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Full-Text Articles in Robotics
Adaft: A Resource-Efficient Framework For Adaptive Fault-Tolerance In Cyber-Physical Systems, Ye Xu
Adaft: A Resource-Efficient Framework For Adaptive Fault-Tolerance In Cyber-Physical Systems, Ye Xu
Doctoral Dissertations
Cyber-physical systems frequently have to use massive redundancy to meet application requirements for high reliability. While such redundancy is required, it can be activated adaptively, based on the current state of the controlled plant. Most of the time the physical plant is in a state that allows for a lower level of fault-tolerance. Avoiding the continuous deployment of massive fault-tolerance will greatly reduce the workload of CPSs. In this dissertation, we demonstrate a software simulation framework (AdaFT) that can automatically generate the sub-spaces within which our adaptive fault-tolerance can be applied. We also show the theoretical benefits of AdaFT, and …
Learning Multimodal Structures In Computer Vision, Ali Taalimi
Learning Multimodal Structures In Computer Vision, Ali Taalimi
Doctoral Dissertations
A phenomenon or event can be received from various kinds of detectors or under different conditions. Each such acquisition framework is a modality of the phenomenon. Due to the relation between the modalities of multimodal phenomena, a single modality cannot fully describe the event of interest. Since several modalities report on the same event introduces new challenges comparing to the case of exploiting each modality separately.
We are interested in designing new algorithmic tools to apply sensor fusion techniques in the particular signal representation of sparse coding which is a favorite methodology in signal processing, machine learning and statistics to …
Computational Imaging Approach To Recovery Of Target Coordinates Using Orbital Sensor Data, Michael D. Vaughan
Computational Imaging Approach To Recovery Of Target Coordinates Using Orbital Sensor Data, Michael D. Vaughan
Doctoral Dissertations
This dissertation addresses the components necessary for simulation of an image-based recovery of the position of a target using orbital image sensors. Each component is considered in detail, focusing on the effect that design choices and system parameters have on the accuracy of the position estimate. Changes in sensor resolution, varying amounts of blur, differences in image noise level, selection of algorithms used for each component, and lag introduced by excessive processing time all contribute to the accuracy of the result regarding recovery of target coordinates using orbital sensor data.
Using physical targets and sensors in this scenario would be …