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Articles 1 - 8 of 8
Full-Text Articles in Physical Sciences and Mathematics
Vision-Based Object Manipulation For Activities Of Daily Living (Adl) Assistance Using Assistive Robot, Md Tanzil Shahria
Vision-Based Object Manipulation For Activities Of Daily Living (Adl) Assistance Using Assistive Robot, Md Tanzil Shahria
Theses and Dissertations
Upper and lower extremity (ULE) functional deficiencies, which limit a person's ability to perform everyday tasks, have increased at an alarming rate over the past few decades. It is essential for individuals with impairments to take care of themselves without requiring a significant amount of support from other individuals. Few assistive devices are available in the market to make their life comfortable, yet controlling them sometimes becomes challenging for this group of people. Robotic devices are emerging as assistive devices to assist individuals with limited ULE functionalities in activities of daily living (ADL). As most of these devices only allow …
Exploiting The Advantages And Overcoming The Challenges Of The Cable In A Tethered Drone System, Rogerio Rodrigues Lima
Exploiting The Advantages And Overcoming The Challenges Of The Cable In A Tethered Drone System, Rogerio Rodrigues Lima
Graduate Theses, Dissertations, and Problem Reports
This dissertation proposes solutions for motion planning, localization, and landing of tethered drones using only tether variables. A tether-based multi-model localization framework for tethered drones is proposed. This framework comprises three independent localization strategies based on a different model. The first strategy uses simple trigonometric relations assuming that the tether is taut; the second method relies on a set of catenary equations for the slack tether case; the third estimator is a neural network-based predictor that can cover different tether shapes. Multi-layer perceptron networks previously trained with a dataset comprised of the tether variables (i.e., length, tether angles on the …
Node-Wise Localization Of Graph Neural Networks, Zemin Liu, Yuan Fang, Chenghao Liu, Steven C.H. Hoi
Node-Wise Localization Of Graph Neural Networks, Zemin Liu, Yuan Fang, Chenghao Liu, Steven C.H. Hoi
Research Collection School Of Computing and Information Systems
Graph neural networks (GNNs) emerge as a powerful family of representation learning models on graphs. To derive node representations, they utilize a global model that recursively aggregates information from the neighboring nodes. However, different nodes reside at different parts of the graph in different local contexts, making their distributions vary across the graph. Ideally, how a node receives its neighborhood information should be a function of its local context, to diverge from the global GNN model shared by all nodes. To utilize node locality without overfitting, we propose a node-wise localization of GNNs by accounting for both global and local …
Pedestrian Navigation Using Artificial Neural Networks And Classical Filtering Techniques, David J. Ellis
Pedestrian Navigation Using Artificial Neural Networks And Classical Filtering Techniques, David J. Ellis
Theses and Dissertations
The objective of this thesis is to explore the improvements achieved through using classical filtering methods with Artificial Neural Network (ANN) for pedestrian navigation techniques. ANN have been improving dramatically in their ability to approximate various functions. These neural network solutions have been able to surpass many classical navigation techniques. However, research using ANN to solve problems appears to be solely focused on the ability of neural networks alone. The combination of ANN with classical filtering methods has the potential to bring beneficial aspects of both techniques to increase accuracy in many different applications. Pedestrian navigation is used as a …
Anchor Adaptive Movement Algorithm For Mobile Nodes Localization, Zhou Fei, Wennan Liu
Anchor Adaptive Movement Algorithm For Mobile Nodes Localization, Zhou Fei, Wennan Liu
Journal of System Simulation
Abstract: Location awareness is very important in mobile sensor networks. The existing methods mainly focus on the improvement based on the MCL (Monte Carlo Localization), few of them study the anchor path planning. However, anchors random movement usually causes the waste of energy and resource. Aiming at this deficiency, this paper adopts the grid benefit criterion and achieves anchors adaptive movement. Threshold instead of traversal method is used to reduce the amount of calculation and positioning time. In order to solve the anchors aggregation problem during adaptive movement, we divide the target area into four subareas and constrain part of …
Augmented Terrain-Based Navigation To Enable Persistent Autonomy For Underwater Vehicles In Gps-Denied Environments, Gregory M. Reis
Augmented Terrain-Based Navigation To Enable Persistent Autonomy For Underwater Vehicles In Gps-Denied Environments, Gregory M. Reis
FIU Electronic Theses and Dissertations
Aquatic robots, such as Autonomous Underwater Vehicles (AUVs), play a major role in the study of ocean processes that require long-term sampling efforts and commonly perform navigation via dead-reckoning using an accelerometer, a magnetometer, a compass, an IMU and a depth sensor for feedback. However, these instruments are subjected to large drift, leading to unbounded uncertainty in location. Moreover, the spatio-temporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in coastal regions where the majority of interesting phenomena occur. To add to this, the interesting features are themselves spatio-temporally dynamic, and effective …
Indoor Scene Localization To Fight Sex Trafficking In Hotels, Abigail Stylianou
Indoor Scene Localization To Fight Sex Trafficking In Hotels, Abigail Stylianou
McKelvey School of Engineering Theses & Dissertations
Images are key to fighting sex trafficking. They are: (a) used to advertise for sex services,(b) shared among criminal networks, and (c) connect a person in an image to the place where the image was taken. This work explores the ability to link images to indoor places in order to support the investigation and prosecution of sex trafficking. We propose and develop a framework that includes a database of open-source information available on the Internet, a crowd-sourcing approach to gathering additional images, and explore a variety of matching approaches based both on hand-tuned features such as SIFT and learned features …
Robotic Swarming Without Inter-Agent Communication, Daniel Jonathan Standish
Robotic Swarming Without Inter-Agent Communication, Daniel Jonathan Standish
USF Tampa Graduate Theses and Dissertations
Many physical and algorithmic swarms utilize inter-agent communication to achieve advanced swarming behaviors. These swarms are inspired by biological swarms that can be seen throughout nature and include bee swarms, ant colonies, fish schools, and bird flocks. These biological swarms do not utilize inter-agent communication like their physical and algorithmic counterparts. Instead, organisms in nature rely on a local awareness of other swarm members that facilitates proper swarm motion and behavior. This research aims to pursue an effective swarm algorithm using only line-of-sight proximity information and no inter-agent communication. It is expected that the swarm performance will be lower than …