In this paper, we aim at improving the change detection techniques by introducing an adaptive thresholding with a sliding time window. In particular, a real-time optimal sliding time window length is implemented without any preliminary learning step as required in conventional sensorfault detection methods. Based on Shannon's entropy, our method improves the change detection techniques using an adaptive thresholding. The technique can be applied by any change detection technique based on the generalized likelihood ratio (GLR). To validate the robustness of our approach, two commonly used change detection techniques are considered: the cumulative sum (Cusum) and the exponentially weighted Moving average (EWMA) control charts. Experimental validation is experimentally shown considering real data in the context of collaborative mobile robots. In addition, this experiment leads to a fault-tolerant fusion methodology based on the use of an extended Kalman filter (EKF).
Continuous wave (CW) millimeter-wave radars have gained the interest from industry for accurate subwavelength distance measurements. In particular, the six-port radar architecture presents advantages such as high resolution combined with low-power consumption and low-cost implementation in the millimeter-wave regime. In this effort, a new test platform based on fully automated piezo-electric nanopositioning stages that simulates moving targets in XYZ directions with centimeter range combined with nanometer resolution is described. The test platform is crucial to yield performance metrics in terms of repeatability, sensitivity and accuracy. Preliminary experimental results considering a WR15 six-port CW radar designed and realized for harsh environment operation are presented to validate the approach proposed.
Continuous wave (CW) millimeter-wave radars have gained the interest from industry for accurate distance measurement. In particular, six-port radar (SPR) architecture presents advantages such as high resolution combined with lowpower consumption and low-cost implementation. A WR15 waveguide six-port interferometer is designed and realized for accurate phase measurement in the millimeter-wave regime for harsh environment conditions. This latter is combined with dedicated calibration algorithms to provide measurements performance in terms of sensitivity and accuracy. Experimental results are exemplary shown with mean phase error 2.2 degrees at the test frequency 60 GHz.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.