Engineering Commons^™

Safdetection:Sensor Analysis Based Fault Detection In Tightly-Coupledmulti-Robot Team Tasks, Xingyan Li

Doctoral Dissertations

This dissertation addresses the problem of detecting faults based on sensor analysis for tightly-coupled multi-robot team tasks. The approach I developed is called SAFDetection, which stands for Sensor Analysis based Fault Detection, pronounced “Safe Detection”. When dealing with robot teams, it is challenging to detect all types of faults because of the complicated environment they operate in and the large spectrum of components used in the robot system. The SAFDetection approach provides a novel methodology for detecting robot faults in situations when motion models and models of multi-robot dynamic interactions are unavailable. The fundamental idea of SAFDetection is to build …

Integration Of Spatial And Spectral Information For Hyperspectral Image Classification, Zheng Du

Doctoral Dissertations

Hyperspectral imaging has become a powerful tool in biomedical and agriculture fields in the recent years and the interest amongst researchers has increased immensely. Hyperspectral imaging combines conventional imaging and spectroscopy to acquire both spatial and spectral information from an object. Consequently, a hyperspectral image data contains not only spectral information of objects, but also the spatial arrangement of objects. Information captured in neighboring locations may provide useful supplementary knowledge for analysis. Therefore, this dissertation investigates the integration of information from both the spectral and spatial domains to enhance hyperspectral image classification performance.

The major impediment to the combined spatial …