused properly, a more robust and complete scene description becomes available. Moreover, fusion facilitates automatic procedures for object reconstruction and modeling. For example, aerial imaging sensors, hyperspectral scanning systems, and airborne laser scanning systems generate complementary data. We describe how data from these sensors can be fused for such diverse applications as mapping surface erosion and landslides, reconstructing urban scenes, monitoring urban land use and urban sprawl, and deriving velocities and surface changes of glaciers and ice sheets. An absolute prerequisite for successful fusion is a rigorous co-registration of the sensors involved. We establish a common 3-D reference frame by using sensor invariant features. Such features are caused by the same object space phenomena and are extracted in multiple steps from the individual sensors. After extracting, segmenting and grouping the features into more abstract entities, we discuss ways on how to automatically establish correspondences. This is followed by a brief description of rigorous mathematical models suitable to deal with linear and area features. In contrast to traditional, point-based registration methods, lineal and areal features lend themselves to a more robust and more accurate registration. More important, the chances to automate the registration process increases significantly. The result of the co-registration of the sensors is a unique transformation between the individual sensors and the object space. This makes spatial reasoning of extracted information more versatile; reasoning can be performed in sensor space or in 3-D space where domain knowledge about features and objects constrains reasoning processes, reduces the search space, and helps to make the problem well-posed. We demonstrate the feasibility of the proposed multisensor fusion approach with detecting surface elevation changes on the Byrd Glacier, Antarctica, with aerial imagery from 1980s and ICESat laser altimetry data from 2003-05. Change detection from such disparate data sets is an intricate fusion problem, beginning with sensor alignment, and on to reasoning with spatial information as to where changes occurred and to what extent.

Content-Based Multi-Channel Network Coding Algorithm in the Millimeter-Wave Sensor Network

PubMed Central

Lin, Kai; Wang, Di; Hu, Long

2016-01-01

With the development of wireless technology, the widespread use of 5G is already an irreversible trend, and millimeter-wave sensor networks are becoming more and more common. However, due to the high degree of complexity and bandwidth bottlenecks, the millimeter-wave sensor network still faces numerous problems. In this paper, we propose a novel content-based multi-channel network coding algorithm, which uses the functions of data fusion, multi-channel and network coding to improve the data transmission; the algorithm is referred to as content-based multi-channel network coding (CMNC). The CMNC algorithm provides a fusion-driven model based on the Dempster-Shafer (D-S) evidence theory to classify the sensor nodes into different classes according to the data content. By using the result of the classification, the CMNC algorithm also provides the channel assignment strategy and uses network coding to further improve the quality of data transmission in the millimeter-wave sensor network. Extensive simulations are carried out and compared to other methods. Our simulation results show that the proposed CMNC algorithm can effectively improve the quality of data transmission and has better performance than the compared methods. PMID:27376302

Decision-level fusion of SAR and IR sensor information for automatic target detection

NASA Astrophysics Data System (ADS)

Cho, Young-Rae; Yim, Sung-Hyuk; Cho, Hyun-Woong; Won, Jin-Ju; Song, Woo-Jin; Kim, So-Hyeon

2017-05-01

We propose a decision-level architecture that combines synthetic aperture radar (SAR) and an infrared (IR) sensor for automatic target detection. We present a new size-based feature, called target-silhouette to reduce the number of false alarms produced by the conventional target-detection algorithm. Boolean Map Visual Theory is used to combine a pair of SAR and IR images to generate the target-enhanced map. Then basic belief assignment is used to transform this map into a belief map. The detection results of sensors are combined to build the target-silhouette map. We integrate the fusion mass and the target-silhouette map on the decision level to exclude false alarms. The proposed algorithm is evaluated using a SAR and IR synthetic database generated by SE-WORKBENCH simulator, and compared with conventional algorithms. The proposed fusion scheme achieves higher detection rate and lower false alarm rate than the conventional algorithms.

Adaptive fusion of infrared and visible images in dynamic scene

NASA Astrophysics Data System (ADS)

Yang, Guang; Yin, Yafeng; Man, Hong; Desai, Sachi

2011-11-01

Multiple modalities sensor fusion has been widely employed in various surveillance and military applications. A variety of image fusion techniques including PCA, wavelet, curvelet and HSV has been proposed in recent years to improve human visual perception for object detection. One of the main challenges for visible and infrared image fusion is to automatically determine an optimal fusion strategy for different input scenes along with an acceptable computational cost. This paper, we propose a fast and adaptive feature selection based image fusion method to obtain high a contrast image from visible and infrared sensors for targets detection. At first, fuzzy c-means clustering is applied on the infrared image to highlight possible hotspot regions, which will be considered as potential targets' locations. After that, the region surrounding the target area is segmented as the background regions. Then image fusion is locally applied on the selected target and background regions by computing different linear combination of color components from registered visible and infrared images. After obtaining different fused images, histogram distributions are computed on these local fusion images as the fusion feature set. The variance ratio which is based on Linear Discriminative Analysis (LDA) measure is employed to sort the feature set and the most discriminative one is selected for the whole image fusion. As the feature selection is performed over time, the process will dynamically determine the most suitable feature for the image fusion in different scenes. Experiment is conducted on the OSU Color-Thermal database, and TNO Human Factor dataset. The fusion results indicate that our proposed method achieved a competitive performance compared with other fusion algorithms at a relatively low computational cost.

Anchor Node Localization for Wireless Sensor Networks Using Video and Compass Information Fusion

PubMed Central

Pescaru, Dan; Curiac, Daniel-Ioan

2014-01-01

Distributed sensing, computing and communication capabilities of wireless sensor networks require, in most situations, an efficient node localization procedure. In the case of random deployments in harsh or hostile environments, a general localization process within global coordinates is based on a set of anchor nodes able to determine their own position using GPS receivers. In this paper we propose another anchor node localization technique that can be used when GPS devices cannot accomplish their mission or are considered to be too expensive. This novel technique is based on the fusion of video and compass data acquired by the anchor nodes and is especially suitable for video- or multimedia-based wireless sensor networks. For these types of wireless networks the presence of video cameras is intrinsic, while the presence of digital compasses is also required for identifying the cameras' orientations. PMID:24594614

Gyro Drift Correction for An Indirect Kalman Filter Based Sensor Fusion Driver.

PubMed

Lee, Chan-Gun; Dao, Nhu-Ngoc; Jang, Seonmin; Kim, Deokhwan; Kim, Yonghun; Cho, Sungrae

2016-06-11

Sensor fusion techniques have made a significant contribution to the success of the recently emerging mobile applications era because a variety of mobile applications operate based on multi-sensing information from the surrounding environment, such as navigation systems, fitness trackers, interactive virtual reality games, etc. For these applications, the accuracy of sensing information plays an important role to improve the user experience (UX) quality, especially with gyroscopes and accelerometers. Therefore, in this paper, we proposed a novel mechanism to resolve the gyro drift problem, which negatively affects the accuracy of orientation computations in the indirect Kalman filter based sensor fusion. Our mechanism focuses on addressing the issues of external feedback loops and non-gyro error elements contained in the state vectors of an indirect Kalman filter. Moreover, the mechanism is implemented in the device-driver layer, providing lower process latency and transparency capabilities for the upper applications. These advances are relevant to millions of legacy applications since utilizing our mechanism does not require the existing applications to be re-programmed. The experimental results show that the root mean square errors (RMSE) before and after applying our mechanism are significantly reduced from 6.3 × 10(-1) to 5.3 × 10(-7), respectively.

Infrared and visible image fusion with the target marked based on multi-resolution visual attention mechanisms

NASA Astrophysics Data System (ADS)

Huang, Yadong; Gao, Kun; Gong, Chen; Han, Lu; Guo, Yue

2016-03-01

During traditional multi-resolution infrared and visible image fusion processing, the low contrast ratio target may be weakened and become inconspicuous because of the opposite DN values in the source images. So a novel target pseudo-color enhanced image fusion algorithm based on the modified attention model and fast discrete curvelet transformation is proposed. The interesting target regions are extracted from source images by introducing the motion features gained from the modified attention model, and source images are performed the gray fusion via the rules based on physical characteristics of sensors in curvelet domain. The final fusion image is obtained by mapping extracted targets into the gray result with the proper pseudo-color instead. The experiments show that the algorithm can highlight dim targets effectively and improve SNR of fusion image.

Fuzzy Risk Evaluation in Failure Mode and Effects Analysis Using a D Numbers Based Multi-Sensor Information Fusion Method.

PubMed

Deng, Xinyang; Jiang, Wen

2017-09-12

Failure mode and effect analysis (FMEA) is a useful tool to define, identify, and eliminate potential failures or errors so as to improve the reliability of systems, designs, and products. Risk evaluation is an important issue in FMEA to determine the risk priorities of failure modes. There are some shortcomings in the traditional risk priority number (RPN) approach for risk evaluation in FMEA, and fuzzy risk evaluation has become an important research direction that attracts increasing attention. In this paper, the fuzzy risk evaluation in FMEA is studied from a perspective of multi-sensor information fusion. By considering the non-exclusiveness between the evaluations of fuzzy linguistic variables to failure modes, a novel model called D numbers is used to model the non-exclusive fuzzy evaluations. A D numbers based multi-sensor information fusion method is proposed to establish a new model for fuzzy risk evaluation in FMEA. An illustrative example is provided and examined using the proposed model and other existing method to show the effectiveness of the proposed model.

Fuzzy Risk Evaluation in Failure Mode and Effects Analysis Using a D Numbers Based Multi-Sensor Information Fusion Method

PubMed Central

Deng, Xinyang

2017-01-01

Failure mode and effect analysis (FMEA) is a useful tool to define, identify, and eliminate potential failures or errors so as to improve the reliability of systems, designs, and products. Risk evaluation is an important issue in FMEA to determine the risk priorities of failure modes. There are some shortcomings in the traditional risk priority number (RPN) approach for risk evaluation in FMEA, and fuzzy risk evaluation has become an important research direction that attracts increasing attention. In this paper, the fuzzy risk evaluation in FMEA is studied from a perspective of multi-sensor information fusion. By considering the non-exclusiveness between the evaluations of fuzzy linguistic variables to failure modes, a novel model called D numbers is used to model the non-exclusive fuzzy evaluations. A D numbers based multi-sensor information fusion method is proposed to establish a new model for fuzzy risk evaluation in FMEA. An illustrative example is provided and examined using the proposed model and other existing method to show the effectiveness of the proposed model. PMID:28895905

Fusion of footsteps and face biometrics on an unsupervised and uncontrolled environment

NASA Astrophysics Data System (ADS)

Vera-Rodriguez, Ruben; Tome, Pedro; Fierrez, Julian; Ortega-Garcia, Javier

2012-06-01

This paper reports for the first time experiments on the fusion of footsteps and face on an unsupervised and not controlled environment for person authentication. Footstep recognition is a relatively new biometric based on signals extracted from people walking over floor sensors. The idea of the fusion between footsteps and face starts from the premise that in an area where footstep sensors are installed it is very simple to place a camera to capture also the face of the person that walks over the sensors. This setup may find application in scenarios like ambient assisted living, smart homes, eldercare, or security access. The paper reports a comparative assessment of both biometrics using the same database and experimental protocols. In the experimental work we consider two different applications: smart homes (small group of users with a large set of training data) and security access (larger group of users with a small set of training data) obtaining results of 0.9% and 5.8% EER respectively for the fusion of both modalities. This is a significant performance improvement compared with the results obtained by the individual systems.

A Neural Network Approach for Building An Obstacle Detection Model by Fusion of Proximity Sensors Data

PubMed Central

Peralta, Emmanuel; Vargas, Héctor; Hermosilla, Gabriel

2018-01-01

Proximity sensors are broadly used in mobile robots for obstacle detection. The traditional calibration process of this kind of sensor could be a time-consuming task because it is usually done by identification in a manual and repetitive way. The resulting obstacles detection models are usually nonlinear functions that can be different for each proximity sensor attached to the robot. In addition, the model is highly dependent on the type of sensor (e.g., ultrasonic or infrared), on changes in light intensity, and on the properties of the obstacle such as shape, colour, and surface texture, among others. That is why in some situations it could be useful to gather all the measurements provided by different kinds of sensor in order to build a unique model that estimates the distances to the obstacles around the robot. This paper presents a novel approach to get an obstacles detection model based on the fusion of sensors data and automatic calibration by using artificial neural networks. PMID:29495338

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mou, J.I.; King, C.

The focus of this study is to develop a sensor fused process modeling and control methodology to model, assess, and then enhance the performance of a hexapod machine for precision product realization. Deterministic modeling technique was used to derive models for machine performance assessment and enhancement. Sensor fusion methodology was adopted to identify the parameters of the derived models. Empirical models and computational algorithms were also derived and implemented to model, assess, and then enhance the machine performance. The developed sensor fusion algorithms can be implemented on a PC-based open architecture controller to receive information from various sensors, assess themore » status of the process, determine the proper action, and deliver the command to actuators for task execution. This will enhance a hexapod machine`s capability to produce workpieces within the imposed dimensional tolerances.« less

Multisensor data fusion for IED threat detection

NASA Astrophysics Data System (ADS)

Mees, Wim; Heremans, Roel

2012-10-01

In this paper we present the multi-sensor registration and fusion algorithms that were developed for a force protection research project in order to detect threats against military patrol vehicles. The fusion is performed at object level, using a hierarchical evidence aggregation approach. It first uses expert domain knowledge about the features used to characterize the detected threats, that is implemented in the form of a fuzzy expert system. The next level consists in fusing intra-sensor and inter-sensor information. Here an ordered weighted averaging operator is used. The object level fusion between candidate threats that are detected asynchronously on a moving vehicle by sensors with different imaging geometries, requires an accurate sensor to world coordinate transformation. This image registration will also be discussed in this paper.

A Fusion Architecture for Tracking a Group of People Using a Distributed Sensor Network

DTIC Science & Technology

2013-07-01

Determining the composition of the group is done using several classifiers. The fusion is done at the UGS level to fuse information from all the modalities to...to classification and counting of the targets. Section III also presents the algorithms for fusion of distributed sensor data at the UGS level and...ultrasonic sensors. Determining the composition of the group is done using several classifiers. The fusion is done at the UGS level to fuse

Hierarchical information fusion for global displacement estimation in microsensor motion capture.

PubMed

Meng, Xiaoli; Zhang, Zhi-Qiang; Wu, Jian-Kang; Wong, Wai-Choong

2013-07-01

This paper presents a novel hierarchical information fusion algorithm to obtain human global displacement for different gait patterns, including walking, running, and hopping based on seven body-worn inertial and magnetic measurement units. In the first-level sensor fusion, the orientation for each segment is achieved by a complementary Kalman filter (CKF) which compensates for the orientation error of the inertial navigation system solution through its error state vector. For each foot segment, the displacement is also estimated by the CKF, and zero velocity update is included for the drift reduction in foot displacement estimation. Based on the segment orientations and left/right foot locations, two global displacement estimates can be acquired from left/right lower limb separately using a linked biomechanical model. In the second-level geometric fusion, another Kalman filter is deployed to compensate for the difference between the two estimates from the sensor fusion and get more accurate overall global displacement estimation. The updated global displacement will be transmitted to left/right foot based on the human lower biomechanical model to restrict the drifts in both feet displacements. The experimental results have shown that our proposed method can accurately estimate human locomotion for the three different gait patterns with regard to the optical motion tracker.

Neuro-Analogical Gate Tuning of Trajectory Data Fusion for a Mecanum-Wheeled Special Needs Chair

PubMed Central

ElSaharty, M. A.; zakzouk, Ezz Eldin

2017-01-01

Trajectory tracking of mobile wheeled chairs using internal shaft encoder and inertia measurement unit(IMU), exhibits several complications and accumulated errors in the tracking process due to wheel slippage, offset drift and integration approximations. These errors can be realized when comparing localization results from such sensors with a camera tracking system. In long trajectory tracking, such errors can accumulate and result in significant deviations which make data from these sensors unreliable for tracking. Meanwhile the utilization of an external camera tracking system is not always a feasible solution depending on the implementation environment. This paper presents a novel sensor fusion method that combines the measurements of internal sensors to accurately predict the location of the wheeled chair in an environment. The method introduces a new analogical OR gate structured with tuned parameters using multi-layer feedforward neural network denoted as “Neuro-Analogical Gate” (NAG). The resulting system minimize any deviation error caused by the sensors, thus accurately tracking the wheeled chair location without the requirement of an external camera tracking system. The fusion methodology has been tested with a prototype Mecanum wheel-based chair, and significant improvement over tracking response, error and performance has been observed. PMID:28045973

Track classification within wireless sensor network

NASA Astrophysics Data System (ADS)

Doumerc, Robin; Pannetier, Benjamin; Moras, Julien; Dezert, Jean; Canevet, Loic

2017-05-01

In this paper, we present our study on track classification by taking into account environmental information and target estimated states. The tracker uses several motion model adapted to different target dynamics (pedestrian, ground vehicle and SUAV, i.e. small unmanned aerial vehicle) and works in centralized architecture. The main idea is to explore both: classification given by heterogeneous sensors and classification obtained with our fusion module. The fusion module, presented in his paper, provides a class on each track according to track location, velocity and associated uncertainty. To model the likelihood on each class, a fuzzy approach is used considering constraints on target capability to move in the environment. Then the evidential reasoning approach based on Dempster-Shafer Theory (DST) is used to perform a time integration of this classifier output. The fusion rules are tested and compared on real data obtained with our wireless sensor network.In order to handle realistic ground target tracking scenarios, we use an autonomous smart computer deposited in the surveillance area. After the calibration step of the heterogeneous sensor network, our system is able to handle real data from a wireless ground sensor network. The performance of this system is evaluated in a real exercise for intelligence operation ("hunter hunt" scenario).

Fusion of a FBG-based health monitoring system for wind turbines with a fiber-optic lightning detection system

NASA Astrophysics Data System (ADS)

Krämer, Sebastian G. M.; Wiesent, Benjamin; Müller, Mathias S.; Puente León, Fernando; Méndez Hernández, Yarú

2008-04-01

Wind turbine blades are made of composite materials and reach a length of more than 42 meters. Developments for modern offshore turbines are working on about 60 meters long blades. Hence, with the increasing height of the turbines and the remote locations of the structures, health monitoring systems are becoming more and more important. Therefore, fiber-optic sensor systems are well-suited, as they are lightweight, immune against electromagnetic interference (EMI), and as they can be multiplexed. Based on two separately existing concepts for strain measurements and lightning detection on wind turbines, a fused system is presented. The strain measurement system is based on a reflective fiber-Bragg-grating (FBG) network embedded in the composite structure of the blade. For lightning detection, transmissive &fiber-optic magnetic field sensors based on the Faraday effect are used to register the lightning parameters and estimate the impact point. Hence, an existing lightning detection system will be augmented, due to the fusion, by the capability to measure strain, temperature and vibration. Load, strain, temperature and impact detection information can be incorporated into the turbine's monitoring or SCADA system and remote controlled by operators. Data analysis techniques allow dynamic maintenance scheduling to become a reality, what is of special interest for the cost-effective maintenance of large offshore or badly attainable onshore wind parks. To prove the feasibility of this sensor fusion on one optical fiber, interferences between both sensor systems are investigated and evaluated.

An Approach to Automated Fusion System Design and Adaptation

PubMed Central

Fritze, Alexander; Mönks, Uwe; Holst, Christoph-Alexander; Lohweg, Volker

2017-01-01

Industrial applications are in transition towards modular and flexible architectures that are capable of self-configuration and -optimisation. This is due to the demand of mass customisation and the increasing complexity of industrial systems. The conversion to modular systems is related to challenges in all disciplines. Consequently, diverse tasks such as information processing, extensive networking, or system monitoring using sensor and information fusion systems need to be reconsidered. The focus of this contribution is on distributed sensor and information fusion systems for system monitoring, which must reflect the increasing flexibility of fusion systems. This contribution thus proposes an approach, which relies on a network of self-descriptive intelligent sensor nodes, for the automatic design and update of sensor and information fusion systems. This article encompasses the fusion system configuration and adaptation as well as communication aspects. Manual interaction with the flexibly changing system is reduced to a minimum. PMID:28300762

An Approach to Automated Fusion System Design and Adaptation.

PubMed

Fritze, Alexander; Mönks, Uwe; Holst, Christoph-Alexander; Lohweg, Volker

2017-03-16

Industrial applications are in transition towards modular and flexible architectures that are capable of self-configuration and -optimisation. This is due to the demand of mass customisation and the increasing complexity of industrial systems. The conversion to modular systems is related to challenges in all disciplines. Consequently, diverse tasks such as information processing, extensive networking, or system monitoring using sensor and information fusion systems need to be reconsidered. The focus of this contribution is on distributed sensor and information fusion systems for system monitoring, which must reflect the increasing flexibility of fusion systems. This contribution thus proposes an approach, which relies on a network of self-descriptive intelligent sensor nodes, for the automatic design and update of sensor and information fusion systems. This article encompasses the fusion system configuration and adaptation as well as communication aspects. Manual interaction with the flexibly changing system is reduced to a minimum.

Integrated multi-sensor fusion for mapping and localization in outdoor environments for mobile robots

NASA Astrophysics Data System (ADS)

Emter, Thomas; Petereit, Janko

2014-05-01

An integrated multi-sensor fusion framework for localization and mapping for autonomous navigation in unstructured outdoor environments based on extended Kalman filters (EKF) is presented. The sensors for localization include an inertial measurement unit, a GPS, a fiber optic gyroscope, and wheel odometry. Additionally a 3D LIDAR is used for simultaneous localization and mapping (SLAM). A 3D map is built while concurrently a localization in a so far established 2D map is estimated with the current scan of the LIDAR. Despite of longer run-time of the SLAM algorithm compared to the EKF update, a high update rate is still guaranteed by sophisticatedly joining and synchronizing two parallel localization estimators.

Neuromorphic audio-visual sensor fusion on a sound-localizing robot.

PubMed

Chan, Vincent Yue-Sek; Jin, Craig T; van Schaik, André

2012-01-01

This paper presents the first robotic system featuring audio-visual (AV) sensor fusion with neuromorphic sensors. We combine a pair of silicon cochleae and a silicon retina on a robotic platform to allow the robot to learn sound localization through self motion and visual feedback, using an adaptive ITD-based sound localization algorithm. After training, the robot can localize sound sources (white or pink noise) in a reverberant environment with an RMS error of 4-5° in azimuth. We also investigate the AV source binding problem and an experiment is conducted to test the effectiveness of matching an audio event with a corresponding visual event based on their onset time. Despite the simplicity of this method and a large number of false visual events in the background, a correct match can be made 75% of the time during the experiment.

Adaptive multisensor fusion for planetary exploration rovers

NASA Technical Reports Server (NTRS)

Collin, Marie-France; Kumar, Krishen; Pampagnin, Luc-Henri

1992-01-01

The purpose of the adaptive multisensor fusion system currently being designed at NASA/Johnson Space Center is to provide a robotic rover with assured vision and safe navigation capabilities during robotic missions on planetary surfaces. Our approach consists of using multispectral sensing devices ranging from visible to microwave wavelengths to fulfill the needs of perception for space robotics. Based on the illumination conditions and the sensors capabilities knowledge, the designed perception system should automatically select the best subset of sensors and their sensing modalities that will allow the perception and interpretation of the environment. Then, based on reflectance and emittance theoretical models, the sensor data are fused to extract the physical and geometrical surface properties of the environment surface slope, dielectric constant, temperature and roughness. The theoretical concepts, the design and first results of the multisensor perception system are presented.

Data fusion concept in multispectral system for perimeter protection of stationary and moving objects

NASA Astrophysics Data System (ADS)

Ciurapiński, Wieslaw; Dulski, Rafal; Kastek, Mariusz; Szustakowski, Mieczyslaw; Bieszczad, Grzegorz; Życzkowski, Marek; Trzaskawka, Piotr; Piszczek, Marek

2009-09-01

The paper presents the concept of multispectral protection system for perimeter protection for stationary and moving objects. The system consists of active ground radar, thermal and visible cameras. The radar allows the system to locate potential intruders and to control an observation area for system cameras. The multisensor construction of the system ensures significant improvement of detection probability of intruder and reduction of false alarms. A final decision from system is worked out using image data. The method of data fusion used in the system has been presented. The system is working under control of FLIR Nexus system. The Nexus offers complete technology and components to create network-based, high-end integrated systems for security and surveillance applications. Based on unique "plug and play" architecture, system provides unmatched flexibility and simplistic integration of sensors and devices in TCP/IP networks. Using a graphical user interface it is possible to control sensors and monitor streaming video and other data over the network, visualize the results of data fusion process and obtain detailed information about detected intruders over a digital map. System provides high-level applications and operator workload reduction with features such as sensor to sensor cueing from detection devices, automatic e-mail notification and alarm triggering.

A Hybrid Positioning Strategy for Vehicles in a Tunnel Based on RFID and In-Vehicle Sensors

PubMed Central

Song, Xiang; Li, Xu; Tang, Wencheng; Zhang, Weigong; Li, Bin

2014-01-01

Many intelligent transportation system applications require accurate, reliable, and continuous vehicle positioning. How to achieve such positioning performance in extended GPS-denied environments such as tunnels is the main challenge for land vehicles. This paper proposes a hybrid multi-sensor fusion strategy for vehicle positioning in tunnels. First, the preliminary positioning algorithm is developed. The Radio Frequency Identification (RFID) technology is introduced to achieve preliminary positioning in the tunnel. The received signal strength (RSS) is used as an indicator to calculate the distances between the RFID tags and reader, and then a Least Mean Square (LMS) federated filter is designed to provide the preliminary position information for subsequent global fusion. Further, to improve the positioning performance in the tunnel, an interactive multiple model (IMM)-based global fusion algorithm is developed to fuse the data from preliminary positioning results and low-cost in-vehicle sensors, such as electronic compasses and wheel speed sensors. In the actual implementation of IMM, the strong tracking extended Kalman filter (STEKF) algorithm is designed to replace the conventional extended Kalman filter (EKF) to achieve model individual filtering. Finally, the proposed strategy is evaluated through experiments. The results validate the feasibility and effectiveness of the proposed strategy. PMID:25490581

A hybrid positioning strategy for vehicles in a tunnel based on RFID and in-vehicle sensors.

PubMed

Song, Xiang; Li, Xu; Tang, Wencheng; Zhang, Weigong; Li, Bin

2014-12-05

Many intelligent transportation system applications require accurate, reliable, and continuous vehicle positioning. How to achieve such positioning performance in extended GPS-denied environments such as tunnels is the main challenge for land vehicles. This paper proposes a hybrid multi-sensor fusion strategy for vehicle positioning in tunnels. First, the preliminary positioning algorithm is developed. The Radio Frequency Identification (RFID) technology is introduced to achieve preliminary positioning in the tunnel. The received signal strength (RSS) is used as an indicator to calculate the distances between the RFID tags and reader, and then a Least Mean Square (LMS) federated filter is designed to provide the preliminary position information for subsequent global fusion. Further, to improve the positioning performance in the tunnel, an interactive multiple model (IMM)-based global fusion algorithm is developed to fuse the data from preliminary positioning results and low-cost in-vehicle sensors, such as electronic compasses and wheel speed sensors. In the actual implementation of IMM, the strong tracking extended Kalman filter (STEKF) algorithm is designed to replace the conventional extended Kalman filter (EKF) to achieve model individual filtering. Finally, the proposed strategy is evaluated through experiments. The results validate the feasibility and effectiveness of the proposed strategy.

Staggered scheduling of sensor estimation and fusion for tracking over long-haul links

DOE PAGES

Liu, Qiang; Rao, Nageswara S. V.; Wang, Xin

2016-08-01

Networked sensing can be found in a multitude of real-world applications. Here, we focus on the communication-and computation-constrained long-haul sensor networks, where sensors are remotely deployed over a vast geographical area to perform certain tasks. Of special interest is a class of such networks where sensors take measurements of one or more dynamic targets and send their state estimates to a remote fusion center via long-haul satellite links. The severe loss and delay over such links can easily reduce the amount of sensor data received by the fusion center, thereby limiting the potential information fusion gain and resulting in suboptimalmore » tracking performance. In this paper, starting with the temporal-domain staggered estimation for an individual sensor, we explore the impact of the so-called intra-state prediction and retrodiction on estimation errors. We then investigate the effect of such estimation scheduling across different sensors on the spatial-domain fusion performance, where the sensing time epochs across sensors are scheduled in an asynchronous and staggered manner. In particular, the impact of communication delay and loss as well as sensor bias on such scheduling is explored by means of numerical and simulation studies that demonstrate the validity of our analysis.« less

Multi-sensor information fusion method for vibration fault diagnosis of rolling bearing

NASA Astrophysics Data System (ADS)

Jiao, Jing; Yue, Jianhai; Pei, Di

2017-10-01

Bearing is a key element in high-speed electric multiple unit (EMU) and any defect of it can cause huge malfunctioning of EMU under high operation speed. This paper presents a new method for bearing fault diagnosis based on least square support vector machine (LS-SVM) in feature-level fusion and Dempster-Shafer (D-S) evidence theory in decision-level fusion which were used to solve the problems about low detection accuracy, difficulty in extracting sensitive characteristics and unstable diagnosis system of single-sensor in rolling bearing fault diagnosis. Wavelet de-nosing technique was used for removing the signal noises. LS-SVM was used to make pattern recognition of the bearing vibration signal, and then fusion process was made according to the D-S evidence theory, so as to realize recognition of bearing fault. The results indicated that the data fusion method improved the performance of the intelligent approach in rolling bearing fault detection significantly. Moreover, the results showed that this method can efficiently improve the accuracy of fault diagnosis.

A system for activity recognition using multi-sensor fusion.

PubMed

Gao, Lei; Bourke, Alan K; Nelson, John

2011-01-01

This paper proposes a system for activity recognition using multi-sensor fusion. In this system, four sensors are attached to the waist, chest, thigh, and side of the body. In the study we present two solutions for factors that affect the activity recognition accuracy: the calibration drift and the sensor orientation changing. The datasets used to evaluate this system were collected from 8 subjects who were asked to perform 8 scripted normal activities of daily living (ADL), three times each. The Naïve Bayes classifier using multi-sensor fusion is adopted and achieves 70.88%-97.66% recognition accuracies for 1-4 sensors.

Depth and thermal sensor fusion to enhance 3D thermographic reconstruction.

PubMed

Cao, Yanpeng; Xu, Baobei; Ye, Zhangyu; Yang, Jiangxin; Cao, Yanlong; Tisse, Christel-Loic; Li, Xin

2018-04-02

Three-dimensional geometrical models with incorporated surface temperature data provide important information for various applications such as medical imaging, energy auditing, and intelligent robots. In this paper we present a robust method for mobile and real-time 3D thermographic reconstruction through depth and thermal sensor fusion. A multimodal imaging device consisting of a thermal camera and a RGB-D sensor is calibrated geometrically and used for data capturing. Based on the underlying principle that temperature information remains robust against illumination and viewpoint changes, we present a Thermal-guided Iterative Closest Point (T-ICP) methodology to facilitate reliable 3D thermal scanning applications. The pose of sensing device is initially estimated using correspondences found through maximizing the thermal consistency between consecutive infrared images. The coarse pose estimate is further refined by finding the motion parameters that minimize a combined geometric and thermographic loss function. Experimental results demonstrate that complimentary information captured by multimodal sensors can be utilized to improve performance of 3D thermographic reconstruction. Through effective fusion of thermal and depth data, the proposed approach generates more accurate 3D thermal models using significantly less scanning data.

Recent Advances in Registration, Integration and Fusion of Remotely Sensed Data: Redundant Representations and Frames

NASA Technical Reports Server (NTRS)

Czaja, Wojciech; Le Moigne-Stewart, Jacqueline

2014-01-01

In recent years, sophisticated mathematical techniques have been successfully applied to the field of remote sensing to produce significant advances in applications such as registration, integration and fusion of remotely sensed data. Registration, integration and fusion of multiple source imagery are the most important issues when dealing with Earth Science remote sensing data where information from multiple sensors, exhibiting various resolutions, must be integrated. Issues ranging from different sensor geometries, different spectral responses, differing illumination conditions, different seasons, and various amounts of noise need to be dealt with when designing an image registration, integration or fusion method. This tutorial will first define the problems and challenges associated with these applications and then will review some mathematical techniques that have been successfully utilized to solve them. In particular, we will cover topics on geometric multiscale representations, redundant representations and fusion frames, graph operators, diffusion wavelets, as well as spatial-spectral and operator-based data fusion. All the algorithms will be illustrated using remotely sensed data, with an emphasis on current and operational instruments.

Cyber-Physical Trade-Offs in Distributed Detection Networks

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rao, Nageswara S; Yao, David K. Y.; Chin, J. C.

2010-01-01

We consider a network of sensors that measure the scalar intensity due to the background or a source combined with background, inside a two-dimensional monitoring area. The sensor measurements may be random due to the underlying nature of the source and background or due to sensor errors or both. The detection problem is infer the presence of a source of unknown intensity and location based on sensor measurements. In the conventional approach, detection decisions are made at the individual sensors, which are then combined at the fusion center, for example using the majority rule. With increased communication and computation costs,more » we show that a more complex fusion algorithm based on measurements achieves better detection performance under smooth and non-smooth source intensity functions, Lipschitz conditions on probability ratios and a minimum packing number for the state-space. We show that these conditions for trade-offs between the cyber costs and physical detection performance are applicable for two detection problems: (i) point radiation sources amidst background radiation, and (ii) sources and background with Gaussian distributions.« less

Adaptive neural network/expert system that learns fault diagnosis for different structures

NASA Astrophysics Data System (ADS)

Simon, Solomon H.

1992-08-01

Corporations need better real-time monitoring and control systems to improve productivity by watching quality and increasing production flexibility. The innovative technology to achieve this goal is evolving in the form artificial intelligence and neural networks applied to sensor processing, fusion, and interpretation. By using these advanced Al techniques, we can leverage existing systems and add value to conventional techniques. Neural networks and knowledge-based expert systems can be combined into intelligent sensor systems which provide real-time monitoring, control, evaluation, and fault diagnosis for production systems. Neural network-based intelligent sensor systems are more reliable because they can provide continuous, non-destructive monitoring and inspection. Use of neural networks can result in sensor fusion and the ability to model highly, non-linear systems. Improved models can provide a foundation for more accurate performance parameters and predictions. We discuss a research software/hardware prototype which integrates neural networks, expert systems, and sensor technologies and which can adapt across a variety of structures to perform fault diagnosis. The flexibility and adaptability of the prototype in learning two structures is presented. Potential applications are discussed.

Multi Sensor Fusion Using Fitness Adaptive Differential Evolution

NASA Astrophysics Data System (ADS)

Giri, Ritwik; Ghosh, Arnob; Chowdhury, Aritra; Das, Swagatam

The rising popularity of multi-source, multi-sensor networks supports real-life applications calls for an efficient and intelligent approach to information fusion. Traditional optimization techniques often fail to meet the demands. The evolutionary approach provides a valuable alternative due to its inherent parallel nature and its ability to deal with difficult problems. We present a new evolutionary approach based on a modified version of Differential Evolution (DE), called Fitness Adaptive Differential Evolution (FiADE). FiADE treats sensors in the network as distributed intelligent agents with various degrees of autonomy. Existing approaches based on intelligent agents cannot completely answer the question of how their agents could coordinate their decisions in a complex environment. The proposed approach is formulated to produce good result for the problems that are high-dimensional, highly nonlinear, and random. The proposed approach gives better result in case of optimal allocation of sensors. The performance of the proposed approach is compared with an evolutionary algorithm coordination generalized particle model (C-GPM).

Infrared and visible image fusion method based on saliency detection in sparse domain

NASA Astrophysics Data System (ADS)

Liu, C. H.; Qi, Y.; Ding, W. R.

2017-06-01

Infrared and visible image fusion is a key problem in the field of multi-sensor image fusion. To better preserve the significant information of the infrared and visible images in the final fused image, the saliency maps of the source images is introduced into the fusion procedure. Firstly, under the framework of the joint sparse representation (JSR) model, the global and local saliency maps of the source images are obtained based on sparse coefficients. Then, a saliency detection model is proposed, which combines the global and local saliency maps to generate an integrated saliency map. Finally, a weighted fusion algorithm based on the integrated saliency map is developed to achieve the fusion progress. The experimental results show that our method is superior to the state-of-the-art methods in terms of several universal quality evaluation indexes, as well as in the visual quality.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rao, Nageswara S.; Liu, Qiang

We consider tracking of a target with elliptical nonlinear constraints on its motion dynamics. The state estimates are generated by sensors and sent over long-haul links to a remote fusion center for fusion. We show that the constraints can be projected onto the known ellipse and hence incorporated into the estimation and fusion process. In particular, two methods based on (i) direct connection to the center, and (ii) shortest distance to the ellipse are discussed. A tracking example is used to illustrate the tracking performance using projection-based methods with various fusers in the lossy long-haul tracking environment.

Sensor management in RADAR/IRST track fusion

NASA Astrophysics Data System (ADS)

Hu, Shi-qiang; Jing, Zhong-liang

2004-07-01

In this paper, a novel radar management strategy technique suitable for RADAR/IRST track fusion, which is based on Fisher Information Matrix (FIM) and fuzzy stochastic decision approach, is put forward. Firstly, optimal radar measurements' scheduling is obtained by the method of maximizing determinant of the Fisher information matrix of radar and IRST measurements, which is managed by the expert system. Then, suggested a "pseudo sensor" to predict the possible target position using the polynomial method based on the radar and IRST measurements, using "pseudo sensor" model to estimate the target position even if the radar is turned off. At last, based on the tracking performance and the state of target maneuver, fuzzy stochastic decision is used to adjust the optimal radar scheduling and retrieve the module parameter of "pseudo sensor". The experiment result indicates that the algorithm can not only limit Radar activity effectively but also keep the tracking accuracy of active/passive system well. And this algorithm eliminates the drawback of traditional Radar management methods that the Radar activity is fixed and not easy to control and protect.

An optical liquid level sensor based on core-offset fusion splicing method using polarization-maintaining fiber

NASA Astrophysics Data System (ADS)

Lou, Weimin; Chen, Debao; Shen, Changyu; Lu, Yanfang; Liu, Huanan; Wei, Jian

2016-01-01

A simple liquid level sensor using a small piece of hydrofluoric acid (HF) etched polarization maintaining fiber (PMF), with SMF-PMF-SMF fiber structure based on Mach- Zehnder interference (MZI) mechanism is proposed. The core-offset fusion splicing method induced cladding modes interfere with the core mode. Moreover, the changing liquid level would influence the optical path difference of the MZI since the effective refractive indices of the air and the liquid is different. Both the variations of the wavelength shifts and power intensity attenuation corresponding to the liquid level can be obtained with a sensitivity of 0.4956nm/mm and 0.2204dB/mm, respectively.

Data fusion: principles and applications in air defense

NASA Astrophysics Data System (ADS)

Maltese, Dominique; Lucas, Andre

1998-07-01

Within a Surveillance and Reconnaissance System, the Fusion Process is an essential part of the software package since the different sensors measurements are combined by this process; each sensor sends its data to a fusion center whose task is to elaborate the best tactical situation. In this paper, a practical algorithm of data fusion applied to a military application context is presented; the case studied here is a medium-range surveillance situation featuring a dual-sensor platform which combines a surveillance Radar and an IRST; both sensors are collocated. The presented performances were obtained on validation scenarios via simulations performed by SAGEM with the ESSOR ('Environnement de Simulation de Senseurs Optroniques et Radar') multisensor simulation test bench.

Activity recognition using dynamic multiple sensor fusion in body sensor networks.

PubMed

Gao, Lei; Bourke, Alan K; Nelson, John

2012-01-01

Multiple sensor fusion is a main research direction for activity recognition. However, there are two challenges in those systems: the energy consumption due to the wireless transmission and the classifier design because of the dynamic feature vector. This paper proposes a multi-sensor fusion framework, which consists of the sensor selection module and the hierarchical classifier. The sensor selection module adopts the convex optimization to select the sensor subset in real time. The hierarchical classifier combines the Decision Tree classifier with the Naïve Bayes classifier. The dataset collected from 8 subjects, who performed 8 scenario activities, was used to evaluate the proposed system. The results show that the proposed system can obviously reduce the energy consumption while guaranteeing the recognition accuracy.

Improved Maturity and Ripeness Classifications of Magnifera Indica cv. Harumanis Mangoes through Sensor Fusion of an Electronic Nose and Acoustic Sensor

PubMed Central

Zakaria, Ammar; Shakaff, Ali Yeon Md; Masnan, Maz Jamilah; Saad, Fathinul Syahir Ahmad; Adom, Abdul Hamid; Ahmad, Mohd Noor; Jaafar, Mahmad Nor; Abdullah, Abu Hassan; Kamarudin, Latifah Munirah

2012-01-01

In recent years, there have been a number of reported studies on the use of non-destructive techniques to evaluate and determine mango maturity and ripeness levels. However, most of these reported works were conducted using single-modality sensing systems, either using an electronic nose, acoustics or other non-destructive measurements. This paper presents the work on the classification of mangoes (Magnifera Indica cv. Harumanis) maturity and ripeness levels using fusion of the data of an electronic nose and an acoustic sensor. Three groups of samples each from two different harvesting times (week 7 and week 8) were evaluated by the e-nose and then followed by the acoustic sensor. Principal Component Analysis (PCA) and Linear Discriminant Analysis (LDA) were able to discriminate the mango harvested at week 7 and week 8 based solely on the aroma and volatile gases released from the mangoes. However, when six different groups of different maturity and ripeness levels were combined in one classification analysis, both PCA and LDA were unable to discriminate the age difference of the Harumanis mangoes. Instead of six different groups, only four were observed using the LDA, while PCA showed only two distinct groups. By applying a low level data fusion technique on the e-nose and acoustic data, the classification for maturity and ripeness levels using LDA was improved. However, no significant improvement was observed using PCA with data fusion technique. Further work using a hybrid LDA-Competitive Learning Neural Network was performed to validate the fusion technique and classify the samples. It was found that the LDA-CLNN was also improved significantly when data fusion was applied. PMID:22778629

Improved maturity and ripeness classifications of Magnifera Indica cv. Harumanis mangoes through sensor fusion of an electronic nose and acoustic sensor.

PubMed

Zakaria, Ammar; Shakaff, Ali Yeon Md; Masnan, Maz Jamilah; Saad, Fathinul Syahir Ahmad; Adom, Abdul Hamid; Ahmad, Mohd Noor; Jaafar, Mahmad Nor; Abdullah, Abu Hassan; Kamarudin, Latifah Munirah

2012-01-01

In recent years, there have been a number of reported studies on the use of non-destructive techniques to evaluate and determine mango maturity and ripeness levels. However, most of these reported works were conducted using single-modality sensing systems, either using an electronic nose, acoustics or other non-destructive measurements. This paper presents the work on the classification of mangoes (Magnifera Indica cv. Harumanis) maturity and ripeness levels using fusion of the data of an electronic nose and an acoustic sensor. Three groups of samples each from two different harvesting times (week 7 and week 8) were evaluated by the e-nose and then followed by the acoustic sensor. Principal Component Analysis (PCA) and Linear Discriminant Analysis (LDA) were able to discriminate the mango harvested at week 7 and week 8 based solely on the aroma and volatile gases released from the mangoes. However, when six different groups of different maturity and ripeness levels were combined in one classification analysis, both PCA and LDA were unable to discriminate the age difference of the Harumanis mangoes. Instead of six different groups, only four were observed using the LDA, while PCA showed only two distinct groups. By applying a low level data fusion technique on the e-nose and acoustic data, the classification for maturity and ripeness levels using LDA was improved. However, no significant improvement was observed using PCA with data fusion technique. Further work using a hybrid LDA-Competitive Learning Neural Network was performed to validate the fusion technique and classify the samples. It was found that the LDA-CLNN was also improved significantly when data fusion was applied.

Multi-sensor image fusion algorithm based on multi-objective particle swarm optimization algorithm

NASA Astrophysics Data System (ADS)

Xie, Xia-zhu; Xu, Ya-wei

2017-11-01

On the basis of DT-CWT (Dual-Tree Complex Wavelet Transform - DT-CWT) theory, an approach based on MOPSO (Multi-objective Particle Swarm Optimization Algorithm) was proposed to objectively choose the fused weights of low frequency sub-bands. High and low frequency sub-bands were produced by DT-CWT. Absolute value of coefficients was adopted as fusion rule to fuse high frequency sub-bands. Fusion weights in low frequency sub-bands were used as particles in MOPSO. Spatial Frequency and Average Gradient were adopted as two kinds of fitness functions in MOPSO. The experimental result shows that the proposed approach performances better than Average Fusion and fusion methods based on local variance and local energy respectively in brightness, clarity and quantitative evaluation which includes Entropy, Spatial Frequency, Average Gradient and QAB/F.

Investigation of the feasibility of non-invasive optical sensors for the quantitative assessment of dehydration.

PubMed

Visser, Cobus; Kieser, Eduard; Dellimore, Kiran; van den Heever, Dawie; Smith, Johan

2017-10-01

This study explores the feasibility of prospectively assessing infant dehydration using four non-invasive, optical sensors based on the quantitative and objective measurement of various clinical markers of dehydration. The sensors were investigated to objectively and unobtrusively assess the hydration state of an infant based on the quantification of capillary refill time (CRT), skin recoil time (SRT), skin temperature profile (STP) and skin tissue hydration by means of infrared spectrometry (ISP). To evaluate the performance of the sensors a clinical study was conducted on a cohort of 10 infants (aged 6-36 months) with acute gastroenteritis. High sensitivity and specificity were exhibited by the sensors, in particular the STP and SRT sensors, when combined into a fusion regression model (sensitivity: 0.90, specificity: 0.78). The SRT and STP sensors and the fusion model all outperformed the commonly used "gold standard" clinical dehydration scales including the Gorelick scale (sensitivity: 0.56, specificity: 0.56), CDS scale (sensitivity: 1.0, specificity: 0.2) and WHO scale (sensitivity: 0.13, specificity: 0.79). These results suggest that objective and quantitative assessment of infant dehydration may be possible using the sensors investigated. However, further evaluation of the sensors on a larger sample population is needed before deploying them in a clinical setting. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

Sensor Fusion Techniques for Phased-Array Eddy Current and Phased-Array Ultrasound Data

DOE Office of Scientific and Technical Information (OSTI.GOV)

Arrowood, Lloyd F.

Sensor (or Data) fusion is the process of integrating multiple data sources to produce more consistent, accurate and comprehensive information than is provided by a single data source. Sensor fusion may also be used to combine multiple signals from a single modality to improve the performance of a particular inspection technique. Industrial nondestructive testing may utilize multiple sensors to acquire inspection data depending upon the object under inspection and the anticipated types of defects that can be identified. Sensor fusion can be performed at various levels of signal abstraction with each having its strengths and weaknesses. A multimodal data fusionmore » strategy first proposed by Heideklang and Shokouhi that combines spatially scattered detection locations to improve detection performance of surface-breaking and near-surface cracks in ferromagnetic metals is shown using a surface inspection example and is then extended for volumetric inspections. Utilizing data acquired from an Olympus Omniscan MX2 from both phased array eddy current and ultrasound probes on test phantoms, single and multilevel fusion techniques are employed to integrate signals from the two modalities. Preliminary results demonstrate how confidence in defect identification and interpretation benefit from sensor fusion techniques. Lastly, techniques for integrating data into radiographic and volumetric imagery from computed tomography are described and results are presented.« less

Estimation of tool wear during CNC milling using neural network-based sensor fusion

NASA Astrophysics Data System (ADS)

Ghosh, N.; Ravi, Y. B.; Patra, A.; Mukhopadhyay, S.; Paul, S.; Mohanty, A. R.; Chattopadhyay, A. B.

2007-01-01

Cutting tool wear degrades the product quality in manufacturing processes. Monitoring tool wear value online is therefore needed to prevent degradation in machining quality. Unfortunately there is no direct way of measuring the tool wear online. Therefore one has to adopt an indirect method wherein the tool wear is estimated from several sensors measuring related process variables. In this work, a neural network-based sensor fusion model has been developed for tool condition monitoring (TCM). Features extracted from a number of machining zone signals, namely cutting forces, spindle vibration, spindle current, and sound pressure level have been fused to estimate the average flank wear of the main cutting edge. Novel strategies such as, signal level segmentation for temporal registration, feature space filtering, outlier removal, and estimation space filtering have been proposed. The proposed approach has been validated by both laboratory and industrial implementations.

Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots

PubMed Central

Marín, Leonardo; Vallés, Marina; Soriano, Ángel; Valera, Ángel; Albertos, Pedro

2013-01-01

This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments. PMID:24152933

Multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots.

PubMed

Marín, Leonardo; Vallés, Marina; Soriano, Ángel; Valera, Ángel; Albertos, Pedro

2013-10-21

This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments.

Homeland security application of the Army Soft Target Exploitation and Fusion (STEF) system

NASA Astrophysics Data System (ADS)

Antony, Richard T.; Karakowski, Joseph A.

2010-04-01

A fusion system that accommodates both text-based extracted information along with more conventional sensor-derived input has been developed and demonstrated in a terrorist attack scenario as part of the Empire Challenge (EC) 09 Exercise. Although the fusion system was developed to support Army military analysts, the system, based on a set of foundational fusion principles, has direct applicability to department of homeland security (DHS) & defense, law enforcement, and other applications. Several novel fusion technologies and applications were demonstrated in EC09. One such technology is location normalization that accommodates both fuzzy semantic expressions such as behind Library A, across the street from the market place, as well as traditional spatial representations. Additionally, the fusion system provides a range of fusion products not supported by traditional fusion algorithms. Many of these additional capabilities have direct applicability to DHS. A formal test of the fusion system was performed during the EC09 exercise. The system demonstrated that it was able to (1) automatically form tracks, (2) help analysts visualize behavior of individuals over time, (3) link key individuals based on both explicit message-based information as well as discovered (fusion-derived) implicit relationships, and (4) suggest possible individuals of interest based on their association with High Value Individuals (HVI) and user-defined key locations.

Reconnaissance blind multi-chess: an experimentation platform for ISR sensor fusion and resource management

NASA Astrophysics Data System (ADS)

Newman, Andrew J.; Richardson, Casey L.; Kain, Sean M.; Stankiewicz, Paul G.; Guseman, Paul R.; Schreurs, Blake A.; Dunne, Jeffrey A.

2016-05-01

This paper introduces the game of reconnaissance blind multi-chess (RBMC) as a paradigm and test bed for understanding and experimenting with autonomous decision making under uncertainty and in particular managing a network of heterogeneous Intelligence, Surveillance and Reconnaissance (ISR) sensors to maintain situational awareness informing tactical and strategic decision making. The intent is for RBMC to serve as a common reference or challenge problem in fusion and resource management of heterogeneous sensor ensembles across diverse mission areas. We have defined a basic rule set and a framework for creating more complex versions, developed a web-based software realization to serve as an experimentation platform, and developed some initial machine intelligence approaches to playing it.

ELIPS: Toward a Sensor Fusion Processor on a Chip

NASA Technical Reports Server (NTRS)

Daud, Taher; Stoica, Adrian; Tyson, Thomas; Li, Wei-te; Fabunmi, James

1998-01-01

The paper presents the concept and initial tests from the hardware implementation of a low-power, high-speed reconfigurable sensor fusion processor. The Extended Logic Intelligent Processing System (ELIPS) processor is developed to seamlessly combine rule-based systems, fuzzy logic, and neural networks to achieve parallel fusion of sensor in compact low power VLSI. The first demonstration of the ELIPS concept targets interceptor functionality; other applications, mainly in robotics and autonomous systems are considered for the future. The main assumption behind ELIPS is that fuzzy, rule-based and neural forms of computation can serve as the main primitives of an "intelligent" processor. Thus, in the same way classic processors are designed to optimize the hardware implementation of a set of fundamental operations, ELIPS is developed as an efficient implementation of computational intelligence primitives, and relies on a set of fuzzy set, fuzzy inference and neural modules, built in programmable analog hardware. The hardware programmability allows the processor to reconfigure into different machines, taking the most efficient hardware implementation during each phase of information processing. Following software demonstrations on several interceptor data, three important ELIPS building blocks (a fuzzy set preprocessor, a rule-based fuzzy system and a neural network) have been fabricated in analog VLSI hardware and demonstrated microsecond-processing times.

Distributed cluster management techniques for unattended ground sensor networks

NASA Astrophysics Data System (ADS)

Essawy, Magdi A.; Stelzig, Chad A.; Bevington, James E.; Minor, Sharon

2005-05-01

Smart Sensor Networks are becoming important target detection and tracking tools. The challenging problems in such networks include the sensor fusion, data management and communication schemes. This work discusses techniques used to distribute sensor management and multi-target tracking responsibilities across an ad hoc, self-healing cluster of sensor nodes. Although miniaturized computing resources possess the ability to host complex tracking and data fusion algorithms, there still exist inherent bandwidth constraints on the RF channel. Therefore, special attention is placed on the reduction of node-to-node communications within the cluster by minimizing unsolicited messaging, and distributing the sensor fusion and tracking tasks onto local portions of the network. Several challenging problems are addressed in this work including track initialization and conflict resolution, track ownership handling, and communication control optimization. Emphasis is also placed on increasing the overall robustness of the sensor cluster through independent decision capabilities on all sensor nodes. Track initiation is performed using collaborative sensing within a neighborhood of sensor nodes, allowing each node to independently determine if initial track ownership should be assumed. This autonomous track initiation prevents the formation of duplicate tracks while eliminating the need for a central "management" node to assign tracking responsibilities. Track update is performed as an ownership node requests sensor reports from neighboring nodes based on track error covariance and the neighboring nodes geo-positional location. Track ownership is periodically recomputed using propagated track states to determine which sensing node provides the desired coverage characteristics. High fidelity multi-target simulation results are presented, indicating the distribution of sensor management and tracking capabilities to not only reduce communication bandwidth consumption, but to also simplify multi-target tracking within the cluster.

Practical considerations in Bayesian fusion of point sensors

NASA Astrophysics Data System (ADS)

Johnson, Kevin; Minor, Christian

2012-06-01

Sensor data fusion is and has been a topic of considerable research, but rigorous and quantitative understanding of the benefits of fusing specific types of sensor data remains elusive. Often, sensor fusion is performed on an ad hoc basis with the assumption that overall detection capabilities will improve, only to discover later, after expensive and time consuming laboratory and/or field testing that little advantage was gained. The work presented here will discuss these issues with theoretical and practical considerations in the context of fusing chemical sensors with binary outputs. Results are given for the potential performance gains one could expect with such systems, as well as the practical difficulties involved in implementing an optimal Bayesian fusion strategy with realistic scenarios. Finally, a discussion of the biases that inaccurate statistical estimates introduce into the results and their consequences is presented.

Context-Aided Sensor Fusion for Enhanced Urban Navigation

PubMed Central

Martí, Enrique David; Martín, David; García, Jesús; de la Escalera, Arturo; Molina, José Manuel; Armingol, José María

2012-01-01

The deployment of Intelligent Vehicles in urban environments requires reliable estimation of positioning for urban navigation. The inherent complexity of this kind of environments fosters the development of novel systems which should provide reliable and precise solutions to the vehicle. This article details an advanced GNSS/IMU fusion system based on a context-aided Unscented Kalman filter for navigation in urban conditions. The constrained non-linear filter is here conditioned by a contextual knowledge module which reasons about sensor quality and driving context in order to adapt it to the situation, while at the same time it carries out a continuous estimation and correction of INS drift errors. An exhaustive analysis has been carried out with available data in order to characterize the behavior of available sensors and take it into account in the developed solution. The performance is then analyzed with an extensive dataset containing representative situations. The proposed solution suits the use of fusion algorithms for deploying Intelligent Transport Systems in urban environments. PMID:23223080

Context-aided sensor fusion for enhanced urban navigation.

PubMed

Martí, Enrique David; Martín, David; García, Jesús; de la Escalera, Arturo; Molina, José Manuel; Armingol, José María

2012-12-06

 The deployment of Intelligent Vehicles in urban environments requires reliable estimation of positioning for urban navigation. The inherent complexity of this kind of environments fosters the development of novel systems which should provide reliable and precise solutions to the vehicle. This article details an advanced GNSS/IMU fusion system based on a context-aided Unscented Kalman filter for navigation in urban conditions. The constrained non-linear filter is here conditioned by a contextual knowledge module which reasons about sensor quality and driving context in order to adapt it to the situation, while at the same time it carries out a continuous estimation and correction of INS drift errors. An exhaustive analysis has been carried out with available data in order to characterize the behavior of available sensors and take it into account in the developed solution. The performance is then analyzed with an extensive dataset containing representative situations. The proposed solution suits the use of fusion algorithms for deploying Intelligent Transport Systems in urban environments.

Usage of Wireless Sensor Networks in a service based spatial data infrastructure for Landslide Monitoring and Early Warning

NASA Astrophysics Data System (ADS)

Arnhardt, C.; Fernandez-Steeger, T. M.; Walter, K.; Kallash, A.; Niemeyer, F.; Azzam, R.; Bill, R.

2007-12-01

The joint project Sensor based Landslide Early Warning System (SLEWS) aims at a systematic development of a prototyping alarm- and early warning system for the detection of mass movements by application of an ad hoc wireless sensor network (WSN). Next to the development of suitable sensor setups, sensor fusion and network fusion are applied to enhance data quality and reduce false alarm rates. Of special interest is the data retrieval, processing and visualization in GI-Systems. Therefore a suitable serviced based Spatial Data Infrastructure (SDI) will be developed with respect to existing and upcoming Open Geospatial Consortium (OGC) standards.The application of WSN provides a cheap and easy to set up solution for special monitoring and data gathering in large areas. Measurement data from different low-cost transducers for deformation observation (acceleration, displacement, tilting) is collected by distributed sensor nodes (motes), which interact separately and connect each other in a self-organizing manner. Data are collected and aggregated at the beacon (transmission station) and further operations like data pre-processing and compression can be performed. The WSN concept provides next to energy efficiency, miniaturization, real-time monitoring and remote operation, but also new monitoring strategies like sensor and network fusion. Since not only single sensors can be integrated at single motes either cross-validation or redundant sensor setups are possible to enhance data quality. The planned monitoring and information system will include a mobile infrastructure (information technologies and communication components) as well as methods and models to estimate surface deformation parameters (positioning systems). The measurements result in heterogeneous observation sets that have to be integrated in a common adjustment and filtering approach. Reliable real-time information will be obtained using a range of sensor input and algorithms, from which early warnings and prognosis may be derived. Implementation of sensor algorithms is an important task to form the business logic. This will be represented in self-contained web-based processing services (WPS). In the future different types of sensor networks can communicate via an infrastructure of OGC services using an interoperable way by standardized protocols as the Sensor Markup Language (SensorML) and Observations & Measurements Schema (O&M). Synchronous and asynchronous information services as the Sensor Alert Service (SAS) and the Web Notification Services (WNS) will provide defined users and user groups with time-critical readings from the observation site. Techniques using services for visualizing mapping data (WMS), meta data (CSW), vector (WFS) and raster data (WCS) will range from high detailed expert based output to fuzzy graphical warning elements.The expected results will be an advancement regarding classical alarm and early warning systems as the WSN are free scalable, extensible and easy to install.

Trust Model of Wireless Sensor Networks and Its Application in Data Fusion

PubMed Central

Chen, Zhenguo; Tian, Liqin; Lin, Chuang

2017-01-01

In order to ensure the reliability and credibility of the data in wireless sensor networks (WSNs), this paper proposes a trust evaluation model and data fusion mechanism based on trust. First of all, it gives the model structure. Then, the calculation rules of trust are given. In the trust evaluation model, comprehensive trust consists of three parts: behavior trust, data trust, and historical trust. Data trust can be calculated by processing the sensor data. Based on the behavior of nodes in sensing and forwarding, the behavior trust is obtained. The initial value of historical trust is set to the maximum and updated with comprehensive trust. Comprehensive trust can be obtained by weighted calculation, and then the model is used to construct the trust list and guide the process of data fusion. Using the trust model, simulation results indicate that energy consumption can be reduced by an average of 15%. The detection rate of abnormal nodes is at least 10% higher than that of the lightweight and dependable trust system (LDTS) model. Therefore, this model has good performance in ensuring the reliability and credibility of the data. Moreover, the energy consumption of transmitting was greatly reduced. PMID:28350347

Improving CAR Navigation with a Vision-Based System

NASA Astrophysics Data System (ADS)

Kim, H.; Choi, K.; Lee, I.

2015-08-01

The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the position and attitude of the camera and thus those of the car. This image georeferencing results are combined with other sensory data under the sensor fusion framework for more accurate estimation of the positions using an extended Kalman filter. The proposed system estimated the positions with an accuracy of 15 m although GPS signals are not available at all during the entire test drive of 15 minutes. The proposed vision based system can be effectively utilized for the low-cost but high-accurate and reliable navigation systems required for intelligent or autonomous vehicles.

Improving Car Navigation with a Vision-Based System

NASA Astrophysics Data System (ADS)

Kim, H.; Choi, K.; Lee, I.

2015-08-01

The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the position and attitude of the camera and thus those of the car. This image georeferencing results are combined with other sensory data under the sensor fusion framework for more accurate estimation of the positions using an extended Kalman filter. The proposed system estimated the positions with an accuracy of 15 m although GPS signals are not available at all during the entire test drive of 15 minutes. The proposed vision based system can be effectively utilized for the low-cost but high-accurate and reliable navigation systems required for intelligent or autonomous vehicles.

Refractive index sensor based on combination of tilted fiber Bragg grating and waist-enlarged fusion bitaper

NASA Astrophysics Data System (ADS)

Liu, Xiaohang; Zheng, Jie; Yang, Jingyi; Li, Yi; Dong, Xinyong

2015-12-01

Refractive index measurement by using the combination of a tilted fiber Bragg grating (TFBG) and a waist-enlarged fusion bitaper (WEFBT) is proposed and demonstrated. The both devices can couple light between core and cladding modes with coupling coefficients depending on ambient refractive index. It is found that the proposed refractive index sensor offers two measurement ranges respectively from 1.333 to 1.428 and from 1.383 to 1.453 when different sensing segment is used, in addition to advantages of reflection operation mode and intensity-modulated measurement.

Enhanced image capture through fusion

NASA Technical Reports Server (NTRS)

Burt, Peter J.; Hanna, Keith; Kolczynski, Raymond J.

1993-01-01

Image fusion may be used to combine images from different sensors, such as IR and visible cameras, to obtain a single composite with extended information content. Fusion may also be used to combine multiple images from a given sensor to form a composite image in which information of interest is enhanced. We present a general method for performing image fusion and show that this method is effective for diverse fusion applications. We suggest that fusion may provide a powerful tool for enhanced image capture with broad utility in image processing and computer vision.

A trainable decisions-in decision-out (DEI-DEO) fusion system

NASA Astrophysics Data System (ADS)

Dasarathy, Belur V.

1998-03-01

Most of the decision fusion systems proposed hitherto in the literature for multiple data source (sensor) environments operate on the basis of pre-defined fusion logic, be they crisp (deterministic), probabilistic, or fuzzy in nature, with no specific learning phase. The fusion systems that are trainable, i.e., ones that have a learning phase, mostly operate in the features-in-decision-out mode, which essentially reduces the fusion process functionally to a pattern classification task in the joint feature space. In this study, a trainable decisions-in-decision-out fusion system is described which estimates a fuzzy membership distribution spread across the different decision choices based on the performance of the different decision processors (sensors) corresponding to each training sample (object) which is associated with a specific ground truth (true decision). Based on a multi-decision space histogram analysis of the performance of the different processors over the entire training data set, a look-up table associating each cell of the histogram with a specific true decision is generated which forms the basis for the operational phase. In the operational phase, for each set of decision inputs, a pointer to the look-up table learnt previously is generated from which a fused decision is derived. This methodology, although primarily designed for fusing crisp decisions from the multiple decision sources, can be adapted for fusion of fuzzy decisions as well if such are the inputs from these sources. Examples, which illustrate the benefits and limitations of the crisp and fuzzy versions of the trainable fusion systems, are also included.

Persistent Target Tracking Using Likelihood Fusion in Wide-Area and Full Motion Video Sequences

DTIC Science & Technology

2012-07-01

624–637, 2010. [33] R. Pelapur, K. Palaniappan, F. Bunyak, and G. Seetharaman, “Vehicle orientation estimation using radon transform-based voting in...pp. 873–880. [37] F. Bunyak, K. Palaniappan, S. K. Nath, and G. Seetharaman, “Flux tensor constrained geodesic active contours with sensor fusion for

Multisensor fusion for 3D target tracking using track-before-detect particle filter

NASA Astrophysics Data System (ADS)

Moshtagh, Nima; Romberg, Paul M.; Chan, Moses W.

2015-05-01

This work presents a novel fusion mechanism for estimating the three-dimensional trajectory of a moving target using images collected by multiple imaging sensors. The proposed projective particle filter avoids the explicit target detection prior to fusion. In projective particle filter, particles that represent the posterior density (of target state in a high-dimensional space) are projected onto the lower-dimensional observation space. Measurements are generated directly in the observation space (image plane) and a marginal (sensor) likelihood is computed. The particles states and their weights are updated using the joint likelihood computed from all the sensors. The 3D state estimate of target (system track) is then generated from the states of the particles. This approach is similar to track-before-detect particle filters that are known to perform well in tracking dim and stealthy targets in image collections. Our approach extends the track-before-detect approach to 3D tracking using the projective particle filter. The performance of this measurement-level fusion method is compared with that of a track-level fusion algorithm using the projective particle filter. In the track-level fusion algorithm, the 2D sensor tracks are generated separately and transmitted to a fusion center, where they are treated as measurements to the state estimator. The 2D sensor tracks are then fused to reconstruct the system track. A realistic synthetic scenario with a boosting target was generated, and used to study the performance of the fusion mechanisms.

Proposed tethered unmanned aerial system for the detection of pollution entering the Chesapeake Bay area

NASA Astrophysics Data System (ADS)

Goodman, J.; McKay, J.; Evans, W.; Gadsden, S. Andrew

2016-05-01

This paper is based on a proposed unmanned aerial system platform that is to be outfitted with high-resolution sensors. The proposed system is to be tethered to a moveable ground station, which may be a research vessel or some form of ground vehicle (e.g., car, truck, or rover). The sensors include, at a minimum: camera, infrared sensor, thermal, normalized difference vegetation index (NDVI) camera, global positioning system (GPS), and a light-based radar (LIDAR). The purpose of this paper is to provide an overview of existing methods for pollution detection of failing septic systems, and to introduce the proposed system. Future work will look at the high-resolution data from the sensors and integrating the data through a process called information fusion. Typically, this process is done using the popular and well-published Kalman filter (or its nonlinear formulations, such as the extended Kalman filter). However, future work will look at using a new type of strategy based on variable structure estimation for the information fusion portion of the data processing. It is hypothesized that fusing data from the thermal and NDVI sensors will be more accurate and reliable for a multitude of applications, including the detection of pollution entering the Chesapeake Bay area.

INS/GNSS Integration for Aerobatic Flight Applications and Aircraft Motion Surveying.

PubMed

V Hinüber, Edgar L; Reimer, Christian; Schneider, Tim; Stock, Michael

2017-04-26

This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS ( inertial navigation system/global satellite navigation system ) solutions based on MEMS ( micro-electro-mechanical- sensor ) machined sensors, being used for UAV ( unmanned aerial vehicle ) navigation and control as well as for aircraft motion dynamics analysis and trajectory surveying. One key is a 42+ state extended Kalman-filter-based powerful data fusion, which also allows the estimation and correction of parameters that are typically affected by sensor aging, especially when applying MEMS-based inertial sensors, and which is not yet deeply considered in the literature. The paper presents the general system architecture, which allows iMAR Navigation the integration of all classes of inertial sensors and GNSS ( global navigation satellite system ) receivers from very-low-cost MEMS and high performance MEMS over FOG ( fiber optical gyro ) and RLG ( ring laser gyro ) up to HRG ( hemispherical resonator gyro ) technology, and presents detailed flight test results obtained under extreme flight conditions. As a real-world example, the aerobatic maneuvers of the World Champion 2016 (Red Bull Air Race) are presented. Short consideration is also given to surveying applications, where the ultimate performance of the same data fusion, but applied on gravimetric surveying, is discussed.

INS/GNSS Integration for Aerobatic Flight Applications and Aircraft Motion Surveying

PubMed Central

v. Hinüber, Edgar L.; Reimer, Christian; Schneider, Tim; Stock, Michael

2017-01-01

This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS (inertial navigation system/global satellite navigation system) solutions based on MEMS (micro-electro-mechanical- sensor) machined sensors, being used for UAV (unmanned aerial vehicle) navigation and control as well as for aircraft motion dynamics analysis and trajectory surveying. One key is a 42+ state extended Kalman-filter-based powerful data fusion, which also allows the estimation and correction of parameters that are typically affected by sensor aging, especially when applying MEMS-based inertial sensors, and which is not yet deeply considered in the literature. The paper presents the general system architecture, which allows iMAR Navigation the integration of all classes of inertial sensors and GNSS (global navigation satellite system) receivers from very-low-cost MEMS and high performance MEMS over FOG (fiber optical gyro) and RLG (ring laser gyro) up to HRG (hemispherical resonator gyro) technology, and presents detailed flight test results obtained under extreme flight conditions. As a real-world example, the aerobatic maneuvers of the World Champion 2016 (Red Bull Air Race) are presented. Short consideration is also given to surveying applications, where the ultimate performance of the same data fusion, but applied on gravimetric surveying, is discussed. PMID:28445417

A Markov game theoretic data fusion approach for cyber situational awareness

NASA Astrophysics Data System (ADS)

Shen, Dan; Chen, Genshe; Cruz, Jose B., Jr.; Haynes, Leonard; Kruger, Martin; Blasch, Erik

2007-04-01

This paper proposes an innovative data-fusion/ data-mining game theoretic situation awareness and impact assessment approach for cyber network defense. Alerts generated by Intrusion Detection Sensors (IDSs) or Intrusion Prevention Sensors (IPSs) are fed into the data refinement (Level 0) and object assessment (L1) data fusion components. High-level situation/threat assessment (L2/L3) data fusion based on Markov game model and Hierarchical Entity Aggregation (HEA) are proposed to refine the primitive prediction generated by adaptive feature/pattern recognition and capture new unknown features. A Markov (Stochastic) game method is used to estimate the belief of each possible cyber attack pattern. Game theory captures the nature of cyber conflicts: determination of the attacking-force strategies is tightly coupled to determination of the defense-force strategies and vice versa. Also, Markov game theory deals with uncertainty and incompleteness of available information. A software tool is developed to demonstrate the performance of the high level information fusion for cyber network defense situation and a simulation example shows the enhanced understating of cyber-network defense.

Metal Hall sensors for the new generation fusion reactors of DEMO scale

NASA Astrophysics Data System (ADS)

Bolshakova, I.; Bulavin, M.; Kargin, N.; Kost, Ya.; Kuech, T.; Kulikov, S.; Radishevskiy, M.; Shurygin, F.; Strikhanov, M.; Vasil'evskii, I.; Vasyliev, A.

2017-11-01

For the first time, the results of on-line testing of metal Hall sensors based on nano-thickness (50-70) nm gold films, which was conducted under irradiation by high-energy neutrons up to the high fluences of 1 · 1024 n · m-2, are presented. The testing has been carried out in the IBR-2 fast pulsed reactor in the neutron flux with the intensity of 1.5 · 1017 n · m-2 · s-1 at the Joint Institute for Nuclear Research. The energy spectrum of neutron flux was very close to that expected for the ex-vessel sensors locations in the ITER experimental reactor. The magnetic field sensitivity of the gold sensors was stable within the whole fluence range under research. Also, sensitivity values at the start and at the end of irradiation session were equal within the measurement error (<1%). The results obtained make it possible to recommend gold sensors for magnetic diagnostics in the new generation fusion reactors of DEMO scale.

Distributed multi-sensor particle filter for bearings-only tracking

NASA Astrophysics Data System (ADS)

Zhang, Jungen; Ji, Hongbing

2012-02-01

In this article, the classical bearings-only tracking (BOT) problem for a single target is addressed, which belongs to the general class of non-linear filtering problems. Due to the fact that the radial distance observability of the target is poor, the algorithm-based sequential Monte-Carlo (particle filtering, PF) methods generally show instability and filter divergence. A new stable distributed multi-sensor PF method is proposed for BOT. The sensors process their measurements at their sites using a hierarchical PF approach, which transforms the BOT problem from Cartesian coordinate to the logarithmic polar coordinate and separates the observable components from the unobservable components of the target. In the fusion centre, the target state can be estimated by utilising the multi-sensor optimal information fusion rule. Furthermore, the computation of a theoretical Cramer-Rao lower bound is given for the multi-sensor BOT problem. Simulation results illustrate that the proposed tracking method can provide better performances than the traditional PF method.

Multisensor fusion with non-optimal decision rules: the challenges of open world sensing

NASA Astrophysics Data System (ADS)

Minor, Christian; Johnson, Kevin

2014-05-01

In this work, simple, generic models of chemical sensing are used to simulate sensor array data and to illustrate the impact on overall system performance that specific design choices impart. The ability of multisensor systems to perform multianalyte detection (i.e., distinguish multiple targets) is explored by examining the distinction between fundamental design-related limitations stemming from mismatching of mixture composition to fused sensor measurement spaces, and limitations that arise from measurement uncertainty. Insight on the limits and potential of sensor fusion to robustly address detection tasks in realistic field conditions can be gained through an examination of a) the underlying geometry of both the composition space of sources one hopes to elucidate and the measurement space a fused sensor system is capable of generating, and b) the informational impact of uncertainty on both of these spaces. For instance, what is the potential impact on sensor fusion in an open world scenario where unknown interferants may contaminate target signals? Under complex and dynamic backgrounds, decision rules may implicitly become non-optimal and adding sensors may increase the amount of conflicting information observed. This suggests that the manner in which a decision rule handles sensor conflict can be critical in leveraging sensor fusion for effective open world sensing, and becomes exponentially more important as more sensors are added. Results and design considerations for handling conflicting evidence in Bayes and Dempster-Shafer fusion frameworks are presented. Bayesian decision theory is used to provide an upper limit on detector performance of simulated sensor systems.

A testbed for architecture and fidelity trade studies in the Bayesian decision-level fusion of ATR products

NASA Astrophysics Data System (ADS)

Erickson, Kyle J.; Ross, Timothy D.

2007-04-01

Decision-level fusion is an appealing extension to automatic/assisted target recognition (ATR) as it is a low-bandwidth technique bolstered by a strong theoretical foundation that requires no modification of the source algorithms. Despite the relative simplicity of decision-level fusion, there are many options for fusion application and fusion algorithm specifications. This paper describes a tool that allows trade studies and optimizations across these many options, by feeding an actual fusion algorithm via models of the system environment. Models and fusion algorithms can be specified and then exercised many times, with accumulated results used to compute performance metrics such as probability of correct identification. Performance differences between the best of the contributing sources and the fused result constitute examples of "gain." The tool, constructed as part of the Fusion for Identifying Targets Experiment (FITE) within the Air Force Research Laboratory (AFRL) Sensors Directorate ATR Thrust, finds its main use in examining the relationships among conditions affecting the target, prior information, fusion algorithm complexity, and fusion gain. ATR as an unsolved problem provides the main challenges to fusion in its high cost and relative scarcity of training data, its variability in application, the inability to produce truly random samples, and its sensitivity to context. This paper summarizes the mathematics underlying decision-level fusion in the ATR domain and describes a MATLAB-based architecture for exploring the trade space thus defined. Specific dimensions within this trade space are delineated, providing the raw material necessary to define experiments suitable for multi-look and multi-sensor ATR systems.

NASA Mars rover: a testbed for evaluating applications of covariance intersection

NASA Astrophysics Data System (ADS)

Uhlmann, Jeffrey K.; Julier, Simon J.; Kamgar-Parsi, Behzad; Lanzagorta, Marco O.; Shyu, Haw-Jye S.

1999-07-01

The Naval Research Laboratory (NRL) has spearheaded the development and application of Covariance Intersection (CI) for a variety of decentralized data fusion problems. Such problems include distributed control, onboard sensor fusion, and dynamic map building and localization. In this paper we describe NRL's development of a CI-based navigation system for the NASA Mars rover that stresses almost all aspects of decentralized data fusion. We also describe how this project relates to NRL's augmented reality, advanced visualization, and REBOT projects.

Integrating Millimeter Wave Radar with a Monocular Vision Sensor for On-Road Obstacle Detection Applications

PubMed Central

Wang, Tao; Zheng, Nanning; Xin, Jingmin; Ma, Zheng

2011-01-01

This paper presents a systematic scheme for fusing millimeter wave (MMW) radar and a monocular vision sensor for on-road obstacle detection. As a whole, a three-level fusion strategy based on visual attention mechanism and driver’s visual consciousness is provided for MMW radar and monocular vision fusion so as to obtain better comprehensive performance. Then an experimental method for radar-vision point alignment for easy operation with no reflection intensity of radar and special tool requirements is put forward. Furthermore, a region searching approach for potential target detection is derived in order to decrease the image processing time. An adaptive thresholding algorithm based on a new understanding of shadows in the image is adopted for obstacle detection, and edge detection is used to assist in determining the boundary of obstacles. The proposed fusion approach is verified through real experimental examples of on-road vehicle/pedestrian detection. In the end, the experimental results show that the proposed method is simple and feasible. PMID:22164117

Integrating millimeter wave radar with a monocular vision sensor for on-road obstacle detection applications.

PubMed

Wang, Tao; Zheng, Nanning; Xin, Jingmin; Ma, Zheng

2011-01-01

This paper presents a systematic scheme for fusing millimeter wave (MMW) radar and a monocular vision sensor for on-road obstacle detection. As a whole, a three-level fusion strategy based on visual attention mechanism and driver's visual consciousness is provided for MMW radar and monocular vision fusion so as to obtain better comprehensive performance. Then an experimental method for radar-vision point alignment for easy operation with no reflection intensity of radar and special tool requirements is put forward. Furthermore, a region searching approach for potential target detection is derived in order to decrease the image processing time. An adaptive thresholding algorithm based on a new understanding of shadows in the image is adopted for obstacle detection, and edge detection is used to assist in determining the boundary of obstacles. The proposed fusion approach is verified through real experimental examples of on-road vehicle/pedestrian detection. In the end, the experimental results show that the proposed method is simple and feasible.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wu, Qishi; Zhu, Mengxia; Rao, Nageswara S

We propose an intelligent decision support system based on sensor and computer networks that incorporates various component techniques for sensor deployment, data routing, distributed computing, and information fusion. The integrated system is deployed in a distributed environment composed of both wireless sensor networks for data collection and wired computer networks for data processing in support of homeland security defense. We present the system framework and formulate the analytical problems and develop approximate or exact solutions for the subtasks: (i) sensor deployment strategy based on a two-dimensional genetic algorithm to achieve maximum coverage with cost constraints; (ii) data routing scheme tomore » achieve maximum signal strength with minimum path loss, high energy efficiency, and effective fault tolerance; (iii) network mapping method to assign computing modules to network nodes for high-performance distributed data processing; and (iv) binary decision fusion rule that derive threshold bounds to improve system hit rate and false alarm rate. These component solutions are implemented and evaluated through either experiments or simulations in various application scenarios. The extensive results demonstrate that these component solutions imbue the integrated system with the desirable and useful quality of intelligence in decision making.« less

A Novel Energy-Efficient Multi-Sensor Fusion Wake-Up Control Strategy Based on a Biomimetic Infectious-Immune Mechanism for Target Tracking.

PubMed

Zhou, Jie; Liang, Yan; Shen, Qiang; Feng, Xiaoxue; Pan, Quan

2018-04-18

A biomimetic distributed infection-immunity model (BDIIM), inspired by the immune mechanism of an infected organism, is proposed in order to achieve a high-efficiency wake-up control strategy based on multi-sensor fusion for target tracking. The resultant BDIIM consists of six sub-processes reflecting the infection-immunity mechanism: occurrence probabilities of direct-infection (DI) and cross-infection (CI), immunity/immune-deficiency of DI and CI, pathogen amount of DI and CI, immune cell production, immune memory, and pathogen accumulation under immunity state. Furthermore, a corresponding relationship between the BDIIM and sensor wake-up control is established to form the collaborative wake-up method. Finally, joint surveillance and target tracking are formulated in the simulation, in which we show that the energy cost and position tracking error are reduced to 50.8% and 78.9%, respectively. Effectiveness of the proposed BDIIM algorithm is shown, and this model is expected to have a significant role in guiding the performance improvement of multi-sensor networks.

Robust Ground Target Detection by SAR and IR Sensor Fusion Using Adaboost-Based Feature Selection

PubMed Central

Kim, Sungho; Song, Woo-Jin; Kim, So-Hyun

2016-01-01

Long-range ground targets are difficult to detect in a noisy cluttered environment using either synthetic aperture radar (SAR) images or infrared (IR) images. SAR-based detectors can provide a high detection rate with a high false alarm rate to background scatter noise. IR-based approaches can detect hot targets but are affected strongly by the weather conditions. This paper proposes a novel target detection method by decision-level SAR and IR fusion using an Adaboost-based machine learning scheme to achieve a high detection rate and low false alarm rate. The proposed method consists of individual detection, registration, and fusion architecture. This paper presents a single framework of a SAR and IR target detection method using modified Boolean map visual theory (modBMVT) and feature-selection based fusion. Previous methods applied different algorithms to detect SAR and IR targets because of the different physical image characteristics. One method that is optimized for IR target detection produces unsuccessful results in SAR target detection. This study examined the image characteristics and proposed a unified SAR and IR target detection method by inserting a median local average filter (MLAF, pre-filter) and an asymmetric morphological closing filter (AMCF, post-filter) into the BMVT. The original BMVT was optimized to detect small infrared targets. The proposed modBMVT can remove the thermal and scatter noise by the MLAF and detect extended targets by attaching the AMCF after the BMVT. Heterogeneous SAR and IR images were registered automatically using the proposed RANdom SAmple Region Consensus (RANSARC)-based homography optimization after a brute-force correspondence search using the detected target centers and regions. The final targets were detected by feature-selection based sensor fusion using Adaboost. The proposed method showed good SAR and IR target detection performance through feature selection-based decision fusion on a synthetic database generated by OKTAL-SE. PMID:27447635

Robust Ground Target Detection by SAR and IR Sensor Fusion Using Adaboost-Based Feature Selection.

PubMed

Kim, Sungho; Song, Woo-Jin; Kim, So-Hyun

2016-07-19

Long-range ground targets are difficult to detect in a noisy cluttered environment using either synthetic aperture radar (SAR) images or infrared (IR) images. SAR-based detectors can provide a high detection rate with a high false alarm rate to background scatter noise. IR-based approaches can detect hot targets but are affected strongly by the weather conditions. This paper proposes a novel target detection method by decision-level SAR and IR fusion using an Adaboost-based machine learning scheme to achieve a high detection rate and low false alarm rate. The proposed method consists of individual detection, registration, and fusion architecture. This paper presents a single framework of a SAR and IR target detection method using modified Boolean map visual theory (modBMVT) and feature-selection based fusion. Previous methods applied different algorithms to detect SAR and IR targets because of the different physical image characteristics. One method that is optimized for IR target detection produces unsuccessful results in SAR target detection. This study examined the image characteristics and proposed a unified SAR and IR target detection method by inserting a median local average filter (MLAF, pre-filter) and an asymmetric morphological closing filter (AMCF, post-filter) into the BMVT. The original BMVT was optimized to detect small infrared targets. The proposed modBMVT can remove the thermal and scatter noise by the MLAF and detect extended targets by attaching the AMCF after the BMVT. Heterogeneous SAR and IR images were registered automatically using the proposed RANdom SAmple Region Consensus (RANSARC)-based homography optimization after a brute-force correspondence search using the detected target centers and regions. The final targets were detected by feature-selection based sensor fusion using Adaboost. The proposed method showed good SAR and IR target detection performance through feature selection-based decision fusion on a synthetic database generated by OKTAL-SE.

Model-theoretic framework for sensor data fusion

NASA Astrophysics Data System (ADS)

Zavoleas, Kyriakos P.; Kokar, Mieczyslaw M.

1993-09-01

The main goal of our research in sensory data fusion (SDF) is the development of a systematic approach (a methodology) to designing systems for interpreting sensory information and for reasoning about the situation based upon this information and upon available data bases and knowledge bases. To achieve such a goal, two kinds of subgoals have been set: (1) develop a theoretical framework in which rational design/implementation decisions can be made, and (2) design a prototype SDF system along the lines of the framework. Our initial design of the framework has been described in our previous papers. In this paper we concentrate on the model-theoretic aspects of this framework. We postulate that data are embedded in data models, and information processing mechanisms are embedded in model operators. The paper is devoted to analyzing the classes of model operators and their significance in SDF. We investigate transformation abstraction and fusion operators. A prototype SDF system, fusing data from range and intensity sensors, is presented, exemplifying the structures introduced. Our framework is justified by the fact that it provides modularity, traceability of information flow, and a basis for a specification language for SDF.

Proceedings of the Augmented VIsual Display (AVID) Research Workshop

NASA Technical Reports Server (NTRS)

Kaiser, Mary K. (Editor); Sweet, Barbara T. (Editor)

1993-01-01

The papers, abstracts, and presentations were presented at a three day workshop focused on sensor modeling and simulation, and image enhancement, processing, and fusion. The technical sessions emphasized how sensor technology can be used to create visual imagery adequate for aircraft control and operations. Participants from industry, government, and academic laboratories contributed to panels on Sensor Systems, Sensor Modeling, Sensor Fusion, Image Processing (Computer and Human Vision), and Image Evaluation and Metrics.

Airborne net-centric multi-INT sensor control, display, fusion, and exploitation systems

NASA Astrophysics Data System (ADS)

Linne von Berg, Dale C.; Lee, John N.; Kruer, Melvin R.; Duncan, Michael D.; Olchowski, Fred M.; Allman, Eric; Howard, Grant

2004-08-01

The NRL Optical Sciences Division has initiated a multi-year effort to develop and demonstrate an airborne net-centric suite of multi-intelligence (multi-INT) sensors and exploitation systems for real-time target detection and targeting product dissemination. The goal of this Net-centric Multi-Intelligence Fusion Targeting Initiative (NCMIFTI) is to develop an airborne real-time intelligence gathering and targeting system that can be used to detect concealed, camouflaged, and mobile targets. The multi-INT sensor suite will include high-resolution visible/infrared (EO/IR) dual-band cameras, hyperspectral imaging (HSI) sensors in the visible-to-near infrared, short-wave and long-wave infrared (VNIR/SWIR/LWIR) bands, Synthetic Aperture Radar (SAR), electronics intelligence sensors (ELINT), and off-board networked sensors. Other sensors are also being considered for inclusion in the suite to address unique target detection needs. Integrating a suite of multi-INT sensors on a single platform should optimize real-time fusion of the on-board sensor streams, thereby improving the detection probability and reducing the false alarms that occur in reconnaissance systems that use single-sensor types on separate platforms, or that use independent target detection algorithms on multiple sensors. In addition to the integration and fusion of the multi-INT sensors, the effort is establishing an open-systems net-centric architecture that will provide a modular "plug and play" capability for additional sensors and system components and provide distributed connectivity to multiple sites for remote system control and exploitation.

Sensor Data Fusion with Z-Numbers and Its Application in Fault Diagnosis

PubMed Central

Jiang, Wen; Xie, Chunhe; Zhuang, Miaoyan; Shou, Yehang; Tang, Yongchuan

2016-01-01

Sensor data fusion technology is widely employed in fault diagnosis. The information in a sensor data fusion system is characterized by not only fuzziness, but also partial reliability. Uncertain information of sensors, including randomness, fuzziness, etc., has been extensively studied recently. However, the reliability of a sensor is often overlooked or cannot be analyzed adequately. A Z-number, Z = (A, B), can represent the fuzziness and the reliability of information simultaneously, where the first component A represents a fuzzy restriction on the values of uncertain variables and the second component B is a measure of the reliability of A. In order to model and process the uncertainties in a sensor data fusion system reasonably, in this paper, a novel method combining the Z-number and Dempster–Shafer (D-S) evidence theory is proposed, where the Z-number is used to model the fuzziness and reliability of the sensor data and the D-S evidence theory is used to fuse the uncertain information of Z-numbers. The main advantages of the proposed method are that it provides a more robust measure of reliability to the sensor data, and the complementary information of multi-sensors reduces the uncertainty of the fault recognition, thus enhancing the reliability of fault detection. PMID:27649193

Fusion of 3D models derived from TLS and image-based techniques for CH enhanced documentation

NASA Astrophysics Data System (ADS)

Bastonero, P.; Donadio, E.; Chiabrando, F.; Spanò, A.

2014-05-01

Recognizing the various advantages offered by 3D new metric survey technologies in the Cultural Heritage documentation phase, this paper presents some tests of 3D model generation, using different methods, and their possible fusion. With the aim to define potentialities and problems deriving from integration or fusion of metric data acquired with different survey techniques, the elected test case is an outstanding Cultural Heritage item, presenting both widespread and specific complexities connected to the conservation of historical buildings. The site is the Staffarda Abbey, the most relevant evidence of medieval architecture in Piedmont. This application faced one of the most topical architectural issues consisting in the opportunity to study and analyze an object as a whole, from twice location of acquisition sensors, both the terrestrial and the aerial one. In particular, the work consists in the evaluation of chances deriving from a simple union or from the fusion of different 3D cloudmodels of the abbey, achieved by multi-sensor techniques. The aerial survey is based on a photogrammetric RPAS (Remotely piloted aircraft system) flight while the terrestrial acquisition have been fulfilled by laser scanning survey. Both techniques allowed to extract and process different point clouds and to generate consequent 3D continuous models which are characterized by different scale, that is to say different resolutions and diverse contents of details and precisions. Starting from these models, the proposed process, applied to a sample area of the building, aimed to test the generation of a unique 3Dmodel thorough a fusion of different sensor point clouds. Surely, the describing potential and the metric and thematic gains feasible by the final model exceeded those offered by the two detached models.

Data Fusion Based on Optical Technology for Observation of Human Manipulation

NASA Astrophysics Data System (ADS)

Falco, Pietro; De Maria, Giuseppe; Natale, Ciro; Pirozzi, Salvatore

2012-01-01

The adoption of human observation is becoming more and more frequent within imitation learning and programming by demonstration approaches (PbD) to robot programming. For robotic systems equipped with anthropomorphic hands, the observation phase is very challenging and no ultimate solution exists. This work proposes a novel mechatronic approach to the observation of human hand motion during manipulation tasks. The strategy is based on the combined use of an optical motion capture system and a low-cost data glove equipped with novel joint angle sensors, based on optoelectronic technology. The combination of the two information sources is obtained through a sensor fusion algorithm based on the extended Kalman filter (EKF) suitably modified to tackle the problem of marker occlusions, typical of optical motion capture systems. This approach requires a kinematic model of the human hand. Another key contribution of this work is a new method to calibrate this model.

Dense range map reconstruction from a versatile robotic sensor system with an active trinocular vision and a passive binocular vision.

PubMed

Kim, Min Young; Lee, Hyunkee; Cho, Hyungsuck

2008-04-10

One major research issue associated with 3D perception by robotic systems is the creation of efficient sensor systems that can generate dense range maps reliably. A visual sensor system for robotic applications is developed that is inherently equipped with two types of sensor, an active trinocular vision and a passive stereo vision. Unlike in conventional active vision systems that use a large number of images with variations of projected patterns for dense range map acquisition or from conventional passive vision systems that work well on specific environments with sufficient feature information, a cooperative bidirectional sensor fusion method for this visual sensor system enables us to acquire a reliable dense range map using active and passive information simultaneously. The fusion algorithms are composed of two parts, one in which the passive stereo vision helps active vision and the other in which the active trinocular vision helps the passive one. The first part matches the laser patterns in stereo laser images with the help of intensity images; the second part utilizes an information fusion technique using the dynamic programming method in which image regions between laser patterns are matched pixel-by-pixel with help of the fusion results obtained in the first part. To determine how the proposed sensor system and fusion algorithms can work in real applications, the sensor system is implemented on a robotic system, and the proposed algorithms are applied. A series of experimental tests is performed for a variety of configurations of robot and environments. The performance of the sensor system is discussed in detail.

Assisted Perception, Planning and Control for Remote Mobility and Dexterous Manipulation

DTIC Science & Technology

2017-04-01

on unmanned aerial vehicles (UAVs). The underlying algorithm is based on an Extended Kalman Filter (EKF) that simultaneously estimates robot state...and sensor biases. The filter developed provided a probabilistic fusion of sensor data from many modalities to produce a single consistent position...estimation for a walking humanoid. Given a prior map using a Gaussian particle filter , the LIDAR based system is able to provide a drift-free

Desensitized Optimal Filtering and Sensor Fusion Toolkit

NASA Technical Reports Server (NTRS)

Karlgaard, Christopher D.

2015-01-01

Analytical Mechanics Associates, Inc., has developed a software toolkit that filters and processes navigational data from multiple sensor sources. A key component of the toolkit is a trajectory optimization technique that reduces the sensitivity of Kalman filters with respect to model parameter uncertainties. The sensor fusion toolkit also integrates recent advances in adaptive Kalman and sigma-point filters for non-Gaussian problems with error statistics. This Phase II effort provides new filtering and sensor fusion techniques in a convenient package that can be used as a stand-alone application for ground support and/or onboard use. Its modular architecture enables ready integration with existing tools. A suite of sensor models and noise distribution as well as Monte Carlo analysis capability are included to enable statistical performance evaluations.

Blob-level active-passive data fusion for Benthic classification

NASA Astrophysics Data System (ADS)

Park, Joong Yong; Kalluri, Hemanth; Mathur, Abhinav; Ramnath, Vinod; Kim, Minsu; Aitken, Jennifer; Tuell, Grady

2012-06-01

We extend the data fusion pixel level to the more semantically meaningful blob level, using the mean-shift algorithm to form labeled blobs having high similarity in the feature domain, and connectivity in the spatial domain. We have also developed Bhattacharyya Distance (BD) and rule-based classifiers, and have implemented these higher-level data fusion algorithms into the CZMIL Data Processing System. Applying these new algorithms to recent SHOALS and CASI data at Plymouth Harbor, Massachusetts, we achieved improved benthic classification accuracies over those produced with either single sensor, or pixel-level fusion strategies. These results appear to validate the hypothesis that classification accuracy may be generally improved by adopting higher spatial and semantic levels of fusion.

The effect of multispectral image fusion enhancement on human efficiency.

PubMed

Bittner, Jennifer L; Schill, M Trent; Mohd-Zaid, Fairul; Blaha, Leslie M

2017-01-01

The visual system can be highly influenced by changes to visual presentation. Thus, numerous techniques have been developed to augment imagery in an attempt to improve human perception. The current paper examines the potential impact of one such enhancement, multispectral image fusion, where imagery captured in varying spectral bands (e.g., visible, thermal, night vision) is algorithmically combined to produce an output to strengthen visual perception. We employ ideal observer analysis over a series of experimental conditions to (1) establish a framework for testing the impact of image fusion over the varying aspects surrounding its implementation (e.g., stimulus content, task) and (2) examine the effectiveness of fusion on human information processing efficiency in a basic application. We used a set of rotated Landolt C images captured with a number of individual sensor cameras and combined across seven traditional fusion algorithms (e.g., Laplacian pyramid, principal component analysis, averaging) in a 1-of-8 orientation task. We found that, contrary to the idea of fused imagery always producing a greater impact on perception, single-band imagery can be just as influential. Additionally, efficiency data were shown to fluctuate based on sensor combination instead of fusion algorithm, suggesting the need for examining multiple factors to determine the success of image fusion. Our use of ideal observer analysis, a popular technique from the vision sciences, provides not only a standard for testing fusion in direct relation to the visual system but also allows for comparable examination of fusion across its associated problem space of application.

Multisensor configurations for early sniper detection

NASA Astrophysics Data System (ADS)

Lindgren, D.; Bank, D.; Carlsson, L.; Dulski, R.; Duval, Y.; Fournier, G.; Grasser, R.; Habberstad, H.; Jacquelard, C.; Kastek, M.; Otterlei, R.; Piau, G.-P.; Pierre, F.; Renhorn, I.; Sjöqvist, L.; Steinvall, O.; Trzaskawka, P.

2011-11-01

This contribution reports some of the fusion results from the EDA SNIPOD project, where different multisensor configurations for sniper detection and localization have been studied. A project aim has been to cover the whole time line from sniper transport and establishment to shot. To do so, different optical sensors with and without laser illumination have been tested, as well as acoustic arrays and solid state projectile radar. A sensor fusion node collects detections and background statistics from all sensors and employs hypothesis testing and multisensor estimation programs to produce unified and reliable sniper alarms and accurate sniper localizations. Operator interfaces that connect to the fusion node should be able to support both sniper countermeasures and the guidance of personnel to safety. Although the integrated platform has not been actually built, sensors have been evaluated at common field trials with military ammunitions in the caliber range 5.56 to 12.7 mm, and at sniper distances up to 900 m. It is concluded that integrating complementary sensors for pre- and postshot sniper detection in a common system with automatic detection and fusion will give superior performance, compared to stand alone sensors. A practical system is most likely designed with a cost effective subset of available complementary sensors.

An Improved Evidential-IOWA Sensor Data Fusion Approach in Fault Diagnosis

PubMed Central

Zhou, Deyun; Zhuang, Miaoyan; Fang, Xueyi; Xie, Chunhe

2017-01-01

As an important tool of information fusion, Dempster–Shafer evidence theory is widely applied in handling the uncertain information in fault diagnosis. However, an incorrect result may be obtained if the combined evidence is highly conflicting, which may leads to failure in locating the fault. To deal with the problem, an improved evidential-Induced Ordered Weighted Averaging (IOWA) sensor data fusion approach is proposed in the frame of Dempster–Shafer evidence theory. In the new method, the IOWA operator is used to determine the weight of different sensor data source, while determining the parameter of the IOWA, both the distance of evidence and the belief entropy are taken into consideration. First, based on the global distance of evidence and the global belief entropy, the α value of IOWA is obtained. Simultaneously, a weight vector is given based on the maximum entropy method model. Then, according to IOWA operator, the evidence are modified before applying the Dempster’s combination rule. The proposed method has a better performance in conflict management and fault diagnosis due to the fact that the information volume of each evidence is taken into consideration. A numerical example and a case study in fault diagnosis are presented to show the rationality and efficiency of the proposed method. PMID:28927017

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sen, Satyabrata; Rao, Nageswara S; Wu, Qishi

There have been increasingly large deployments of radiation detection networks that require computationally fast algorithms to produce prompt results over ad-hoc sub-networks of mobile devices, such as smart-phones. These algorithms are in sharp contrast to complex network algorithms that necessitate all measurements to be sent to powerful central servers. In this work, at individual sensors, we employ Wald-statistic based detection algorithms which are computationally very fast, and are implemented as one of three Z-tests and four chi-square tests. At fusion center, we apply the K-out-of-N fusion to combine the sensors hard decisions. We characterize the performance of detection methods bymore » deriving analytical expressions for the distributions of underlying test statistics, and by analyzing the fusion performances in terms of K, N, and the false-alarm rates of individual detectors. We experimentally validate our methods using measurements from indoor and outdoor characterization tests of the Intelligence Radiation Sensors Systems (IRSS) program. In particular, utilizing the outdoor measurements, we construct two important real-life scenarios, boundary surveillance and portal monitoring, and present the results of our algorithms.« less

A fusion approach for coarse-to-fine target recognition

NASA Astrophysics Data System (ADS)

Folkesson, Martin; Grönwall, Christina; Jungert, Erland

2006-04-01

A fusion approach in a query based information system is presented. The system is designed for querying multimedia data bases, and here applied to target recognition using heterogeneous data sources. The recognition process is coarse-to-fine, with an initial attribute estimation step and a following matching step. Several sensor types and algorithms are involved in each of these two steps. An independence of the matching results, on the origin of the estimation results, is observed. It allows for distribution of data between algorithms in an intermediate fusion step, without risk of data incest. This increases the overall chance of recognising the target. An implementation of the system is described.

Target Engageability Improvement Through Adaptive Data Fusion and Sensor Management: An Approach Based on the Fire Control Radar Search to Lock-On Time

DTIC Science & Technology

2008-05-01

ch based on the fire control radar search to l o ck - o n t i m e F. Rhéaume A. Benaskeur DRDC Valcartier Defence R& D Canada...recherche visant à développer et démontrer des concepts avancés de fusion de données adaptative et de gestion de res- sources. Les systèmes C2 navals...militaires sont en grande partie appuyés par des techno- logies de fusion de données et de gestion de ressources. Le C2 naval militaire doit

Fusion of imaging and nonimaging data for surveillance aircraft

NASA Astrophysics Data System (ADS)

Shahbazian, Elisa; Gagnon, Langis; Duquet, Jean Remi; Macieszczak, Maciej; Valin, Pierre

1997-06-01

This paper describes a phased incremental integration approach for application of image analysis and data fusion technologies to provide automated intelligent target tracking and identification for airborne surveillance on board an Aurora Maritime Patrol Aircraft. The sensor suite of the Aurora consists of a radar, an identification friend or foe (IFF) system, an electronic support measures (ESM) system, a spotlight synthetic aperture radar (SSAR), a forward looking infra-red (FLIR) sensor and a link-11 tactical datalink system. Lockheed Martin Canada (LMCan) is developing a testbed, which will be used to analyze and evaluate approaches for combining the data provided by the existing sensors, which were initially not designed to feed a fusion system. Three concurrent research proof-of-concept activities provide techniques, algorithms and methodology into three sequential phases of integration of this testbed. These activities are: (1) analysis of the fusion architecture (track/contact/hybrid) most appropriate for the type of data available, (2) extraction and fusion of simple features from the imaging data into the fusion system performing automatic target identification, and (3) development of a unique software architecture which will permit integration and independent evolution, enhancement and optimization of various decision aid capabilities, such as multi-sensor data fusion (MSDF), situation and threat assessment (STA) and resource management (RM).

A Radiosonde Using a Humidity Sensor Array with a Platinum Resistance Heater and Multi-Sensor Data Fusion

PubMed Central

Shi, Yunbo; Luo, Yi; Zhao, Wenjie; Shang, Chunxue; Wang, Yadong; Chen, Yinsheng

2013-01-01

This paper describes the design and implementation of a radiosonde which can measure the meteorological temperature, humidity, pressure, and other atmospheric data. The system is composed of a CPU, microwave module, temperature sensor, pressure sensor and humidity sensor array. In order to effectively solve the humidity sensor condensation problem due to the low temperatures in the high altitude environment, a capacitive humidity sensor including four humidity sensors to collect meteorological humidity and a platinum resistance heater was developed using micro-electro-mechanical-system (MEMS) technology. A platinum resistance wire with 99.999% purity and 0.023 mm in diameter was used to obtain the meteorological temperature. A multi-sensor data fusion technique was applied to process the atmospheric data. Static and dynamic experimental results show that the designed humidity sensor with platinum resistance heater can effectively tackle the sensor condensation problem, shorten response times and enhance sensitivity. The humidity sensor array can improve measurement accuracy and obtain a reliable initial meteorological humidity data, while the multi-sensor data fusion technique eliminates the uncertainty in the measurement. The radiosonde can accurately reflect the meteorological changes. PMID:23857263

A radiosonde using a humidity sensor array with a platinum resistance heater and multi-sensor data fusion.

PubMed

Shi, Yunbo; Luo, Yi; Zhao, Wenjie; Shang, Chunxue; Wang, Yadong; Chen, Yinsheng

2013-07-12

This paper describes the design and implementation of a radiosonde which can measure the meteorological temperature, humidity, pressure, and other atmospheric data. The system is composed of a CPU, microwave module, temperature sensor, pressure sensor and humidity sensor array. In order to effectively solve the humidity sensor condensation problem due to the low temperatures in the high altitude environment, a capacitive humidity sensor including four humidity sensors to collect meteorological humidity and a platinum resistance heater was developed using micro-electro-mechanical-system (MEMS) technology. A platinum resistance wire with 99.999% purity and 0.023 mm in diameter was used to obtain the meteorological temperature. A multi-sensor data fusion technique was applied to process the atmospheric data. Static and dynamic experimental results show that the designed humidity sensor with platinum resistance heater can effectively tackle the sensor condensation problem, shorten response times and enhance sensitivity. The humidity sensor array can improve measurement accuracy and obtain a reliable initial meteorological humidity data, while the multi-sensor data fusion technique eliminates the uncertainty in the measurement. The radiosonde can accurately reflect the meteorological changes.

A miniature extrinsic fiber Fabry-Perot pressure sensor based on fiber etching

NASA Astrophysics Data System (ADS)

Ge, Yixian; Zhou, Junping; Wang, Tingting

2011-11-01

A miniature fiber optic pressure sensor based on Fabry-Perot interference fabricated on the tip of a single mode (SM) fiber is presented. The sensor measures only 125μm in diameter. A Fabry-Perot cavity and a thin silica diaphragm are fabricated by simple techniques involving only cleaving, wet chemical etching and fusion splicing. Interference pattern of the sensor is analyzed and issues in sensor design are discussed. The overall chemical reaction of the fiber wet etching is specifically represented. Pressure testing system is carried out. By tracing a peak point in the interference spectrum, the gap length of the sensor can be demodulated. Experimental results show the sensor has a good linearity. The sensor is made entirely of fused silica, whose structure has good stability, cabinet, simple for fabrication and low cost.

A Sensor Fusion Method Based on an Integrated Neural Network and Kalman Filter for Vehicle Roll Angle Estimation.

PubMed

Vargas-Meléndez, Leandro; Boada, Beatriz L; Boada, María Jesús L; Gauchía, Antonio; Díaz, Vicente

2016-08-31

This article presents a novel estimator based on sensor fusion, which combines the Neural Network (NN) with a Kalman filter in order to estimate the vehicle roll angle. The NN estimates a "pseudo-roll angle" through variables that are easily measured from Inertial Measurement Unit (IMU) sensors. An IMU is a device that is commonly used for vehicle motion detection, and its cost has decreased during recent years. The pseudo-roll angle is introduced in the Kalman filter in order to filter noise and minimize the variance of the norm and maximum errors' estimation. The NN has been trained for J-turn maneuvers, double lane change maneuvers and lane change maneuvers at different speeds and road friction coefficients. The proposed method takes into account the vehicle non-linearities, thus yielding good roll angle estimation. Finally, the proposed estimator has been compared with one that uses the suspension deflections to obtain the pseudo-roll angle. Experimental results show the effectiveness of the proposed NN and Kalman filter-based estimator.

A Sensor Fusion Method Based on an Integrated Neural Network and Kalman Filter for Vehicle Roll Angle Estimation

PubMed Central

Vargas-Meléndez, Leandro; Boada, Beatriz L.; Boada, María Jesús L.; Gauchía, Antonio; Díaz, Vicente

2016-01-01

This article presents a novel estimator based on sensor fusion, which combines the Neural Network (NN) with a Kalman filter in order to estimate the vehicle roll angle. The NN estimates a “pseudo-roll angle” through variables that are easily measured from Inertial Measurement Unit (IMU) sensors. An IMU is a device that is commonly used for vehicle motion detection, and its cost has decreased during recent years. The pseudo-roll angle is introduced in the Kalman filter in order to filter noise and minimize the variance of the norm and maximum errors’ estimation. The NN has been trained for J-turn maneuvers, double lane change maneuvers and lane change maneuvers at different speeds and road friction coefficients. The proposed method takes into account the vehicle non-linearities, thus yielding good roll angle estimation. Finally, the proposed estimator has been compared with one that uses the suspension deflections to obtain the pseudo-roll angle. Experimental results show the effectiveness of the proposed NN and Kalman filter-based estimator. PMID:27589763

Improved blood glucose estimation through multi-sensor fusion.

PubMed

Xiong, Feiyu; Hipszer, Brian R; Joseph, Jeffrey; Kam, Moshe

2011-01-01

Continuous glucose monitoring systems are an integral component of diabetes management. Efforts to improve the accuracy and robustness of these systems are at the forefront of diabetes research. Towards this goal, a multi-sensor approach was evaluated in hospitalized patients. In this paper, we report on a multi-sensor fusion algorithm to combine glucose sensor measurements in a retrospective fashion. The results demonstrate the algorithm's ability to improve the accuracy and robustness of the blood glucose estimation with current glucose sensor technology.

Design of a multisensor data fusion system for target detection

NASA Astrophysics Data System (ADS)

Thomopoulos, Stelios C.; Okello, Nickens N.; Kadar, Ivan; Lovas, Louis A.

1993-09-01

The objective of this paper is to discuss the issues that are involved in the design of a multisensor fusion system and provide a systematic analysis and synthesis methodology for the design of the fusion system. The system under consideration consists of multifrequency (similar) radar sensors. However, the fusion design must be flexible to accommodate additional dissimilar sensors such as IR, EO, ESM, and Ladar. The motivation for the system design is the proof of the fusion concept for enhancing the detectability of small targets in clutter. In the context of down-selecting the proper configuration for multisensor (similar and dissimilar, and centralized vs. distributed) data fusion, the issues of data modeling, fusion approaches, and fusion architectures need to be addressed for the particular application being considered. Although the study of different approaches may proceed in parallel, the interplay among them is crucial in selecting a fusion configuration for a given application. The natural sequence for addressing the three different issues is to begin from the data modeling, in order to determine the information content of the data. This information will dictate the appropriate fusion approach. This, in turn, will lead to a global fusion architecture. Both distributed and centralized fusion architectures are used to illustrate the design issues along with Monte-Carlo simulation performance comparison of a single sensor versus a multisensor centrally fused system.

Radiological Source Localisation

DTIC Science & Technology

2007-07-01

activity. This algorithm was able to provide reasonable source estimates based on real data collected using the Low Cost Advanced Airborne...courses in Australia, Europe and the US. He is lecturing a post-graduate subject at Adelaide University (subject ”Multi-Sensor Data Fusion ”). He served on...technical committees of several international conferences, and is the Chair of the Fourth Australian Data Fusion Sym- posium (IDC-07). Dr Ristic won

Distributed Sensor Fusion for Scalar Field Mapping Using Mobile Sensor Networks.

PubMed

La, Hung Manh; Sheng, Weihua

2013-04-01

In this paper, autonomous mobile sensor networks are deployed to measure a scalar field and build its map. We develop a novel method for multiple mobile sensor nodes to build this map using noisy sensor measurements. Our method consists of two parts. First, we develop a distributed sensor fusion algorithm by integrating two different distributed consensus filters to achieve cooperative sensing among sensor nodes. This fusion algorithm has two phases. In the first phase, the weighted average consensus filter is developed, which allows each sensor node to find an estimate of the value of the scalar field at each time step. In the second phase, the average consensus filter is used to allow each sensor node to find a confidence of the estimate at each time step. The final estimate of the value of the scalar field is iteratively updated during the movement of the mobile sensors via weighted average. Second, we develop the distributed flocking-control algorithm to drive the mobile sensors to form a network and track the virtual leader moving along the field when only a small subset of the mobile sensors know the information of the leader. Experimental results are provided to demonstrate our proposed algorithms.

Sensoring fusion data from the optic and acoustic emissions of electric arcs in the GMAW-S process for welding quality assessment.

PubMed

Alfaro, Sadek Crisóstomo Absi; Cayo, Eber Huanca

2012-01-01

The present study shows the relationship between welding quality and optical-acoustic emissions from electric arcs, during welding runs, in the GMAW-S process. Bead on plate welding tests was carried out with pre-set parameters chosen from manufacturing standards. During the welding runs interferences were induced on the welding path using paint, grease or gas faults. In each welding run arc voltage, welding current, infrared and acoustic emission values were acquired and parameters such as arc power, acoustic peaks rate and infrared radiation rate computed. Data fusion algorithms were developed by assessing known welding quality parameters from arc emissions. These algorithms have showed better responses when they are based on more than just one sensor. Finally, it was concluded that there is a close relation between arc emissions and quality in welding and it can be measured from arc emissions sensing and data fusion algorithms.

Perception-oriented fusion of multi-sensor imagery: visible, IR, and SAR

NASA Astrophysics Data System (ADS)

Sidorchuk, D.; Volkov, V.; Gladilin, S.

2018-04-01

This paper addresses the problem of image fusion of optical (visible and thermal domain) data and radar data for the purpose of visualization. These types of images typically contain a lot of complimentary information, and their joint visualization can be useful and more convenient for human user than a set of individual images. To solve the image fusion problem we propose a novel algorithm that utilizes some peculiarities of human color perception and based on the grey-scale structural visualization. Benefits of presented algorithm are exemplified by satellite imagery.

Distributed service-based approach for sensor data fusion in IoT environments.

PubMed

Rodríguez-Valenzuela, Sandra; Holgado-Terriza, Juan A; Gutiérrez-Guerrero, José M; Muros-Cobos, Jesús L

2014-10-15

The Internet of Things (IoT) enables the communication among smart objects promoting the pervasive presence around us of a variety of things or objects that are able to interact and cooperate jointly to reach common goals. IoT objects can obtain data from their context, such as the home, office, industry or body. These data can be combined to obtain new and more complex information applying data fusion processes. However, to apply data fusion algorithms in IoT environments, the full system must deal with distributed nodes, decentralized communication and support scalability and nodes dynamicity, among others restrictions. In this paper, a novel method to manage data acquisition and fusion based on a distributed service composition model is presented, improving the data treatment in IoT pervasive environments.

Dim target detection method based on salient graph fusion

NASA Astrophysics Data System (ADS)

Hu, Ruo-lan; Shen, Yi-yan; Jiang, Jun

2018-02-01

Dim target detection is one key problem in digital image processing field. With development of multi-spectrum imaging sensor, it becomes a trend to improve the performance of dim target detection by fusing the information from different spectral images. In this paper, one dim target detection method based on salient graph fusion was proposed. In the method, Gabor filter with multi-direction and contrast filter with multi-scale were combined to construct salient graph from digital image. And then, the maximum salience fusion strategy was designed to fuse the salient graph from different spectral images. Top-hat filter was used to detect dim target from the fusion salient graph. Experimental results show that proposal method improved the probability of target detection and reduced the probability of false alarm on clutter background images.

Distributed Service-Based Approach for Sensor Data Fusion in IoT Environments

PubMed Central

Rodríguez-Valenzuela, Sandra; Holgado-Terriza, Juan A.; Gutiérrez-Guerrero, José M.; Muros-Cobos, Jesús L.

2014-01-01

The Internet of Things (IoT) enables the communication among smart objects promoting the pervasive presence around us of a variety of things or objects that are able to interact and cooperate jointly to reach common goals. IoT objects can obtain data from their context, such as the home, office, industry or body. These data can be combined to obtain new and more complex information applying data fusion processes. However, to apply data fusion algorithms in IoT environments, the full system must deal with distributed nodes, decentralized communication and support scalability and nodes dynamicity, among others restrictions. In this paper, a novel method to manage data acquisition and fusion based on a distributed service composition model is presented, improving the data treatment in IoT pervasive environments. PMID:25320907

Fuzzy Neural Network-Based Interacting Multiple Model for Multi-Node Target Tracking Algorithm

PubMed Central

Sun, Baoliang; Jiang, Chunlan; Li, Ming

2016-01-01

An interacting multiple model for multi-node target tracking algorithm was proposed based on a fuzzy neural network (FNN) to solve the multi-node target tracking problem of wireless sensor networks (WSNs). Measured error variance was adaptively adjusted during the multiple model interacting output stage using the difference between the theoretical and estimated values of the measured error covariance matrix. The FNN fusion system was established during multi-node fusion to integrate with the target state estimated data from different nodes and consequently obtain network target state estimation. The feasibility of the algorithm was verified based on a network of nine detection nodes. Experimental results indicated that the proposed algorithm could trace the maneuvering target effectively under sensor failure and unknown system measurement errors. The proposed algorithm exhibited great practicability in the multi-node target tracking of WSNs. PMID:27809271

E-Nose Vapor Identification Based on Dempster-Shafer Fusion of Multiple Classifiers

NASA Technical Reports Server (NTRS)

Li, Winston; Leung, Henry; Kwan, Chiman; Linnell, Bruce R.

2005-01-01

Electronic nose (e-nose) vapor identification is an efficient approach to monitor air contaminants in space stations and shuttles in order to ensure the health and safety of astronauts. Data preprocessing (measurement denoising and feature extraction) and pattern classification are important components of an e-nose system. In this paper, a wavelet-based denoising method is applied to filter the noisy sensor measurements. Transient-state features are then extracted from the denoised sensor measurements, and are used to train multiple classifiers such as multi-layer perceptions (MLP), support vector machines (SVM), k nearest neighbor (KNN), and Parzen classifier. The Dempster-Shafer (DS) technique is used at the end to fuse the results of the multiple classifiers to get the final classification. Experimental analysis based on real vapor data shows that the wavelet denoising method can remove both random noise and outliers successfully, and the classification rate can be improved by using classifier fusion.

Map based localization to assist commercial fleet operations.

DOT National Transportation Integrated Search

2014-08-01

This report outlines key recent contributions to the state of the art in lane detection, lane departure warning, : and map-based sensor fusion algorithms. These key studies are used as a basis for a discussion about the : limitations of systems that ...

Sensor and information fusion for improved hostile fire situational awareness

NASA Astrophysics Data System (ADS)

Scanlon, Michael V.; Ludwig, William D.

2010-04-01

A research-oriented Army Technology Objective (ATO) named Sensor and Information Fusion for Improved Hostile Fire Situational Awareness uniquely focuses on the underpinning technologies to detect and defeat any hostile threat; before, during, and after its occurrence. This is a joint effort led by the Army Research Laboratory, with the Armaments and the Communications and Electronics Research, Development, and Engineering Centers (CERDEC and ARDEC) partners. It addresses distributed sensor fusion and collaborative situational awareness enhancements, focusing on the underpinning technologies to detect/identify potential hostile shooters prior to firing a shot and to detect/classify/locate the firing point of hostile small arms, mortars, rockets, RPGs, and missiles after the first shot. A field experiment conducted addressed not only diverse modality sensor performance and sensor fusion benefits, but gathered useful data to develop and demonstrate the ad hoc networking and dissemination of relevant data and actionable intelligence. Represented at this field experiment were various sensor platforms such as UGS, soldier-worn, manned ground vehicles, UGVs, UAVs, and helicopters. This ATO continues to evaluate applicable technologies to include retro-reflection, UV, IR, visible, glint, LADAR, radar, acoustic, seismic, E-field, narrow-band emission and image processing techniques to detect the threats with very high confidence. Networked fusion of multi-modal data will reduce false alarms and improve actionable intelligence by distributing grid coordinates, detection report features, and imagery of threats.

Improving Quantitative Precipitation Estimation via Data Fusion of High-Resolution Ground-based Radar Network and CMORPH Satellite-based Product

NASA Astrophysics Data System (ADS)

Cifelli, R.; Chen, H.; Chandrasekar, V.; Xie, P.

2015-12-01

A large number of precipitation products at multi-scales have been developed based upon satellite, radar, and/or rain gauge observations. However, how to produce optimal rainfall estimation for a given region is still challenging due to the spatial and temporal sampling difference of different sensors. In this study, we develop a data fusion mechanism to improve regional quantitative precipitation estimation (QPE) by utilizing satellite-based CMORPH product, ground radar measurements, as well as numerical model simulations. The CMORPH global precipitation product is essentially derived based on retrievals from passive microwave measurements and infrared observations onboard satellites (Joyce et al. 2004). The fine spatial-temporal resolution of 0.05o Lat/Lon and 30-min is appropriate for regional hydrologic and climate studies. However, it is inadequate for localized hydrometeorological applications such as urban flash flood forecasting. Via fusion of the Regional CMORPH product and local precipitation sensors, the high-resolution QPE performance can be improved. The area of interest is the Dallas-Fort Worth (DFW) Metroplex, which is the largest land-locked metropolitan area in the U.S. In addition to an NWS dual-polarization S-band WSR-88DP radar (i.e., KFWS radar), DFW hosts the high-resolution dual-polarization X-band radar network developed by the center for Collaborative Adaptive Sensing of the Atmosphere (CASA). This talk will present a general framework of precipitation data fusion based on satellite and ground observations. The detailed prototype architecture of using regional rainfall instruments to improve regional CMORPH precipitation product via multi-scale fusion techniques will also be discussed. Particularly, the temporal and spatial fusion algorithms developed for the DFW Metroplex will be described, which utilizes CMORPH product, S-band WSR-88DP, and X-band CASA radar measurements. In order to investigate the uncertainties associated with each individual product and demonstrate the precipitation data fusion performance, both individual and fused QPE products are evaluated using rainfall measurements from a disdrometer and gauge network.

Dynamic image fusion and general observer preference

NASA Astrophysics Data System (ADS)

Burks, Stephen D.; Doe, Joshua M.

2010-04-01

Recent developments in image fusion give the user community many options for ways of presenting the imagery to an end-user. Individuals at the US Army RDECOM CERDEC Night Vision and Electronic Sensors Directorate have developed an electronic system that allows users to quickly and efficiently determine optimal image fusion algorithms and color parameters based upon collected imagery and videos from environments that are typical to observers in a military environment. After performing multiple multi-band data collections in a variety of military-like scenarios, different waveband, fusion algorithm, image post-processing, and color choices are presented to observers as an output of the fusion system. The observer preferences can give guidelines as to how specific scenarios should affect the presentation of fused imagery.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mohamed Abdelrahman; roger Haggard; Wagdy Mahmoud

The final goal of this project was the development of a system that is capable of controlling an industrial process effectively through the integration of information obtained through intelligent sensor fusion and intelligent control technologies. The industry of interest in this project was the metal casting industry as represented by cupola iron-melting furnaces. However, the developed technology is of generic type and hence applicable to several other industries. The system was divided into the following four major interacting components: 1. An object oriented generic architecture to integrate the developed software and hardware components @. Generic algorithms for intelligent signal analysismore » and sensor and model fusion 3. Development of supervisory structure for integration of intelligent sensor fusion data into the controller 4. Hardware implementation of intelligent signal analysis and fusion algorithms« less

Hybrid fusion of linear, non-linear and spectral models for the dynamic modeling of sEMG and skeletal muscle force: an application to upper extremity amputation.

PubMed

Potluri, Chandrasekhar; Anugolu, Madhavi; Schoen, Marco P; Subbaram Naidu, D; Urfer, Alex; Chiu, Steve

2013-11-01

Estimating skeletal muscle (finger) forces using surface Electromyography (sEMG) signals poses many challenges. In general, the sEMG measurements are based on single sensor data. In this paper, two novel hybrid fusion techniques for estimating the skeletal muscle force from the sEMG array sensors are proposed. The sEMG signals are pre-processed using five different filters: Butterworth, Chebychev Type II, Exponential, Half-Gaussian and Wavelet transforms. Dynamic models are extracted from the acquired data using Nonlinear Wiener Hammerstein (NLWH) models and Spectral Analysis Frequency Dependent Resolution (SPAFDR) models based system identification techniques. A detailed comparison is provided for the proposed filters and models using 18 healthy subjects. Wavelet transforms give higher mean correlation of 72.6 ± 1.7 (mean ± SD) and 70.4 ± 1.5 (mean ± SD) for NLWH and SPAFDR models, respectively, when compared to the other filters used in this work. Experimental verification of the fusion based hybrid models with wavelet transform shows a 96% mean correlation and 3.9% mean relative error with a standard deviation of ± 1.3 and ± 0.9 respectively between the overall hybrid fusion algorithm estimated and the actual force for 18 test subjects' k-fold cross validation data. © 2013 Elsevier Ltd. All rights reserved.

Few-mode fiber based distributed curvature sensor through quasi-single-mode Brillouin frequency shift.

PubMed

Wu, Hao; Wang, Ruoxu; Liu, Deming; Fu, Songnian; Zhao, Can; Wei, Huifeng; Tong, Weijun; Shum, Perry Ping; Tang, Ming

2016-04-01

We proposed and demonstrated a few-mode fiber (FMF) based optical-fiber sensor for distributed curvature measurement through quasi-single-mode Brillouin frequency shift (BFS). By central-alignment splicing FMF and single-mode fiber (SMF) with a fusion taper, a SMF-components-compatible distributed curvature sensor based on FMF is realized using the conventional Brillouin optical time-domain analysis system. The distributed BFS change induced by bending in FMF has been theoretically and experimentally investigated. The precise BFS response to the curvature along the fiber link has been calibrated. A proof-of-concept experiment is implemented to validate its effectiveness in distributed curvature measurement.

A miniature extrinsic fiber Fabry-Perot pressure sensor based on fiber etching

NASA Astrophysics Data System (ADS)

Ge, Yixian; Wang, Ming; Yang, Chundi

2009-10-01

This paper presents a miniature fiber optic pressure sensor based on Fabry-Perot interference fabricated on the tip of a single mode (SM) fiber. The sensor measures only 125μm in diameter. A Fabry-Perot cavity and a thin silica diaphragm are fabricated by simple techniques involving only fusion splicing, cleaving, and wet chemical etching. Interference pattern of the sensor is analyzed and issues in sensor design are discussed. The overall chemical reaction of the fiber wet etching is specifically represented. Pressure testing system is carried out. By tracing a peak point in the interference spectrum, the gap length of the sensor can be demodulated. The sensor is made entirely of fused silica, whose structure has good stability, cabinet, simple for fabrication and low cost. It may also find uses in medical applications.

Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

NASA Astrophysics Data System (ADS)

Steinhaus, Peter; Strand, Marcus; Dillmann, Rüdiger

2007-12-01

Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media) in Karlsruhe.

An Adaptive Altitude Information Fusion Method for Autonomous Landing Processes of Small Unmanned Aerial Rotorcraft

PubMed Central

Lei, Xusheng; Li, Jingjing

2012-01-01

This paper presents an adaptive information fusion method to improve the accuracy and reliability of the altitude measurement information for small unmanned aerial rotorcraft during the landing process. Focusing on the low measurement performance of sensors mounted on small unmanned aerial rotorcraft, a wavelet filter is applied as a pre-filter to attenuate the high frequency noises in the sensor output. Furthermore, to improve altitude information, an adaptive extended Kalman filter based on a maximum a posteriori criterion is proposed to estimate measurement noise covariance matrix in real time. Finally, the effectiveness of the proposed method is proved by static tests, hovering flight and autonomous landing flight tests. PMID:23201993

Multi-Sensor Data Fusion Project

DTIC Science & Technology

2000-02-28

seismic network by detecting T phases generated by underground events ( generally earthquakes ) and associating these phases to seismic events. The...between underwater explosions (H), underground sources, mostly earthquake - generated (7), and noise detections (N). The phases classified as H are the only...processing for infrasound sensors is most similar to seismic array processing with the exception that the detections are based on a more sophisticated

Integrating Sensor-Collected Intelligence

DTIC Science & Technology

2008-11-01

collecting, processing, data storage and fusion, and the dissemination of information collected by Intelligence, Surveillance, and Reconnaissance (ISR...Grid – Bandwidth Expansion (GIG-BE) program) to provide the capability to transfer data from sensors to accessible storage and satellite and airborne...based ISR is much more fragile. There was a purposeful drawdown of these systems following the Cold War and modernization programs were planned to

Laboratory-based validation of the baseline sensors of the ITER diagnostic residual gas analyzer

NASA Astrophysics Data System (ADS)

Klepper, C. C.; Biewer, T. M.; Marcus, C.; Andrew, P.; Gardner, W. L.; Graves, V. B.; Hughes, S.

2017-10-01

The divertor-specific ITER Diagnostic Residual Gas Analyzer (DRGA) will provide essential information relating to DT fusion plasma performance. This includes pulse-resolving measurements of the fuel isotopic mix reaching the pumping ducts, as well as the concentration of the helium generated as the ash of the fusion reaction. In the present baseline design, the cluster of sensors attached to this diagnostic's differentially pumped analysis chamber assembly includes a radiation compatible version of a commercial quadrupole mass spectrometer, as well as an optical gas analyzer using a plasma-based light excitation source. This paper reports on a laboratory study intended to validate the performance of this sensor cluster, with emphasis on the detection limit of the isotopic measurement. This validation study was carried out in a laboratory set-up that closely prototyped the analysis chamber assembly configuration of the baseline design. This includes an ITER-specific placement of the optical gas measurement downstream from the first turbine of the chamber's turbo-molecular pump to provide sufficient light emission while preserving the gas dynamics conditions that allow for \\textasciitilde 1 s response time from the sensor cluster [1].

Radiation and Electromagnetic Induction Data Fusion for Detection of Buried Radioactive Metal Waste - 12282

DOE Office of Scientific and Technical Information (OSTI.GOV)

Long, Zhiling; Wei, Wei; Turlapaty, Anish

2012-07-01

At the United States Army's test sites, fired penetrators made of Depleted Uranium (DU) have been buried under ground and become hazardous waste. Previously, we developed techniques for detecting buried radioactive targets. We also developed approaches for locating buried paramagnetic metal objects by utilizing the electromagnetic induction (EMI) sensor data. In this paper, we apply data fusion techniques to combine results from both the radiation detection and the EMI detection, so that we can further distinguish among DU penetrators, DU oxide, and non- DU metal debris. We develop a two-step fusion approach for the task, and test it with surveymore » data collected on simulation targets. In this work, we explored radiation and EMI data fusion for detecting DU, oxides, and non-DU metals. We developed a two-step fusion approach based on majority voting and a set of decision rules. With this approach, we fuse results from radiation detection based on the RX algorithm and EMI detection based on a 3-step analysis. Our fusion approach has been tested successfully with data collected on simulation targets. In the future, we will need to further verify the effectiveness of this fusion approach with field data. (authors)« less

Technology Base Seminar Wargame 2 (TBSWG 2). Volume 1. Summary Report

DTIC Science & Technology

1990-11-16

nuclear, biological and chemical (NBC) and ballistic protection without reducing soldier mobility . Training and rehearsal systems will allow the...7 KNOW WHERE THE ENEMY IS ALL THE TIME SENSOR FIDEUTY INFORMATION FUSION 3 RANGE OF COMMO 4 RANGE OF FIRES S PRECISION MUNITIONS 6 RAPID MOBILITY 7...and .nfo Precision Problems and TECNOLOGIES Fusion) Fires Mobility Advanced Materials/ Material Processing 0) Advanced Propulsion Advanced Signal

Information-based approach to performance estimation and requirements allocation in multisensor fusion for target recognition

NASA Astrophysics Data System (ADS)

Harney, Robert C.

1997-03-01

A novel methodology offering the potential for resolving two of the significant problems of implementing multisensor target recognition systems, i.e., the rational selection of a specific sensor suite and optimal allocation of requirements among sensors, is presented. Based on a sequence of conjectures (and their supporting arguments) concerning the relationship of extractable information content to recognition performance of a sensor system, a set of heuristics (essentially a reformulation of Johnson's criteria applicable to all sensor and data types) is developed. An approach to quantifying the information content of sensor data is described. Coupling this approach with the widely accepted Johnson's criteria for target recognition capabilities results in a quantitative method for comparing the target recognition ability of diverse sensors (imagers, nonimagers, active, passive, electromagnetic, acoustic, etc.). Extension to describing the performance of multiple sensors is straightforward. The application of the technique to sensor selection and requirements allocation is discussed.

Effective World Modeling: Multisensor Data Fusion Methodology for Automated Driving

PubMed Central

Elfring, Jos; Appeldoorn, Rein; van den Dries, Sjoerd; Kwakkernaat, Maurice

2016-01-01

The number of perception sensors on automated vehicles increases due to the increasing number of advanced driver assistance system functions and their increasing complexity. Furthermore, fail-safe systems require redundancy, thereby increasing the number of sensors even further. A one-size-fits-all multisensor data fusion architecture is not realistic due to the enormous diversity in vehicles, sensors and applications. As an alternative, this work presents a methodology that can be used to effectively come up with an implementation to build a consistent model of a vehicle’s surroundings. The methodology is accompanied by a software architecture. This combination minimizes the effort required to update the multisensor data fusion system whenever sensors or applications are added or replaced. A series of real-world experiments involving different sensors and algorithms demonstrates the methodology and the software architecture. PMID:27727171

Minimum energy information fusion in sensor networks

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chapline, G

1999-05-11

In this paper we consider how to organize the sharing of information in a distributed network of sensors and data processors so as to provide explanations for sensor readings with minimal expenditure of energy. We point out that the Minimum Description Length principle provides an approach to information fusion that is more naturally suited to energy minimization than traditional Bayesian approaches. In addition we show that for networks consisting of a large number of identical sensors Kohonen self-organization provides an exact solution to the problem of combing the sensor outputs into minimal description length explanations.

Linear high-boost fusion of Stokes vector imagery for effective discrimination and recognition of real targets in the presence of multiple identical decoys

NASA Astrophysics Data System (ADS)

El-Saba, Aed; Sakla, Wesam A.

2010-04-01

Recently, the use of imaging polarimetry has received considerable attention for use in automatic target recognition (ATR) applications. In military remote sensing applications, there is a great demand for sensors that are capable of discriminating between real targets and decoys. Accurate discrimination of decoys from real targets is a challenging task and often requires the fusion of various sensor modalities that operate simultaneously. In this paper, we use a simple linear fusion technique known as the high-boost fusion method for effective discrimination of real targets in the presence of multiple decoys. The HBF assigns more weight to the polarization-based imagery in forming the final fused image that is used for detection. We have captured both intensity and polarization-based imagery from an experimental laboratory arrangement containing a mixture of sand/dirt, rocks, vegetation, and other objects for the purpose of simulating scenery that would be acquired in a remote sensing military application. A target object and three decoys that are identical in physical appearance (shape, surface structure and color) and different in material composition have also been placed in the scene. We use the wavelet-filter joint transform correlation (WFJTC) technique to perform detection between input scenery and the target object. Our results show that use of the HBF method increases the correlation performance metrics associated with the WFJTC-based detection process when compared to using either the traditional intensity or polarization-based images.

Sensor data validation and reconstruction. Phase 1: System architecture study

NASA Technical Reports Server (NTRS)

1991-01-01

The sensor validation and data reconstruction task reviewed relevant literature and selected applicable validation and reconstruction techniques for further study; analyzed the selected techniques and emphasized those which could be used for both validation and reconstruction; analyzed Space Shuttle Main Engine (SSME) hot fire test data to determine statistical and physical relationships between various parameters; developed statistical and empirical correlations between parameters to perform validation and reconstruction tasks, using a computer aided engineering (CAE) package; and conceptually designed an expert system based knowledge fusion tool, which allows the user to relate diverse types of information when validating sensor data. The host hardware for the system is intended to be a Sun SPARCstation, but could be any RISC workstation with a UNIX operating system and a windowing/graphics system such as Motif or Dataviews. The information fusion tool is intended to be developed using the NEXPERT Object expert system shell, and the C programming language.

Fusion of spectral and panchromatic images using false color mapping and wavelet integrated approach

NASA Astrophysics Data System (ADS)

Zhao, Yongqiang; Pan, Quan; Zhang, Hongcai

2006-01-01

With the development of sensory technology, new image sensors have been introduced that provide a greater range of information to users. But as the power limitation of radiation, there will always be some trade-off between spatial and spectral resolution in the image captured by specific sensors. Images with high spatial resolution can locate objects with high accuracy, whereas images with high spectral resolution can be used to identify the materials. Many applications in remote sensing require fusing low-resolution imaging spectral images with panchromatic images to identify materials at high resolution in clutter. A pixel-based false color mapping and wavelet transform integrated fusion algorithm is presented in this paper, the resulting images have a higher information content than each of the original images and retain sensor-specific image information. The simulation results show that this algorithm can enhance the visibility of certain details and preserve the difference of different materials.

Sensor Fusion of Gaussian Mixtures for Ballistic Target Tracking in the Re-Entry Phase

PubMed Central

Lu, Kelin; Zhou, Rui

2016-01-01

A sensor fusion methodology for the Gaussian mixtures model is proposed for ballistic target tracking with unknown ballistic coefficients. To improve the estimation accuracy, a track-to-track fusion architecture is proposed to fuse tracks provided by the local interacting multiple model filters. During the fusion process, the duplicate information is removed by considering the first order redundant information between the local tracks. With extensive simulations, we show that the proposed algorithm improves the tracking accuracy in ballistic target tracking in the re-entry phase applications. PMID:27537883

Sensor Fusion of Gaussian Mixtures for Ballistic Target Tracking in the Re-Entry Phase.

PubMed

Lu, Kelin; Zhou, Rui

2016-08-15

A sensor fusion methodology for the Gaussian mixtures model is proposed for ballistic target tracking with unknown ballistic coefficients. To improve the estimation accuracy, a track-to-track fusion architecture is proposed to fuse tracks provided by the local interacting multiple model filters. During the fusion process, the duplicate information is removed by considering the first order redundant information between the local tracks. With extensive simulations, we show that the proposed algorithm improves the tracking accuracy in ballistic target tracking in the re-entry phase applications.

Fusion of remotely sensed data from airborne and ground-based sensors for cotton regrowth study

USDA-ARS?s Scientific Manuscript database

The study investigated the use of aerial multispectral imagery and ground-based hyperspectral data for the discrimination of different crop types and timely detection of cotton plants over large areas. Airborne multispectral imagery and ground-based spectral reflectance data were acquired at the sa...

Sensor Web Technology Challenges and Advancements for the Earth Science Decadal Survey Era

NASA Technical Reports Server (NTRS)

Norton, Charles D.; Moe, Karen

2011-01-01

This paper examines the Earth science decadal survey era and the role ESTO developed sensor web technologies can contribute to the scientific observations. This includes hardware and software technology advances for in-situ and in-space measurements. Also discussed are emerging areas of importance such as the potential of small satellites for sensor web based observations as well as advances in data fusion critical to the science and societal benefits of future missions, and the challenges ahead.

Software defined multi-spectral imaging for Arctic sensor networks

NASA Astrophysics Data System (ADS)

Siewert, Sam; Angoth, Vivek; Krishnamurthy, Ramnarayan; Mani, Karthikeyan; Mock, Kenrick; Singh, Surjith B.; Srivistava, Saurav; Wagner, Chris; Claus, Ryan; Vis, Matthew Demi

2016-05-01

Availability of off-the-shelf infrared sensors combined with high definition visible cameras has made possible the construction of a Software Defined Multi-Spectral Imager (SDMSI) combining long-wave, near-infrared and visible imaging. The SDMSI requires a real-time embedded processor to fuse images and to create real-time depth maps for opportunistic uplink in sensor networks. Researchers at Embry Riddle Aeronautical University working with University of Alaska Anchorage at the Arctic Domain Awareness Center and the University of Colorado Boulder have built several versions of a low-cost drop-in-place SDMSI to test alternatives for power efficient image fusion. The SDMSI is intended for use in field applications including marine security, search and rescue operations and environmental surveys in the Arctic region. Based on Arctic marine sensor network mission goals, the team has designed the SDMSI to include features to rank images based on saliency and to provide on camera fusion and depth mapping. A major challenge has been the design of the camera computing system to operate within a 10 to 20 Watt power budget. This paper presents a power analysis of three options: 1) multi-core, 2) field programmable gate array with multi-core, and 3) graphics processing units with multi-core. For each test, power consumed for common fusion workloads has been measured at a range of frame rates and resolutions. Detailed analyses from our power efficiency comparison for workloads specific to stereo depth mapping and sensor fusion are summarized. Preliminary mission feasibility results from testing with off-the-shelf long-wave infrared and visible cameras in Alaska and Arizona are also summarized to demonstrate the value of the SDMSI for applications such as ice tracking, ocean color, soil moisture, animal and marine vessel detection and tracking. The goal is to select the most power efficient solution for the SDMSI for use on UAVs (Unoccupied Aerial Vehicles) and other drop-in-place installations in the Arctic. The prototype selected will be field tested in Alaska in the summer of 2016.

Line-Based Registration of Panoramic Images and LiDAR Point Clouds for Mobile Mapping.

PubMed

Cui, Tingting; Ji, Shunping; Shan, Jie; Gong, Jianya; Liu, Kejian

2016-12-31

For multi-sensor integrated systems, such as the mobile mapping system (MMS), data fusion at sensor-level, i.e., the 2D-3D registration between an optical camera and LiDAR, is a prerequisite for higher level fusion and further applications. This paper proposes a line-based registration method for panoramic images and a LiDAR point cloud collected by a MMS. We first introduce the system configuration and specification, including the coordinate systems of the MMS, the 3D LiDAR scanners, and the two panoramic camera models. We then establish the line-based transformation model for the panoramic camera. Finally, the proposed registration method is evaluated for two types of camera models by visual inspection and quantitative comparison. The results demonstrate that the line-based registration method can significantly improve the alignment of the panoramic image and the LiDAR datasets under either the ideal spherical or the rigorous panoramic camera model, with the latter being more reliable.

Line-Based Registration of Panoramic Images and LiDAR Point Clouds for Mobile Mapping

PubMed Central

Cui, Tingting; Ji, Shunping; Shan, Jie; Gong, Jianya; Liu, Kejian

2016-01-01

For multi-sensor integrated systems, such as the mobile mapping system (MMS), data fusion at sensor-level, i.e., the 2D-3D registration between an optical camera and LiDAR, is a prerequisite for higher level fusion and further applications. This paper proposes a line-based registration method for panoramic images and a LiDAR point cloud collected by a MMS. We first introduce the system configuration and specification, including the coordinate systems of the MMS, the 3D LiDAR scanners, and the two panoramic camera models. We then establish the line-based transformation model for the panoramic camera. Finally, the proposed registration method is evaluated for two types of camera models by visual inspection and quantitative comparison. The results demonstrate that the line-based registration method can significantly improve the alignment of the panoramic image and the LiDAR datasets under either the ideal spherical or the rigorous panoramic camera model, with the latter being more reliable. PMID:28042855

Urban-scale mapping of PM2.5 distribution via data fusion between high-density sensor network and MODIS Aerosol Optical Depth

NASA Astrophysics Data System (ADS)

Ba, Yu Tao; xian Liu, Bao; Sun, Feng; Wang, Li hua; Tang, Yu jia; Zhang, Da wei

2017-04-01

High-resolution mapping of PM2.5 is the prerequisite for precise analytics and subsequent anti-pollution interventions. Considering the large variances of particulate distribution, urban-scale mapping is challenging either with ground-based fixed stations, with satellites or via models. In this study, a dynamic fusion method between high-density sensor network and MODIS Aerosol Optical Depth (AOD) was introduced. The sensor network was deployed in Beijing ( > 1000 fixed monitors across 16000 km2 area) to provide raw observations with high temporal resolution (sampling interval < 1 hour), high spatial resolution in flat areas ( < 1 km), and low spatial resolution in mountainous areas ( > 5 km). The MODIS AOD was calibrated to provide distribution map with low temporal resolution (daily) and moderate spatial resolution ( = 3 km). By encoding the data quality and defects (e.g. could, reflectance, abnormal), a hybrid interpolation procedure with cross-validation generated PM2.5 distribution with both high temporal and spatial resolution. Several no-pollutant and high-pollution periods were tested to validate the proposed fusion method for capturing the instantaneous patterns of PM2.5 emission.

Fusion of magnetometer and gradiometer sensors of MEG in the presence of multiplicative error.

PubMed

Mohseni, Hamid R; Woolrich, Mark W; Kringelbach, Morten L; Luckhoo, Henry; Smith, Penny Probert; Aziz, Tipu Z

2012-07-01

Novel neuroimaging techniques have provided unprecedented information on the structure and function of the living human brain. Multimodal fusion of data from different sensors promises to radically improve this understanding, yet optimal methods have not been developed. Here, we demonstrate a novel method for combining multichannel signals. We show how this method can be used to fuse signals from the magnetometer and gradiometer sensors used in magnetoencephalography (MEG), and through extensive experiments using simulation, head phantom and real MEG data, show that it is both robust and accurate. This new approach works by assuming that the lead fields have multiplicative error. The criterion to estimate the error is given within a spatial filter framework such that the estimated power is minimized in the worst case scenario. The method is compared to, and found better than, existing approaches. The closed-form solution and the conditions under which the multiplicative error can be optimally estimated are provided. This novel approach can also be employed for multimodal fusion of other multichannel signals such as MEG and EEG. Although the multiplicative error is estimated based on beamforming, other methods for source analysis can equally be used after the lead-field modification.

Swap intensified WDR CMOS module for I2/LWIR fusion

NASA Astrophysics Data System (ADS)

Ni, Yang; Noguier, Vincent

2015-05-01

The combination of high resolution visible-near-infrared low light sensor and moderate resolution uncooled thermal sensor provides an efficient way for multi-task night vision. Tremendous progress has been made on uncooled thermal sensors (a-Si, VOx, etc.). It's possible to make a miniature uncooled thermal camera module in a tiny 1cm3 cube with <1W power consumption. For silicon based solid-state low light CCD/CMOS sensors have observed also a constant progress in terms of readout noise, dark current, resolution and frame rate. In contrast to thermal sensing which is intrinsic day&night operational, the silicon based solid-state sensors are not yet capable to do the night vision performance required by defense and critical surveillance applications. Readout noise, dark current are 2 major obstacles. The low dynamic range at high sensitivity mode of silicon sensors is also an important limiting factor, which leads to recognition failure due to local or global saturations & blooming. In this context, the image intensifier based solution is still attractive for the following reasons: 1) high gain and ultra-low dark current; 2) wide dynamic range and 3) ultra-low power consumption. With high electron gain and ultra low dark current of image intensifier, the only requirement on the silicon image pickup device are resolution, dynamic range and power consumption. In this paper, we present a SWAP intensified Wide Dynamic Range CMOS module for night vision applications, especially for I2/LWIR fusion. This module is based on a dedicated CMOS image sensor using solar-cell mode photodiode logarithmic pixel design which covers a huge dynamic range (> 140dB) without saturation and blooming. The ultra-wide dynamic range image from this new generation logarithmic sensor can be used directly without any image processing and provide an instant light accommodation. The complete module is slightly bigger than a simple ANVIS format I2 tube with <500mW power consumption.

High-Precision Attitude Estimation Method of Star Sensors and Gyro Based on Complementary Filter and Unscented Kalman Filter

NASA Astrophysics Data System (ADS)

Guo, C.; Tong, X.; Liu, S.; Liu, S.; Lu, X.; Chen, P.; Jin, Y.; Xie, H.

2017-07-01

Determining the attitude of satellite at the time of imaging then establishing the mathematical relationship between image points and ground points is essential in high-resolution remote sensing image mapping. Star tracker is insensitive to the high frequency attitude variation due to the measure noise and satellite jitter, but the low frequency attitude motion can be determined with high accuracy. Gyro, as a short-term reference to the satellite's attitude, is sensitive to high frequency attitude change, but due to the existence of gyro drift and integral error, the attitude determination error increases with time. Based on the opposite noise frequency characteristics of two kinds of attitude sensors, this paper proposes an on-orbit attitude estimation method of star sensors and gyro based on Complementary Filter (CF) and Unscented Kalman Filter (UKF). In this study, the principle and implementation of the proposed method are described. First, gyro attitude quaternions are acquired based on the attitude kinematics equation. An attitude information fusion method is then introduced, which applies high-pass filtering and low-pass filtering to the gyro and star tracker, respectively. Second, the attitude fusion data based on CF are introduced as the observed values of UKF system in the process of measurement updating. The accuracy and effectiveness of the method are validated based on the simulated sensors attitude data. The obtained results indicate that the proposed method can suppress the gyro drift and measure noise of attitude sensors, improving the accuracy of the attitude determination significantly, comparing with the simulated on-orbit attitude and the attitude estimation results of the UKF defined by the same simulation parameters.

Automotive Radar and Lidar Systems for Next Generation Driver Assistance Functions

NASA Astrophysics Data System (ADS)

Rasshofer, R. H.; Gresser, K.

2005-05-01

Automotive radar and lidar sensors represent key components for next generation driver assistance functions (Jones, 2001). Today, their use is limited to comfort applications in premium segment vehicles although an evolution process towards more safety-oriented functions is taking place. Radar sensors available on the market today suffer from low angular resolution and poor target detection in medium ranges (30 to 60m) over azimuth angles larger than ±30°. In contrast, Lidar sensors show large sensitivity towards environmental influences (e.g. snow, fog, dirt). Both sensor technologies today have a rather high cost level, forbidding their wide-spread usage on mass markets. A common approach to overcome individual sensor drawbacks is the employment of data fusion techniques (Bar-Shalom, 2001). Raw data fusion requires a common, standardized data interface to easily integrate a variety of asynchronous sensor data into a fusion network. Moreover, next generation sensors should be able to dynamically adopt to new situations and should have the ability to work in cooperative sensor environments. As vehicular function development today is being shifted more and more towards virtual prototyping, mathematical sensor models should be available. These models should take into account the sensor's functional principle as well as all typical measurement errors generated by the sensor.

Sensor Fusion and Smart Sensor in Sports and Biomedical Applications.

PubMed

Mendes, José Jair Alves; Vieira, Mário Elias Marinho; Pires, Marcelo Bissi; Stevan, Sergio Luiz

2016-09-23

The following work presents an overview of smart sensors and sensor fusion targeted at biomedical applications and sports areas. In this work, the integration of these areas is demonstrated, promoting a reflection about techniques and applications to collect, quantify and qualify some physical variables associated with the human body. These techniques are presented in various biomedical and sports applications, which cover areas related to diagnostics, rehabilitation, physical monitoring, and the development of performance in athletes, among others. Although some applications are described in only one of two fields of study (biomedicine and sports), it is very likely that the same application fits in both, with small peculiarities or adaptations. To illustrate the contemporaneity of applications, an analysis of specialized papers published in the last six years has been made. In this context, the main characteristic of this review is to present the largest quantity of relevant examples of sensor fusion and smart sensors focusing on their utilization and proposals, without deeply addressing one specific system or technique, to the detriment of the others.

Knowledge assistant: A sensor fusion framework for robotic environmental characterization

DOE Office of Scientific and Technical Information (OSTI.GOV)

Feddema, J.T.; Rivera, J.J.; Tucker, S.D.

1996-12-01

A prototype sensor fusion framework called the {open_quotes}Knowledge Assistant{close_quotes} has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition {open_quotes}specialist.{close_quotes} During execution and post analysis, the Knowledge Assistant sends raw data to other {open_quotes}specialists,{close_quotes} which include statistical pattern recognition software, a neuralmore » network, and model-based search software. After the specialists return their results, the Knowledge Assistant consolidates the information and returns a report to the robot control system where the sensed objects and their attributes (e.g. estimated dimensions, weight, material composition, etc.) are displayed in the world model. This paper highlights the major components of this system.« less

A New Multi-Sensor Track Fusion Architecture for Multi-Sensor Information Integration

DTIC Science & Technology

2004-09-01

NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION ...NAME(S) AND ADDRESS(ES) Lockheed Martin Aeronautical Systems Company,Marietta,GA,3063 8. PERFORMING ORGANIZATION REPORT NUMBER 9. SPONSORING...tracking process and degrades the track accuracy. ARCHITECHTURE OF MULTI-SENSOR TRACK FUSION MODEL The Alpha

Fast Measurement and Reconstruction of Large Workpieces with Freeform Surfaces by Combining Local Scanning and Global Position Data

PubMed Central

Chen, Zhe; Zhang, Fumin; Qu, Xinghua; Liang, Baoqiu

2015-01-01

In this paper, we propose a new approach for the measurement and reconstruction of large workpieces with freeform surfaces. The system consists of a handheld laser scanning sensor and a position sensor. The laser scanning sensor is used to acquire the surface and geometry information, and the position sensor is utilized to unify the scanning sensors into a global coordinate system. The measurement process includes data collection, multi-sensor data fusion and surface reconstruction. With the multi-sensor data fusion, errors accumulated during the image alignment and registration process are minimized, and the measuring precision is significantly improved. After the dense accurate acquisition of the three-dimensional (3-D) coordinates, the surface is reconstructed using a commercial software piece, based on the Non-Uniform Rational B-Splines (NURBS) surface. The system has been evaluated, both qualitatively and quantitatively, using reference measurements provided by a commercial laser scanning sensor. The method has been applied for the reconstruction of a large gear rim and the accuracy is up to 0.0963 mm. The results prove that this new combined method is promising for measuring and reconstructing the large-scale objects with complex surface geometry. Compared with reported methods of large-scale shape measurement, it owns high freedom in motion, high precision and high measurement speed in a wide measurement range. PMID:26091396

Extension of an iterative closest point algorithm for simultaneous localization and mapping in corridor environments

NASA Astrophysics Data System (ADS)

Yue, Haosong; Chen, Weihai; Wu, Xingming; Wang, Jianhua

2016-03-01

Three-dimensional (3-D) simultaneous localization and mapping (SLAM) is a crucial technique for intelligent robots to navigate autonomously and execute complex tasks. It can also be applied to shape measurement, reverse engineering, and many other scientific or engineering fields. A widespread SLAM algorithm, named KinectFusion, performs well in environments with complex shapes. However, it cannot handle translation uncertainties well in highly structured scenes. This paper improves the KinectFusion algorithm and makes it competent in both structured and unstructured environments. 3-D line features are first extracted according to both color and depth data captured by Kinect sensor. Then the lines in the current data frame are matched with the lines extracted from the entire constructed world model. Finally, we fuse the distance errors of these line-pairs into the standard KinectFusion framework and estimate sensor poses using an iterative closest point-based algorithm. Comparative experiments with the KinectFusion algorithm and one state-of-the-art method in a corridor scene have been done. The experimental results demonstrate that after our improvement, the KinectFusion algorithm can also be applied to structured environments and has higher accuracy. Experiments on two open access datasets further validated our improvements.

An Ensemble Deep Convolutional Neural Network Model with Improved D-S Evidence Fusion for Bearing Fault Diagnosis.

PubMed

Li, Shaobo; Liu, Guokai; Tang, Xianghong; Lu, Jianguang; Hu, Jianjun

2017-07-28

Intelligent machine health monitoring and fault diagnosis are becoming increasingly important for modern manufacturing industries. Current fault diagnosis approaches mostly depend on expert-designed features for building prediction models. In this paper, we proposed IDSCNN, a novel bearing fault diagnosis algorithm based on ensemble deep convolutional neural networks and an improved Dempster-Shafer theory based evidence fusion. The convolutional neural networks take the root mean square (RMS) maps from the FFT (Fast Fourier Transformation) features of the vibration signals from two sensors as inputs. The improved D-S evidence theory is implemented via distance matrix from evidences and modified Gini Index. Extensive evaluations of the IDSCNN on the Case Western Reserve Dataset showed that our IDSCNN algorithm can achieve better fault diagnosis performance than existing machine learning methods by fusing complementary or conflicting evidences from different models and sensors and adapting to different load conditions.

An Ensemble Deep Convolutional Neural Network Model with Improved D-S Evidence Fusion for Bearing Fault Diagnosis

PubMed Central

Li, Shaobo; Liu, Guokai; Tang, Xianghong; Lu, Jianguang

2017-01-01

Intelligent machine health monitoring and fault diagnosis are becoming increasingly important for modern manufacturing industries. Current fault diagnosis approaches mostly depend on expert-designed features for building prediction models. In this paper, we proposed IDSCNN, a novel bearing fault diagnosis algorithm based on ensemble deep convolutional neural networks and an improved Dempster–Shafer theory based evidence fusion. The convolutional neural networks take the root mean square (RMS) maps from the FFT (Fast Fourier Transformation) features of the vibration signals from two sensors as inputs. The improved D-S evidence theory is implemented via distance matrix from evidences and modified Gini Index. Extensive evaluations of the IDSCNN on the Case Western Reserve Dataset showed that our IDSCNN algorithm can achieve better fault diagnosis performance than existing machine learning methods by fusing complementary or conflicting evidences from different models and sensors and adapting to different load conditions. PMID:28788099

Embry-Riddle Aeronautical University multispectral sensor and data fusion laboratory: a model for distributed research and education

NASA Astrophysics Data System (ADS)

McMullen, Sonya A. H.; Henderson, Troy; Ison, David

2017-05-01

The miniaturization of unmanned systems and spacecraft, as well as computing and sensor technologies, has opened new opportunities in the areas of remote sensing and multi-sensor data fusion for a variety of applications. Remote sensing and data fusion historically have been the purview of large government organizations, such as the Department of Defense (DoD), National Aeronautics and Space Administration (NASA), and National Geospatial-Intelligence Agency (NGA) due to the high cost and complexity of developing, fielding, and operating such systems. However, miniaturized computers with high capacity processing capabilities, small and affordable sensors, and emerging, commercially available platforms such as UAS and CubeSats to carry such sensors, have allowed for a vast range of novel applications. In order to leverage these developments, Embry-Riddle Aeronautical University (ERAU) has developed an advanced sensor and data fusion laboratory to research component capabilities and their employment on a wide-range of autonomous, robotic, and transportation systems. This lab is unique in several ways, for example, it provides a traditional campus laboratory for students and faculty to model and test sensors in a range of scenarios, process multi-sensor data sets (both simulated and experimental), and analyze results. Moreover, such allows for "virtual" modeling, testing, and teaching capability reaching beyond the physical confines of the facility for use among ERAU Worldwide students and faculty located around the globe. Although other institutions such as Georgia Institute of Technology, Lockheed Martin, University of Dayton, and University of Central Florida have optical sensor laboratories, the ERAU virtual concept is the first such lab to expand to multispectral sensors and data fusion, while focusing on the data collection and data products and not on the manufacturing aspect. Further, the initiative is a unique effort among Embry-Riddle faculty to develop multi-disciplinary, cross-campus research to facilitate faculty- and student-driven research. Specifically, the ERAU Worldwide Campus, with locations across the globe and delivering curricula online, will be leveraged to provide novel approaches to remote sensor experimentation and simulation. The purpose of this paper and presentation is to present this new laboratory, research, education, and collaboration process.

Fusion of MultiSpectral and Panchromatic Images Based on Morphological Operators.

PubMed

Restaino, Rocco; Vivone, Gemine; Dalla Mura, Mauro; Chanussot, Jocelyn

2016-04-20

Nonlinear decomposition schemes constitute an alternative to classical approaches for facing the problem of data fusion. In this paper we discuss the application of this methodology to a popular remote sensing application called pansharpening, which consists in the fusion of a low resolution multispectral image and a high resolution panchromatic image. We design a complete pansharpening scheme based on the use of morphological half gradients operators and demonstrate the suitability of this algorithm through the comparison with state of the art approaches. Four datasets acquired by the Pleiades, Worldview-2, Ikonos and Geoeye-1 satellites are employed for the performance assessment, testifying the effectiveness of the proposed approach in producing top-class images with a setting independent of the specific sensor.

Multisensor fusion in gastroenterology domain through video and echo endoscopic image combination: a challenge

NASA Astrophysics Data System (ADS)

Debon, Renaud; Le Guillou, Clara; Cauvin, Jean-Michel; Solaiman, Basel; Roux, Christian

2001-08-01

Medical domain makes intensive use of information fusion. In particular, the gastro-enterology is a discipline where physicians have the choice between several imagery modalities that offer complementary advantages. Among all existing systems, videoendoscopy (based on a CCD sensor) and echoendoscopy (based on an ultrasound sensor) are the most efficient. The use of each system corresponds to a given step in the physician diagnostic elaboration. Nowadays, several works aim to achieve automatic interpretation of videoendoscopic sequences. These systems can quantify color and superficial textures of the digestive tube. Unfortunately the relief information, which is important for the diagnostic, is very difficult to retrieve. On the other hand, some studies have proved that 3D information can be easily quantified using echoendoscopy image sequences. That is why the idea to combine these information, acquired from two very different points of view, can be considered as a real challenge for the medical image fusion topic. In this paper, after a review of actual works concerning numerical exploitation of videoendoscopy and echoendoscopy, the following question will be discussed: how can the use of complementary aspects of the different systems ease the automatic exploitation of videoendoscopy ? In a second time, we will evaluate the feasibility of the achievement of a realistic 3D reconstruction based both on information given by echoendoscopy (relief) and videoendoscopy (texture). Enumeration of potential applications of such a fusion system will then follow. Further discussions and perspectives will conclude this first study.

FPGA-based fused smart-sensor for tool-wear area quantitative estimation in CNC machine inserts.

PubMed

Trejo-Hernandez, Miguel; Osornio-Rios, Roque Alfredo; de Jesus Romero-Troncoso, Rene; Rodriguez-Donate, Carlos; Dominguez-Gonzalez, Aurelio; Herrera-Ruiz, Gilberto

2010-01-01

Manufacturing processes are of great relevance nowadays, when there is a constant claim for better productivity with high quality at low cost. The contribution of this work is the development of a fused smart-sensor, based on FPGA to improve the online quantitative estimation of flank-wear area in CNC machine inserts from the information provided by two primary sensors: the monitoring current output of a servoamplifier, and a 3-axis accelerometer. Results from experimentation show that the fusion of both parameters makes it possible to obtain three times better accuracy when compared with the accuracy obtained from current and vibration signals, individually used.

Research on HDR image fusion algorithm based on Laplace pyramid weight transform with extreme low-light CMOS

NASA Astrophysics Data System (ADS)

Guan, Wen; Li, Li; Jin, Weiqi; Qiu, Su; Zou, Yan

2015-10-01

Extreme-Low-Light CMOS has been widely applied in the field of night-vision as a new type of solid image sensor. But if the illumination in the scene has drastic changes or the illumination is too strong, Extreme-Low-Light CMOS can't both clearly present the high-light scene and low-light region. According to the partial saturation problem in the field of night-vision, a HDR image fusion algorithm based on the Laplace Pyramid was researched. The overall gray value and the contrast of the low light image is very low. We choose the fusion strategy based on regional average gradient for the top layer of the long exposure image and short exposure image, which has rich brightness and textural features. The remained layers which represent the edge feature information of the target are based on the fusion strategy based on regional energy. In the process of source image reconstruction with Laplacian pyramid image, we compare the fusion results with four kinds of basal images. The algorithm is tested using Matlab and compared with the different fusion strategies. We use information entropy, average gradient and standard deviation these three objective evaluation parameters for the further analysis of the fusion result. Different low illumination environment experiments show that the algorithm in this paper can rapidly get wide dynamic range while keeping high entropy. Through the verification of this algorithm features, there is a further application prospect of the optimized algorithm. Keywords: high dynamic range imaging, image fusion, multi-exposure image, weight coefficient, information fusion, Laplacian pyramid transform.

Spatial resolution enhancement of satellite image data using fusion approach

NASA Astrophysics Data System (ADS)

Lestiana, H.; Sukristiyanti

2018-02-01

Object identification using remote sensing data has a problem when the spatial resolution is not in accordance with the object. The fusion approach is one of methods to solve the problem, to improve the object recognition and to increase the objects information by combining data from multiple sensors. The application of fusion image can be used to estimate the environmental component that is needed to monitor in multiple views, such as evapotranspiration estimation, 3D ground-based characterisation, smart city application, urban environments, terrestrial mapping, and water vegetation. Based on fusion application method, the visible object in land area has been easily recognized using the method. The variety of object information in land area has increased the variation of environmental component estimation. The difficulties in recognizing the invisible object like Submarine Groundwater Discharge (SGD), especially in tropical area, might be decreased by the fusion method. The less variation of the object in the sea surface temperature is a challenge to be solved.

Multi-Image Registration for an Enhanced Vision System

NASA Technical Reports Server (NTRS)

Hines, Glenn; Rahman, Zia-Ur; Jobson, Daniel; Woodell, Glenn

2002-01-01

An Enhanced Vision System (EVS) utilizing multi-sensor image fusion is currently under development at the NASA Langley Research Center. The EVS will provide enhanced images of the flight environment to assist pilots in poor visibility conditions. Multi-spectral images obtained from a short wave infrared (SWIR), a long wave infrared (LWIR), and a color visible band CCD camera, are enhanced and fused using the Retinex algorithm. The images from the different sensors do not have a uniform data structure: the three sensors not only operate at different wavelengths, but they also have different spatial resolutions, optical fields of view (FOV), and bore-sighting inaccuracies. Thus, in order to perform image fusion, the images must first be co-registered. Image registration is the task of aligning images taken at different times, from different sensors, or from different viewpoints, so that all corresponding points in the images match. In this paper, we present two methods for registering multiple multi-spectral images. The first method performs registration using sensor specifications to match the FOVs and resolutions directly through image resampling. In the second method, registration is obtained through geometric correction based on a spatial transformation defined by user selected control points and regression analysis.

Enhanced technologies for unattended ground sensor systems

NASA Astrophysics Data System (ADS)

Hartup, David C.

2010-04-01

Progress in several technical areas is being leveraged to advantage in Unattended Ground Sensor (UGS) systems. This paper discusses advanced technologies that are appropriate for use in UGS systems. While some technologies provide evolutionary improvements, other technologies result in revolutionary performance advancements for UGS systems. Some specific technologies discussed include wireless cameras and viewers, commercial PDA-based system programmers and monitors, new materials and techniques for packaging improvements, low power cueing sensor radios, advanced long-haul terrestrial and SATCOM radios, and networked communications. Other technologies covered include advanced target detection algorithms, high pixel count cameras for license plate and facial recognition, small cameras that provide large stand-off distances, video transmissions of target activity instead of still images, sensor fusion algorithms, and control center hardware. The impact of each technology on the overall UGS system architecture is discussed, along with the advantages provided to UGS system users. Areas of analysis include required camera parameters as a function of stand-off distance for license plate and facial recognition applications, power consumption for wireless cameras and viewers, sensor fusion communication requirements, and requirements to practically implement video transmission through UGS systems. Examples of devices that have already been fielded using technology from several of these areas are given.

A novel framework for command and control of networked sensor systems

NASA Astrophysics Data System (ADS)

Chen, Genshe; Tian, Zhi; Shen, Dan; Blasch, Erik; Pham, Khanh

2007-04-01

In this paper, we have proposed a highly innovative advanced command and control framework for sensor networks used for future Integrated Fire Control (IFC). The primary goal is to enable and enhance target detection, validation, and mitigation for future military operations by graphical game theory and advanced knowledge information fusion infrastructures. The problem is approached by representing distributed sensor and weapon systems as generic warfare resources which must be optimized in order to achieve the operational benefits afforded by enabling a system of systems. This paper addresses the importance of achieving a Network Centric Warfare (NCW) foundation of information superiority-shared, accurate, and timely situational awareness upon which advanced automated management aids for IFC can be built. The approach uses the Data Fusion Information Group (DFIG) Fusion hierarchy of Level 0 through Level 4 to fuse the input data into assessments for the enemy target system threats in a battlespace to which military force is being applied. Compact graph models are employed across all levels of the fusion hierarchy to accomplish integrative data fusion and information flow control, as well as cross-layer sensor management. The functional block at each fusion level will have a set of innovative algorithms that not only exploit the corresponding graph model in a computationally efficient manner, but also permit combined functional experiments across levels by virtue of the unifying graphical model approach.

Detection of person borne IEDs using multiple cooperative sensors

NASA Astrophysics Data System (ADS)

MacIntosh, Scott; Deming, Ross; Hansen, Thorkild; Kishan, Neel; Tang, Ling; Shea, Jing; Lang, Stephen

2011-06-01

The use of multiple cooperative sensors for the detection of person borne IEDs is investigated. The purpose of the effort is to evaluate the performance benefits of adding multiple sensor data streams into an aided threat detection algorithm, and a quantitative analysis of which sensor data combinations improve overall detection performance. Testing includes both mannequins and human subjects with simulated suicide bomb devices of various configurations, materials, sizes and metal content. Aided threat recognition algorithms are being developed to test detection performance of individual sensors against combined fused sensors inputs. Sensors investigated include active and passive millimeter wave imaging systems, passive infrared, 3-D profiling sensors and acoustic imaging. The paper describes the experimental set-up and outlines the methodology behind a decision fusion algorithm-based on the concept of a "body model".

Research on multi-source image fusion technology in haze environment

NASA Astrophysics Data System (ADS)

Ma, GuoDong; Piao, Yan; Li, Bing

2017-11-01

In the haze environment, the visible image collected by a single sensor can express the details of the shape, color and texture of the target very well, but because of the haze, the sharpness is low and some of the target subjects are lost; Because of the expression of thermal radiation and strong penetration ability, infrared image collected by a single sensor can clearly express the target subject, but it will lose detail information. Therefore, the multi-source image fusion method is proposed to exploit their respective advantages. Firstly, the improved Dark Channel Prior algorithm is used to preprocess the visible haze image. Secondly, the improved SURF algorithm is used to register the infrared image and the haze-free visible image. Finally, the weighted fusion algorithm based on information complementary is used to fuse the image. Experiments show that the proposed method can improve the clarity of the visible target and highlight the occluded infrared target for target recognition.

SVM-based multisensor data fusion for phase concentration measurement in biomass-coal co-combustion

NASA Astrophysics Data System (ADS)

Wang, Xiaoxin; Hu, Hongli; Jia, Huiqin; Tang, Kaihao

2018-05-01

In this paper, the electrical method combines the electrostatic sensor and capacitance sensor to measure the phase concentration of pulverized coal/biomass/air three-phase flow through data fusion technology. In order to eliminate the effects of flow regimes and improve the accuracy of the phase concentration measurement, the mel frequency cepstrum coefficient features extracted from electrostatic signals are used to train the Continuous Gaussian Mixture Hidden Markov Model (CGHMM) for flow regime identification. Support Vector Machine (SVM) is introduced to establish the concentration information fusion model under identified flow regimes. The CGHMM models and SVM models are transplanted on digital signal processing (DSP) to realize on-line accurate measurement. The DSP flow regime identification time is 1.4 ms, and the concentration predict time is 164 μs, which can fully meet the real-time requirement. The average absolute value of the relative error of the pulverized coal is about 1.5% and that of the biomass is about 2.2%.

Sensoring Fusion Data from the Optic and Acoustic Emissions of Electric Arcs in the GMAW-S Process for Welding Quality Assessment

PubMed Central

Alfaro, Sadek Crisóstomo Absi; Cayo, Eber Huanca

2012-01-01

The present study shows the relationship between welding quality and optical-acoustic emissions from electric arcs, during welding runs, in the GMAW-S process. Bead on plate welding tests was carried out with pre-set parameters chosen from manufacturing standards. During the welding runs interferences were induced on the welding path using paint, grease or gas faults. In each welding run arc voltage, welding current, infrared and acoustic emission values were acquired and parameters such as arc power, acoustic peaks rate and infrared radiation rate computed. Data fusion algorithms were developed by assessing known welding quality parameters from arc emissions. These algorithms have showed better responses when they are based on more than just one sensor. Finally, it was concluded that there is a close relation between arc emissions and quality in welding and it can be measured from arc emissions sensing and data fusion algorithms. PMID:22969330

Multi-Sensor Systems and Data Fusion for Telecommunications, Remote Sensing and Radar (les Systemes multi-senseurs et le fusionnement des donnees pour les telecommunications, la teledetection et les radars)

DTIC Science & Technology

1998-04-01

The result of the project is a demonstration of the fusion process, the sensors management and the real-time capabilities using simulated sensors...demonstrator (TAD) is a system that demonstrates the core ele- ment of a battlefield ground surveillance system by simulation in near real-time. The core...Management and Sensor/Platform simulation . The surveillance system observes the real world through a non-collocated heterogene- ous multisensory system

Image fusion based on millimeter-wave for concealed weapon detection

NASA Astrophysics Data System (ADS)

Zhu, Weiwen; Zhao, Yuejin; Deng, Chao; Zhang, Cunlin; Zhang, Yalin; Zhang, Jingshui

2010-11-01

This paper describes a novel multi sensors image fusion technology which is presented for concealed weapon detection (CWD). It is known to all, because of the good transparency of the clothes at millimeter wave band, a millimeter wave radiometer can be used to image and distinguish concealed contraband beneath clothes, for example guns, knives, detonator and so on. As a result, we adopt the passive millimeter wave (PMMW) imaging technology for airport security. However, in consideration of the wavelength of millimeter wave and the single channel mechanical scanning, the millimeter wave image has law optical resolution, which can't meet the need of practical application. Therefore, visible image (VI), which has higher resolution, is proposed for the image fusion with the millimeter wave image to enhance the readability. Before the image fusion, a novel image pre-processing which specifics to the fusion of millimeter wave imaging and visible image is adopted. And in the process of image fusion, multi resolution analysis (MRA) based on Wavelet Transform (WT) is adopted. In this way, the experiment result shows that this method has advantages in concealed weapon detection and has practical significance.

A Novel Health Evaluation Strategy for Multifunctional Self-Validating Sensors

PubMed Central

Shen, Zhengguang; Wang, Qi

2013-01-01

The performance evaluation of sensors is very important in actual application. In this paper, a theory based on multi-variable information fusion is studied to evaluate the health level of multifunctional sensors. A novel conception of health reliability degree (HRD) is defined to indicate a quantitative health level, which is different from traditional so-called qualitative fault diagnosis. To evaluate the health condition from both local and global perspectives, the HRD of a single sensitive component at multiple time points and the overall multifunctional sensor at a single time point are defined, respectively. The HRD methodology is emphasized by using multi-variable data fusion technology coupled with a grey comprehensive evaluation method. In this method, to acquire the distinct importance of each sensitive unit and the sensitivity of different time points, the information entropy and analytic hierarchy process method are used, respectively. In order to verify the feasibility of the proposed strategy, a health evaluating experimental system for multifunctional self-validating sensors was designed. The five different health level situations have been discussed. Successful results show that the proposed method is feasible, the HRD could be used to quantitatively indicate the health level and it does have a fast response to the performance changes of multifunctional sensors. PMID:23291576

A Motion Tracking and Sensor Fusion Module for Medical Simulation.

PubMed

Shen, Yunhe; Wu, Fan; Tseng, Kuo-Shih; Ye, Ding; Raymond, John; Konety, Badrinath; Sweet, Robert

2016-01-01

Here we introduce a motion tracking or navigation module for medical simulation systems. Our main contribution is a sensor fusion method for proximity or distance sensors integrated with inertial measurement unit (IMU). Since IMU rotation tracking has been widely studied, we focus on the position or trajectory tracking of the instrument moving freely within a given boundary. In our experiments, we have found that this module reliably tracks instrument motion.

Cognitive foundations for model-based sensor fusion

NASA Astrophysics Data System (ADS)

Perlovsky, Leonid I.; Weijers, Bertus; Mutz, Chris W.

2003-08-01

Target detection, tracking, and sensor fusion are complicated problems, which usually are performed sequentially. First detecting targets, then tracking, then fusing multiple sensors reduces computations. This procedure however is inapplicable to difficult targets which cannot be reliably detected using individual sensors, on individual scans or frames. In such more complicated cases one has to perform functions of fusing, tracking, and detecting concurrently. This often has led to prohibitive combinatorial complexity and, as a consequence, to sub-optimal performance as compared to the information-theoretic content of all the available data. It is well appreciated that in this task the human mind is by far superior qualitatively to existing mathematical methods of sensor fusion, however, the human mind is limited in the amount of information and speed of computation it can cope with. Therefore, research efforts have been devoted toward incorporating "biological lessons" into smart algorithms, yet success has been limited. Why is this so, and how to overcome existing limitations? The fundamental reasons for current limitations are analyzed and a potentially breakthrough research and development effort is outlined. We utilize the way our mind combines emotions and concepts in the thinking process and present the mathematical approach to accomplishing this in the current technology computers. The presentation will summarize the difficulties encountered by intelligent systems over the last 50 years related to combinatorial complexity, analyze the fundamental limitations of existing algorithms and neural networks, and relate it to the type of logic underlying the computational structure: formal, multivalued, and fuzzy logic. A new concept of dynamic logic will be introduced along with algorithms capable of pulling together all the available information from multiple sources. This new mathematical technique, like our brain, combines conceptual understanding with emotional evaluation and overcomes the combinatorial complexity of concurrent fusion, tracking, and detection. The presentation will discuss examples of performance, where computational speedups of many orders of magnitude were attained leading to performance improvements of up to 10 dB (and better).

Sea-Based Automated Launch and Recovery System Virtual Testbed

DTIC Science & Technology

2013-12-02

integrated with an Extended Kalman Filter to study sensor fusion in a fixed wing aircraft shipboard recovery scenario. 15. SUBJECT TERMS...the sensors and filter performance are graded both on pure estimation error, and by examining the touchdown performance of the aircraft on the ship...v, and w body-axis velocity components of the aircraft , while the velocities applied to the extremities are used to calculate estimated rotational

A New Approach for Combining Time-of-Flight and RGB Cameras Based on Depth-Dependent Planar Projective Transformations

PubMed Central

Salinas, Carlota; Fernández, Roemi; Montes, Héctor; Armada, Manuel

2015-01-01

Image registration for sensor fusion is a valuable technique to acquire 3D and colour information for a scene. Nevertheless, this process normally relies on feature-matching techniques, which is a drawback for combining sensors that are not able to deliver common features. The combination of ToF and RGB cameras is an instance that problem. Typically, the fusion of these sensors is based on the extrinsic parameter computation of the coordinate transformation between the two cameras. This leads to a loss of colour information because of the low resolution of the ToF camera, and sophisticated algorithms are required to minimize this issue. This work proposes a method for sensor registration with non-common features and that avoids the loss of colour information. The depth information is used as a virtual feature for estimating a depth-dependent homography lookup table (Hlut). The homographies are computed within sets of ground control points of 104 images. Since the distance from the control points to the ToF camera are known, the working distance of each element on the Hlut is estimated. Finally, two series of experimental tests have been carried out in order to validate the capabilities of the proposed method. PMID:26404315

Low Frequency Error Analysis and Calibration for High-Resolution Optical Satellite's Uncontrolled Geometric Positioning

NASA Astrophysics Data System (ADS)

Wang, Mi; Fang, Chengcheng; Yang, Bo; Cheng, Yufeng

2016-06-01

The low frequency error is a key factor which has affected uncontrolled geometry processing accuracy of the high-resolution optical image. To guarantee the geometric quality of imagery, this paper presents an on-orbit calibration method for the low frequency error based on geometric calibration field. Firstly, we introduce the overall flow of low frequency error on-orbit analysis and calibration, which includes optical axis angle variation detection of star sensor, relative calibration among star sensors, multi-star sensor information fusion, low frequency error model construction and verification. Secondly, we use optical axis angle change detection method to analyze the law of low frequency error variation. Thirdly, we respectively use the method of relative calibration and information fusion among star sensors to realize the datum unity and high precision attitude output. Finally, we realize the low frequency error model construction and optimal estimation of model parameters based on DEM/DOM of geometric calibration field. To evaluate the performance of the proposed calibration method, a certain type satellite's real data is used. Test results demonstrate that the calibration model in this paper can well describe the law of the low frequency error variation. The uncontrolled geometric positioning accuracy of the high-resolution optical image in the WGS-84 Coordinate Systems is obviously improved after the step-wise calibration.

Motion-sensor fusion-based gesture recognition and its VLSI architecture design for mobile devices

NASA Astrophysics Data System (ADS)

Zhu, Wenping; Liu, Leibo; Yin, Shouyi; Hu, Siqi; Tang, Eugene Y.; Wei, Shaojun

2014-05-01

With the rapid proliferation of smartphones and tablets, various embedded sensors are incorporated into these platforms to enable multimodal human-computer interfaces. Gesture recognition, as an intuitive interaction approach, has been extensively explored in the mobile computing community. However, most gesture recognition implementations by now are all user-dependent and only rely on accelerometer. In order to achieve competitive accuracy, users are required to hold the devices in predefined manner during the operation. In this paper, a high-accuracy human gesture recognition system is proposed based on multiple motion sensor fusion. Furthermore, to reduce the energy overhead resulted from frequent sensor sampling and data processing, a high energy-efficient VLSI architecture implemented on a Xilinx Virtex-5 FPGA board is also proposed. Compared with the pure software implementation, approximately 45 times speed-up is achieved while operating at 20 MHz. The experiments show that the average accuracy for 10 gestures achieves 93.98% for user-independent case and 96.14% for user-dependent case when subjects hold the device randomly during completing the specified gestures. Although a few percent lower than the conventional best result, it still provides competitive accuracy acceptable for practical usage. Most importantly, the proposed system allows users to hold the device randomly during operating the predefined gestures, which substantially enhances the user experience.

A weighted optimization approach to time-of-flight sensor fusion.

PubMed

Schwarz, Sebastian; Sjostrom, Marten; Olsson, Roger

2014-01-01

Acquiring scenery depth is a fundamental task in computer vision, with many applications in manufacturing, surveillance, or robotics relying on accurate scenery information. Time-of-flight cameras can provide depth information in real-time and overcome short-comings of traditional stereo analysis. However, they provide limited spatial resolution and sophisticated upscaling algorithms are sought after. In this paper, we present a sensor fusion approach to time-of-flight super resolution, based on the combination of depth and texture sources. Unlike other texture guided approaches, we interpret the depth upscaling process as a weighted energy optimization problem. Three different weights are introduced, employing different available sensor data. The individual weights address object boundaries in depth, depth sensor noise, and temporal consistency. Applied in consecutive order, they form three weighting strategies for time-of-flight super resolution. Objective evaluations show advantages in depth accuracy and for depth image based rendering compared with state-of-the-art depth upscaling. Subjective view synthesis evaluation shows a significant increase in viewer preference by a factor of four in stereoscopic viewing conditions. To the best of our knowledge, this is the first extensive subjective test performed on time-of-flight depth upscaling. Objective and subjective results proof the suitability of our approach to time-of-flight super resolution approach for depth scenery capture.

Applying Cognitive Fusion to Space Situational Awareness

NASA Astrophysics Data System (ADS)

Ingram, S.; Shaw, M.; Chan, M.

With recent increases in capability and frequency of rocket launches from countries across the world, maintaining a state-of-the-art Space Situational Awareness model is all the more necessary. We propose a fusion of real-time, natural language processing capability provided by IBM cognitive services with ground-based sensor data of positions and trajectories of satellites in all earth orbits. We believe such insight provided by cognitive services could help determine context to missile launches, help predict when a satellite of interest could be in danger, either by accident or by intent, and could alert interested parties to the perceived threat. We seek to implement an improved Space Situational Awareness model by developing a dynamic factor graph model informed by the fusion of ground-based ”structured” sensor data with ”unstructured” data from the public domain, such as news articles, blogs, and social media, in real time. To this end, we employ IBM’s Cognitive services, specifically, Watson Discovery. Watson Discovery allows real-time natural language processing of text including entity extraction, keyword search, taxonomy classification, concept tagging, relation extraction, sentiment analysis, and emotion analysis. We present various scenarios that demonstrate the utility of this new Space Situational Awareness model, each of which combine past structured information with related open source data. We demonstrate that should the model come to estimate a satellite is ”of interest”, it will indicate it as so, based on the most pertinent data, such as a reading from a sensor or by information available online. We present and discuss the most recent iterations of the model for satellites currently available on Space-Track.org.

Decentralized sensor fusion for Ubiquitous Networking Robotics in Urban Areas.

PubMed

Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán, Jesús; Corominas, Andreu; Gilbert, Andrew; Illingworth, John; Merino, Luis; Mirats, Josep M; Moreno, Plínio; Ollero, Aníbal; Sequeira, João; Spaan, Matthijs T J

2010-01-01

In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.

Toward sensor modular autonomy for persistent land intelligence surveillance and reconnaissance (ISR)

NASA Astrophysics Data System (ADS)

Thomas, Paul A.; Marshall, Gillian; Faulkner, David; Kent, Philip; Page, Scott; Islip, Simon; Oldfield, James; Breckon, Toby P.; Kundegorski, Mikolaj E.; Clark, David J.; Styles, Tim

2016-05-01

Currently, most land Intelligence, Surveillance and Reconnaissance (ISR) assets (e.g. EO/IR cameras) are simply data collectors. Understanding, decision making and sensor control are performed by the human operators, involving high cognitive load. Any automation in the system has traditionally involved bespoke design of centralised systems that are highly specific for the assets/targets/environment under consideration, resulting in complex, non-flexible systems that exhibit poor interoperability. We address a concept of Autonomous Sensor Modules (ASMs) for land ISR, where these modules have the ability to make low-level decisions on their own in order to fulfil a higher-level objective, and plug in, with the minimum of preconfiguration, to a High Level Decision Making Module (HLDMM) through a middleware integration layer. The dual requisites of autonomy and interoperability create challenges around information fusion and asset management in an autonomous hierarchical system, which are addressed in this work. This paper presents the results of a demonstration system, known as Sensing for Asset Protection with Integrated Electronic Networked Technology (SAPIENT), which was shown in realistic base protection scenarios with live sensors and targets. The SAPIENT system performed sensor cueing, intelligent fusion, sensor tasking, target hand-off and compensation for compromised sensors, without human control, and enabled rapid integration of ISR assets at the time of system deployment, rather than at design-time. Potential benefits include rapid interoperability for coalition operations, situation understanding with low operator cognitive burden and autonomous sensor management in heterogenous sensor systems.

Weighted fusion of depth and inertial data to improve view invariance for real-time human action recognition

NASA Astrophysics Data System (ADS)

Chen, Chen; Hao, Huiyan; Jafari, Roozbeh; Kehtarnavaz, Nasser

2017-05-01

This paper presents an extension to our previously developed fusion framework [10] involving a depth camera and an inertial sensor in order to improve its view invariance aspect for real-time human action recognition applications. A computationally efficient view estimation based on skeleton joints is considered in order to select the most relevant depth training data when recognizing test samples. Two collaborative representation classifiers, one for depth features and one for inertial features, are appropriately weighted to generate a decision making probability. The experimental results applied to a multi-view human action dataset show that this weighted extension improves the recognition performance by about 5% over equally weighted fusion deployed in our previous fusion framework.

Survey on Ranging Sensors and Cooperative Techniques for Relative Positioning of Vehicles

PubMed Central

de Ponte Müller, Fabian

2017-01-01

Future driver assistance systems will rely on accurate, reliable and continuous knowledge on the position of other road participants, including pedestrians, bicycles and other vehicles. The usual approach to tackle this requirement is to use on-board ranging sensors inside the vehicle. Radar, laser scanners or vision-based systems are able to detect objects in their line-of-sight. In contrast to these non-cooperative ranging sensors, cooperative approaches follow a strategy in which other road participants actively support the estimation of the relative position. The limitations of on-board ranging sensors regarding their detection range and angle of view and the facility of blockage can be approached by using a cooperative approach based on vehicle-to-vehicle communication. The fusion of both, cooperative and non-cooperative strategies, seems to offer the largest benefits regarding accuracy, availability and robustness. This survey offers the reader a comprehensive review on different techniques for vehicle relative positioning. The reader will learn the important performance indicators when it comes to relative positioning of vehicles, the different technologies that are both commercially available and currently under research, their expected performance and their intrinsic limitations. Moreover, the latest research in the area of vision-based systems for vehicle detection, as well as the latest work on GNSS-based vehicle localization and vehicular communication for relative positioning of vehicles, are reviewed. The survey also includes the research work on the fusion of cooperative and non-cooperative approaches to increase the reliability and the availability. PMID:28146129

Summary of sensor evaluation for the Fusion Electromagnetic Induction Experiment (FELIX)

NASA Astrophysics Data System (ADS)

Knott, M. J.

1982-08-01

As part of the First Wall/Blanket/Shield Engineering Test Program, a test bed called FELIX (fusion electromagnetic induction experiment) is under construction. Its purpose is to test, evaluate, and develop computer codes for the prediction of electromagnetically induced phenomenon in a magnetic environment modeling that of a fusion reaction. Crucial to this process is the sensing and recording of the various induced effects. Sensor evaluation for FELIX reached the point where most sensor types were evaluated and preliminary decisions are being made as to type and quantity for the initial FELIX experiments. These early experiments, the first, flat plate experiment in particular, will be aimed at testing the sensors as well as the pertinent theories involved. The reason for these evaluations, decisions, and proof tests is the harsh electrical and magnetic environment that FELIX presents.

A synthetic dataset for evaluating soft and hard fusion algorithms

NASA Astrophysics Data System (ADS)

Graham, Jacob L.; Hall, David L.; Rimland, Jeffrey

2011-06-01

There is an emerging demand for the development of data fusion techniques and algorithms that are capable of combining conventional "hard" sensor inputs such as video, radar, and multispectral sensor data with "soft" data including textual situation reports, open-source web information, and "hard/soft" data such as image or video data that includes human-generated annotations. New techniques that assist in sense-making over a wide range of vastly heterogeneous sources are critical to improving tactical situational awareness in counterinsurgency (COIN) and other asymmetric warfare situations. A major challenge in this area is the lack of realistic datasets available for test and evaluation of such algorithms. While "soft" message sets exist, they tend to be of limited use for data fusion applications due to the lack of critical message pedigree and other metadata. They also lack corresponding hard sensor data that presents reasonable "fusion opportunities" to evaluate the ability to make connections and inferences that span the soft and hard data sets. This paper outlines the design methodologies, content, and some potential use cases of a COIN-based synthetic soft and hard dataset created under a United States Multi-disciplinary University Research Initiative (MURI) program funded by the U.S. Army Research Office (ARO). The dataset includes realistic synthetic reports from a variety of sources, corresponding synthetic hard data, and an extensive supporting database that maintains "ground truth" through logical grouping of related data into "vignettes." The supporting database also maintains the pedigree of messages and other critical metadata.

Continuous Indoor Positioning Fusing WiFi, Smartphone Sensors and Landmarks

PubMed Central

Deng, Zhi-An; Wang, Guofeng; Qin, Danyang; Na, Zhenyu; Cui, Yang; Chen, Juan

2016-01-01

To exploit the complementary strengths of WiFi positioning, pedestrian dead reckoning (PDR), and landmarks, we propose a novel fusion approach based on an extended Kalman filter (EKF). For WiFi positioning, unlike previous fusion approaches setting measurement noise parameters empirically, we deploy a kernel density estimation-based model to adaptively measure the related measurement noise statistics. Furthermore, a trusted area of WiFi positioning defined by fusion results of previous step and WiFi signal outlier detection are exploited to reduce computational cost and improve WiFi positioning accuracy. For PDR, we integrate a gyroscope, an accelerometer, and a magnetometer to determine the user heading based on another EKF model. To reduce accumulation error of PDR and enable continuous indoor positioning, not only the positioning results but also the heading estimations are recalibrated by indoor landmarks. Experimental results in a realistic indoor environment show that the proposed fusion approach achieves substantial positioning accuracy improvement than individual positioning approaches including PDR and WiFi positioning. PMID:27608019

Continuous Indoor Positioning Fusing WiFi, Smartphone Sensors and Landmarks.

PubMed

Deng, Zhi-An; Wang, Guofeng; Qin, Danyang; Na, Zhenyu; Cui, Yang; Chen, Juan

2016-09-05

To exploit the complementary strengths of WiFi positioning, pedestrian dead reckoning (PDR), and landmarks, we propose a novel fusion approach based on an extended Kalman filter (EKF). For WiFi positioning, unlike previous fusion approaches setting measurement noise parameters empirically, we deploy a kernel density estimation-based model to adaptively measure the related measurement noise statistics. Furthermore, a trusted area of WiFi positioning defined by fusion results of previous step and WiFi signal outlier detection are exploited to reduce computational cost and improve WiFi positioning accuracy. For PDR, we integrate a gyroscope, an accelerometer, and a magnetometer to determine the user heading based on another EKF model. To reduce accumulation error of PDR and enable continuous indoor positioning, not only the positioning results but also the heading estimations are recalibrated by indoor landmarks. Experimental results in a realistic indoor environment show that the proposed fusion approach achieves substantial positioning accuracy improvement than individual positioning approaches including PDR and WiFi positioning.

An Indoor Continuous Positioning Algorithm on the Move by Fusing Sensors and Wi-Fi on Smartphones.

PubMed

Li, Huaiyu; Chen, Xiuwan; Jing, Guifei; Wang, Yuan; Cao, Yanfeng; Li, Fei; Zhang, Xinlong; Xiao, Han

2015-12-11

Wi-Fi indoor positioning algorithms experience large positioning error and low stability when continuously positioning terminals that are on the move. This paper proposes a novel indoor continuous positioning algorithm that is on the move, fusing sensors and Wi-Fi on smartphones. The main innovative points include an improved Wi-Fi positioning algorithm and a novel positioning fusion algorithm named the Trust Chain Positioning Fusion (TCPF) algorithm. The improved Wi-Fi positioning algorithm was designed based on the properties of Wi-Fi signals on the move, which are found in a novel "quasi-dynamic" Wi-Fi signal experiment. The TCPF algorithm is proposed to realize the "process-level" fusion of Wi-Fi and Pedestrians Dead Reckoning (PDR) positioning, including three parts: trusted point determination, trust state and positioning fusion algorithm. An experiment is carried out for verification in a typical indoor environment, and the average positioning error on the move is 1.36 m, a decrease of 28.8% compared to an existing algorithm. The results show that the proposed algorithm can effectively reduce the influence caused by the unstable Wi-Fi signals, and improve the accuracy and stability of indoor continuous positioning on the move.

Efficient sensor network vehicle classification using peak harmonics of acoustic emissions

NASA Astrophysics Data System (ADS)

William, Peter E.; Hoffman, Michael W.

2008-04-01

An application is proposed for detection and classification of battlefield ground vehicles using the emitted acoustic signal captured at individual sensor nodes of an ad hoc Wireless Sensor Network (WSN). We make use of the harmonic characteristics of the acoustic emissions of battlefield vehicles, in reducing both the computations carried on the sensor node and the transmitted data to the fusion center for reliable and effcient classification of targets. Previous approaches focus on the lower frequency band of the acoustic emissions up to 500Hz; however, we show in the proposed application how effcient discrimination between battlefield vehicles is performed using features extracted from higher frequency bands (50 - 1500Hz). The application shows that selective time domain acoustic features surpass equivalent spectral features. Collaborative signal processing is utilized, such that estimation of certain signal model parameters is carried by the sensor node, in order to reduce the communication between the sensor node and the fusion center, while the remaining model parameters are estimated at the fusion center. The transmitted data from the sensor node to the fusion center ranges from 1 ~ 5% of the sampled acoustic signal at the node. A variety of classification schemes were examined, such as maximum likelihood, vector quantization and artificial neural networks. Evaluation of the proposed application, through processing of an acoustic data set with comparison to previous results, shows that the improvement is not only in the number of computations but also in the detection and false alarm rate as well.

Sensor fusion to enable next generation low cost Night Vision systems

NASA Astrophysics Data System (ADS)

Schweiger, R.; Franz, S.; Löhlein, O.; Ritter, W.; Källhammer, J.-E.; Franks, J.; Krekels, T.

2010-04-01

The next generation of automotive Night Vision Enhancement systems offers automatic pedestrian recognition with a performance beyond current Night Vision systems at a lower cost. This will allow high market penetration, covering the luxury as well as compact car segments. Improved performance can be achieved by fusing a Far Infrared (FIR) sensor with a Near Infrared (NIR) sensor. However, fusing with today's FIR systems will be too costly to get a high market penetration. The main cost drivers of the FIR system are its resolution and its sensitivity. Sensor cost is largely determined by sensor die size. Fewer and smaller pixels will reduce die size but also resolution and sensitivity. Sensitivity limits are mainly determined by inclement weather performance. Sensitivity requirements should be matched to the possibilities of low cost FIR optics, especially implications of molding of highly complex optical surfaces. As a FIR sensor specified for fusion can have lower resolution as well as lower sensitivity, fusing FIR and NIR can solve performance and cost problems. To allow compensation of FIR-sensor degradation on the pedestrian detection capabilities, a fusion approach called MultiSensorBoosting is presented that produces a classifier holding highly discriminative sub-pixel features from both sensors at once. The algorithm is applied on data with different resolution and on data obtained from cameras with varying optics to incorporate various sensor sensitivities. As it is not feasible to record representative data with all different sensor configurations, transformation routines on existing high resolution data recorded with high sensitivity cameras are investigated in order to determine the effects of lower resolution and lower sensitivity to the overall detection performance. This paper also gives an overview of the first results showing that a reduction of FIR sensor resolution can be compensated using fusion techniques and a reduction of sensitivity can be compensated.

Multi-sensor fusion of Landsat 8 thermal infrared (TIR) and panchromatic (PAN) images.

PubMed

Jung, Hyung-Sup; Park, Sung-Whan

2014-12-18

Data fusion is defined as the combination of data from multiple sensors such that the resulting information is better than would be possible when the sensors are used individually. The multi-sensor fusion of panchromatic (PAN) and thermal infrared (TIR) images is a good example of this data fusion. While a PAN image has higher spatial resolution, a TIR one has lower spatial resolution. In this study, we have proposed an efficient method to fuse Landsat 8 PAN and TIR images using an optimal scaling factor in order to control the trade-off between the spatial details and the thermal information. We have compared the fused images created from different scaling factors and then tested the performance of the proposed method at urban and rural test areas. The test results show that the proposed method merges the spatial resolution of PAN image and the temperature information of TIR image efficiently. The proposed method may be applied to detect lava flows of volcanic activity, radioactive exposure of nuclear power plants, and surface temperature change with respect to land-use change.

Real-time classification and sensor fusion with a spiking deep belief network.

PubMed

O'Connor, Peter; Neil, Daniel; Liu, Shih-Chii; Delbruck, Tobi; Pfeiffer, Michael

2013-01-01

Deep Belief Networks (DBNs) have recently shown impressive performance on a broad range of classification problems. Their generative properties allow better understanding of the performance, and provide a simpler solution for sensor fusion tasks. However, because of their inherent need for feedback and parallel update of large numbers of units, DBNs are expensive to implement on serial computers. This paper proposes a method based on the Siegert approximation for Integrate-and-Fire neurons to map an offline-trained DBN onto an efficient event-driven spiking neural network suitable for hardware implementation. The method is demonstrated in simulation and by a real-time implementation of a 3-layer network with 2694 neurons used for visual classification of MNIST handwritten digits with input from a 128 × 128 Dynamic Vision Sensor (DVS) silicon retina, and sensory-fusion using additional input from a 64-channel AER-EAR silicon cochlea. The system is implemented through the open-source software in the jAER project and runs in real-time on a laptop computer. It is demonstrated that the system can recognize digits in the presence of distractions, noise, scaling, translation and rotation, and that the degradation of recognition performance by using an event-based approach is less than 1%. Recognition is achieved in an average of 5.8 ms after the onset of the presentation of a digit. By cue integration from both silicon retina and cochlea outputs we show that the system can be biased to select the correct digit from otherwise ambiguous input.

Sensor data fusion of radar, ESM, IFF, and data LINK of the Canadian Patrol Frigate and the data alignment issues

NASA Astrophysics Data System (ADS)

Couture, Jean; Boily, Edouard; Simard, Marc-Alain

1996-05-01

The research and development group at Loral Canada is now at the second phase of the development of a data fusion demonstration model (DFDM) for a naval anti-air warfare to be used as a workbench tool to perform exploratory research. This project has emphatically addressed how the concepts related to fusion could be implemented within the Canadian Patrol Frigate (CPF) software environment. The project has been designed to read data passively on the CPF bus without any modification to the CPF software. This has brought to light important time alignment issues since the CPF sensors and the CPF command and control system were not important time alignment issues since the CPF sensors and the CPF command and control system were not originally designed to support a track management function which fuses information. The fusion of data from non-organic sensors with the tactical Link-11 data has produced stimulating spatial alignment problems which have been overcome by the use of a geodetic referencing coordinate system. Some benchmark scenarios have been selected to quantitatively demonstrate the capabilities of this fusion implementation. This paper describes the implementation design of DFDM (version 2), and summarizes the results obtained so far when fusing the scenarios simulated data.

Sensor Fusion and Smart Sensor in Sports and Biomedical Applications

PubMed Central

Mendes, José Jair Alves; Vieira, Mário Elias Marinho; Pires, Marcelo Bissi; Stevan, Sergio Luiz

2016-01-01

The following work presents an overview of smart sensors and sensor fusion targeted at biomedical applications and sports areas. In this work, the integration of these areas is demonstrated, promoting a reflection about techniques and applications to collect, quantify and qualify some physical variables associated with the human body. These techniques are presented in various biomedical and sports applications, which cover areas related to diagnostics, rehabilitation, physical monitoring, and the development of performance in athletes, among others. Although some applications are described in only one of two fields of study (biomedicine and sports), it is very likely that the same application fits in both, with small peculiarities or adaptations. To illustrate the contemporaneity of applications, an analysis of specialized papers published in the last six years has been made. In this context, the main characteristic of this review is to present the largest quantity of relevant examples of sensor fusion and smart sensors focusing on their utilization and proposals, without deeply addressing one specific system or technique, to the detriment of the others. PMID:27669260

Model-Based Method for Sensor Validation

NASA Technical Reports Server (NTRS)

Vatan, Farrokh

2012-01-01

Fault detection, diagnosis, and prognosis are essential tasks in the operation of autonomous spacecraft, instruments, and in situ platforms. One of NASA s key mission requirements is robust state estimation. Sensing, using a wide range of sensors and sensor fusion approaches, plays a central role in robust state estimation, and there is a need to diagnose sensor failure as well as component failure. Sensor validation can be considered to be part of the larger effort of improving reliability and safety. The standard methods for solving the sensor validation problem are based on probabilistic analysis of the system, from which the method based on Bayesian networks is most popular. Therefore, these methods can only predict the most probable faulty sensors, which are subject to the initial probabilities defined for the failures. The method developed in this work is based on a model-based approach and provides the faulty sensors (if any), which can be logically inferred from the model of the system and the sensor readings (observations). The method is also more suitable for the systems when it is hard, or even impossible, to find the probability functions of the system. The method starts by a new mathematical description of the problem and develops a very efficient and systematic algorithm for its solution. The method builds on the concepts of analytical redundant relations (ARRs).

Monitoring of slope-instabilities and deformations with Micro-Electro-Mechanical-Systems (MEMS) in wireless ad-hoc Sensor Networks

NASA Astrophysics Data System (ADS)

Arnhardt, C.; Fernández-Steeger, T. M.; Azzam, R.

2009-04-01

In most mountainous regions, landslides represent a major threat to human life, properties and infrastructures. Nowadays existing landslide monitoring systems are often characterized by high efforts in terms of purchase, installation, maintenance, manpower and material. In addition (or because of this) only small areas or selective points of the endangered zone can be observed by the system. Therefore the improvement of existing and the development of new monitoring and warning systems are of high relevance. The joint project "Sensor based Landslide Early Warning Systems" (SLEWS) deals with the development of a prototypic Alarm- and Early Warning system (EWS) for different types of landslides using low-cost micro-sensors (MEMS) integrated in a wireless sensor network (WSN). Modern so called Ad-Hoc, Multi-Hop wireless sensor networks (WSN) are characterized by a self organizing and self-healing capacity of the system (autonomous systems). The network consists of numerous individual and own energy-supply operating sensor nodes, that can send data packages from their measuring devices (here: MEMS) over other nodes (Multi-Hop) to a collection point (gateway). The gateway provides the interface to central processing and data retrieval units (PC, Laptop or server) outside the network. In order to detect and monitor the different landslide processes (like fall, topple, spreading or sliding) 3D MEMS capacitive sensors made from single silicon crystals and glass were chosen to measure acceleration, tilting and altitude changes. Based on the so called MEMS (Micro-Electro-Mechanical Systems) technology, the sensors combine very small mechanical and electronic units, sensing elements and transducers on a small microchip. The mass production of such type of sensors allows low cost applications in different areas (like automobile industries, medicine, and automation technology). Apart from the small and so space saving size and the low costs another advantage is the energy efficiency that permits measurements over a long period of time. A special sensor-board that accommodates the measuring sensors and the node of the WSN was developed. The standardized interfaces of the measuring sensors permit an easy interaction with the node and thus enable an uncomplicated data transfer to the gateway. The 3-axis acceleration sensor (measuring range: +/- 2g), the 2-axis inclination sensor (measuring range: +/- 30°) for measuring tilt and the barometric pressure sensor (measuring rang: 30kPa - 120 kPa) for measuring sub-meter height changes (altimeter) are currently integrated into the sensor network and are tested in realistic experiments. In addition sensor nodes with precise potentiometric displacement and linear magnetorestrictive position transducer are used for extension and convergence measurements. According to the accuracy of the first developed test stations, the results of the experiments showed that the selected sensors meet the requirement profile, as the stability is satisfying and the spreading of the data is quite low. Therefore the jet developed sensor boards can be tested in a larger environment of a sensor network. In order to get more information about accuracy in detail, experiments in a new more precise test bed and tests with different sampling rates will follow. Another increasingly important aspect for the future is the fusion of sensor data (i.e. combination and comparison) to identify malfunctions and to reduce false alarm rates, while increasing data quality at the same time. The correlation of different (complementary sensor fusion) but also identical sensor-types (redundant sensor fusion) permits a validation of measuring data. The development of special algorithms allows in a further step to analyze and evaluate the data from all nodes of the network together (sensor node fusion). The sensor fusion contributes to the decision making of alarm and early warning systems and allows a better interpretation of data. The network data are processed outside the network in a service orientated special data infrastructure (SDI) by standardized OGC (open Geospatial Consortium) conformal services and visualized according to the requirements of the end-user. The modular setup of the hardware, combined with standardized interfaces and open services for data processing allows an easy adaption or integration in existing solutions and other networks. The Monitoring system described here is characterized by very flexible structure, cost efficiency and high fail-safe level. The application of WSN in combination with MEMS provides an inexpensive, easy to set up and intelligent monitoring system for spatial data gathering in large areas.

Simulating Operation of a Complex Sensor Network

NASA Technical Reports Server (NTRS)

Jennings, Esther; Clare, Loren; Woo, Simon

2008-01-01

Simulation Tool for ASCTA Microsensor Network Architecture (STAMiNA) ["ASCTA" denotes the Advanced Sensors Collaborative Technology Alliance.] is a computer program for evaluating conceptual sensor networks deployed over terrain to provide military situational awareness. This or a similar program is needed because of the complexity of interactions among such diverse phenomena as sensing and communication portions of a network, deployment of sensor nodes, effects of terrain, data-fusion algorithms, and threat characteristics. STAMiNA is built upon a commercial network-simulator engine, with extensions to include both sensing and communication models in a discrete-event simulation environment. Users can define (1) a mission environment, including terrain features; (2) objects to be sensed; (3) placements and modalities of sensors, abilities of sensors to sense objects of various types, and sensor false alarm rates; (4) trajectories of threatening objects; (5) means of dissemination and fusion of data; and (6) various network configurations. By use of STAMiNA, one can simulate detection of targets through sensing, dissemination of information by various wireless communication subsystems under various scenarios, and fusion of information, incorporating such metrics as target-detection probabilities, false-alarm rates, and communication loads, and capturing effects of terrain and threat.

Approach to explosive hazard detection using sensor fusion and multiple kernel learning with downward-looking GPR and EMI sensor data

NASA Astrophysics Data System (ADS)

Pinar, Anthony; Masarik, Matthew; Havens, Timothy C.; Burns, Joseph; Thelen, Brian; Becker, John

2015-05-01

This paper explores the effectiveness of an anomaly detection algorithm for downward-looking ground penetrating radar (GPR) and electromagnetic inductance (EMI) data. Threat detection with GPR is challenged by high responses to non-target/clutter objects, leading to a large number of false alarms (FAs), and since the responses of target and clutter signatures are so similar, classifier design is not trivial. We suggest a method based on a Run Packing (RP) algorithm to fuse GPR and EMI data into a composite confidence map to improve detection as measured by the area-under-ROC (NAUC) metric. We examine the value of a multiple kernel learning (MKL) support vector machine (SVM) classifier using image features such as histogram of oriented gradients (HOG), local binary patterns (LBP), and local statistics. Experimental results on government furnished data show that use of our proposed fusion and classification methods improves the NAUC when compared with the results from individual sensors and a single kernel SVM classifier.

Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

PubMed Central

Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán, Jesús; Corominas, Andreu; Gilbert, Andrew; Illingworth, John; Merino, Luis; Mirats, Josep M.; Moreno, Plínio; Ollero, Aníbal; Sequeira, João; Spaan, Matthijs T.J.

2010-01-01

In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted. PMID:22294927

Visualization of Content Release from Cell Surface-Attached Single HIV-1 Particles Carrying an Extra-Viral Fluorescent pH-Sensor.

PubMed

Sood, Chetan; Marin, Mariana; Mason, Caleb S; Melikyan, Gregory B

2016-01-01

HIV-1 fusion leading to productive entry has long been thought to occur at the plasma membrane. However, our previous single virus imaging data imply that, after Env engagement of CD4 and coreceptors at the cell surface, the virus enters into and fuses with intracellular compartments. We were unable to reliably detect viral fusion at the plasma membrane. Here, we implement a novel virus labeling strategy that biases towards detection of virus fusion that occurs in a pH-neutral environment-at the plasma membrane or, possibly, in early pH-neutral vesicles. Virus particles are co-labeled with an intra-viral content marker, which is released upon fusion, and an extra-viral pH sensor consisting of ecliptic pHluorin fused to the transmembrane domain of ICAM-1. This sensor fully quenches upon virus trafficking to a mildly acidic compartment, thus precluding subsequent detection of viral content release. As an interesting secondary observation, the incorporation of the pH-sensor revealed that HIV-1 particles occasionally shuttle between neutral and acidic compartments in target cells expressing CD4, suggesting a small fraction of viral particles is recycled to the plasma membrane and re-internalized. By imaging viruses bound to living cells, we found that HIV-1 content release in neutral-pH environment was a rare event (~0.4% particles). Surprisingly, viral content release was not significantly reduced by fusion inhibitors, implying that content release was due to spontaneous formation of viral membrane defects occurring at the cell surface. We did not measure a significant occurrence of HIV-1 fusion at neutral pH above this defect-mediated background loss of content, suggesting that the pH sensor may destabilize the membrane of the HIV-1 pseudovirus and, thus, preclude reliable detection of single virus fusion events at neutral pH.

Statistically significant performance results of a mine detector and fusion algorithm from an x-band high-resolution SAR

NASA Astrophysics Data System (ADS)

Williams, Arnold C.; Pachowicz, Peter W.

2004-09-01

Current mine detection research indicates that no single sensor or single look from a sensor will detect mines/minefields in a real-time manner at a performance level suitable for a forward maneuver unit. Hence, the integrated development of detectors and fusion algorithms are of primary importance. A problem in this development process has been the evaluation of these algorithms with relatively small data sets, leading to anecdotal and frequently over trained results. These anecdotal results are often unreliable and conflicting among various sensors and algorithms. Consequently, the physical phenomena that ought to be exploited and the performance benefits of this exploitation are often ambiguous. The Army RDECOM CERDEC Night Vision Laboratory and Electron Sensors Directorate has collected large amounts of multisensor data such that statistically significant evaluations of detection and fusion algorithms can be obtained. Even with these large data sets care must be taken in algorithm design and data processing to achieve statistically significant performance results for combined detectors and fusion algorithms. This paper discusses statistically significant detection and combined multilook fusion results for the Ellipse Detector (ED) and the Piecewise Level Fusion Algorithm (PLFA). These statistically significant performance results are characterized by ROC curves that have been obtained through processing this multilook data for the high resolution SAR data of the Veridian X-Band radar. We discuss the implications of these results on mine detection and the importance of statistical significance, sample size, ground truth, and algorithm design in performance evaluation.

Mapping urban air quality in near real-time using observations from low-cost sensors and model information.

PubMed

Schneider, Philipp; Castell, Nuria; Vogt, Matthias; Dauge, Franck R; Lahoz, William A; Bartonova, Alena

2017-09-01

The recent emergence of low-cost microsensors measuring various air pollutants has significant potential for carrying out high-resolution mapping of air quality in the urban environment. However, the data obtained by such sensors are generally less reliable than that from standard equipment and they are subject to significant data gaps in both space and time. In order to overcome this issue, we present here a data fusion method based on geostatistics that allows for merging observations of air quality from a network of low-cost sensors with spatial information from an urban-scale air quality model. The performance of the methodology is evaluated for nitrogen dioxide in Oslo, Norway, using both simulated datasets and real-world measurements from a low-cost sensor network for January 2016. The results indicate that the method is capable of producing realistic hourly concentration fields of urban nitrogen dioxide that inherit the spatial patterns from the model and adjust the prior values using the information from the sensor network. The accuracy of the data fusion method is dependent on various factors including the total number of observations, their spatial distribution, their uncertainty (both in terms of systematic biases and random errors), as well as the ability of the model to provide realistic spatial patterns of urban air pollution. A validation against official data from air quality monitoring stations equipped with reference instrumentation indicates that the data fusion method is capable of reproducing city-wide averaged official values with an R 2 of 0.89 and a root mean squared error of 14.3 μg m -3 . It is further capable of reproducing the typical daily cycles of nitrogen dioxide. Overall, the results indicate that the method provides a robust way of extracting useful information from uncertain sensor data using only a time-invariant model dataset and the knowledge contained within an entire sensor network. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

Sensor data monitoring and decision level fusion scheme for early fire detection

NASA Astrophysics Data System (ADS)

Rizogiannis, Constantinos; Thanos, Konstantinos Georgios; Astyakopoulos, Alkiviadis; Kyriazanos, Dimitris M.; Thomopoulos, Stelios C. A.

2017-05-01

The aim of this paper is to present the sensor monitoring and decision level fusion scheme for early fire detection which has been developed in the context of the AF3 Advanced Forest Fire Fighting European FP7 research project, adopted specifically in the OCULUS-Fire control and command system and tested during a firefighting field test in Greece with prescribed real fire, generating early-warning detection alerts and notifications. For this purpose and in order to improve the reliability of the fire detection system, a two-level fusion scheme is developed exploiting a variety of observation solutions from air e.g. UAV infrared cameras, ground e.g. meteorological and atmospheric sensors and ancillary sources e.g. public information channels, citizens smartphone applications and social media. In the first level, a change point detection technique is applied to detect changes in the mean value of each measured parameter by the ground sensors such as temperature, humidity and CO2 and then the Rate-of-Rise of each changed parameter is calculated. In the second level the fire event Basic Probability Assignment (BPA) function is determined for each ground sensor using Fuzzy-logic theory and then the corresponding mass values are combined in a decision level fusion process using Evidential Reasoning theory to estimate the final fire event probability.

Information Fusion in Ad hoc Wireless Sensor Networks for Aircraft Health Monitoring

NASA Astrophysics Data System (ADS)

Fragoulis, Nikos; Tsagaris, Vassilis; Anastassopoulos, Vassilis

In this paper the use of an ad hoc wireless sensor network for implementing a structural health monitoring system is discussed. The network is consisted of sensors deployed throughout the aircraft. These sensors being in the form of a microelectronic chip and consisted of sensing, data processing and communicating components could be easily embedded in any mechanical aircraft component. The established sensor network, due to its ad hoc nature is easily scalable, allowing adding or removing any number of sensors. The position of the sensor nodes need not necessarily to be engineered or predetermined, giving this way the ability to be deployed in inaccessible points. Information collected from various sensors of different modalities throughout the aircraft is then fused in order to provide a more comprehensive image of the aircraft structural health. Sensor level fusion along with decision quality information is used, in order to enhance detection performance.

Liquid level sensor based on fiber ring laser with single-mode-offset coreless-single-mode fiber structure

NASA Astrophysics Data System (ADS)

Wang, Zixiao; Tan, Zhongwei; Xing, Rui; Liang, Linjun; Qi, Yanhui; Jian, Shuisheng

2016-10-01

A novel reflective liquid level sensor based on single-mode-offset coreless-single-mode (SOCS) fiber structure is proposed and experimentally demonstrated. Theory analyses and experimental results indicate that offset fusion can remarkably enhance the sensitivity of sensor. Ending-reflecting structure makes the sensor compact and easy to deploy. Meanwhile, we propose a laser sensing system, and the SOCS structure is used as sensing head and laser filter simultaneously. Experimental results show that laser spectra with high optical signal-to-noise ratio (-30 dB) and narrow 3-dB bandwidth (<0.15 nm) are achieved. Various liquids with different indices are used for liquid level sensing, besides, the refractive index sensitivity is also investigated. In measurement range, the sensing system presents steady laser output.

Inertial Sensor-Based Touch and Shake Metaphor for Expressive Control of 3D Virtual Avatars

PubMed Central

Patil, Shashidhar; Chintalapalli, Harinadha Reddy; Kim, Dubeom; Chai, Youngho

2015-01-01

In this paper, we present an inertial sensor-based touch and shake metaphor for expressive control of a 3D virtual avatar in a virtual environment. An intuitive six degrees-of-freedom wireless inertial motion sensor is used as a gesture and motion control input device with a sensor fusion algorithm. The algorithm enables user hand motions to be tracked in 3D space via magnetic, angular rate, and gravity sensors. A quaternion-based complementary filter is implemented to reduce noise and drift. An algorithm based on dynamic time-warping is developed for efficient recognition of dynamic hand gestures with real-time automatic hand gesture segmentation. Our approach enables the recognition of gestures and estimates gesture variations for continuous interaction. We demonstrate the gesture expressivity using an interactive flexible gesture mapping interface for authoring and controlling a 3D virtual avatar and its motion by tracking user dynamic hand gestures. This synthesizes stylistic variations in a 3D virtual avatar, producing motions that are not present in the motion database using hand gesture sequences from a single inertial motion sensor. PMID:26094629

On the Comparison of Wearable Sensor Data Fusion to a Single Sensor Machine Learning Technique in Fall Detection.

PubMed

Tsinganos, Panagiotis; Skodras, Athanassios

2018-02-14

In the context of the ageing global population, researchers and scientists have tried to find solutions to many challenges faced by older people. Falls, the leading cause of injury among elderly, are usually severe enough to require immediate medical attention; thus, their detection is of primary importance. To this effect, many fall detection systems that utilize wearable and ambient sensors have been proposed. In this study, we compare three newly proposed data fusion schemes that have been applied in human activity recognition and fall detection. Furthermore, these algorithms are compared to our recent work regarding fall detection in which only one type of sensor is used. The results show that fusion algorithms differ in their performance, whereas a machine learning strategy should be preferred. In conclusion, the methods presented and the comparison of their performance provide useful insights into the problem of fall detection.

Joint FACET: the Canada-Netherlands initiative to study multisensor data fusion systems

NASA Astrophysics Data System (ADS)

Bosse, Eloi; Theil, Arne; Roy, Jean; Huizing, Albert G.; van Aartsen, Simon

1998-09-01

This paper presents the progress of a collaborative effort between Canada and The Netherlands in analyzing multi-sensor data fusion systems, e.g. for potential application to their respective frigates. In view of the overlapping interest in studying and comparing applicability and performance and advanced state-of-the-art Multi-Sensor Data FUsion (MSDF) techniques, the two research establishments involved have decided to join their efforts in the development of MSDF testbeds. This resulted in the so-called Joint-FACET, a highly modular and flexible series of applications that is capable of processing both real and synthetic input data. Joint-FACET allows the user to create and edit test scenarios with multiple ships, sensor and targets, generate realistic sensor outputs, and to process these outputs with a variety of MSDF algorithms. These MSDF algorithms can also be tested using typical experimental data collected during live military exercises.

FPGA-Based Fused Smart-Sensor for Tool-Wear Area Quantitative Estimation in CNC Machine Inserts

PubMed Central

Trejo-Hernandez, Miguel; Osornio-Rios, Roque Alfredo; de Jesus Romero-Troncoso, Rene; Rodriguez-Donate, Carlos; Dominguez-Gonzalez, Aurelio; Herrera-Ruiz, Gilberto

2010-01-01

Manufacturing processes are of great relevance nowadays, when there is a constant claim for better productivity with high quality at low cost. The contribution of this work is the development of a fused smart-sensor, based on FPGA to improve the online quantitative estimation of flank-wear area in CNC machine inserts from the information provided by two primary sensors: the monitoring current output of a servoamplifier, and a 3-axis accelerometer. Results from experimentation show that the fusion of both parameters makes it possible to obtain three times better accuracy when compared with the accuracy obtained from current and vibration signals, individually used. PMID:22319304

Registration and Fusion of Multiple Source Remotely Sensed Image Data

NASA Technical Reports Server (NTRS)

LeMoigne, Jacqueline

2004-01-01

Earth and Space Science often involve the comparison, fusion, and integration of multiple types of remotely sensed data at various temporal, radiometric, and spatial resolutions. Results of this integration may be utilized for global change analysis, global coverage of an area at multiple resolutions, map updating or validation of new instruments, as well as integration of data provided by multiple instruments carried on multiple platforms, e.g. in spacecraft constellations or fleets of planetary rovers. Our focus is on developing methods to perform fast, accurate and automatic image registration and fusion. General methods for automatic image registration are being reviewed and evaluated. Various choices for feature extraction, feature matching and similarity measurements are being compared, including wavelet-based algorithms, mutual information and statistically robust techniques. Our work also involves studies related to image fusion and investigates dimension reduction and co-kriging for application-dependent fusion. All methods are being tested using several multi-sensor datasets, acquired at EOS Core Sites, and including multiple sensors such as IKONOS, Landsat-7/ETM+, EO1/ALI and Hyperion, MODIS, and SeaWIFS instruments. Issues related to the coregistration of data from the same platform (i.e., AIRS and MODIS from Aqua) or from several platforms of the A-train (i.e., MLS, HIRDLS, OMI from Aura with AIRS and MODIS from Terra and Aqua) will also be considered.

Data fusion of multiple kinect sensors for a rehabilitation system.

PubMed

Huibin Du; Yiwen Zhao; Jianda Han; Zheng Wang; Guoli Song

2016-08-01

Kinect-like depth sensors have been widely used in rehabilitation systems. However, single depth sensor processes limb-blocking, data loss or data error poorly, making it less reliable. This paper focus on using two Kinect sensors and data fusion method to solve these problems. First, two Kinect sensors capture the motion data of the healthy arm of the hemiplegic patient; Second, merge the data using the method of Set-Membership-Filter (SMF); Then, mirror this motion data by the Middle-Plane; In the end, control the wearable robotic arm driving the patient's paralytic arm so that the patient can interactively and initiatively complete a variety of recovery actions prompted by computer with 3D animation games.

Robotics and local fusion

NASA Astrophysics Data System (ADS)

Emmerman, Philip J.

2005-05-01

Teams of robots or mixed teams of warfighters and robots on reconnaissance and other missions can benefit greatly from a local fusion station. A local fusion station is defined here as a small mobile processor with interfaces to enable the ingestion of multiple heterogeneous sensor data and information streams, including blue force tracking data. These data streams are fused and integrated with contextual information (terrain features, weather, maps, dynamic background features, etc.), and displayed or processed to provide real time situational awareness to the robot controller or to the robots themselves. These blue and red force fusion applications remove redundancies, lessen ambiguities, correlate, aggregate, and integrate sensor information with context such as high resolution terrain. Applications such as safety, team behavior, asset control, training, pattern analysis, etc. can be generated or enhanced by these fusion stations. This local fusion station should also enable the interaction between these local units and a global information world.

Covariance descriptor fusion for target detection

NASA Astrophysics Data System (ADS)

Cukur, Huseyin; Binol, Hamidullah; Bal, Abdullah; Yavuz, Fatih

2016-05-01

Target detection is one of the most important topics for military or civilian applications. In order to address such detection tasks, hyperspectral imaging sensors provide useful images data containing both spatial and spectral information. Target detection has various challenging scenarios for hyperspectral images. To overcome these challenges, covariance descriptor presents many advantages. Detection capability of the conventional covariance descriptor technique can be improved by fusion methods. In this paper, hyperspectral bands are clustered according to inter-bands correlation. Target detection is then realized by fusion of covariance descriptor results based on the band clusters. The proposed combination technique is denoted Covariance Descriptor Fusion (CDF). The efficiency of the CDF is evaluated by applying to hyperspectral imagery to detect man-made objects. The obtained results show that the CDF presents better performance than the conventional covariance descriptor.

Kernel-Based Sensor Fusion With Application to Audio-Visual Voice Activity Detection

NASA Astrophysics Data System (ADS)

Dov, David; Talmon, Ronen; Cohen, Israel

2016-12-01

In this paper, we address the problem of multiple view data fusion in the presence of noise and interferences. Recent studies have approached this problem using kernel methods, by relying particularly on a product of kernels constructed separately for each view. From a graph theory point of view, we analyze this fusion approach in a discrete setting. More specifically, based on a statistical model for the connectivity between data points, we propose an algorithm for the selection of the kernel bandwidth, a parameter, which, as we show, has important implications on the robustness of this fusion approach to interferences. Then, we consider the fusion of audio-visual speech signals measured by a single microphone and by a video camera pointed to the face of the speaker. Specifically, we address the task of voice activity detection, i.e., the detection of speech and non-speech segments, in the presence of structured interferences such as keyboard taps and office noise. We propose an algorithm for voice activity detection based on the audio-visual signal. Simulation results show that the proposed algorithm outperforms competing fusion and voice activity detection approaches. In addition, we demonstrate that a proper selection of the kernel bandwidth indeed leads to improved performance.

Different source image fusion based on FPGA

NASA Astrophysics Data System (ADS)

Luo, Xiao; Piao, Yan

2016-03-01

The fusion technology of video image is to make the video obtained by different image sensors complementary to each other by some technical means, so as to obtain the video information which is rich in information and suitable for the human eye system. Infrared cameras in harsh environments such as when smoke, fog and low light situations penetrating power, but the ability to obtain the details of the image is poor, does not meet the human visual system. Single visible light imaging can be rich in detail, high resolution images and for the visual system, but the visible image easily affected by the external environment. Infrared image and visible image fusion process involved in the video image fusion algorithm complexity and high calculation capacity, have occupied more memory resources, high clock rate requirements, such as software, c ++, c, etc. to achieve more, but based on Hardware platform less. In this paper, based on the imaging characteristics of infrared images and visible light images, the software and hardware are combined to obtain the registration parameters through software matlab, and the gray level weighted average method is used to implement the hardware platform. Information fusion, and finally the fusion image can achieve the goal of effectively improving the acquisition of information to increase the amount of information in the image.

An energy-efficient data gathering protocol in large wireless sensor network

NASA Astrophysics Data System (ADS)

Wang, Yamin; Zhang, Ruihua; Tao, Shizhong

2006-11-01

Wireless sensor network consisting of a large number of small sensors with low-power transceiver can be an effective tool for gathering data in a variety of environment. The collected data must be transmitted to the base station for further processing. Since a network consists of sensors with limited battery energy, the method for data gathering and routing must be energy efficient in order to prolong the lifetime of the network. In this paper, we presented an energy-efficient data gathering protocol in wireless sensor network. The new protocol used data fusion technology clusters nodes into groups and builds a chain among the cluster heads according to a hybrid of the residual energy and distance to the base station. Results in stochastic geometry are used to derive the optimum parameter of our algorithm that minimizes the total energy spent in the network. Simulation results show performance superiority of the new protocol.

Wearable Textile Platform for Assessing Stroke Patient Treatment in Daily Life Conditions

PubMed Central

Lorussi, Federico; Carbonaro, Nicola; De Rossi, Danilo; Paradiso, Rita; Veltink, Peter; Tognetti, Alessandro

2016-01-01

Monitoring physical activities during post-stroke rehabilitation in daily life may help physicians to optimize and tailor the training program for patients. The European research project INTERACTION (FP7-ICT-2011-7-287351) evaluated motor capabilities in stroke patients during the recovery treatment period. We developed wearable sensing platform based on the sensor fusion among inertial, knitted piezoresistive sensors and textile EMG electrodes. The device was conceived in modular form and consists of a separate shirt, trousers, glove, and shoe. Thanks to the novel fusion approach it has been possible to develop a model for the shoulder taking into account the scapulo-thoracic joint of the scapular girdle, considerably improving the estimation of the hand position in reaching activities. In order to minimize the sensor set used to monitor gait, a single inertial sensor fused with a textile goniometer proved to reconstruct the orientation of all the body segments of the leg. Finally, the sensing glove, endowed with three textile goniometers and three force sensors showed good capabilities in the reconstruction of grasping activities and evaluating the interaction of the hand with the environment, according to the project specifications. This paper reports on the design and the technical evaluation of the performance of the sensing platform, tested on healthy subjects. PMID:27047939

A scale space feature based registration technique for fusion of satellite imagery

NASA Technical Reports Server (NTRS)

Raghavan, Srini; Cromp, Robert F.; Campbell, William C.

1997-01-01

Feature based registration is one of the most reliable methods to register multi-sensor images (both active and passive imagery) since features are often more reliable than intensity or radiometric values. The only situation where a feature based approach will fail is when the scene is completely homogenous or densely textural in which case a combination of feature and intensity based methods may yield better results. In this paper, we present some preliminary results of testing our scale space feature based registration technique, a modified version of feature based method developed earlier for classification of multi-sensor imagery. The proposed approach removes the sensitivity in parameter selection experienced in the earlier version as explained later.

Data Fusion for a Vision-Radiological System for Source Tracking and Discovery

DOE Office of Scientific and Technical Information (OSTI.GOV)

Enqvist, Andreas; Koppal, Sanjeev

2015-07-01

A multidisciplinary approach to allow the tracking of the movement of radioactive sources by fusing data from multiple radiological and visual sensors is under development. The goal is to improve the ability to detect, locate, track and identify nuclear/radiological threats. The key concept is that such widely available visual and depth sensors can impact radiological detection, since the intensity fall-off in the count rate can be correlated to movement in three dimensions. To enable this, we pose an important question; what is the right combination of sensing modalities and vision algorithms that can best compliment a radiological sensor, for themore » purpose of detection and tracking of radioactive material? Similarly what is the best radiation detection methods and unfolding algorithms suited for data fusion with tracking data? Data fusion of multi-sensor data for radiation detection have seen some interesting developments lately. Significant examples include intelligent radiation sensor systems (IRSS), which are based on larger numbers of distributed similar or identical radiation sensors coupled with position data for network capable to detect and locate radiation source. Other developments are gamma-ray imaging systems based on Compton scatter in segmented detector arrays. Similar developments using coded apertures or scatter cameras for neutrons have recently occurred. The main limitation of such systems is not so much in their capability but rather in their complexity and cost which is prohibitive for large scale deployment. Presented here is a fusion system based on simple, low-cost computer vision and radiological sensors for tracking of multiple objects and identifying potential radiological materials being transported or shipped. The main focus of this work is the development on two separate calibration algorithms for characterizing the fused sensor system. The deviation from a simple inverse square-root fall-off of radiation intensity is explored and accounted for. In particular, the computer vision system enables a map of distance-dependence of the sources being tracked. Infrared, laser or stereoscopic vision sensors are all options for computer-vision implementation depending on interior vs exterior deployment, resolution desired and other factors. Similarly the radiation sensors will be focused on gamma-ray or neutron detection due to the long travel length and ability to penetrate even moderate shielding. There is a significant difference between the vision sensors and radiation sensors in the way the 'source' or signals are generated. A vision sensor needs an external light-source to illuminate the object and then detects the re-emitted illumination (or lack thereof). However, for a radiation detector, the radioactive material is the source itself. The only exception to this is the field of active interrogations where radiation is beamed into a material to entice new/additional radiation emission beyond what the material would emit spontaneously. The aspect of the nuclear material being the source itself means that all other objects in the environment are 'illuminated' or irradiated by the source. Most radiation will readily penetrate regular material, scatter in new directions or be absorbed. Thus if a radiation source is located near a larger object that object will in turn scatter some radiation that was initially emitted in a direction other than the direction of the radiation detector, this can add to the count rate that is observed. The effect of these scatter is a deviation from the traditional distance dependence of the radiation signal and is a key challenge that needs a combined system calibration solution and algorithms. Thus both an algebraic approach as well as a statistical approach have been developed and independently evaluated to investigate the sensitivity to this deviation from the simplified radiation fall-off as a function of distance. The resulting calibrated system algorithms are used and demonstrated in various laboratory scenarios, and later in realistic tracking scenarios. The selection and testing of radiological and computer-vision sensors for the additional specific scenarios will be the subject of ongoing and future work. (authors)« less

Real-time MRI-guided needle intervention for cryoablation: a phantom study

NASA Astrophysics Data System (ADS)

Gao, Wenpeng; Jiang, Baichuan; Kacher, Dan F.; Fetics, Barry; Nevo, Erez; Lee, Thomas C.; Jayender, Jagadeesan

2017-03-01

MRI-guided needle intervention for cryoablation is a promising way to relieve the pain and treat the cancer. However, the limited size of MRI bore makes it impossible for clinicians to perform the operation in the bore. The patients had to be moved into the bore for scanning to verify the position of the needle's tip and out for adjusting the needle's trajectory. Real-time needle tracking and shown in MR images is of importance for clinicians to perform the operation more efficiently. In this paper, we have instrumented the cryotherapy needle with a MRI-safe electromagnetic (EM) sensor and optical sensor to measure the needle's position and orientation. To overcome the limitation of line-of-sight for optical sensor and the poor dynamic performance of the EM sensor, Kalman filter based data fusion is developed. Further, we developed a navigation system in open-source software, 3D Slicer, to provide accurate visualization of the needle and the surrounding anatomy. Experiment of simulation the needle intervention at the entrance was performed with a realistic spine phantom to quantify the accuracy of the navigation using the retrospective analysis method. Eleven trials of needle insertion were performed independently. The target accuracy with the navigation using only EM sensor, only optical sensor and data fusion are 2.27 +/-1.60 mm, 4.11 +/- 1.77 mm and 1.91 - 1.10 mm, respectively.

Multispectral multisensor image fusion using wavelet transforms

USGS Publications Warehouse

Lemeshewsky, George P.

1999-01-01

Fusion techniques can be applied to multispectral and higher spatial resolution panchromatic images to create a composite image that is easier to interpret than the individual images. Wavelet transform-based multisensor, multiresolution fusion (a type of band sharpening) was applied to Landsat thematic mapper (TM) multispectral and coregistered higher resolution SPOT panchromatic images. The objective was to obtain increased spatial resolution, false color composite products to support the interpretation of land cover types wherein the spectral characteristics of the imagery are preserved to provide the spectral clues needed for interpretation. Since the fusion process should not introduce artifacts, a shift invariant implementation of the discrete wavelet transform (SIDWT) was used. These results were compared with those using the shift variant, discrete wavelet transform (DWT). Overall, the process includes a hue, saturation, and value color space transform to minimize color changes, and a reported point-wise maximum selection rule to combine transform coefficients. The performance of fusion based on the SIDWT and DWT was evaluated with a simulated TM 30-m spatial resolution test image and a higher resolution reference. Simulated imagery was made by blurring higher resolution color-infrared photography with the TM sensors' point spread function. The SIDWT based technique produced imagery with fewer artifacts and lower error between fused images and the full resolution reference. Image examples with TM and SPOT 10-m panchromatic illustrate the reduction in artifacts due to the SIDWT based fusion.

Improvement of information fusion-based audio steganalysis

NASA Astrophysics Data System (ADS)

Kraetzer, Christian; Dittmann, Jana

2010-01-01

In the paper we extend an existing information fusion based audio steganalysis approach by three different kinds of evaluations: The first evaluation addresses the so far neglected evaluations on sensor level fusion. Our results show that this fusion removes content dependability while being capable of achieving similar classification rates (especially for the considered global features) if compared to single classifiers on the three exemplarily tested audio data hiding algorithms. The second evaluation enhances the observations on fusion from considering only segmental features to combinations of segmental and global features, with the result of a reduction of the required computational complexity for testing by about two magnitudes while maintaining the same degree of accuracy. The third evaluation tries to build a basis for estimating the plausibility of the introduced steganalysis approach by measuring the sensibility of the models used in supervised classification of steganographic material against typical signal modification operations like de-noising or 128kBit/s MP3 encoding. Our results show that for some of the tested classifiers the probability of false alarms rises dramatically after such modifications.

Deep learning decision fusion for the classification of urban remote sensing data

NASA Astrophysics Data System (ADS)

Abdi, Ghasem; Samadzadegan, Farhad; Reinartz, Peter

2018-01-01

Multisensor data fusion is one of the most common and popular remote sensing data classification topics by considering a robust and complete description about the objects of interest. Furthermore, deep feature extraction has recently attracted significant interest and has become a hot research topic in the geoscience and remote sensing research community. A deep learning decision fusion approach is presented to perform multisensor urban remote sensing data classification. After deep features are extracted by utilizing joint spectral-spatial information, a soft-decision made classifier is applied to train high-level feature representations and to fine-tune the deep learning framework. Next, a decision-level fusion classifies objects of interest by the joint use of sensors. Finally, a context-aware object-based postprocessing is used to enhance the classification results. A series of comparative experiments are conducted on the widely used dataset of 2014 IEEE GRSS data fusion contest. The obtained results illustrate the considerable advantages of the proposed deep learning decision fusion over the traditional classifiers.

Near Real-Time Multi-Sensor Fusion for Cued Reconnaissance: Operational Analysis of Operation Driftnet 2009

DTIC Science & Technology

2010-11-01

S.A. Horn, A. Zegers ; DRDC CORA TM 2010-252 ; R & D pour la défense Canada – CARO ; novembre 2010. Contexte : La pêche au filet dérivant est une... 13 3.1 Characterizing the Information Provided by the Sensors . . . . . . . . . . . . . . 13 3.2 Operational Decision Support...ship for a given RS2 cut-off length based on measurements of length deviations. . . . . . . . . . . . . . . . . . . . . . . . . 24 Figure 13 : AS-IS

Heterogeneous Multi-Metric Learning for Multi-Sensor Fusion

DTIC Science & Technology

2011-07-01

distance”. One of the most widely used methods is the k-nearest neighbor ( KNN ) method [4], which labels an input data sample to be the class with majority...despite of its simplicity, it can be an effective candidate and can be easily extended to handle multiple sensors. Distance based method such as KNN relies...Neighbor (LMNN) method [21] which will be briefly reviewed in the sequel. LMNN method tries to learn an optimal metric specifically for KNN classifier. The

Vehicle dynamic prediction systems with on-line identification of vehicle parameters and road conditions.

PubMed

Hsu, Ling-Yuan; Chen, Tsung-Lin

2012-11-13

This paper presents a vehicle dynamics prediction system, which consists of a sensor fusion system and a vehicle parameter identification system. This sensor fusion system can obtain the six degree-of-freedom vehicle dynamics and two road angles without using a vehicle model. The vehicle parameter identification system uses the vehicle dynamics from the sensor fusion system to identify ten vehicle parameters in real time, including vehicle mass, moment of inertial, and road friction coefficients. With above two systems, the future vehicle dynamics is predicted by using a vehicle dynamics model, obtained from the parameter identification system, to propagate with time the current vehicle state values, obtained from the sensor fusion system. Comparing with most existing literatures in this field, the proposed approach improves the prediction accuracy both by incorporating more vehicle dynamics to the prediction system and by on-line identification to minimize the vehicle modeling errors. Simulation results show that the proposed method successfully predicts the vehicle dynamics in a left-hand turn event and a rollover event. The prediction inaccuracy is 0.51% in a left-hand turn event and 27.3% in a rollover event.

Vehicle Dynamic Prediction Systems with On-Line Identification of Vehicle Parameters and Road Conditions

PubMed Central

Hsu, Ling-Yuan; Chen, Tsung-Lin

2012-01-01

This paper presents a vehicle dynamics prediction system, which consists of a sensor fusion system and a vehicle parameter identification system. This sensor fusion system can obtain the six degree-of-freedom vehicle dynamics and two road angles without using a vehicle model. The vehicle parameter identification system uses the vehicle dynamics from the sensor fusion system to identify ten vehicle parameters in real time, including vehicle mass, moment of inertial, and road friction coefficients. With above two systems, the future vehicle dynamics is predicted by using a vehicle dynamics model, obtained from the parameter identification system, to propagate with time the current vehicle state values, obtained from the sensor fusion system. Comparing with most existing literatures in this field, the proposed approach improves the prediction accuracy both by incorporating more vehicle dynamics to the prediction system and by on-line identification to minimize the vehicle modeling errors. Simulation results show that the proposed method successfully predicts the vehicle dynamics in a left-hand turn event and a rollover event. The prediction inaccuracy is 0.51% in a left-hand turn event and 27.3% in a rollover event. PMID:23202231

A dual-channel fusion system of visual and infrared images based on color transfer

NASA Astrophysics Data System (ADS)

Pei, Chuang; Jiang, Xiao-yu; Zhang, Peng-wei; Liang, Hao-cong

2013-09-01

A dual-channel fusion system of visual and infrared images based on color transfer The increasing availability and deployment of imaging sensors operating in multiple spectrums has led to a large research effort in image fusion, resulting in a plethora of pixel-level image fusion algorithms. However, most of these algorithms have gray or false color fusion results which are not adapt to human vision. Transfer color from a day-time reference image to get natural color fusion result is an effective way to solve this problem, but the computation cost of color transfer is expensive and can't meet the request of real-time image processing. We developed a dual-channel infrared and visual images fusion system based on TMS320DM642 digital signal processing chip. The system is divided into image acquisition and registration unit, image fusion processing unit, system control unit and image fusion result out-put unit. The image registration of dual-channel images is realized by combining hardware and software methods in the system. False color image fusion algorithm in RGB color space is used to get R-G fused image, then the system chooses a reference image to transfer color to the fusion result. A color lookup table based on statistical properties of images is proposed to solve the complexity computation problem in color transfer. The mapping calculation between the standard lookup table and the improved color lookup table is simple and only once for a fixed scene. The real-time fusion and natural colorization of infrared and visual images are realized by this system. The experimental result shows that the color-transferred images have a natural color perception to human eyes, and can highlight the targets effectively with clear background details. Human observers with this system will be able to interpret the image better and faster, thereby improving situational awareness and reducing target detection time.

A Novel Sensor System for Measuring Wheel Loads of Vehicles on Highways

PubMed Central

Zhang, Wenbin; Suo, Chunguang; Wang, Qi

2008-01-01

With the development of the highway transportation and business trade, vehicle Weigh-In-Motion (WIM) technology has become a key technology for measuring traffic loads. In this paper a novel WIM system based on monitoring of pavement strain responses in rigid pavement was investigated. In this WIM system multiple low cost, light weight, small volume and high accuracy embedded concrete strain sensors were used as WIM sensors to measure rigid pavement strain responses. In order to verify the feasibility of the method, a system prototype based on multiple sensors was designed and deployed on a relatively busy freeway. Field calibration and tests were performed with known two-axle truck wheel loads and the measurement errors were calculated based on the static weights measured with a static weighbridge. This enables the weights of other vehicles to be calculated from the calibration constant. Calibration and test results for individual sensors or three-sensor fusions are both provided. Repeatability, sources of error, and weight accuracy are discussed. Successful results showed that the proposed method was feasible and proven to have a high accuracy. Furthermore, a sample mean approach using multiple fused individual sensors could provide better performance compared to individual sensors. PMID:27873952

Strategies for enhancing bioluminescent bacterial sensor performance by promoter region manipulation

PubMed Central

Bilic, Benny; Belkin, Shimshon

2010-01-01

Genetically engineered microbial reporter strains are based upon the fusion of an inducible sensing element upstream of a reporting element, so that the construct emits a dose-dependent signal when exposed to the inducing compound(s) or stress factor(s). In this communication1 we described several general approaches undertaken in order to enhance the sensing performance of such promoter::reporter fusions. Significant improvements in detection sensitivity, response kinetics and signal intensity were achieved by modi fication of the length of the promoter-containing DNA fragment, by random or site-directed mutagenesis and by promoter duplication. The general nature of these genetics manipulations makes them applicable to other types of promoter::reporter fusions. PMID:21326942

An Autonomous Sensor System Architecture for Active Flow and Noise Control Feedback

NASA Technical Reports Server (NTRS)

Humphreys, William M, Jr.; Culliton, William G.

2008-01-01

Multi-channel sensor fusion represents a powerful technique to simply and efficiently extract information from complex phenomena. While the technique has traditionally been used for military target tracking and situational awareness, a study has been successfully completed that demonstrates that sensor fusion can be applied equally well to aerodynamic applications. A prototype autonomous hardware processor was successfully designed and used to detect in real-time the two-dimensional flow reattachment location generated by a simple separated-flow wind tunnel model. The success of this demonstration illustrates the feasibility of using autonomous sensor processing architectures to enhance flow control feedback signal generation.

Application of data fusion techniques and technologies for wearable health monitoring.

PubMed

King, Rachel C; Villeneuve, Emma; White, Ruth J; Sherratt, R Simon; Holderbaum, William; Harwin, William S

2017-04-01

Technological advances in sensors and communications have enabled discrete integration into everyday objects, both in the home and about the person. Information gathered by monitoring physiological, behavioural, and social aspects of our lives, can be used to achieve a positive impact on quality of life, health, and well-being. Wearable sensors are at the cusp of becoming truly pervasive, and could be woven into the clothes and accessories that we wear such that they become ubiquitous and transparent. To interpret the complex multidimensional information provided by these sensors, data fusion techniques are employed to provide a meaningful representation of the sensor outputs. This paper is intended to provide a short overview of data fusion techniques and algorithms that can be used to interpret wearable sensor data in the context of health monitoring applications. The application of these techniques are then described in the context of healthcare including activity and ambulatory monitoring, gait analysis, fall detection, and biometric monitoring. A snap-shot of current commercially available sensors is also provided, focusing on their sensing capability, and a commentary on the gaps that need to be bridged to bring research to market. Copyright © 2017. Published by Elsevier Ltd.

Generic Sensor Data Fusion Services for Web-enabled Environmental Risk Management and Decision-Support Systems

NASA Astrophysics Data System (ADS)

Sabeur, Zoheir; Middleton, Stuart; Veres, Galina; Zlatev, Zlatko; Salvo, Nicola

2010-05-01

The advancement of smart sensor technology in the last few years has led to an increase in the deployment of affordable sensors for monitoring the environment around Europe. This is generating large amounts of sensor observation information and inevitably leading to problems about how to manage large volumes of data as well as making sense out the data for decision-making. In addition, the various European Directives (Water Framework Diectives, Bathing Water Directives, Habitat Directives, etc.. ) which regulate human activities in the environment and the INSPIRE Directive on spatial information management regulations have implicitely led the designated European Member States environment agencies and authorities to put in place new sensor monitoring infrastructure and share information about environmental regions under their statutory responsibilities. They will need to work cross border and collectively reach environmental quality standards. They will also need to regularly report to the EC on the quality of the environments of which they are responsible and make such information accessible to the members of the public. In recent years, early pioneering work on the design of service oriented architecture using sensor networks has been achieved. Information web-services infrastructure using existing data catalogues and web-GIS map services can now be enriched with the deployment of new sensor observation and data fusion and modelling services using OGC standards. The deployment of the new services which describe sensor observations and intelligent data-processing using data fusion techniques can now be implemented and provide added value information with spatial-temporal uncertainties to the next generation of decision support service systems. The new decision support service systems have become key to implement across Europe in order to comply with EU environmental regulations and INSPIRE. In this paper, data fusion services using OGC standards with sensor observation data streams are described in context of a geo-distributed service infrastructure specialising in multiple environmental risk management and decision-support. The sensor data fusion services are deployed and validated in two use cases. These are respectively concerned with: 1) Microbial risks forecast in bathing waters; and 2) Geohazards in urban zones during underground tunneling activities. This research was initiated in the SANY Integrated Project(www.sany-ip.org) and funded by the European Commission under the 6th Framework Programme.

Near Real-Time Monitoring of Forest Disturbance: A Multi-Sensor Remote Sensing Approach and Assessment Framework

NASA Astrophysics Data System (ADS)

Tang, Xiaojing

Fast and accurate monitoring of tropical forest disturbance is essential for understanding current patterns of deforestation as well as helping eliminate illegal logging. This dissertation explores the use of data from different satellites for near real-time monitoring of forest disturbance in tropical forests, including: development of new monitoring methods; development of new assessment methods; and assessment of the performance and operational readiness of existing methods. Current methods for accuracy assessment of remote sensing products do not address the priority of near real-time monitoring of detecting disturbance events as early as possible. I introduce a new assessment framework for near real-time products that focuses on the timing and the minimum detectable size of disturbance events. The new framework reveals the relationship between change detection accuracy and the time needed to identify events. In regions that are frequently cloudy, near real-time monitoring using data from a single sensor is difficult. This study extends the work by Xin et al. (2013) and develops a new time series method (Fusion2) based on fusion of Landsat and MODIS (Moderate Resolution Imaging Spectroradiometer) data. Results of three test sites in the Amazon Basin show that Fusion2 can detect 44.4% of the forest disturbance within 13 clear observations (82 days) after the initial disturbance. The smallest event detected by Fusion2 is 6.5 ha. Also, Fusion2 detects disturbance faster and has less commission error than more conventional methods. In a comparison of coarse resolution sensors, MODIS Terra and Aqua combined provides faster and more accurate detection of disturbance events than VIIRS (Visible Infrared Imaging Radiometer Suite) and MODIS single sensor data. The performance of near real-time monitoring using VIIRS is slightly worse than MODIS Terra but significantly better than MODIS Aqua. New monitoring methods developed in this dissertation provide forest protection organizations the capacity to monitor illegal logging events promptly. In the future, combining two Landsat and two Sentinel-2 satellites will provide global coverage at 30 m resolution every 4 days, and routine monitoring may be possible at high resolution. The methods and assessment framework developed in this dissertation are adaptable to newly available datasets.

Neural methods based on modified reputation rules for detection and identification of intrusion attacks in wireless ad hoc sensor networks

NASA Astrophysics Data System (ADS)

Hortos, William S.

2010-04-01

Determining methods to secure the process of data fusion against attacks by compromised nodes in wireless sensor networks (WSNs) and to quantify the uncertainty that may exist in the aggregation results is a critical issue in mitigating the effects of intrusion attacks. Published research has introduced the concept of the trustworthiness (reputation) of a single sensor node. Reputation is evaluated using an information-theoretic concept, the Kullback- Leibler (KL) distance. Reputation is added to the set of security features. In data aggregation, an opinion, a metric of the degree of belief, is generated to represent the uncertainty in the aggregation result. As aggregate information is disseminated along routes to the sink node(s), its corresponding opinion is propagated and regulated by Josang's belief model. By applying subjective logic on the opinion to manage trust propagation, the uncertainty inherent in aggregation results can be quantified for use in decision making. The concepts of reputation and opinion are modified to allow their application to a class of dynamic WSNs. Using reputation as a factor in determining interim aggregate information is equivalent to implementation of a reputation-based security filter at each processing stage of data fusion, thereby improving the intrusion detection and identification results based on unsupervised techniques. In particular, the reputation-based version of the probabilistic neural network (PNN) learns the signature of normal network traffic with the random probability weights normally used in the PNN replaced by the trust-based quantified reputations of sensor data or subsequent aggregation results generated by the sequential implementation of a version of Josang's belief model. A two-stage, intrusion detection and identification algorithm is implemented to overcome the problems of large sensor data loads and resource restrictions in WSNs. Performance of the twostage algorithm is assessed in simulations of WSN scenarios with multiple sensors at edge nodes for known intrusion attacks. Simulation results show improved robustness of the two-stage design based on reputation-based NNs to intrusion anomalies from compromised nodes and external intrusion attacks.

Multi-Sensor Data Fusion Identification for Shearer Cutting Conditions Based on Parallel Quasi-Newton Neural Networks and the Dempster-Shafer Theory.

PubMed

Si, Lei; Wang, Zhongbin; Liu, Xinhua; Tan, Chao; Xu, Jing; Zheng, Kehong

2015-11-13

In order to efficiently and accurately identify the cutting condition of a shearer, this paper proposed an intelligent multi-sensor data fusion identification method using the parallel quasi-Newton neural network (PQN-NN) and the Dempster-Shafer (DS) theory. The vibration acceleration signals and current signal of six cutting conditions were collected from a self-designed experimental system and some special state features were extracted from the intrinsic mode functions (IMFs) based on the ensemble empirical mode decomposition (EEMD). In the experiment, three classifiers were trained and tested by the selected features of the measured data, and the DS theory was used to combine the identification results of three single classifiers. Furthermore, some comparisons with other methods were carried out. The experimental results indicate that the proposed method performs with higher detection accuracy and credibility than the competing algorithms. Finally, an industrial application example in the fully mechanized coal mining face was demonstrated to specify the effect of the proposed system.

In vitro three-dimensional aortic vasculature modeling based on sensor fusion between intravascular ultrasound and magnetic tracker.

PubMed

Shi, Chaoyang; Tercero, Carlos; Ikeda, Seiichi; Ooe, Katsutoshi; Fukuda, Toshio; Komori, Kimihiro; Yamamoto, Kiyohito

2012-09-01

It is desirable to reduce aortic stent graft installation time and the amount of contrast media used for this process. Guidance with augmented reality can achieve this by facilitating alignment of the stent graft with the renal and mesenteric arteries. For this purpose, a sensor fusion is proposed between intravascular ultrasound (IVUS) and magnetic trackers to construct three-dimensional virtual reality models of the blood vessels, as well as improvements to the gradient vector flow snake for boundary detection in ultrasound images. In vitro vasculature imaging experiments were done with hybrid probe and silicone models of the vasculature. The dispersion of samples for the magnetic tracker in the hybrid probe increased less than 1 mm when the IVUS was activated. Three-dimensional models of the descending thoracic aorta, with cross-section radius average error of 0.94 mm, were built from the data fusion. The development of this technology will enable reduction in the amount of contrast media required for in vivo and real-time three-dimensional blood vessel imaging. Copyright © 2012 John Wiley & Sons, Ltd.

State Estimation Using Dependent Evidence Fusion: Application to Acoustic Resonance-Based Liquid Level Measurement.

PubMed

Xu, Xiaobin; Li, Zhenghui; Li, Guo; Zhou, Zhe

2017-04-21

Estimating the state of a dynamic system via noisy sensor measurement is a common problem in sensor methods and applications. Most state estimation methods assume that measurement noise and state perturbations can be modeled as random variables with known statistical properties. However in some practical applications, engineers can only get the range of noises, instead of the precise statistical distributions. Hence, in the framework of Dempster-Shafer (DS) evidence theory, a novel state estimatation method by fusing dependent evidence generated from state equation, observation equation and the actual observations of the system states considering bounded noises is presented. It can be iteratively implemented to provide state estimation values calculated from fusion results at every time step. Finally, the proposed method is applied to a low-frequency acoustic resonance level gauge to obtain high-accuracy measurement results.

General fusion approaches for the age determination of latent fingerprint traces: results for 2D and 3D binary pixel feature fusion

NASA Astrophysics Data System (ADS)

Merkel, Ronny; Gruhn, Stefan; Dittmann, Jana; Vielhauer, Claus; Bräutigam, Anja

2012-03-01

Determining the age of latent fingerprint traces found at crime scenes is an unresolved research issue since decades. Solving this issue could provide criminal investigators with the specific time a fingerprint trace was left on a surface, and therefore would enable them to link potential suspects to the time a crime took place as well as to reconstruct the sequence of events or eliminate irrelevant fingerprints to ensure privacy constraints. Transferring imaging techniques from different application areas, such as 3D image acquisition, surface measurement and chemical analysis to the domain of lifting latent biometric fingerprint traces is an upcoming trend in forensics. Such non-destructive sensor devices might help to solve the challenge of determining the age of a latent fingerprint trace, since it provides the opportunity to create time series and process them using pattern recognition techniques and statistical methods on digitized 2D, 3D and chemical data, rather than classical, contact-based capturing techniques, which alter the fingerprint trace and therefore make continuous scans impossible. In prior work, we have suggested to use a feature called binary pixel, which is a novel approach in the working field of fingerprint age determination. The feature uses a Chromatic White Light (CWL) image sensor to continuously scan a fingerprint trace over time and retrieves a characteristic logarithmic aging tendency for 2D-intensity as well as 3D-topographic images from the sensor. In this paper, we propose to combine such two characteristic aging features with other 2D and 3D features from the domains of surface measurement, microscopy, photography and spectroscopy, to achieve an increase in accuracy and reliability of a potential future age determination scheme. Discussing the feasibility of such variety of sensor devices and possible aging features, we propose a general fusion approach, which might combine promising features to a joint age determination scheme in future. We furthermore demonstrate the feasibility of the introduced approach by exemplary fusing the binary pixel features based on 2D-intensity and 3D-topographic images of the mentioned CWL sensor. We conclude that a formula based age determination approach requires very precise image data, which cannot be achieved at the moment, whereas a machine learning based classification approach seems to be feasible, if an adequate amount of features can be provided.

Multiscale image fusion using the undecimated wavelet transform with spectral factorization and nonorthogonal filter banks.

PubMed

Ellmauthaler, Andreas; Pagliari, Carla L; da Silva, Eduardo A B

2013-03-01

Multiscale transforms are among the most popular techniques in the field of pixel-level image fusion. However, the fusion performance of these methods often deteriorates for images derived from different sensor modalities. In this paper, we demonstrate that for such images, results can be improved using a novel undecimated wavelet transform (UWT)-based fusion scheme, which splits the image decomposition process into two successive filtering operations using spectral factorization of the analysis filters. The actual fusion takes place after convolution with the first filter pair. Its significantly smaller support size leads to the minimization of the unwanted spreading of coefficient values around overlapping image singularities. This usually complicates the feature selection process and may lead to the introduction of reconstruction errors in the fused image. Moreover, we will show that the nonsubsampled nature of the UWT allows the design of nonorthogonal filter banks, which are more robust to artifacts introduced during fusion, additionally improving the obtained results. The combination of these techniques leads to a fusion framework, which provides clear advantages over traditional multiscale fusion approaches, independent of the underlying fusion rule, and reduces unwanted side effects such as ringing artifacts in the fused reconstruction.

Enhancement of low light level images using color-plus-mono dual camera.

PubMed

Jung, Yong Ju

2017-05-15

In digital photography, the improvement of imaging quality in low light shooting is one of the users' needs. Unfortunately, conventional smartphone cameras that use a single, small image sensor cannot provide satisfactory quality in low light level images. A color-plus-mono dual camera that consists of two horizontally separate image sensors, which simultaneously captures both a color and mono image pair of the same scene, could be useful for improving the quality of low light level images. However, an incorrect image fusion between the color and mono image pair could also have negative effects, such as the introduction of severe visual artifacts in the fused images. This paper proposes a selective image fusion technique that applies an adaptive guided filter-based denoising and selective detail transfer to only those pixels deemed reliable with respect to binocular image fusion. We employ a dissimilarity measure and binocular just-noticeable-difference (BJND) analysis to identify unreliable pixels that are likely to cause visual artifacts during image fusion via joint color image denoising and detail transfer from the mono image. By constructing an experimental system of color-plus-mono camera, we demonstrate that the BJND-aware denoising and selective detail transfer is helpful in improving the image quality during low light shooting.

An Indoor Continuous Positioning Algorithm on the Move by Fusing Sensors and Wi-Fi on Smartphones

PubMed Central

Li, Huaiyu; Chen, Xiuwan; Jing, Guifei; Wang, Yuan; Cao, Yanfeng; Li, Fei; Zhang, Xinlong; Xiao, Han

2015-01-01

Wi-Fi indoor positioning algorithms experience large positioning error and low stability when continuously positioning terminals that are on the move. This paper proposes a novel indoor continuous positioning algorithm that is on the move, fusing sensors and Wi-Fi on smartphones. The main innovative points include an improved Wi-Fi positioning algorithm and a novel positioning fusion algorithm named the Trust Chain Positioning Fusion (TCPF) algorithm. The improved Wi-Fi positioning algorithm was designed based on the properties of Wi-Fi signals on the move, which are found in a novel “quasi-dynamic” Wi-Fi signal experiment. The TCPF algorithm is proposed to realize the “process-level” fusion of Wi-Fi and Pedestrians Dead Reckoning (PDR) positioning, including three parts: trusted point determination, trust state and positioning fusion algorithm. An experiment is carried out for verification in a typical indoor environment, and the average positioning error on the move is 1.36 m, a decrease of 28.8% compared to an existing algorithm. The results show that the proposed algorithm can effectively reduce the influence caused by the unstable Wi-Fi signals, and improve the accuracy and stability of indoor continuous positioning on the move. PMID:26690447

Real-time classification and sensor fusion with a spiking deep belief network

PubMed Central

O'Connor, Peter; Neil, Daniel; Liu, Shih-Chii; Delbruck, Tobi; Pfeiffer, Michael

2013-01-01

Deep Belief Networks (DBNs) have recently shown impressive performance on a broad range of classification problems. Their generative properties allow better understanding of the performance, and provide a simpler solution for sensor fusion tasks. However, because of their inherent need for feedback and parallel update of large numbers of units, DBNs are expensive to implement on serial computers. This paper proposes a method based on the Siegert approximation for Integrate-and-Fire neurons to map an offline-trained DBN onto an efficient event-driven spiking neural network suitable for hardware implementation. The method is demonstrated in simulation and by a real-time implementation of a 3-layer network with 2694 neurons used for visual classification of MNIST handwritten digits with input from a 128 × 128 Dynamic Vision Sensor (DVS) silicon retina, and sensory-fusion using additional input from a 64-channel AER-EAR silicon cochlea. The system is implemented through the open-source software in the jAER project and runs in real-time on a laptop computer. It is demonstrated that the system can recognize digits in the presence of distractions, noise, scaling, translation and rotation, and that the degradation of recognition performance by using an event-based approach is less than 1%. Recognition is achieved in an average of 5.8 ms after the onset of the presentation of a digit. By cue integration from both silicon retina and cochlea outputs we show that the system can be biased to select the correct digit from otherwise ambiguous input. PMID:24115919

The role of multisensor data fusion in neuromuscular control of a sagittal arm with a pair of muscles using actor-critic reinforcement learning method.

PubMed

Golkhou, V; Parnianpour, M; Lucas, C

2004-01-01

In this study, we consider the role of multisensor data fusion in neuromuscular control using an actor-critic reinforcement learning method. The model we use is a single link system actuated by a pair of muscles that are excited with alpha and gamma signals. Various physiological sensor information such as proprioception, spindle sensors, and Golgi tendon organs have been integrated to achieve an oscillatory movement with variable amplitude and frequency, while achieving a stable movement with minimum metabolic cost and coactivation. The system is highly nonlinear in all its physical and physiological attributes. Transmission delays are included in the afferent and efferent neural paths to account for a more accurate representation of the reflex loops. This paper proposes a reinforcement learning method with an Actor-Critic architecture instead of middle and low level of central nervous system (CNS). The Actor in this structure is a two layer feedforward neural network and the Critic is a model of the cerebellum. The Critic is trained by the State-Action-Reward-State-Action (SARSA) method. The Critic will train the Actor by supervisory learning based on previous experiences. The reinforcement signal in SARSA is evaluated based on available alternatives concerning the concept of multisensor data fusion. The effectiveness and the biological plausibility of the present model are demonstrated by several simulations. The system showed excellent tracking capability when we integrated the available sensor information. Addition of a penalty for activation of muscles resulted in much lower muscle coactivation while keeping the movement stable.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shi, Xin, E-mail: xinshih86029@gmail.com; Zhao, Xiangmo, E-mail: xinshih86029@gmail.com; Hui, Fei, E-mail: xinshih86029@gmail.com

Clock synchronization in wireless sensor networks (WSNs) has been studied extensively in recent years and many protocols are put forward based on the point of statistical signal processing, which is an effective way to optimize accuracy. However, the accuracy derived from the statistical data can be improved mainly by sufficient packets exchange, which will consume the limited power resources greatly. In this paper, a reliable clock estimation using linear weighted fusion based on pairwise broadcast synchronization is proposed to optimize sync accuracy without expending additional sync packets. As a contribution, a linear weighted fusion scheme for multiple clock deviations ismore » constructed with the collaborative sensing of clock timestamp. And the fusion weight is defined by the covariance of sync errors for different clock deviations. Extensive simulation results show that the proposed approach can achieve better performance in terms of sync overhead and sync accuracy.« less

Autonomous UAV-Based Mapping of Large-Scale Urban Firefights

DOE Office of Scientific and Technical Information (OSTI.GOV)

Snarski, S; Scheibner, K F; Shaw, S

2006-03-09

This paper describes experimental results from a live-fire data collect designed to demonstrate the ability of IR and acoustic sensing systems to detect and map high-volume gunfire events from tactical UAVs. The data collect supports an exploratory study of the FightSight concept in which an autonomous UAV-based sensor exploitation and decision support capability is being proposed to provide dynamic situational awareness for large-scale battalion-level firefights in cluttered urban environments. FightSight integrates IR imagery, acoustic data, and 3D scene context data with prior time information in a multi-level, multi-step probabilistic-based fusion process to reliably locate and map the array of urbanmore » firing events and firepower movements and trends associated with the evolving urban battlefield situation. Described here are sensor results from live-fire experiments involving simultaneous firing of multiple sub/super-sonic weapons (2-AK47, 2-M16, 1 Beretta, 1 Mortar, 1 rocket) with high optical and acoustic clutter at ranges up to 400m. Sensor-shooter-target configurations and clutter were designed to simulate UAV sensing conditions for a high-intensity firefight in an urban environment. Sensor systems evaluated were an IR bullet tracking system by Lawrence Livermore National Laboratory (LLNL) and an acoustic gunshot detection system by Planning Systems, Inc. (PSI). The results demonstrate convincingly the ability for the LLNL and PSI sensor systems to accurately detect, separate, and localize multiple shooters and the associated shot directions during a high-intensity firefight (77 rounds in 5 sec) in a high acoustic and optical clutter environment with no false alarms. Preliminary fusion processing was also examined that demonstrated an ability to distinguish co-located shooters (shooter density), range to <0.5 m accuracy at 400m, and weapon type.« less

A Smartphone-Based Driver Safety Monitoring System Using Data Fusion

PubMed Central

Lee, Boon-Giin; Chung, Wan-Young

2012-01-01

This paper proposes a method for monitoring driver safety levels using a data fusion approach based on several discrete data types: eye features, bio-signal variation, in-vehicle temperature, and vehicle speed. The driver safety monitoring system was developed in practice in the form of an application for an Android-based smartphone device, where measuring safety-related data requires no extra monetary expenditure or equipment. Moreover, the system provides high resolution and flexibility. The safety monitoring process involves the fusion of attributes gathered from different sensors, including video, electrocardiography, photoplethysmography, temperature, and a three-axis accelerometer, that are assigned as input variables to an inference analysis framework. A Fuzzy Bayesian framework is designed to indicate the driver’s capability level and is updated continuously in real-time. The sensory data are transmitted via Bluetooth communication to the smartphone device. A fake incoming call warning service alerts the driver if his or her safety level is suspiciously compromised. Realistic testing of the system demonstrates the practical benefits of multiple features and their fusion in providing a more authentic and effective driver safety monitoring. PMID:23247416

Performance Evaluation of Fusing Protected Fingerprint Minutiae Templates on the Decision Level

PubMed Central

Yang, Bian; Busch, Christoph; de Groot, Koen; Xu, Haiyun; Veldhuis, Raymond N. J.

2012-01-01

In a biometric authentication system using protected templates, a pseudonymous identifier is the part of a protected template that can be directly compared. Each compared pair of pseudonymous identifiers results in a decision testing whether both identifiers are derived from the same biometric characteristic. Compared to an unprotected system, most existing biometric template protection methods cause to a certain extent degradation in biometric performance. Fusion is therefore a promising way to enhance the biometric performance in template-protected biometric systems. Compared to feature level fusion and score level fusion, decision level fusion has not only the least fusion complexity, but also the maximum interoperability across different biometric features, template protection and recognition algorithms, templates formats, and comparison score rules. However, performance improvement via decision level fusion is not obvious. It is influenced by both the dependency and the performance gap among the conducted tests for fusion. We investigate in this paper several fusion scenarios (multi-sample, multi-instance, multi-sensor, multi-algorithm, and their combinations) on the binary decision level, and evaluate their biometric performance and fusion efficiency on a multi-sensor fingerprint database with 71,994 samples. PMID:22778583

A novel multisensor traffic state assessment system based on incomplete data.

PubMed

Zeng, Yiliang; Lan, Jinhui; Ran, Bin; Jiang, Yaoliang

2014-01-01

A novel multisensor system with incomplete data is presented for traffic state assessment. The system comprises probe vehicle detection sensors, fixed detection sensors, and traffic state assessment algorithm. First of all, the validity checking of the traffic flow data is taken as preprocessing of this method. And then a new method based on the history data information is proposed to fuse and recover the incomplete data. According to the characteristics of space complementary of data based on the probe vehicle detector and fixed detector, a fusion model of space matching is presented to estimate the mean travel speed of the road. Finally, the traffic flow data include flow, speed and, occupancy rate, which are detected between Beijing Deshengmen bridge and Drum Tower bridge, are fused to assess the traffic state of the road by using the fusion decision model of rough sets and cloud. The accuracy of experiment result can reach more than 98%, and the result is in accordance with the actual road traffic state. This system is effective to assess traffic state, and it is suitable for the urban intelligent transportation system.

A Novel Multisensor Traffic State Assessment System Based on Incomplete Data

PubMed Central

Zeng, Yiliang; Lan, Jinhui; Ran, Bin; Jiang, Yaoliang

2014-01-01

A novel multisensor system with incomplete data is presented for traffic state assessment. The system comprises probe vehicle detection sensors, fixed detection sensors, and traffic state assessment algorithm. First of all, the validity checking of the traffic flow data is taken as preprocessing of this method. And then a new method based on the history data information is proposed to fuse and recover the incomplete data. According to the characteristics of space complementary of data based on the probe vehicle detector and fixed detector, a fusion model of space matching is presented to estimate the mean travel speed of the road. Finally, the traffic flow data include flow, speed and, occupancy rate, which are detected between Beijing Deshengmen bridge and Drum Tower bridge, are fused to assess the traffic state of the road by using the fusion decision model of rough sets and cloud. The accuracy of experiment result can reach more than 98%, and the result is in accordance with the actual road traffic state. This system is effective to assess traffic state, and it is suitable for the urban intelligent transportation system. PMID:25162055

A Novel Multi-Sensor Environmental Perception Method Using Low-Rank Representation and a Particle Filter for Vehicle Reversing Safety

PubMed Central

Zhang, Zutao; Li, Yanjun; Wang, Fubing; Meng, Guanjun; Salman, Waleed; Saleem, Layth; Zhang, Xiaoliang; Wang, Chunbai; Hu, Guangdi; Liu, Yugang

2016-01-01

Environmental perception and information processing are two key steps of active safety for vehicle reversing. Single-sensor environmental perception cannot meet the need for vehicle reversing safety due to its low reliability. In this paper, we present a novel multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety. The proposed system consists of four main steps, namely multi-sensor environmental perception, information fusion, target recognition and tracking using low-rank representation and a particle filter, and vehicle reversing speed control modules. First of all, the multi-sensor environmental perception module, based on a binocular-camera system and ultrasonic range finders, obtains the distance data for obstacles behind the vehicle when the vehicle is reversing. Secondly, the information fusion algorithm using an adaptive Kalman filter is used to process the data obtained with the multi-sensor environmental perception module, which greatly improves the robustness of the sensors. Then the framework of a particle filter and low-rank representation is used to track the main obstacles. The low-rank representation is used to optimize an objective particle template that has the smallest L-1 norm. Finally, the electronic throttle opening and automatic braking is under control of the proposed vehicle reversing control strategy prior to any potential collisions, making the reversing control safer and more reliable. The final system simulation and practical testing results demonstrate the validity of the proposed multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety. PMID:27294931

A Novel Multi-Sensor Environmental Perception Method Using Low-Rank Representation and a Particle Filter for Vehicle Reversing Safety.

PubMed

Zhang, Zutao; Li, Yanjun; Wang, Fubing; Meng, Guanjun; Salman, Waleed; Saleem, Layth; Zhang, Xiaoliang; Wang, Chunbai; Hu, Guangdi; Liu, Yugang

2016-06-09

Environmental perception and information processing are two key steps of active safety for vehicle reversing. Single-sensor environmental perception cannot meet the need for vehicle reversing safety due to its low reliability. In this paper, we present a novel multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety. The proposed system consists of four main steps, namely multi-sensor environmental perception, information fusion, target recognition and tracking using low-rank representation and a particle filter, and vehicle reversing speed control modules. First of all, the multi-sensor environmental perception module, based on a binocular-camera system and ultrasonic range finders, obtains the distance data for obstacles behind the vehicle when the vehicle is reversing. Secondly, the information fusion algorithm using an adaptive Kalman filter is used to process the data obtained with the multi-sensor environmental perception module, which greatly improves the robustness of the sensors. Then the framework of a particle filter and low-rank representation is used to track the main obstacles. The low-rank representation is used to optimize an objective particle template that has the smallest L-1 norm. Finally, the electronic throttle opening and automatic braking is under control of the proposed vehicle reversing control strategy prior to any potential collisions, making the reversing control safer and more reliable. The final system simulation and practical testing results demonstrate the validity of the proposed multi-sensor environmental perception method using low-rank representation and a particle filter for vehicle reversing safety.

Detection of buried objects by fusing dual-band infrared images

DOE Office of Scientific and Technical Information (OSTI.GOV)

Clark, G.A.; Sengupta, S.K.; Sherwood, R.J.

1993-11-01

We have conducted experiments to demonstrate the enhanced detectability of buried land mines using sensor fusion techniques. Multiple sensors, including visible imagery, infrared imagery, and ground penetrating radar (GPR), have been used to acquire data on a number of buried mines and mine surrogates. Because the visible wavelength and GPR data are currently incomplete. This paper focuses on the fusion of two-band infrared images. We use feature-level fusion and supervised learning with the probabilistic neural network (PNN) to evaluate detection performance. The novelty of the work lies in the application of advanced target recognition algorithms, the fusion of dual-band infraredmore » images and evaluation of the techniques using two real data sets.« less

Small satellite attitude determination based on GPS/IMU data fusion

DOE Office of Scientific and Technical Information (OSTI.GOV)

Golovan, Andrey; Cepe, Ali

In this paper, we present the mathematical models and algorithms that describe the problem of attitude determination for a small satellite using measurements from three angular rate sensors (ARS) and aiding measurements from multiple GPS receivers/antennas rigidly attached to the platform of the satellite.

Information fusion methods based on physical laws.

PubMed

Rao, Nageswara S V; Reister, David B; Barhen, Jacob

2005-01-01

We consider systems whose parameters satisfy certain easily computable physical laws. Each parameter is directly measured by a number of sensors, or estimated using measurements, or both. The measurement process may introduce both systematic and random errors which may then propagate into the estimates. Furthermore, the actual parameter values are not known since every parameter is measured or estimated, which makes the existing sample-based fusion methods inapplicable. We propose a fusion method for combining the measurements and estimators based on the least violation of physical laws that relate the parameters. Under fairly general smoothness and nonsmoothness conditions on the physical laws, we show the asymptotic convergence of our method and also derive distribution-free performance bounds based on finite samples. For suitable choices of the fuser classes, we show that for each parameter the fused estimate is probabilistically at least as good as its best measurement as well as best estimate. We illustrate the effectiveness of this method for a practical problem of fusing well-log data in methane hydrate exploration.

URREF Reliability Versus Credibility in Information Fusion

DTIC Science & Technology

2013-07-01

Fusion, Vol. 3, No. 2, December, 2008. [31] E. Blasch, J. Dezert, and P. Valin , “DSMT Applied to Seismic and Acoustic Sensor Fusion,” Proc. IEEE Nat...44] E. Blasch, P. Valin , E. Bossé, “Measures of Effectiveness for High- Level Fusion,” Int. Conference on Information Fusion, 2010. [45] X. Mei, H...and P. Valin , “Information Fusion Measures of Effectiveness (MOE) for Decision Support,” Proc. SPIE 8050, 2011. [49] Y. Zheng, W. Dong, and E

Game-theoretic homological sensor resource management for SSA

NASA Astrophysics Data System (ADS)

Chin, Sang Peter

2009-05-01

We present a game-theoretic approach to Level 2/3/4 fusion for the purpose of Space Situational Awareness (SSA) along with prototypical SW implementation of this approach to demonstrate its effectiveness for possible future space operations. Our approach is based upon innovative techniques that we are developing to solve dynamic games and Nperson cooperative/non-cooperative games, as well as a new emerging homological sensing algorithms which we apply to control disparate network of space sensors in order to gain better SSA.

Knowledge Based System Applications for Guidance and Control (Application des Systemes a Base de Connaissances au Guidage-Pilotage)

DTIC Science & Technology

1991-01-01

techniques and integration concepts. Recent advances in digital computation techniques including data base management , represent the core enabling...tactical information management and effective pilot interaction are essential. Pilot decision aiding, combat automation, sensor fusion and ol-board...tactical battle management concepts offer the opportunity for substantial mission effectiveness improvements. Although real-time tactical military

Development of a fusion approach selection tool

NASA Astrophysics Data System (ADS)

Pohl, C.; Zeng, Y.

2015-06-01

During the last decades number and quality of available remote sensing satellite sensors for Earth observation has grown significantly. The amount of available multi-sensor images along with their increased spatial and spectral resolution provides new challenges to Earth scientists. With a Fusion Approach Selection Tool (FAST) the remote sensing community would obtain access to an optimized and improved image processing technology. Remote sensing image fusion is a mean to produce images containing information that is not inherent in the single image alone. In the meantime the user has access to sophisticated commercialized image fusion techniques plus the option to tune the parameters of each individual technique to match the anticipated application. This leaves the operator with an uncountable number of options to combine remote sensing images, not talking about the selection of the appropriate images, resolution and bands. Image fusion can be a machine and time-consuming endeavour. In addition it requires knowledge about remote sensing, image fusion, digital image processing and the application. FAST shall provide the user with a quick overview of processing flows to choose from to reach the target. FAST will ask for available images, application parameters and desired information to process this input to come out with a workflow to quickly obtain the best results. It will optimize data and image fusion techniques. It provides an overview on the possible results from which the user can choose the best. FAST will enable even inexperienced users to use advanced processing methods to maximize the benefit of multi-sensor image exploitation.

Image fusion

NASA Technical Reports Server (NTRS)

Pavel, M.

1993-01-01

The topics covered include the following: a system overview of the basic components of a system designed to improve the ability of a pilot to fly through low-visibility conditions such as fog; the role of visual sciences; fusion issues; sensor characterization; sources of information; image processing; and image fusion.

Sensor fusion for structural tilt estimation using an acceleration-based tilt sensor and a gyroscope

NASA Astrophysics Data System (ADS)

Liu, Cheng; Park, Jong-Woong; Spencer, B. F., Jr.; Moon, Do-Soo; Fan, Jiansheng

2017-10-01

A tilt sensor can provide useful information regarding the health of structural systems. Most existing tilt sensors are gravity/acceleration based and can provide accurate measurements of static responses. However, for dynamic tilt, acceleration can dramatically affect the measured responses due to crosstalk. Thus, dynamic tilt measurement is still a challenging problem. One option is to integrate the output of a gyroscope sensor, which measures the angular velocity, to obtain the tilt; however, problems arise because the low-frequency sensitivity of the gyroscope is poor. This paper proposes a new approach to dynamic tilt measurements, fusing together information from a MEMS-based gyroscope and an acceleration-based tilt sensor. The gyroscope provides good estimates of the tilt at higher frequencies, whereas the acceleration measurements are used to estimate the tilt at lower frequencies. The Tikhonov regularization approach is employed to fuse these measurements together and overcome the ill-posed nature of the problem. The solution is carried out in the frequency domain and then implemented in the time domain using FIR filters to ensure stability. The proposed method is validated numerically and experimentally to show that it performs well in estimating both the pseudo-static and dynamic tilt measurements.

Sensor data fusion for textured reconstruction and virtual representation of alpine scenes

NASA Astrophysics Data System (ADS)

Häufel, Gisela; Bulatov, Dimitri; Solbrig, Peter

2017-10-01

The concept of remote sensing is to provide information about a wide-range area without making physical contact with this area. If, additionally to satellite imagery, images and videos taken by drones provide a more up-to-date data at a higher resolution, or accurate vector data is downloadable from the Internet, one speaks of sensor data fusion. The concept of sensor data fusion is relevant for many applications, such as virtual tourism, automatic navigation, hazard assessment, etc. In this work, we describe sensor data fusion aiming to create a semantic 3D model of an extremely interesting yet challenging dataset: An alpine region in Southern Germany. A particular challenge of this work is that rock faces including overhangs are present in the input airborne laser point cloud. The proposed procedure for identification and reconstruction of overhangs from point clouds comprises four steps: Point cloud preparation, filtering out vegetation, mesh generation and texturing. Further object types are extracted in several interesting subsections of the dataset: Building models with textures from UAV (Unmanned Aerial Vehicle) videos, hills reconstructed as generic surfaces and textured by the orthophoto, individual trees detected by the watershed algorithm, as well as the vector data for roads retrieved from openly available shapefiles and GPS-device tracks. We pursue geo-specific reconstruction by assigning texture and width to roads of several pre-determined types and modeling isolated trees and rocks using commercial software. For visualization and simulation of the area, we have chosen the simulation system Virtual Battlespace 3 (VBS3). It becomes clear that the proposed concept of sensor data fusion allows a coarse reconstruction of a large scene and, at the same time, an accurate and up-to-date representation of its relevant subsections, in which simulation can take place.

Distributed Multisensor Data Fusion under Unknown Correlation and Data Inconsistency

PubMed Central

Abu Bakr, Muhammad; Lee, Sukhan

2017-01-01

The paradigm of multisensor data fusion has been evolved from a centralized architecture to a decentralized or distributed architecture along with the advancement in sensor and communication technologies. These days, distributed state estimation and data fusion has been widely explored in diverse fields of engineering and control due to its superior performance over the centralized one in terms of flexibility, robustness to failure and cost effectiveness in infrastructure and communication. However, distributed multisensor data fusion is not without technical challenges to overcome: namely, dealing with cross-correlation and inconsistency among state estimates and sensor data. In this paper, we review the key theories and methodologies of distributed multisensor data fusion available to date with a specific focus on handling unknown correlation and data inconsistency. We aim at providing readers with a unifying view out of individual theories and methodologies by presenting a formal analysis of their implications. Finally, several directions of future research are highlighted. PMID:29077035

Multisensor data fusion for integrated maritime surveillance

NASA Astrophysics Data System (ADS)

Premji, A.; Ponsford, A. M.

1995-01-01

A prototype Integrated Coastal Surveillance system has been developed on Canada's East Coast to provide effective surveillance out to and beyond the 200 nautical mile Exclusive Economic Zone. The system has been designed to protect Canada's natural resources, and to monitor and control the coastline for smuggling, drug trafficking, and similar illegal activity. This paper describes the Multiple Sensor - Multiple Target data fusion system that has been developed. The fusion processor has been developed around the celebrated Multiple Hypothesis Tracking algorithm which accommodates multiple targets, new targets, false alarms, and missed detections. This processor performs four major functions: plot-to-track association to form individual radar tracks; fusion of radar tracks with secondary sensor reports; track identification and tagging using secondary reports; and track level fusion to form common tracks. Radar data from coherent and non-coherent radars has been used to evaluate the performance of the processor. This paper presents preliminary results.

The life and death of ATR/sensor fusion and the hope for resurrection

NASA Astrophysics Data System (ADS)

Rogers, Steven K.; Sadowski, Charles; Bauer, Kenneth W.; Oxley, Mark E.; Kabrisky, Matthew; Rogers, Adam; Mott, Stephen D.

2008-04-01

For over half a century, scientists and engineers have worked diligently to advance computational intelligence. One application of interest is how computational intelligence can bring value to our war fighters. Automatic Target Recognition (ATR) and sensor fusion efforts have fallen far short of the desired capabilities. In this article we review the capabilities requested by war fighters. When compared to our current capabilities, it is easy to conclude current Combat Identification (CID) as a Family of Systems (FoS) does a lousy job. The war fighter needed capable, operationalized ATR and sensor fusion systems ten years ago but it did not happen. The article reviews the war fighter needs and the current state of the art. The article then concludes by looking forward to where we are headed to provide the capabilities required.

Computational Intelligence Based Data Fusion Algorithm for Dynamic sEMG and Skeletal Muscle Force Modelling

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chandrasekhar Potluri,; Madhavi Anugolu; Marco P. Schoen

2013-08-01

In this work, an array of three surface Electrography (sEMG) sensors are used to acquired muscle extension and contraction signals for 18 healthy test subjects. The skeletal muscle force is estimated using the acquired sEMG signals and a Non-linear Wiener Hammerstein model, relating the two signals in a dynamic fashion. The model is obtained from using System Identification (SI) algorithm. The obtained force models for each sensor are fused using a proposed fuzzy logic concept with the intent to improve the force estimation accuracy and resilience to sensor failure or misalignment. For the fuzzy logic inference system, the sEMG entropy,more » the relative error, and the correlation of the force signals are considered for defining the membership functions. The proposed fusion algorithm yields an average of 92.49% correlation between the actual force and the overall estimated force output. In addition, the proposed fusionbased approach is implemented on a test platform. Experiments indicate an improvement in finger/hand force estimation.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

Biewer, Theodore M.; Marcus, Chris; Klepper, C Christopher

The divertor-specific ITER Diagnostic Residual Gas Analyzer (DRGA) will provide essential information relating to DT fusion plasma performance. This includes pulse-resolving measurements of the fuel isotopic mix reaching the pumping ducts, as well as the concentration of the helium generated as the ash of the fusion reaction. In the present baseline design, the cluster of sensors attached to this diagnostic's differentially pumped analysis chamber assembly includes a radiation compatible version of a commercial quadrupole mass spectrometer, as well as an optical gas analyzer using a plasma-based light excitation source. This paper reports on a laboratory study intended to validate themore » performance of this sensor cluster, with emphasis on the detection limit of the isotopic measurement. This validation study was carried out in a laboratory set-up that closely prototyped the analysis chamber assembly configuration of the baseline design. This includes an ITER-specific placement of the optical gas measurement downstream from the first turbine of the chamber's turbo-molecular pump to provide sufficient light emission while preserving the gas dynamics conditions that allow for \\textasciitilde 1 s response time from the sensor cluster [1].« less

The Research on Dryland Crop Classification Based on the Fusion of SENTINEL-1A SAR and Optical Images

NASA Astrophysics Data System (ADS)

Liu, F.; Chen, T.; He, J.; Wen, Q.; Yu, F.; Gu, X.; Wang, Z.

2018-04-01

In recent years, the quick upgrading and improvement of SAR sensors provide beneficial complements for the traditional optical remote sensing in the aspects of theory, technology and data. In this paper, Sentinel-1A SAR data and GF-1 optical data were selected for image fusion, and more emphases were put on the dryland crop classification under a complex crop planting structure, regarding corn and cotton as the research objects. Considering the differences among various data fusion methods, the principal component analysis (PCA), Gram-Schmidt (GS), Brovey and wavelet transform (WT) methods were compared with each other, and the GS and Brovey methods were proved to be more applicable in the study area. Then, the classification was conducted based on the object-oriented technique process. And for the GS, Brovey fusion images and GF-1 optical image, the nearest neighbour algorithm was adopted to realize the supervised classification with the same training samples. Based on the sample plots in the study area, the accuracy assessment was conducted subsequently. The values of overall accuracy and kappa coefficient of fusion images were all higher than those of GF-1 optical image, and GS method performed better than Brovey method. In particular, the overall accuracy of GS fusion image was 79.8 %, and the Kappa coefficient was 0.644. Thus, the results showed that GS and Brovey fusion images were superior to optical images for dryland crop classification. This study suggests that the fusion of SAR and optical images is reliable for dryland crop classification under a complex crop planting structure.

Investigating trends in water use over the Choptank River watershed using a multi-satellite data fusion approach

USDA-ARS?s Scientific Manuscript database

Satellite remote sensing technologies have been widely used to map spatiotemporal variability in consumptive water use (or evapotranspiration; ET) for agricultural water management applications. However, current satellite-based sensors with the high spatial resolution required to map ET at sub-field...

Investigating water use over the Choptank River Watershed using a multi-satellite data fusion approach

USDA-ARS?s Scientific Manuscript database

Satellite remote sensing technologies have been widely used to map spatiotemporal variability in consumptive water use (or evapotranspiration; ET) for agricultural water management applications. However, current satellite-based sensors with the high spatial resolution required to map ET at sub-field...

Migration monitoring with automated technology

Treesearch

Rhonda L. Millikin

2005-01-01

Automated technology can supplement ground-based methods of migration monitoring by providing: (1) unbiased and automated sampling; (2) independent validation of current methods; (3) a larger sample area for landscape-level analysis of habitat selection for stopover, and (4) an opportunity to study flight behavior. In particular, radar-acoustic sensor fusion can...

An uncertainty-based distributed fault detection mechanism for wireless sensor networks.

PubMed

Yang, Yang; Gao, Zhipeng; Zhou, Hang; Qiu, Xuesong

2014-04-25

Exchanging too many messages for fault detection will cause not only a degradation of the network quality of service, but also represents a huge burden on the limited energy of sensors. Therefore, we propose an uncertainty-based distributed fault detection through aided judgment of neighbors for wireless sensor networks. The algorithm considers the serious influence of sensing measurement loss and therefore uses Markov decision processes for filling in missing data. Most important of all, fault misjudgments caused by uncertainty conditions are the main drawbacks of traditional distributed fault detection mechanisms. We draw on the experience of evidence fusion rules based on information entropy theory and the degree of disagreement function to increase the accuracy of fault detection. Simulation results demonstrate our algorithm can effectively reduce communication energy overhead due to message exchanges and provide a higher detection accuracy ratio.

Temperature sensor based on an isopropanol-sealed photonic crystal fiber in-line interferometer with enhanced refractive index sensitivity.

PubMed

Qiu, Sun-jie; Chen, Ye; Xu, Fei; Lu, Yan-qing

2012-03-01

We fabricate a simple, compact, and stable temperature sensor based on a liquid-sealed photonic crystal fiber (PCF) in-line nonpolarimetric modal interferometer. Different from other reported PCF devices, it does not need expensive polarimetric devices, and the liquid is sealed in one fiber. The device consists of a stub of isopropanol-filled PCF spliced between standard single-mode fibers. The temperature sensitivity (-166 pm/°C) increases over an order of magnitude compared with those of the previous sensors based on air-sealed PCF interferometers built via fusion splicing with the same mechanism. In addition, the refractive index sensitivity also increases. Higher temperature sensitivity can be realized by infiltrating some liquid having a higher thermo-optic coefficient into the microholes of the PCF. © 2012 Optical Society of America

Learning to Classify with Possible Sensor Failures

DTIC Science & Technology

2014-05-04

SVMs), have demonstrated good classification performance when the training data is representative of the test data [1, 2, 3]. However, in many real...Detection of people and animals using non- imaging sensors,” Information Fusion (FUSION), 2011 Proceedings of the 14th International Conference on, pp...classification methods in terms of both classification accuracy and anomaly detection rate using 1. REPORT DATE (DD-MM-YYYY) 4. TITLE AND SUBTITLE 13

3D Reconstruction in the Presence of Glass and Mirrors by Acoustic and Visual Fusion.

PubMed

Zhang, Yu; Ye, Mao; Manocha, Dinesh; Yang, Ruigang

2017-07-06

We present a practical and inexpensive method to reconstruct 3D scenes that include transparent and mirror objects. Our work is motivated by the need for automatically generating 3D models of interior scenes, which commonly include glass. These large structures are often invisible to cameras. Existing 3D reconstruction methods for transparent objects are usually not applicable in such a room-sized reconstruction setting. Our simple hardware setup augments a regular depth camera with a single ultrasonic sensor, which is able to measure the distance to any object, including transparent surfaces. The key technical challenge is the sparse sampling rate from the acoustic sensor, which only takes one point measurement per frame. To address this challenge, we take advantage of the fact that the large scale glass structures in indoor environments are usually either piece-wise planar or simple parametric surfaces. Based on these assumptions, we have developed a novel sensor fusion algorithm that first segments the (hybrid) depth map into different categories such as opaque/transparent/infinity (e.g., too far to measure) and then updates the depth map based on the segmentation outcome. We validated our algorithms with a number of challenging cases, including multiple panes of glass, mirrors, and even a curved glass cabinet.

Accurate 3D Positioning for a Mobile Platform in Non-Line-of-Sight Scenarios Based on IMU/Magnetometer Sensor Fusion.

PubMed

Hellmers, Hendrik; Kasmi, Zakaria; Norrdine, Abdelmoumen; Eichhorn, Andreas

2018-01-04

In recent years, a variety of real-time applications benefit from services provided by localization systems due to the advent of sensing and communication technologies. Since the Global Navigation Satellite System (GNSS) enables localization only outside buildings, applications for indoor positioning and navigation use alternative technologies. Ultra Wide Band Signals (UWB), Wireless Local Area Network (WLAN), ultrasonic or infrared are common examples. However, these technologies suffer from fading and multipath effects caused by objects and materials in the building. In contrast, magnetic fields are able to pass through obstacles without significant propagation errors, i.e. in Non-Line of Sight Scenarios (NLoS). The aim of this work is to propose a novel indoor positioning system based on artificially generated magnetic fields in combination with Inertial Measurement Units (IMUs). In order to reach a better coverage, multiple coils are used as reference points. A basic algorithm for three-dimensional applications is demonstrated as well as evaluated in this article. The established system is then realized by a sensor fusion principle as well as a kinematic motion model on the basis of a Kalman filter. Furthermore, a pressure sensor is used in combination with an adaptive filtering method to reliably estimate the platform's altitude.

PCF-based Fabry-Perot interferometric sensor for strain measurement under high-temperature

NASA Astrophysics Data System (ADS)

Deng, Ming; Tang, Chang-Ping; Zhu, Tao; Rao, Yun-Jiang

2011-05-01

We report a simple and robust all-fiber in-line Fabry-Perot interferometer (FPI) with bubble cavity, which is fabricated by directly splicing a mutimode photonic crystal fiber to a conventional single mode fiber by using a commercial splicer. The fabrication process only involves fusion splicing and cleaving. The high-temperature strain characteristic of such a device is evaluated and experimental results shows that this FPI can be used as an ideal sensor for precise strain measurement under high temperatures of up to 750°C. Therefore, such a FPI sensor may find important applications in aeronautics or metallurgy areas.

Hybrid position and orientation tracking for a passive rehabilitation table-top robot.

PubMed

Wojewoda, K K; Culmer, P R; Gallagher, J F; Jackson, A E; Levesley, M C

2017-07-01

This paper presents a real time hybrid 2D position and orientation tracking system developed for an upper limb rehabilitation robot. Designed to work on a table-top, the robot is to enable home-based upper-limb rehabilitative exercise for stroke patients. Estimates of the robot's position are computed by fusing data from two tracking systems, each utilizing a different sensor type: laser optical sensors and a webcam. Two laser optical sensors are mounted on the underside of the robot and track the relative motion of the robot with respect to the surface on which it is placed. The webcam is positioned directly above the workspace, mounted on a fixed stand, and tracks the robot's position with respect to a fixed coordinate system. The optical sensors sample the position data at a higher frequency than the webcam, and a position and orientation fusion scheme is proposed to fuse the data from the two tracking systems. The proposed fusion scheme is validated through an experimental set-up whereby the rehabilitation robot is moved by a humanoid robotic arm replicating previously recorded movements of a stroke patient. The results prove that the presented hybrid position tracking system can track the position and orientation with greater accuracy than the webcam or optical sensors alone. The results also confirm that the developed system is capable of tracking recovery trends during rehabilitation therapy.

Sensor fusion: lane marking detection and autonomous intelligent cruise control system

NASA Astrophysics Data System (ADS)

Baret, Marc; Baillarin, S.; Calesse, C.; Martin, Lionel

1995-12-01

In the past few years MATRA and RENAULT have developed an Autonomous Intelligent Cruise Control (AICC) system based on a LIDAR sensor. This sensor incorporating a charge coupled device was designed to acquire pulsed laser diode emission reflected by standard car reflectors. The absence of moving mechanical parts, the large field of view, the high measurement rate and the very good accuracy for distance range and angular position of targets make this sensor very interesting. It provides the equipped car with the distance and the relative speed of other vehicles enabling the safety distance to be controlled by acting on the throttle and the automatic gear box. Experiments in various real traffic situations have shown the limitations of this kind of system especially on bends. All AICC sensors are unable to distinguish between a bend and a change of lane. This is easily understood if we consider a road without lane markings. This fact has led MATRA to improve its AICC system by providing the lane marking information. Also in the scope of the EUREKA PROMETHEUS project, MATRA and RENAULT have developed a lane keeping system in order to warn of the drivers lack of vigilance. Thus, MATRA have spread this system to far field lane marking detection and have coupled it with the AICC system. Experiments will be carried out on roads to estimate the gain in performance and comfort due to this fusion.

Adaptive multifocus image fusion using block compressed sensing with smoothed projected Landweber integration in the wavelet domain.

PubMed

V S, Unni; Mishra, Deepak; Subrahmanyam, G R K S

2016-12-01

The need for image fusion in current image processing systems is increasing mainly due to the increased number and variety of image acquisition techniques. Image fusion is the process of combining substantial information from several sensors using mathematical techniques in order to create a single composite image that will be more comprehensive and thus more useful for a human operator or other computer vision tasks. This paper presents a new approach to multifocus image fusion based on sparse signal representation. Block-based compressive sensing integrated with a projection-driven compressive sensing (CS) recovery that encourages sparsity in the wavelet domain is used as a method to get the focused image from a set of out-of-focus images. Compression is achieved during the image acquisition process using a block compressive sensing method. An adaptive thresholding technique within the smoothed projected Landweber recovery process reconstructs high-resolution focused images from low-dimensional CS measurements of out-of-focus images. Discrete wavelet transform and dual-tree complex wavelet transform are used as the sparsifying basis for the proposed fusion. The main finding lies in the fact that sparsification enables a better selection of the fusion coefficients and hence better fusion. A Laplacian mixture model fit is done in the wavelet domain and estimation of the probability density function (pdf) parameters by expectation maximization leads us to the proper selection of the coefficients of the fused image. Using the proposed method compared with the fusion scheme without employing the projected Landweber (PL) scheme and the other existing CS-based fusion approaches, it is observed that with fewer samples itself, the proposed method outperforms other approaches.

Context-Aware Personal Navigation Using Embedded Sensor Fusion in Smartphones

PubMed Central

Saeedi, Sara; Moussa, Adel; El-Sheimy, Naser

2014-01-01

Context-awareness is an interesting topic in mobile navigation scenarios where the context of the application is highly dynamic. Using context-aware computing, navigation services consider the situation of user, not only in the design process, but in real time while the device is in use. The basic idea is that mobile navigation services can provide different services based on different contexts—where contexts are related to the user's activity and the device placement. Context-aware systems are concerned with the following challenges which are addressed in this paper: context acquisition, context understanding, and context-aware application adaptation. The proposed approach in this paper is using low-cost sensors in a multi-level fusion scheme to improve the accuracy and robustness of context-aware navigation system. The experimental results demonstrate the capabilities of the context-aware Personal Navigation Systems (PNS) for outdoor personal navigation using a smartphone. PMID:24670715

Context-aware personal navigation using embedded sensor fusion in smartphones.

PubMed

Saeedi, Sara; Moussa, Adel; El-Sheimy, Naser

2014-03-25

Context-awareness is an interesting topic in mobile navigation scenarios where the context of the application is highly dynamic. Using context-aware computing, navigation services consider the situation of user, not only in the design process, but in real time while the device is in use. The basic idea is that mobile navigation services can provide different services based on different contexts-where contexts are related to the user's activity and the device placement. Context-aware systems are concerned with the following challenges which are addressed in this paper: context acquisition, context understanding, and context-aware application adaptation. The proposed approach in this paper is using low-cost sensors in a multi-level fusion scheme to improve the accuracy and robustness of context-aware navigation system. The experimental results demonstrate the capabilities of the context-aware Personal Navigation Systems (PNS) for outdoor personal navigation using a smartphone.

Multi-Sensor Registration of Earth Remotely Sensed Imagery

NASA Technical Reports Server (NTRS)

LeMoigne, Jacqueline; Cole-Rhodes, Arlene; Eastman, Roger; Johnson, Kisha; Morisette, Jeffrey; Netanyahu, Nathan S.; Stone, Harold S.; Zavorin, Ilya; Zukor, Dorothy (Technical Monitor)

2001-01-01

Assuming that approximate registration is given within a few pixels by a systematic correction system, we develop automatic image registration methods for multi-sensor data with the goal of achieving sub-pixel accuracy. Automatic image registration is usually defined by three steps; feature extraction, feature matching, and data resampling or fusion. Our previous work focused on image correlation methods based on the use of different features. In this paper, we study different feature matching techniques and present five algorithms where the features are either original gray levels or wavelet-like features, and the feature matching is based on gradient descent optimization, statistical robust matching, and mutual information. These algorithms are tested and compared on several multi-sensor datasets covering one of the EOS Core Sites, the Konza Prairie in Kansas, from four different sensors: IKONOS (4m), Landsat-7/ETM+ (30m), MODIS (500m), and SeaWIFS (1000m).

Heart rate estimation from FBG sensors using cepstrum analysis and sensor fusion.

PubMed

Zhu, Yongwei; Fook, Victor Foo Siang; Jianzhong, Emily Hao; Maniyeri, Jayachandran; Guan, Cuntai; Zhang, Haihong; Jiliang, Eugene Phua; Biswas, Jit

2014-01-01

This paper presents a method of estimating heart rate from arrays of fiber Bragg grating (FBG) sensors embedded in a mat. A cepstral domain signal analysis technique is proposed to characterize Ballistocardiogram (BCG) signals. With this technique, the average heart beat intervals can be estimated by detecting the dominant peaks in the cepstrum, and the signals of multiple sensors can be fused together to obtain higher signal to noise ratio than each individual sensor. Experiments were conducted with 10 human subjects lying on 2 different postures on a bed. The estimated heart rate from BCG was compared with heart rate ground truth from ECG, and the mean error of estimation obtained is below 1 beat per minute (BPM). The results show that the proposed fusion method can achieve promising heart rate measurement accuracy and robustness against various sensor contact conditions.

Non-verbal communication through sensor fusion

NASA Astrophysics Data System (ADS)

Tairych, Andreas; Xu, Daniel; O'Brien, Benjamin M.; Anderson, Iain A.

2016-04-01

When we communicate face to face, we subconsciously engage our whole body to convey our message. In telecommunication, e.g. during phone calls, this powerful information channel cannot be used. Capturing nonverbal information from body motion and transmitting it to the receiver parallel to speech would make these conversations feel much more natural. This requires a sensing device that is capable of capturing different types of movements, such as the flexion and extension of joints, and the rotation of limbs. In a first embodiment, we developed a sensing glove that is used to control a computer game. Capacitive dielectric elastomer (DE) sensors measure finger positions, and an inertial measurement unit (IMU) detects hand roll. These two sensor technologies complement each other, with the IMU allowing the player to move an avatar through a three-dimensional maze, and the DE sensors detecting finger flexion to fire weapons or open doors. After demonstrating the potential of sensor fusion in human-computer interaction, we take this concept to the next level and apply it in nonverbal communication between humans. The current fingerspelling glove prototype uses capacitive DE sensors to detect finger gestures performed by the sending person. These gestures are mapped to corresponding messages and transmitted wirelessly to another person. A concept for integrating an IMU into this system is presented. The fusion of the DE sensor and the IMU combines the strengths of both sensor types, and therefore enables very comprehensive body motion sensing, which makes a large repertoire of gestures available to nonverbal communication over distances.

Fusion of intraoperative force sensoring, surface reconstruction and biomechanical modeling

NASA Astrophysics Data System (ADS)

Röhl, S.; Bodenstedt, S.; Küderle, C.; Suwelack, S.; Kenngott, H.; Müller-Stich, B. P.; Dillmann, R.; Speidel, S.

2012-02-01

Minimally invasive surgery is medically complex and can heavily benefit from computer assistance. One way to help the surgeon is to integrate preoperative planning data into the surgical workflow. This information can be represented as a customized preoperative model of the surgical site. To use it intraoperatively, it has to be updated during the intervention due to the constantly changing environment. Hence, intraoperative sensor data has to be acquired and registered with the preoperative model. Haptic information which could complement the visual sensor data is still not established. In addition, biomechanical modeling of the surgical site can help in reflecting the changes which cannot be captured by intraoperative sensors. We present a setting where a force sensor is integrated into a laparoscopic instrument. In a test scenario using a silicone liver phantom, we register the measured forces with a reconstructed surface model from stereo endoscopic images and a finite element model. The endoscope, the instrument and the liver phantom are tracked with a Polaris optical tracking system. By fusing this information, we can transfer the deformation onto the finite element model. The purpose of this setting is to demonstrate the principles needed and the methods developed for intraoperative sensor data fusion. One emphasis lies on the calibration of the force sensor with the instrument and first experiments with soft tissue. We also present our solution and first results concerning the integration of the force sensor as well as accuracy to the fusion of force measurements, surface reconstruction and biomechanical modeling.

A New Localization System for Indoor Service Robots in Low Luminance and Slippery Indoor Environment Using Afocal Optical Flow Sensor Based Sensor Fusion.

PubMed

Yi, Dong-Hoon; Lee, Tae-Jae; Cho, Dong-Il Dan

2018-01-10

In this paper, a new localization system utilizing afocal optical flow sensor (AOFS) based sensor fusion for indoor service robots in low luminance and slippery environment is proposed, where conventional localization systems do not perform well. To accurately estimate the moving distance of a robot in a slippery environment, the robot was equipped with an AOFS along with two conventional wheel encoders. To estimate the orientation of the robot, we adopted a forward-viewing mono-camera and a gyroscope. In a very low luminance environment, it is hard to conduct conventional feature extraction and matching for localization. Instead, the interior space structure from an image and robot orientation was assessed. To enhance the appearance of image boundary, rolling guidance filter was applied after the histogram equalization. The proposed system was developed to be operable on a low-cost processor and implemented on a consumer robot. Experiments were conducted in low illumination condition of 0.1 lx and carpeted environment. The robot moved for 20 times in a 1.5 × 2.0 m square trajectory. When only wheel encoders and a gyroscope were used for robot localization, the maximum position error was 10.3 m and the maximum orientation error was 15.4°. Using the proposed system, the maximum position error and orientation error were found as 0.8 m and within 1.0°, respectively.

A New Localization System for Indoor Service Robots in Low Luminance and Slippery Indoor Environment Using Afocal Optical Flow Sensor Based Sensor Fusion

PubMed Central

Yi, Dong-Hoon; Lee, Tae-Jae; Cho, Dong-Il “Dan”

2018-01-01

In this paper, a new localization system utilizing afocal optical flow sensor (AOFS) based sensor fusion for indoor service robots in low luminance and slippery environment is proposed, where conventional localization systems do not perform well. To accurately estimate the moving distance of a robot in a slippery environment, the robot was equipped with an AOFS along with two conventional wheel encoders. To estimate the orientation of the robot, we adopted a forward-viewing mono-camera and a gyroscope. In a very low luminance environment, it is hard to conduct conventional feature extraction and matching for localization. Instead, the interior space structure from an image and robot orientation was assessed. To enhance the appearance of image boundary, rolling guidance filter was applied after the histogram equalization. The proposed system was developed to be operable on a low-cost processor and implemented on a consumer robot. Experiments were conducted in low illumination condition of 0.1 lx and carpeted environment. The robot moved for 20 times in a 1.5 × 2.0 m square trajectory. When only wheel encoders and a gyroscope were used for robot localization, the maximum position error was 10.3 m and the maximum orientation error was 15.4°. Using the proposed system, the maximum position error and orientation error were found as 0.8 m and within 1.0°, respectively. PMID:29320414

Scale Estimation and Correction of the Monocular Simultaneous Localization and Mapping (SLAM) Based on Fusion of 1D Laser Range Finder and Vision Data.

PubMed

Zhang, Zhuang; Zhao, Rujin; Liu, Enhai; Yan, Kun; Ma, Yuebo

2018-06-15

This article presents a new sensor fusion method for visual simultaneous localization and mapping (SLAM) through integration of a monocular camera and a 1D-laser range finder. Such as a fusion method provides the scale estimation and drift correction and it is not limited by volume, e.g., the stereo camera is constrained by the baseline and overcomes the limited depth range problem associated with SLAM for RGBD cameras. We first present the analytical feasibility for estimating the absolute scale through the fusion of 1D distance information and image information. Next, the analytical derivation of the laser-vision fusion is described in detail based on the local dense reconstruction of the image sequences. We also correct the scale drift of the monocular SLAM using the laser distance information which is independent of the drift error. Finally, application of this approach to both indoor and outdoor scenes is verified by the Technical University of Munich dataset of RGBD and self-collected data. We compare the effects of the scale estimation and drift correction of the proposed method with the SLAM for a monocular camera and a RGBD camera.

A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles

PubMed Central

Meng, Xiaoli

2017-01-01

Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization. PMID:28926996

A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles.

PubMed

Meng, Xiaoli; Wang, Heng; Liu, Bingbing

2017-09-18

Precise and robust localization in a large-scale outdoor environment is essential for an autonomous vehicle. In order to improve the performance of the fusion of GNSS (Global Navigation Satellite System)/IMU (Inertial Measurement Unit)/DMI (Distance-Measuring Instruments), a multi-constraint fault detection approach is proposed to smooth the vehicle locations in spite of GNSS jumps. Furthermore, the lateral localization error is compensated by the point cloud-based lateral localization method proposed in this paper. Experiment results have verified the algorithms proposed in this paper, which shows that the algorithms proposed in this paper are capable of providing precise and robust vehicle localization.

Error Modelling for Multi-Sensor Measurements in Infrastructure-Free Indoor Navigation

PubMed Central

Ruotsalainen, Laura; Kirkko-Jaakkola, Martti; Rantanen, Jesperi; Mäkelä, Maija

2018-01-01

The long-term objective of our research is to develop a method for infrastructure-free simultaneous localization and mapping (SLAM) and context recognition for tactical situational awareness. Localization will be realized by propagating motion measurements obtained using a monocular camera, a foot-mounted Inertial Measurement Unit (IMU), sonar, and a barometer. Due to the size and weight requirements set by tactical applications, Micro-Electro-Mechanical (MEMS) sensors will be used. However, MEMS sensors suffer from biases and drift errors that may substantially decrease the position accuracy. Therefore, sophisticated error modelling and implementation of integration algorithms are key for providing a viable result. Algorithms used for multi-sensor fusion have traditionally been different versions of Kalman filters. However, Kalman filters are based on the assumptions that the state propagation and measurement models are linear with additive Gaussian noise. Neither of the assumptions is correct for tactical applications, especially for dismounted soldiers, or rescue personnel. Therefore, error modelling and implementation of advanced fusion algorithms are essential for providing a viable result. Our approach is to use particle filtering (PF), which is a sophisticated option for integrating measurements emerging from pedestrian motion having non-Gaussian error characteristics. This paper discusses the statistical modelling of the measurement errors from inertial sensors and vision based heading and translation measurements to include the correct error probability density functions (pdf) in the particle filter implementation. Then, model fitting is used to verify the pdfs of the measurement errors. Based on the deduced error models of the measurements, particle filtering method is developed to fuse all this information, where the weights of each particle are computed based on the specific models derived. The performance of the developed method is tested via two experiments, one at a university’s premises and another in realistic tactical conditions. The results show significant improvement on the horizontal localization when the measurement errors are carefully modelled and their inclusion into the particle filtering implementation correctly realized. PMID:29443918

A Navigation System for the Visually Impaired: A Fusion of Vision and Depth Sensor

PubMed Central

Kanwal, Nadia; Bostanci, Erkan; Currie, Keith; Clark, Adrian F.

2015-01-01

For a number of years, scientists have been trying to develop aids that can make visually impaired people more independent and aware of their surroundings. Computer-based automatic navigation tools are one example of this, motivated by the increasing miniaturization of electronics and the improvement in processing power and sensing capabilities. This paper presents a complete navigation system based on low cost and physically unobtrusive sensors such as a camera and an infrared sensor. The system is based around corners and depth values from Kinect's infrared sensor. Obstacles are found in images from a camera using corner detection, while input from the depth sensor provides the corresponding distance. The combination is both efficient and robust. The system not only identifies hurdles but also suggests a safe path (if available) to the left or right side and tells the user to stop, move left, or move right. The system has been tested in real time by both blindfolded and blind people at different indoor and outdoor locations, demonstrating that it operates adequately. PMID:27057135

Particle Filter-Based Recursive Data Fusion With Sensor Indexing for Large Core Neutron Flux Estimation

NASA Astrophysics Data System (ADS)

Tamboli, Prakash Kumar; Duttagupta, Siddhartha P.; Roy, Kallol

2017-06-01

We introduce a sequential importance sampling particle filter (PF)-based multisensor multivariate nonlinear estimator for estimating the in-core neutron flux distribution for pressurized heavy water reactor core. Many critical applications such as reactor protection and control rely upon neutron flux information, and thus their reliability is of utmost importance. The point kinetic model based on neutron transport conveniently explains the dynamics of nuclear reactor. The neutron flux in the large core loosely coupled reactor is sensed by multiple sensors measuring point fluxes located at various locations inside the reactor core. The flux values are coupled to each other through diffusion equation. The coupling facilitates redundancy in the information. It is shown that multiple independent data about the localized flux can be fused together to enhance the estimation accuracy to a great extent. We also propose the sensor anomaly handling feature in multisensor PF to maintain the estimation process even when the sensor is faulty or generates data anomaly.

Temperature-independent curvature sensor based on tapered photonic crystal fiber interferometer

NASA Astrophysics Data System (ADS)

Ni, Kai; Li, Tao; Hu, Limin; Qian, Wenwen; Zhang, Quanyao; Jin, Shangzhong

2012-11-01

A temperature-independent highly-sensitive curvature sensor by using a tapered-photonic crystal fiber (PCF)-based Mach-Zehnder interferometer (MZI) is proposed and experimentally demonstrated. It is fabricated by sandwiching a tapered-PCF between two standard single mode fibers (SMFs) with the air holes of the PCF in the fusion splicing region being fully collapsed. The tapering of PCF is found to enhance the sensitivity significantly. Large curvature sensitivities of 2.81 dB/m-1 and 8.35 dB/m-1 are achieved in the measurement ranges of 0.36-0.87 m-1 and 0.87-1.34 m-1, respectively, with the resolution of 0.0012 m-1 being guaranteed. The proposed sensor also shows negligible temperature sensitivity less than 0.006 dB/°C.

Multi-sources data fusion framework for remote triage prioritization in telehealth.

PubMed

Salman, O H; Rasid, M F A; Saripan, M I; Subramaniam, S K

2014-09-01

The healthcare industry is streamlining processes to offer more timely and effective services to all patients. Computerized software algorithm and smart devices can streamline the relation between users and doctors by providing more services inside the healthcare telemonitoring systems. This paper proposes a multi-sources framework to support advanced healthcare applications. The proposed framework named Multi Sources Healthcare Architecture (MSHA) considers multi-sources: sensors (ECG, SpO2 and Blood Pressure) and text-based inputs from wireless and pervasive devices of Wireless Body Area Network. The proposed framework is used to improve the healthcare scalability efficiency by enhancing the remote triaging and remote prioritization processes for the patients. The proposed framework is also used to provide intelligent services over telemonitoring healthcare services systems by using data fusion method and prioritization technique. As telemonitoring system consists of three tiers (Sensors/ sources, Base station and Server), the simulation of the MSHA algorithm in the base station is demonstrated in this paper. The achievement of a high level of accuracy in the prioritization and triaging patients remotely, is set to be our main goal. Meanwhile, the role of multi sources data fusion in the telemonitoring healthcare services systems has been demonstrated. In addition to that, we discuss how the proposed framework can be applied in a healthcare telemonitoring scenario. Simulation results, for different symptoms relate to different emergency levels of heart chronic diseases, demonstrate the superiority of our algorithm compared with conventional algorithms in terms of classify and prioritize the patients remotely.

Reovirus FAST Proteins Drive Pore Formation and Syncytiogenesis Using a Novel Helix-Loop-Helix Fusion-Inducing Lipid Packing Sensor

PubMed Central

Sarker, Muzaddid; de Antueno, Roberto; Langelaan, David N.; Parmar, Hiren B.; Shin, Kyungsoo; Rainey, Jan K.; Duncan, Roy

2015-01-01

Pore formation is the most energy-demanding step during virus-induced membrane fusion, where high curvature of the fusion pore rim increases the spacing between lipid headgroups, exposing the hydrophobic interior of the membrane to water. How protein fusogens breach this thermodynamic barrier to pore formation is unclear. We identified a novel fusion-inducing lipid packing sensor (FLiPS) in the cytosolic endodomain of the baboon reovirus p15 fusion-associated small transmembrane (FAST) protein that is essential for pore formation during cell-cell fusion and syncytiogenesis. NMR spectroscopy and mutational studies indicate the dependence of this FLiPS on a hydrophobic helix-loop-helix structure. Biochemical and biophysical assays reveal the p15 FLiPS preferentially partitions into membranes with high positive curvature, and this partitioning is impeded by bis-ANS, a small molecule that inserts into hydrophobic defects in membranes. Most notably, the p15 FLiPS can be functionally replaced by heterologous amphipathic lipid packing sensors (ALPS) but not by other membrane-interactive amphipathic helices. Furthermore, a previously unrecognized amphipathic helix in the cytosolic domain of the reptilian reovirus p14 FAST protein can functionally replace the p15 FLiPS, and is itself replaceable by a heterologous ALPS motif. Anchored near the cytoplasmic leaflet by the FAST protein transmembrane domain, the FLiPS is perfectly positioned to insert into hydrophobic defects that begin to appear in the highly curved rim of nascent fusion pores, thereby lowering the energy barrier to stable pore formation. PMID:26061049

Selected Tracking and Fusion Applications for the Defence and Security Domain

DTIC Science & Technology

2010-05-01

SUBTITLE Selected Tracking and Fusion Applications for the Defence and Security Domain 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER...characterized, for example, by sensor ranges from less than a meter to hundreds of kilometers, by time scales ranging from less than second to a few...been carried out within the framework of a multinational technology program called MAJIIC (Multi-Sensor Aerospace-Ground Joint ISR Interoperability

Development of a Low-Cost Attitude Sensor for Agricultural Vehicles

USDA-ARS?s Scientific Manuscript database

The objective of this research was to develop a low-cost attitude sensor for agricultural vehicles. The attitude sensor was composed of three vibratory gyroscopes and two inclinometers. A sensor fusion algorithm was developed to estimate tilt angles (roll and pitch) by least-squares method. In the a...

Fusion of 3D laser scanner and depth images for obstacle recognition in mobile applications

NASA Astrophysics Data System (ADS)

Budzan, Sebastian; Kasprzyk, Jerzy

2016-02-01

The problem of obstacle detection and recognition or, generally, scene mapping is one of the most investigated problems in computer vision, especially in mobile applications. In this paper a fused optical system using depth information with color images gathered from the Microsoft Kinect sensor and 3D laser range scanner data is proposed for obstacle detection and ground estimation in real-time mobile systems. The algorithm consists of feature extraction in the laser range images, processing of the depth information from the Kinect sensor, fusion of the sensor information, and classification of the data into two separate categories: road and obstacle. Exemplary results are presented and it is shown that fusion of information gathered from different sources increases the effectiveness of the obstacle detection in different scenarios, and it can be used successfully for road surface mapping.

Trend analysis of the aerosol optical depth from fusion of MISR and MODIS retrievals over China

NASA Astrophysics Data System (ADS)

Guo, Jing; Gu, Xingfa; Yu, Tao; Cheng, Tianhai; Chen, Hao

2014-03-01

Atmospheric aerosol plays an important role in the climate change though direct and indirect processes. In order to evaluate the effects of aerosols on climate, it is necessary to have a research on their spatial and temporal distributions. Satellite aerosol remote sensing is a developing technology that may provide good temporal sampling and superior spatial coverage to study aerosols. The Moderate Resolution Imaging Spectroradiometer (MODIS) and Multi-angle Imaging Spectroradiometer (MISR) have provided aerosol observations since 2000, with large coverage and high accuracy. However, due to the complex surface, cloud contamination, and aerosol models used in the retrieving process, the uncertainties still exist in current satellite aerosol products. There are several observed differences in comparing the MISR and MODIS AOD data with the AERONET AOD. Combing multiple sensors could reduce uncertainties and improve observational accuracy. The validation results reveal that a better agreement between fusion AOD and AERONET AOD. The results confirm that the fusion AOD values are more accurate than single sensor. We have researched the trend analysis of the aerosol properties over China based on nine-year (2002-2010) fusion data. Compared with trend analysis in Jingjintang and Yangtze River Delta, the accuracy has increased by 5% and 3%, respectively. It is obvious that the increasing trend of the AOD occurred in Yangtze River Delta, where human activities may be the main source of the increasing AOD.

Sensor-Data Fusion for Multi-Person Indoor Location Estimation.

PubMed

Mohebbi, Parisa; Stroulia, Eleni; Nikolaidis, Ioanis

2017-10-18

We consider the problem of estimating the location of people as they move and work in indoor environments. More specifically, we focus on the scenario where one of the persons of interest is unable or unwilling to carry a smartphone, or any other "wearable" device, which frequently arises in caregiver/cared-for situations. We consider the case of indoor spaces populated with anonymous binary sensors (Passive Infrared motion sensors) and eponymous wearable sensors (smartphones interacting with Estimote beacons), and we propose a solution to the resulting sensor-fusion problem. Using a data set with sensor readings collected from one-person and two-person sessions engaged in a variety of activities of daily living, we investigate the relative merits of relying solely on anonymous sensors, solely on eponymous sensors, or on their combination. We examine how the lack of synchronization across different sensing sources impacts the quality of location estimates, and discuss how it could be mitigated without resorting to device-level mechanisms. Finally, we examine the trade-off between the sensors' coverage of the monitored space and the quality of the location estimates.

A Survey on Optimal Signal Processing Techniques Applied to Improve the Performance of Mechanical Sensors in Automotive Applications

PubMed Central

Hernandez, Wilmar

2007-01-01

In this paper a survey on recent applications of optimal signal processing techniques to improve the performance of mechanical sensors is made. Here, a comparison between classical filters and optimal filters for automotive sensors is made, and the current state of the art of the application of robust and optimal control and signal processing techniques to the design of the intelligent (or smart) sensors that today's cars need is presented through several experimental results that show that the fusion of intelligent sensors and optimal signal processing techniques is the clear way to go. However, the switch between the traditional methods of designing automotive sensors and the new ones cannot be done overnight because there are some open research issues that have to be solved. This paper draws attention to one of the open research issues and tries to arouse researcher's interest in the fusion of intelligent sensors and optimal signal processing techniques.

Wireless Body Sensor Network for low-power motion-tolerant synchronized vital sign measurement.

PubMed

Volmer, Achim; Orglmeister, Reinhold

2008-01-01

Prophylaxis and rehabilitation of cardiovascular disease require the development of biosignal acquisition and processing devices that are capable of supporting patients in their everyday life. This paper presents a Body Sensor Network (BSN) for use in Personal Healthcare applications. It consists of miniaturized sensor modules for electrocardiogram (ECG), photoplethysmogram (PPG) and phonocardiography (PCG) which are wirelessly connected with a coordinator to collect the data. Each sensor module is combined with a tri-axis accelerometer for patient's posture and activity measurement. As it is possible to extract further information about the health state by fusioning data of different biosensors, the wireless link based on IEEE 802.15.4 was extended by a synchronisation mechanism enabling synchronous sampling of the individual sensors. An adaptive application of algorithms for signal pre-processing and analysis allows the reduction of the transferred data.

A Novel Remote Rehabilitation System with the Fusion of Noninvasive Wearable Device and Motion Sensing for Pulmonary Patients.

PubMed

Tey, Chuang-Kit; An, Jinyoung; Chung, Wan-Young

2017-01-01

Chronic obstructive pulmonary disease is a type of lung disease caused by chronically poor airflow that makes breathing difficult. As a chronic illness, it typically worsens over time. Therefore, pulmonary rehabilitation exercises and patient management for extensive periods of time are required. This paper presents a remote rehabilitation system for a multimodal sensors-based application for patients who have chronic breathing difficulties. The process involves the fusion of sensory data-captured motion data by stereo-camera and photoplethysmogram signal by a wearable PPG sensor-that are the input variables of a detection and evaluation framework. In addition, we incorporated a set of rehabilitation exercises specific for pulmonary patients into the system by fusing sensory data. Simultaneously, the system also features medical functions that accommodate the needs of medical professionals and those which ease the use of the application for patients, including exercises for tracking progress, patient performance, exercise assignments, and exercise guidance. Finally, the results indicate the accurate determination of pulmonary exercises from the fusion of sensory data. This remote rehabilitation system provides a comfortable and cost-effective option in the healthcare rehabilitation system.

Sensor Fusion of Position- and Micro-Sensors (MEMS) integrated in a Wireless Sensor Network for movement detection in landslide areas

NASA Astrophysics Data System (ADS)

Arnhardt, Christian; Fernández-Steeger, Tomas; Azzam, Rafig

2010-05-01

Monitoring systems in landslide areas are important elements of effective Early Warning structures. Data acquisition and retrieval allows the detection of movement processes and thus is essential to generate warnings in time. Apart from the precise measurement, the reliability of data is fundamental, because outliers can trigger false alarms and leads to the loss of acceptance of such systems. For the monitoring of mass movements and their risk it is important to know, if there is movement, how fast it is and how trustworthy is the information. The joint project "Sensorbased landslide early warning system" (SLEWS) deals with these questions, and tries to improve data quality and to reduce false alarm rates, due to the combination of sensor date (sensor fusion). The project concentrates on the development of a prototypic Alarm- and Early Warning system (EWS) for different types of landslides by using various low-cost sensors, integrated in a wireless sensor network (WSN). The network consists of numerous connection points (nodes) that transfer data directly or over other nodes (Multi-Hop) in real-time to a data collection point (gateway). From there all the data packages are transmitted to a spatial data infrastructure (SDI) for further processing, analyzing and visualizing with respect to end-user specifications. The ad-hoc characteristic of the network allows the autonomous crosslinking of the nodes according to existing connections and communication strength. Due to the independent finding of new or more stable connections (self healing) a breakdown of the whole system is avoided. The bidirectional data stream enables the receiving of data from the network but also allows the transfer of commands and pointed requests into the WSN. For the detection of surface deformations in landslide areas small low-cost Micro-Electro-Mechanical-Systems (MEMS) and positionsensors from the automobile industries, different industrial applications and from other measurement technologies were chosen. The MEMS-Sensors are acceleration-, tilt- and barometric pressure sensors. The positionsensors are draw wire and linear displacement transducers. In first laboratory tests the accuracy and resolution were investigated. The tests showed good results for all sensors. For example tilt-movements can be monitored with an accuracy of +/- 0,06° and a resolution of 0,1°. With the displacement transducer change in length of >0,1mm is possible. Apart from laboratory tests, field tests in South France and Germany were done to prove data stability and movement detection under real conditions. The results obtained were very satisfying, too. In the next step the combination of numerous sensors (sensor fusion) of the same type (redundancy) or different types (complementary) was researched. Different experiments showed that there is a high concordance between identical sensor-types. According to different sensor parameters (sensitivity, accuracy, resolution) some sensor-types can identify changes earlier. Taking this into consideration, good correlations between different kinds of sensors were achieved, too. Thus the experiments showed that combination of sensors is possible and this could improve the detection of movement and movement rate but also outliers. Based on this results various algorithms were setup that include different statistical methods (outlier tests, testing of hypotheses) and procedures from decision theories (Hurwicz-criteria). These calculation formulas will be implemented in the spatial data infrastructure (SDI) for the further data processing and validation. In comparison with today existing mainly punctually working monitoring systems, the application of wireless sensor networks in combination with low-cost, but precise micro-sensors provides an inexpensive and easy to set up monitoring system also in large areas. The correlation of same but also different sensor-types permits a good data control. Thus the sensor fusion is a promising tool to detect movement more reliable and thus contributes essential to the improvement of Early Warning Systems.

Color image fusion for concealed weapon detection

NASA Astrophysics Data System (ADS)

Toet, Alexander

2003-09-01

Recent advances in passive and active imaging sensor technology offer the potential to detect weapons that are concealed underneath a person's clothing or carried along in bags. Although the concealed weapons can sometimes easily be detected, it can be difficult to perceive their context, due to the non-literal nature of these images. Especially for dynamic crowd surveillance purposes it may be impossible to rapidly asses with certainty which individual in the crowd is the one carrying the observed weapon. Sensor fusion is an enabling technology that may be used to solve this problem. Through fusion the signal of the sensor that depicts the weapon can be displayed in the context provided by a sensor of a different modality. We propose an image fusion scheme in which non-literal imagery can be fused with standard color images such that the result clearly displays the observed weapons in the context of the original color image. The procedure is such that the relevant contrast details from the non-literal image are transferred to the color image without altering the original color distribution of this image. The result is a natural looking color image that fluently combines all details from both input sources. When an observer who performs a dynamic crowd surveillance task, detects a weapon in the scene, he will also be able to quickly determine which person in the crowd is actually carrying the observed weapon (e.g. "the man with the red T-shirt and blue jeans"). The method is illustrated by the fusion of thermal 8-12 μm imagery with standard RGB color images.

Passive range estimation using dual baseline triangulation

NASA Astrophysics Data System (ADS)

Pieper, Ronald J.; Cooper, Alfred W.; Pelegris, G.

1996-03-01

Modern combat systems based on active radar sensing suffer disadvantages against low-flying targets in cluttered backgrounds. Use of passive infrared sensors with these systems, either in cooperation or as an alternative, shows potential for improving target detection and declaration range for targets crossing the horizon. Realization of this potential requires fusion of target position data from dissimilar sensors, or passive sensor measurement of target range. The availability of passive sensors that can supply both range and bearing data on such targets would significantly extend the robustness of an integrated ship self-defense system. This paper considers a new method of range determination with passive sensors based on the principle of triangulation, extending the principle to two orthogonal baselines. The performance of single or double baseline triangulation depends on sensor bearing precision and direction to target. An expression for maximum triangulation range at a required accuracy is derived as a function of polar angle relative to the center of the dual-baseline system. Limitations in the dual- baseline model due to the geometrically assessed horizon are also considered.

Multi-Sensor Data Fusion Identification for Shearer Cutting Conditions Based on Parallel Quasi-Newton Neural Networks and the Dempster-Shafer Theory

PubMed Central

Si, Lei; Wang, Zhongbin; Liu, Xinhua; Tan, Chao; Xu, Jing; Zheng, Kehong

2015-01-01

In order to efficiently and accurately identify the cutting condition of a shearer, this paper proposed an intelligent multi-sensor data fusion identification method using the parallel quasi-Newton neural network (PQN-NN) and the Dempster-Shafer (DS) theory. The vibration acceleration signals and current signal of six cutting conditions were collected from a self-designed experimental system and some special state features were extracted from the intrinsic mode functions (IMFs) based on the ensemble empirical mode decomposition (EEMD). In the experiment, three classifiers were trained and tested by the selected features of the measured data, and the DS theory was used to combine the identification results of three single classifiers. Furthermore, some comparisons with other methods were carried out. The experimental results indicate that the proposed method performs with higher detection accuracy and credibility than the competing algorithms. Finally, an industrial application example in the fully mechanized coal mining face was demonstrated to specify the effect of the proposed system. PMID:26580620

The Joint Adaptive Kalman Filter (JAKF) for Vehicle Motion State Estimation.

PubMed

Gao, Siwei; Liu, Yanheng; Wang, Jian; Deng, Weiwen; Oh, Heekuck

2016-07-16

This paper proposes a multi-sensory Joint Adaptive Kalman Filter (JAKF) through extending innovation-based adaptive estimation (IAE) to estimate the motion state of the moving vehicles ahead. JAKF views Lidar and Radar data as the source of the local filters, which aims to adaptively adjust the measurement noise variance-covariance (V-C) matrix 'R' and the system noise V-C matrix 'Q'. Then, the global filter uses R to calculate the information allocation factor 'β' for data fusion. Finally, the global filter completes optimal data fusion and feeds back to the local filters to improve the measurement accuracy of the local filters. Extensive simulation and experimental results show that the JAKF has better adaptive ability and fault tolerance. JAKF enables one to bridge the gap of the accuracy difference of various sensors to improve the integral filtering effectivity. If any sensor breaks down, the filtered results of JAKF still can maintain a stable convergence rate. Moreover, the JAKF outperforms the conventional Kalman filter (CKF) and the innovation-based adaptive Kalman filter (IAKF) with respect to the accuracy of displacement, velocity, and acceleration, respectively.

A Locomotion Intent Prediction System Based on Multi-Sensor Fusion

PubMed Central

Chen, Baojun; Zheng, Enhao; Wang, Qining

2014-01-01

Locomotion intent prediction is essential for the control of powered lower-limb prostheses to realize smooth locomotion transitions. In this research, we develop a multi-sensor fusion based locomotion intent prediction system, which can recognize current locomotion mode and detect locomotion transitions in advance. Seven able-bodied subjects were recruited for this research. Signals from two foot pressure insoles and three inertial measurement units (one on the thigh, one on the shank and the other on the foot) are measured. A two-level recognition strategy is used for the recognition with linear discriminate classifier. Six kinds of locomotion modes and ten kinds of locomotion transitions are tested in this study. Recognition accuracy during steady locomotion periods (i.e., no locomotion transitions) is 99.71% ± 0.05% for seven able-bodied subjects. During locomotion transition periods, all the transitions are correctly detected and most of them can be detected before transiting to new locomotion modes. No significant deterioration in recognition performance is observed in the following five hours after the system is trained, and small number of experiment trials are required to train reliable classifiers. PMID:25014097

Assessment of Closed-Loop Control Using Multi-Mode Sensor Fusion For a High Reynolds Number Transonic Jet

NASA Astrophysics Data System (ADS)

Low, Kerwin; Elhadidi, Basman; Glauser, Mark

2009-11-01

Understanding the different noise production mechanisms caused by the free shear flows in a turbulent jet flow provides insight to improve ``intelligent'' feedback mechanisms to control the noise. Towards this effort, a control scheme is based on feedback of azimuthal pressure measurements in the near field of the jet at two streamwise locations. Previous studies suggested that noise reduction can be achieved by azimuthal actuators perturbing the shear layer at the jet lip. The closed-loop actuation will be based on a low-dimensional Fourier representation of the hydrodynamic pressure measurements. Preliminary results show that control authority and reduction in the overall sound pressure level was possible. These results provide motivation to move forward with the overall vision of developing innovative multi-mode sensing methods to improve state estimation and derive dynamical systems. It is envisioned that estimating velocity-field and dynamic pressure information from various locations both local and in the far-field regions, sensor fusion techniques can be utilized to ascertain greater overall control authority.

A locomotion intent prediction system based on multi-sensor fusion.

PubMed

Chen, Baojun; Zheng, Enhao; Wang, Qining

2014-07-10

Locomotion intent prediction is essential for the control of powered lower-limb prostheses to realize smooth locomotion transitions. In this research, we develop a multi-sensor fusion based locomotion intent prediction system, which can recognize current locomotion mode and detect locomotion transitions in advance. Seven able-bodied subjects were recruited for this research. Signals from two foot pressure insoles and three inertial measurement units (one on the thigh, one on the shank and the other on the foot) are measured. A two-level recognition strategy is used for the recognition with linear discriminate classifier. Six kinds of locomotion modes and ten kinds of locomotion transitions are tested in this study. Recognition accuracy during steady locomotion periods (i.e., no locomotion transitions) is 99.71% ± 0.05% for seven able-bodied subjects. During locomotion transition periods, all the transitions are correctly detected and most of them can be detected before transiting to new locomotion modes. No significant deterioration in recognition performance is observed in the following five hours after the system is trained, and small number of experiment trials are required to train reliable classifiers.

Neural networks for satellite remote sensing and robotic sensor interpretation

NASA Astrophysics Data System (ADS)

Martens, Siegfried

Remote sensing of forests and robotic sensor fusion can be viewed, in part, as supervised learning problems, mapping from sensory input to perceptual output. This dissertation develops ARTMAP neural networks for real-time category learning, pattern recognition, and prediction tailored to remote sensing and robotics applications. Three studies are presented. The first two use ARTMAP to create maps from remotely sensed data, while the third uses an ARTMAP system for sensor fusion on a mobile robot. The first study uses ARTMAP to predict vegetation mixtures in the Plumas National Forest based on spectral data from the Landsat Thematic Mapper satellite. While most previous ARTMAP systems have predicted discrete output classes, this project develops new capabilities for multi-valued prediction. On the mixture prediction task, the new network is shown to perform better than maximum likelihood and linear mixture models. The second remote sensing study uses an ARTMAP classification system to evaluate the relative importance of spectral and terrain data for map-making. This project has produced a large-scale map of remotely sensed vegetation in the Sierra National Forest. Network predictions are validated with ground truth data, and maps produced using the ARTMAP system are compared to a map produced by human experts. The ARTMAP Sierra map was generated in an afternoon, while the labor intensive expert method required nearly a year to perform the same task. The robotics research uses an ARTMAP system to integrate visual information and ultrasonic sensory information on a B14 mobile robot. The goal is to produce a more accurate measure of distance than is provided by the raw sensors. ARTMAP effectively combines sensory sources both within and between modalities. The improved distance percept is used to produce occupancy grid visualizations of the robot's environment. The maps produced point to specific problems of raw sensory information processing and demonstrate the benefits of using a neural network system for sensor fusion.

A modular telerobotic task execution system

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Tso, Kam S.; Hayati, Samad; Lee, Thomas S.

1990-01-01

A telerobot task execution system is proposed to provide a general parametrizable task execution capability. The system includes communication with the calling system, e.g., a task planning system, and single- and dual-arm sensor-based task execution with monitoring and reflexing. A specific task is described by specifying the parameters to various available task execution modules including trajectory generation, compliance control, teleoperation, monitoring, and sensor fusion. Reflex action is achieved by finding the corresponding reflex action in a reflex table when an execution event has been detected with a monitor.

An Uncertainty-Based Distributed Fault Detection Mechanism for Wireless Sensor Networks

PubMed Central

Yang, Yang; Gao, Zhipeng; Zhou, Hang; Qiu, Xuesong

2014-01-01

Exchanging too many messages for fault detection will cause not only a degradation of the network quality of service, but also represents a huge burden on the limited energy of sensors. Therefore, we propose an uncertainty-based distributed fault detection through aided judgment of neighbors for wireless sensor networks. The algorithm considers the serious influence of sensing measurement loss and therefore uses Markov decision processes for filling in missing data. Most important of all, fault misjudgments caused by uncertainty conditions are the main drawbacks of traditional distributed fault detection mechanisms. We draw on the experience of evidence fusion rules based on information entropy theory and the degree of disagreement function to increase the accuracy of fault detection. Simulation results demonstrate our algorithm can effectively reduce communication energy overhead due to message exchanges and provide a higher detection accuracy ratio. PMID:24776937

Improved particle swarm optimization algorithm for android medical care IOT using modified parameters.

PubMed

Sung, Wen-Tsai; Chiang, Yen-Chun

2012-12-01

This study examines wireless sensor network with real-time remote identification using the Android study of things (HCIOT) platform in community healthcare. An improved particle swarm optimization (PSO) method is proposed to efficiently enhance physiological multi-sensors data fusion measurement precision in the Internet of Things (IOT) system. Improved PSO (IPSO) includes: inertia weight factor design, shrinkage factor adjustment to allow improved PSO algorithm data fusion performance. The Android platform is employed to build multi-physiological signal processing and timely medical care of things analysis. Wireless sensor network signal transmission and Internet links allow community or family members to have timely medical care network services.

MMWR/FLIR/ATR sensor fusion: Proof of concept

NASA Astrophysics Data System (ADS)

Woolett, Jerry F.

1988-06-01

To improve the relocatable target capabilities of strategic aircraft a sensor fusion concept using a millimeter-wave radar (MMWR) and a forward-looking infrared (FLIR) system providing inputs to an auto target recognizer (ATR) has been developed. To prove this concept, a cooperative research effort is being conducted by a group of industry leaders in bomber avionics, MMWR, and ATR technologies. The author discusses the concept and the plan developed to test, evaluate, and demonstrate the expected performance.

A Combined Approach of Sensor Data Fusion and Multivariate Geostatistics for Delineation of Homogeneous Zones in an Agricultural Field

PubMed Central

Castrignanò, Annamaria; Quarto, Ruggiero; Vitti, Carolina; Langella, Giuliano; Terribile, Fabio

2017-01-01

To assess spatial variability at the very fine scale required by Precision Agriculture, different proximal and remote sensors have been used. They provide large amounts and different types of data which need to be combined. An integrated approach, using multivariate geostatistical data-fusion techniques and multi-source geophysical sensor data to determine simple summary scale-dependent indices, is described here. These indices can be used to delineate management zones to be submitted to differential management. Such a data fusion approach with geophysical sensors was applied in a soil of an agronomic field cropped with tomato. The synthetic regionalized factors determined, contributed to split the 3D edaphic environment into two main horizontal structures with different hydraulic properties and to disclose two main horizons in the 0–1.0-m depth with a discontinuity probably occurring between 0.40 m and 0.70 m. Comparing this partition with the soil properties measured with a shallow sampling, it was possible to verify the coherence in the topsoil between the dielectric properties and other properties more directly related to agronomic management. These results confirm the advantages of using proximal sensing as a preliminary step in the application of site-specific management. Combining disparate spatial data (data fusion) is not at all a naive problem and novel and powerful methods need to be developed. PMID:29207510

A Combined Approach of Sensor Data Fusion and Multivariate Geostatistics for Delineation of Homogeneous Zones in an Agricultural Field.

PubMed

Castrignanò, Annamaria; Buttafuoco, Gabriele; Quarto, Ruggiero; Vitti, Carolina; Langella, Giuliano; Terribile, Fabio; Venezia, Accursio

2017-12-03

To assess spatial variability at the very fine scale required by Precision Agriculture, different proximal and remote sensors have been used. They provide large amounts and different types of data which need to be combined. An integrated approach, using multivariate geostatistical data-fusion techniques and multi-source geophysical sensor data to determine simple summary scale-dependent indices, is described here. These indices can be used to delineate management zones to be submitted to differential management. Such a data fusion approach with geophysical sensors was applied in a soil of an agronomic field cropped with tomato. The synthetic regionalized factors determined, contributed to split the 3D edaphic environment into two main horizontal structures with different hydraulic properties and to disclose two main horizons in the 0-1.0-m depth with a discontinuity probably occurring between 0.40 m and 0.70 m. Comparing this partition with the soil properties measured with a shallow sampling, it was possible to verify the coherence in the topsoil between the dielectric properties and other properties more directly related to agronomic management. These results confirm the advantages of using proximal sensing as a preliminary step in the application of site-specific management. Combining disparate spatial data (data fusion) is not at all a naive problem and novel and powerful methods need to be developed.

Engineering workstation: Sensor modeling

NASA Technical Reports Server (NTRS)

Pavel, M; Sweet, B.

1993-01-01

The purpose of the engineering workstation is to provide an environment for rapid prototyping and evaluation of fusion and image processing algorithms. Ideally, the algorithms are designed to optimize the extraction of information that is useful to a pilot for all phases of flight operations. Successful design of effective fusion algorithms depends on the ability to characterize both the information available from the sensors and the information useful to a pilot. The workstation is comprised of subsystems for simulation of sensor-generated images, image processing, image enhancement, and fusion algorithms. As such, the workstation can be used to implement and evaluate both short-term solutions and long-term solutions. The short-term solutions are being developed to enhance a pilot's situational awareness by providing information in addition to his direct vision. The long term solutions are aimed at the development of complete synthetic vision systems. One of the important functions of the engineering workstation is to simulate the images that would be generated by the sensors. The simulation system is designed to use the graphics modeling and rendering capabilities of various workstations manufactured by Silicon Graphics Inc. The workstation simulates various aspects of the sensor-generated images arising from phenomenology of the sensors. In addition, the workstation can be used to simulate a variety of impairments due to mechanical limitations of the sensor placement and due to the motion of the airplane. Although the simulation is currently not performed in real-time, sequences of individual frames can be processed, stored, and recorded in a video format. In that way, it is possible to examine the appearance of different dynamic sensor-generated and fused images.

Soldier systems sensor fusion

NASA Astrophysics Data System (ADS)

Brubaker, Kathryne M.

1998-08-01

This paper addresses sensor fusion and its applications in emerging Soldier Systems integration and the unique challenges associated with the human platform. Technology that,provides the highest operational payoff in a lightweight warrior system must not only have enhanced capabilities, but have low power components resulting in order of magnitude reductions coupled with significant cost reductions. These reductions in power and cost will be achieved through partnership with industry and leveraging of commercial state of the art advancements in microelectronics and power sources. As new generation of full solution fire control systems (to include temperature, wind and range sensors) and target acquisition systems will accompany a new generation of individual combat weapons and upgrade existing weapon systems. Advanced lightweight thermal, IR, laser and video senors will be used for surveillance, target acquisition, imaging and combat identification applications. Multifunctional sensors will provide embedded training features in combat configurations allowing the soldier to 'train as he fights' without the traditional cost and weight penalties associated with separate systems. Personal status monitors (detecting pulse, respiration rate, muscle fatigue, core temperature, etc.) will provide commanders and highest echelons instantaneous medical data. Seamless integration of GPS and dead reckoning (compass and pedometer) and/or inertial sensors will aid navigation and increase position accuracy. Improved sensors and processing capability will provide earlier detection of battlefield hazards such as mines, enemy lasers and NBC (nuclear, biological, chemical) agents. Via the digitized network the situational awareness database will automatically be updated with weapon, medical, position and battlefield hazard data. Soldier Systems Sensor Fusion will ultimately establish each individual soldier as an individual sensor on the battlefield.

Sensor-Data Fusion for Multi-Person Indoor Location Estimation

PubMed Central

2017-01-01

We consider the problem of estimating the location of people as they move and work in indoor environments. More specifically, we focus on the scenario where one of the persons of interest is unable or unwilling to carry a smartphone, or any other “wearable” device, which frequently arises in caregiver/cared-for situations. We consider the case of indoor spaces populated with anonymous binary sensors (Passive Infrared motion sensors) and eponymous wearable sensors (smartphones interacting with Estimote beacons), and we propose a solution to the resulting sensor-fusion problem. Using a data set with sensor readings collected from one-person and two-person sessions engaged in a variety of activities of daily living, we investigate the relative merits of relying solely on anonymous sensors, solely on eponymous sensors, or on their combination. We examine how the lack of synchronization across different sensing sources impacts the quality of location estimates, and discuss how it could be mitigated without resorting to device-level mechanisms. Finally, we examine the trade-off between the sensors’ coverage of the monitored space and the quality of the location estimates. PMID:29057812

Attack Detection in Sensor Network Target Localization Systems With Quantized Data

NASA Astrophysics Data System (ADS)

Zhang, Jiangfan; Wang, Xiaodong; Blum, Rick S.; Kaplan, Lance M.

2018-04-01

We consider a sensor network focused on target localization, where sensors measure the signal strength emitted from the target. Each measurement is quantized to one bit and sent to the fusion center. A general attack is considered at some sensors that attempts to cause the fusion center to produce an inaccurate estimation of the target location with a large mean-square-error. The attack is a combination of man-in-the-middle, hacking, and spoofing attacks that can effectively change both signals going into and coming out of the sensor nodes in a realistic manner. We show that the essential effect of attacks is to alter the estimated distance between the target and each attacked sensor to a different extent, giving rise to a geometric inconsistency among the attacked and unattacked sensors. Hence, with the help of two secure sensors, a class of detectors are proposed to detect the attacked sensors by scrutinizing the existence of the geometric inconsistency. We show that the false alarm and miss probabilities of the proposed detectors decrease exponentially as the number of measurement samples increases, which implies that for sufficiently large number of samples, the proposed detectors can identify the attacked and unattacked sensors with any required accuracy.

Multiple kernel based feature and decision level fusion of iECO individuals for explosive hazard detection in FLIR imagery

NASA Astrophysics Data System (ADS)

Price, Stanton R.; Murray, Bryce; Hu, Lequn; Anderson, Derek T.; Havens, Timothy C.; Luke, Robert H.; Keller, James M.

2016-05-01

A serious threat to civilians and soldiers is buried and above ground explosive hazards. The automatic detection of such threats is highly desired. Many methods exist for explosive hazard detection, e.g., hand-held based sensors, downward and forward looking vehicle mounted platforms, etc. In addition, multiple sensors are used to tackle this extreme problem, such as radar and infrared (IR) imagery. In this article, we explore the utility of feature and decision level fusion of learned features for forward looking explosive hazard detection in IR imagery. Specifically, we investigate different ways to fuse learned iECO features pre and post multiple kernel (MK) support vector machine (SVM) based classification. Three MK strategies are explored; fixed rule, heuristics and optimization-based. Performance is assessed in the context of receiver operating characteristic (ROC) curves on data from a U.S. Army test site that contains multiple target and clutter types, burial depths and times of day. Specifically, the results reveal two interesting things. First, the different MK strategies appear to indicate that the different iECO individuals are all more-or-less important and there is not a dominant feature. This is reinforcing as our hypothesis was that iECO provides different ways to approach target detection. Last, we observe that while optimization-based MK is mathematically appealing, i.e., it connects the learning of the fusion to the underlying classification problem we are trying to solve, it appears to be highly susceptible to over fitting and simpler, e.g., fixed rule and heuristics approaches help us realize more generalizable iECO solutions.

Multitarget-multisensor management for decentralized sensor networks

NASA Astrophysics Data System (ADS)

Tharmarasa, R.; Kirubarajan, T.; Sinha, A.; Hernandez, M. L.

2006-05-01

In this paper, we consider the problem of sensor resource management in decentralized tracking systems. Due to the availability of cheap sensors, it is possible to use a large number of sensors and a few fusion centers (FCs) to monitor a large surveillance region. Even though a large number of sensors are available, due to frequency, power and other physical limitations, only a few of them can be active at any one time. The problem is then to select sensor subsets that should be used by each FC at each sampling time in order to optimize the tracking performance subject to their operational constraints. In a recent paper, we proposed an algorithm to handle the above issues for joint detection and tracking, without using simplistic clustering techniques that are standard in the literature. However, in that paper, a hierarchical architecture with feedback at every sampling time was considered, and the sensor management was performed only at a central fusion center (CFC). However, in general, it is not possible to communicate with the CFC at every sampling time, and in many cases there may not even be a CFC. Sometimes, communication between CFC and local fusion centers might fail as well. Therefore performing sensor management only at the CFC is not viable in most networks. In this paper, we consider an architecture in which there is no CFC, each FC communicates only with the neighboring FCs, and communications are restricted. In this case, each FC has to decide which sensors are to be used by itself at each measurement time step. We propose an efficient algorithm to handle the above problem in real time. Simulation results illustrating the performance of the proposed algorithm are also presented.

Small Imaging Depth LIDAR and DCNN-Based Localization for Automated Guided Vehicle †

PubMed Central

Ito, Seigo; Hiratsuka, Shigeyoshi; Ohta, Mitsuhiko; Matsubara, Hiroyuki; Ogawa, Masaru

2018-01-01

We present our third prototype sensor and a localization method for Automated Guided Vehicles (AGVs), for which small imaging LIght Detection and Ranging (LIDAR) and fusion-based localization are fundamentally important. Our small imaging LIDAR, named the Single-Photon Avalanche Diode (SPAD) LIDAR, uses a time-of-flight method and SPAD arrays. A SPAD is a highly sensitive photodetector capable of detecting at the single-photon level, and the SPAD LIDAR has two SPAD arrays on the same chip for detection of laser light and environmental light. Therefore, the SPAD LIDAR simultaneously outputs range image data and monocular image data with the same coordinate system and does not require external calibration among outputs. As AGVs travel both indoors and outdoors with vibration, this calibration-less structure is particularly useful for AGV applications. We also introduce a fusion-based localization method, named SPAD DCNN, which uses the SPAD LIDAR and employs a Deep Convolutional Neural Network (DCNN). SPAD DCNN can fuse the outputs of the SPAD LIDAR: range image data, monocular image data and peak intensity image data. The SPAD DCNN has two outputs: the regression result of the position of the SPAD LIDAR and the classification result of the existence of a target to be approached. Our third prototype sensor and the localization method are evaluated in an indoor environment by assuming various AGV trajectories. The results show that the sensor and localization method improve the localization accuracy. PMID:29320434

Small Imaging Depth LIDAR and DCNN-Based Localization for Automated Guided Vehicle.

PubMed

Ito, Seigo; Hiratsuka, Shigeyoshi; Ohta, Mitsuhiko; Matsubara, Hiroyuki; Ogawa, Masaru

2018-01-10

We present our third prototype sensor and a localization method for Automated Guided Vehicles (AGVs), for which small imaging LIght Detection and Ranging (LIDAR) and fusion-based localization are fundamentally important. Our small imaging LIDAR, named the Single-Photon Avalanche Diode (SPAD) LIDAR, uses a time-of-flight method and SPAD arrays. A SPAD is a highly sensitive photodetector capable of detecting at the single-photon level, and the SPAD LIDAR has two SPAD arrays on the same chip for detection of laser light and environmental light. Therefore, the SPAD LIDAR simultaneously outputs range image data and monocular image data with the same coordinate system and does not require external calibration among outputs. As AGVs travel both indoors and outdoors with vibration, this calibration-less structure is particularly useful for AGV applications. We also introduce a fusion-based localization method, named SPAD DCNN, which uses the SPAD LIDAR and employs a Deep Convolutional Neural Network (DCNN). SPAD DCNN can fuse the outputs of the SPAD LIDAR: range image data, monocular image data and peak intensity image data. The SPAD DCNN has two outputs: the regression result of the position of the SPAD LIDAR and the classification result of the existence of a target to be approached. Our third prototype sensor and the localization method are evaluated in an indoor environment by assuming various AGV trajectories. The results show that the sensor and localization method improve the localization accuracy.

Minefield reconnaissance and detector system

DOEpatents

Butler, M.T.; Cave, S.P.; Creager, J.D.; Johnson, C.M.; Mathes, J.B.; Smith, K.J.

1994-04-26

A multi-sensor system is described for detecting the presence of objects on the surface of the ground or buried just under the surface, such as anti-personnel or anti-tank mines or the like. A remote sensor platform has a plurality of metal detector sensors and a plurality of short pulse radar sensors. The remote sensor platform is remotely controlled from a processing and control unit and signals from the remote sensor platform are sent to the processing and control unit where they are individually evaluated in separate data analysis subprocess steps to obtain a probability score for each of the pluralities of sensors. These probability scores are combined in a fusion subprocess step by comparing score sets to a probability table which is derived based upon the historical incidence of object present conditions given that score set. A decision making rule is applied to provide an output which is optionally provided to a marker subprocess for controlling a marker device to mark the location of found objects. 7 figures.

Performance enhancement of low-cost, high-accuracy, state estimation for vehicle collision prevention system using ANFIS

NASA Astrophysics Data System (ADS)

Saadeddin, Kamal; Abdel-Hafez, Mamoun F.; Jaradat, Mohammad A.; Jarrah, Mohammad Amin

2013-12-01

In this paper, a low-cost navigation system that fuses the measurements of the inertial navigation system (INS) and the global positioning system (GPS) receiver is developed. First, the system's dynamics are obtained based on a vehicle's kinematic model. Second, the INS and GPS measurements are fused using an extended Kalman filter (EKF) approach. Subsequently, an artificial intelligence based approach for the fusion of INS/GPS measurements is developed based on an Input-Delayed Adaptive Neuro-Fuzzy Inference System (IDANFIS). Experimental tests are conducted to demonstrate the performance of the two sensor fusion approaches. It is found that the use of the proposed IDANFIS approach achieves a reduction in the integration development time and an improvement in the estimation accuracy of the vehicle's position and velocity compared to the EKF based approach.

An automatic fall detection framework using data fusion of Doppler radar and motion sensor network.

PubMed

Liu, Liang; Popescu, Mihail; Skubic, Marjorie; Rantz, Marilyn

2014-01-01

This paper describes the ongoing work of detecting falls in independent living senior apartments. We have developed a fall detection system with Doppler radar sensor and implemented ceiling radar in real senior apartments. However, the detection accuracy on real world data is affected by false alarms inherent in the real living environment, such as motions from visitors. To solve this issue, this paper proposes an improved framework by fusing the Doppler radar sensor result with a motion sensor network. As a result, performance is significantly improved after the data fusion by discarding the false alarms generated by visitors. The improvement of this new method is tested on one week of continuous data from an actual elderly person who frequently falls while living in her senior home.

Mapping Forest Height in Gabon Using UAVSAR Multi-Baseline Polarimetric SAR Interferometry and Lidar Fusion

NASA Astrophysics Data System (ADS)

Simard, M.; Denbina, M. W.

2017-12-01

Using data collected by NASA's Uninhabited Aerial Vehicle Synthetic Aperture Radar (UAVSAR) and Land, Vegetation, and Ice Sensor (LVIS) lidar, we have estimated forest canopy height for a number of study areas in the country of Gabon using a new machine learning data fusion approach. Using multi-baseline polarimetric synthetic aperture radar interferometry (PolInSAR) data collected by UAVSAR, forest heights can be estimated using the random volume over ground model. In the case of multi-baseline UAVSAR data consisting of many repeat passes with spatially separated flight tracks, we can estimate different forest height values for each different image pair, or baseline. In order to choose the best forest height estimate for each pixel, the baselines must be selected or ranked, taking care to avoid baselines with unsuitable spatial separation, or severe temporal decorrelation effects. The current baseline selection algorithms in the literature use basic quality metrics derived from the PolInSAR data which are not necessarily indicative of the true height accuracy in all cases. We have developed a new data fusion technique which treats PolInSAR baseline selection as a supervised classification problem, where the classifier is trained using a sparse sampling of lidar data within the PolInSAR coverage area. The classifier uses a large variety of PolInSAR-derived features as input, including radar backscatter as well as features based on the PolInSAR coherence region shape and the PolInSAR complex coherences. The resulting data fusion method produces forest height estimates which are more accurate than a purely radar-based approach, while having a larger coverage area than the input lidar training data, combining some of the strengths of each sensor. The technique demonstrates the strong potential for forest canopy height and above-ground biomass mapping using fusion of PolInSAR with data from future spaceborne lidar missions such as the upcoming Global Ecosystems Dynamics Investigation (GEDI) lidar.

Protein-specific localization of a rhodamine-based calcium-sensor in living cells.

PubMed

Best, Marcel; Porth, Isabel; Hauke, Sebastian; Braun, Felix; Herten, Dirk-Peter; Wombacher, Richard

2016-06-28

A small synthetic calcium sensor that can be site-specifically coupled to proteins in living cells by utilizing the bio-orthogonal HaloTag labeling strategy is presented. We synthesized an iodo-derivatized BAPTA chelator with a tetramethyl rhodamine fluorophore that allows further modification by Sonogashira cross-coupling. The presented calcium sensitive dye shows a 200-fold increase in fluorescence upon calcium binding. The derivatization with an aliphatic linker bearing a terminal haloalkane-function by Sonogashira cross-coupling allows the localization of the calcium sensor to Halo fusion proteins which we successfully demonstrate in in vitro and in vivo experiments. The herein reported highly sensitive tetramethyl rhodamine based calcium indicator, which can be selectively localized to proteins, is a powerful tool to determine changes in calcium levels inside living cells with spatiotemporal resolution.

A reflective hydrogen sensor based on fiber ring laser with PCF modal interferometer

NASA Astrophysics Data System (ADS)

Zhang, Ya-Nan; Zhang, Aozhuo; Han, Bo; E, Siyu

2018-06-01

A new hydrogen sensor based on a fiber ring laser with a photonic crystal fiber (PCF) modal interferometer is proposed. The reflective PCF modal interferometer, which is fabricated by forming two collapse regions on the two ends of PCF with a fusion discharge technique, is utilized as the sensing head and filter. Particularly, the Pd/WO3 hydrogen-sensitive thin film is coated on the PCF for hydrogen sensing. The combination of the fiber ring laser and PCF modal interferometer gives the sensor a high signal-to-noise ratio and an improved detection limit. Experimental results show that the sensing system can achieve a hydrogen sensitivity of 1.28 nm/%, a high signal-to-noise ratio (∼30 dB), a narrow full width at half maximum (∼0.05 nm), and low detection limit of 0.0133%.

Modification and fixed-point analysis of a Kalman filter for orientation estimation based on 9D inertial measurement unit data.

PubMed

Brückner, Hans-Peter; Spindeldreier, Christian; Blume, Holger

2013-01-01

A common approach for high accuracy sensor fusion based on 9D inertial measurement unit data is Kalman filtering. State of the art floating-point filter algorithms differ in their computational complexity nevertheless, real-time operation on a low-power microcontroller at high sampling rates is not possible. This work presents algorithmic modifications to reduce the computational demands of a two-step minimum order Kalman filter. Furthermore, the required bit-width of a fixed-point filter version is explored. For evaluation real-world data captured using an Xsens MTx inertial sensor is used. Changes in computational latency and orientation estimation accuracy due to the proposed algorithmic modifications and fixed-point number representation are evaluated in detail on a variety of processing platforms enabling on-board processing on wearable sensor platforms.

Data Summarization in the Node by Parameters (DSNP): Local Data Fusion in an IoT Environment.

PubMed

Maschi, Luis F C; Pinto, Alex S R; Meneguette, Rodolfo I; Baldassin, Alexandro

2018-03-07

With the advent of the Internet of Things, billions of objects or devices are inserted into the global computer network, generating and processing data at a volume never imagined before. This paper proposes a way to collect and process local data through a data fusion technology called summarization. The main feature of the proposal is the local data fusion, through parameters provided by the application, ensuring the quality of data collected by the sensor node. In the evaluation, the sensor node was compared when performing the data summary with another that performed a continuous recording of the collected data. Two sets of nodes were created, one with a sensor node that analyzed the luminosity of the room, which in this case obtained a reduction of 97% in the volume of data generated, and another set that analyzed the temperature of the room, obtaining a reduction of 80% in the data volume. Through these tests, it has been proven that the local data fusion at the node can be used to reduce the volume of data generated, consequently decreasing the volume of messages generated by IoT environments.

Uncertainty Assessment and Weight Map Generation for Efficient Fusion of Tandem-X and CARTOSAT-1 Dems

NASA Astrophysics Data System (ADS)

Bagheri, H.; Schmitt, M.; Zhu, X. X.

2017-05-01

Recently, with InSAR data provided by the German TanDEM-X mission, a new global, high-resolution Digital Elevation Model (DEM) has been produced by the German Aerospace Center (DLR) with unprecedented height accuracy. However, due to SAR-inherent sensor specifics, its quality decreases over urban areas, making additional improvement necessary. On the other hand, DEMs derived from optical remote sensing imagery, such as Cartosat-1 data, have an apparently greater resolution in urban areas, making their fusion with TanDEM-X elevation data a promising perspective. The objective of this paper is two-fold: First, the height accuracies of TanDEM-X and Cartosat-1 elevation data over different land types are empirically evaluated in order to analyze the potential of TanDEM-XCartosat- 1 DEM data fusion. After the quality assessment, urban DEM fusion using weighted averaging is investigated. In this experiment, both weight maps derived from the height error maps delivered with the DEM data, as well as more sophisticated weight maps predicted by a procedure based on artificial neural networks (ANNs) are compared. The ANN framework employs several features that can describe the height residual performance to predict the weights used in the subsequent fusion step. The results demonstrate that especially the ANN-based framework is able to improve the quality of the final DEM through data fusion.

Robust and reliable banknote authentification and print flaw detection with opto-acoustical sensor fusion methods

NASA Astrophysics Data System (ADS)

Lohweg, Volker; Schaede, Johannes; Türke, Thomas

2006-02-01

The authenticity checking and inspection of bank notes is a high labour intensive process where traditionally every note on every sheet is inspected manually. However with the advent of more and more sophisticated security features, both visible and invisible, and the requirement of cost reduction in the printing process, it is clear that automation is required. As more and more print techniques and new security features will be established, total quality security, authenticity and bank note printing must be assured. Therefore, this factor necessitates amplification of a sensorial concept in general. We propose a concept for both authenticity checking and inspection methods for pattern recognition and classification for securities and banknotes, which is based on the concept of sensor fusion and fuzzy interpretation of data measures. In the approach different methods of authenticity analysis and print flaw detection are combined, which can be used for vending or sorting machines, as well as for printing machines. Usually only the existence or appearance of colours and their textures are checked by cameras. Our method combines the visible camera images with IR-spectral sensitive sensors, acoustical and other measurements like temperature and pressure of printing machines.

Spatial, Temporal and Spectral Satellite Image Fusion via Sparse Representation

NASA Astrophysics Data System (ADS)

Song, Huihui

Remote sensing provides good measurements for monitoring and further analyzing the climate change, dynamics of ecosystem, and human activities in global or regional scales. Over the past two decades, the number of launched satellite sensors has been increasing with the development of aerospace technologies and the growing requirements on remote sensing data in a vast amount of application fields. However, a key technological challenge confronting these sensors is that they tradeoff between spatial resolution and other properties, including temporal resolution, spectral resolution, swath width, etc., due to the limitations of hardware technology and budget constraints. To increase the spatial resolution of data with other good properties, one possible cost-effective solution is to explore data integration methods that can fuse multi-resolution data from multiple sensors, thereby enhancing the application capabilities of available remote sensing data. In this thesis, we propose to fuse the spatial resolution with temporal resolution and spectral resolution, respectively, based on sparse representation theory. Taking the study case of Landsat ETM+ (with spatial resolution of 30m and temporal resolution of 16 days) and MODIS (with spatial resolution of 250m ~ 1km and daily temporal resolution) reflectance, we propose two spatial-temporal fusion methods to combine the fine spatial information of Landsat image and the daily temporal resolution of MODIS image. Motivated by that the images from these two sensors are comparable on corresponding bands, we propose to link their spatial information on available Landsat- MODIS image pair (captured on prior date) and then predict the Landsat image from the MODIS counterpart on prediction date. To well-learn the spatial details from the prior images, we use a redundant dictionary to extract the basic representation atoms for both Landsat and MODIS images based on sparse representation. Under the scenario of two prior Landsat-MODIS image pairs, we build the corresponding relationship between the difference images of MODIS and ETM+ by training a low- and high-resolution dictionary pair from the given prior image pairs. In the second scenario, i.e., only one Landsat- MODIS image pair being available, we directly correlate MODIS and ETM+ data through an image degradation model. Then, the fusion stage is achieved by super-resolving the MODIS image combining the high-pass modulation in a two-layer fusion framework. Remarkably, the proposed spatial-temporal fusion methods form a unified framework for blending remote sensing images with phenology change or land-cover-type change. Based on the proposed spatial-temporal fusion models, we propose to monitor the land use/land cover changes in Shenzhen, China. As a fast-growing city, Shenzhen faces the problem of detecting the rapid changes for both rational city planning and sustainable development. However, the cloudy and rainy weather in region Shenzhen located makes the capturing circle of high-quality satellite images longer than their normal revisit periods. Spatial-temporal fusion methods are capable to tackle this problem by improving the spatial resolution of images with coarse spatial resolution but frequent temporal coverage, thereby making the detection of rapid changes possible. On two Landsat-MODIS datasets with annual and monthly changes, respectively, we apply the proposed spatial-temporal fusion methods to the task of multiple change detection. Afterward, we propose a novel spatial and spectral fusion method for satellite multispectral and hyperspectral (or high-spectral) images based on dictionary-pair learning and sparse non-negative matrix factorization. By combining the spectral information from hyperspectral image, which is characterized by low spatial resolution but high spectral resolution and abbreviated as LSHS, and the spatial information from multispectral image, which is featured by high spatial resolution but low spectral resolution and abbreviated as HSLS, this method aims to generate the fused data with both high spatial and high spectral resolutions. Motivated by the observation that each hyperspectral pixel can be represented by a linear combination of a few endmembers, this method first extracts the spectral bases of LSHS and HSLS images by making full use of the rich spectral information in LSHS data. The spectral bases of these two categories data then formulate a dictionary-pair due to their correspondence in representing each pixel spectra of LSHS data and HSLS data, respectively. Subsequently, the LSHS image is spatially unmixed by representing the HSLS image with respect to the corresponding learned dictionary to derive its representation coefficients. Combining the spectral bases of LSHS data and the representation coefficients of HSLS data, we finally derive the fused data characterized by the spectral resolution of LSHS data and the spatial resolution of HSLS data.

A glucose concentration and temperature sensor based on long period fiber gratings induced by electric-arc discharge

NASA Astrophysics Data System (ADS)

Du, Chao; Wang, Qi

2017-10-01

As one of the key parameters in biological and chemical reactions, glucose concentration objectively reflects the characteristics of reactions, so the real-time monitoring of glucose concentration is important in the field of biochemical. Meanwhile, the influence from temperature should be considered. The fiber sensors have been studied extensively for decades due to the advantages of small size, immunity to electromagnetic interference and high sensitivity, which are suitable for the application of biochemical sensing. A long period fiber grating (LPFG) sensor induced by electric-arc discharge has been fabricated and demonstrated for simultaneous measurement of glucose concentration and temperature. The proposed sensor was fabricated by inscribing a sing mode fiber (SMF) with periodic electric-arc discharge technology. During the fabrication process, the electric-arc discharge technology was produced by a commercial fusion splicer, and the period of inscribed LPFG was determined by the movement of translation stages. A serials of periodic geometrical deformations would be formed in SMF after the fabrication, and the discharge intensity and discharge time can be adjusted though the fusion splicer settings screen. The core mode can be coupled into the cladding modes at certain wavelength when they satisfy the phase-matching conditions, and there will be several resonance dips in the transmission spectrum in LPFG. The resonance dips formed by the coupling between cladding modes and core mode have different sensitivity responses, so the simultaneous measurement for multi-parameter can be realized by monitoring the wavelength shifts of the resonance dips. Compared with the LPFG based on conventional SMF, the glucose concentration sensitivity has been obviously enhanced by etching the cladding with hydrofluoric acid solution. Based on the independent measured results, a dual-parameter measurement matrix has been built for signal demodulation. Because of the easy fabrication, low cost, small size and high sensitivity, the sensor is promising to be used for the biochemical sensing field where simultaneous measurement of glucose concentration and temperature is required.

Autonomous UAV-based mapping of large-scale urban firefights

NASA Astrophysics Data System (ADS)

Snarski, Stephen; Scheibner, Karl; Shaw, Scott; Roberts, Randy; LaRow, Andy; Breitfeller, Eric; Lupo, Jasper; Nielson, Darron; Judge, Bill; Forren, Jim

2006-05-01

This paper describes experimental results from a live-fire data collect designed to demonstrate the ability of IR and acoustic sensing systems to detect and map high-volume gunfire events from tactical UAVs. The data collect supports an exploratory study of the FightSight concept in which an autonomous UAV-based sensor exploitation and decision support capability is being proposed to provide dynamic situational awareness for large-scale battalion-level firefights in cluttered urban environments. FightSight integrates IR imagery, acoustic data, and 3D scene context data with prior time information in a multi-level, multi-step probabilistic-based fusion process to reliably locate and map the array of urban firing events and firepower movements and trends associated with the evolving urban battlefield situation. Described here are sensor results from live-fire experiments involving simultaneous firing of multiple sub/super-sonic weapons (2-AK47, 2-M16, 1 Beretta, 1 Mortar, 1 rocket) with high optical and acoustic clutter at ranges up to 400m. Sensor-shooter-target configurations and clutter were designed to simulate UAV sensing conditions for a high-intensity firefight in an urban environment. Sensor systems evaluated were an IR bullet tracking system by Lawrence Livermore National Laboratory (LLNL) and an acoustic gunshot detection system by Planning Systems, Inc. (PSI). The results demonstrate convincingly the ability for the LLNL and PSI sensor systems to accurately detect, separate, and localize multiple shooters and the associated shot directions during a high-intensity firefight (77 rounds in 5 sec) in a high acoustic and optical clutter environment with very low false alarms. Preliminary fusion processing was also examined that demonstrated an ability to distinguish co-located shooters (shooter density), range to <0.5 m accuracy at 400m, and weapon type. The combined results of the high-intensity firefight data collect and a detailed systems study demonstrate the readiness of the FightSight concept for full system development and integration.