Results 71 to 80 of about 24,887 (253)

Pedestrian Dead Reckoning using Invariant Extended Kalman Filter

This paper presents a cost-effective inertial pedestrian dead reckoning method for the bipedal robot in the GPS-denied environment. Each time when the inertial measurement unit (IMU) is on the stance foot, a stationary pseudo-measurement can be executed to provide innovation to the IMU measurement based prediction.
Zhang, Jingran, Yan, Zhengzhang, Chen, Yiming, He, Zeqiang, Chen, Jiahao   +4 more
openaire   +2 more sources

Contact Force Estimation of Continuum Robots without Embedded Sensors: A Review

Advanced Intelligent Systems, EarlyView.
This review surveys methods for estimating contact forces in continuum robots without embedded sensors. It explains why contact force matters, classifies force patterns, and groups existing methods into three approaches based on actuation, deformation, and environment information.
An Hu, Yu Sun
wiley   +1 more source

Autonomous Robotic Colonoscopy: A Supervised Learning Approach for Enhanced Navigation and Collision Detection

Advanced Intelligent Systems, EarlyView.
A novel autonomous robotic colonoscopy is introduced through supervised learning approaches. The proposed system consists of 3 degrees of freedom motorized colonoscope with an integrated navigation module that can infer a target steering point and collision probability.
Bohyun Hwang, Dae Kyung Sohn, Seonggun Joe, Byungkyu Kim   +3 more
wiley   +1 more source

Voxel‐SLAM: A Complete, Accurate, and Versatile Light Detection and Ranging‐Inertial Simultaneous Localization and Mapping System

Advanced Intelligent Systems, EarlyView.
: In this work, Voxel‐SLAM (simultaneous localization and mapping) is introduced: a complete, accurate, and versatile LiDAR (light detection and ranging) ‐inertial SLAM system consisting of five modules: initialization, odometry, local mapping (LM), loop closure (LC), and global mapping (GM), all employing the same map representation, an adaptive voxel
Zheng Liu, Haotian Li, Chongjian Yuan, Xiyuan Liu, Jiarong Lin, Rundong Li, Chunran Zheng, Bingyang Zhou, Wenyi Liu, Fu Zhang   +9 more
wiley   +1 more source

Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation With Sensor Misalignment [PDF]

, 2022
Zenan Zhu, Seyed Mostafa Rezayat Sorkhabadi, Yan Gu, Wenlong Zhang   +3 more
openalex   +2 more sources

Closed-form Error Propagation on the SE_n(3) Group for Invariant Extended Kalman Filtering with Applications to VINS [PDF]

, 2022
Xinghan Li, Haodong Jiang, Xingyu Chen, He Kong, Junfeng Wu   +4 more
openalex   +1 more source

ControlIt: A Universal Framework for Translational, Adaptive, and Online Brain–Computer Interfaces

Advanced Intelligent Systems, EarlyView.
Brain–computer interfaces (BCIs) lack a unified platform that works across signals and algorithms. ControlIt, an open‐source, modular ROS2‐based BCI framework supporting electroencephalography (EEG), electrocorticography (ECoG), and spike‐based decoding across both classification and regression tasks is presented.
Wanlin Yang, Chenyang Li, Xinxiu Xu, Xindong Wang, Yongcheng Guo, Xiaoke Chai, Tianqin Cao, Jiuxiang Song, Nan Wang, Xueming Zhang, Yi Yang, Cong Zheng, He Cui   +12 more
wiley   +1 more source

A Planar Multi-Inertial Navigation Strategy for Autonomous Systems for Signal-Variable Environments

Sensors
The challenge of precise dynamic positioning for mobile robots is addressed through the development of a multi-inertial navigation system (M-INSs). The inherent cumulative sensor errors prevalent in traditional single inertial navigation systems (INSs ...
Wenbin Dong, Cheng Lu, Le Bao, Wenqi Li, Kyoosik Shin, Changsoo Han   +5 more
doaj   +1 more source

3D Water Quality Mapping using Invariant Extended Kalman Filtering for Underwater Robot Localization [PDF]

Water quality mapping for critical parameters such as temperature, salinity, and turbidity is crucial for assessing an aquaculture farm's health and yield capacity. Traditional approaches involve using boats or human divers, which are time-constrained and lack depth variability.
Kaustubh Joshi, Tianchen Liu, Alan Williams, Matthew H. Gray, Xiaomin Lin, Nikhil Chopra   +5 more
openalex   +3 more sources

A Neural Network‐Based Self‐Sensing Embedded Position Control System for Shape Memory Alloy Wire Actuators

Advanced Intelligent Systems, EarlyView.
Shape memory alloy wires exhibit thermally induced phase changes that generate actuation strain and resistance variations enabling self‐sensing. However, hysteretic electromechanical behavior complicates accurate state estimation. This paper presents an artificial in‐based self‐sensing method to reconstruct SMA actuator position in real time, achieving
Krunal Koshiya, Gianluca Rizzello, Paul Motzki   +2 more
wiley   +1 more source