An RSSI-Based Localization, Path Planning and Computer Vision-Based Decision Making Robotic System

Upadhyay, Jatin; Rawat, Abhishek; Deb, Dipankar; Mureșan, Vlad; Ungureşan, Mihaela-Ligia

doi:10.3390/electronics9081326

Cited by 13 publications

(7 citation statements)

References 30 publications

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“…The city environment does not possess such interference as wind drift, rolling, and others that impede data processing on water. To set control points and display the traversed path, the Google Earth program was used [25,26]. The data about the track is usually presented in the formats (.kmz), (.kml).…”

Section: Resultsmentioning

confidence: 99%

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Design of Small Unmanned Surface Vehicle with Autonomous Navigation System

et al. 2021

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Maintaining ecosystems is one of the current leading public concerns. Some of the pressing problems that threaten water resources are pollution of water bodies with floating debris, illegal extraction of water resources, wear and tear of underwater communications. Therefore, the creation of special technical solutions is urgent. This paper reports a model-based design of an unmanned surface vehicle (USV), purposed to control and maintain the oxygen level and parameters such as acidity and the water temperature in rivers, lakes, inland waterways, and coastal waters. The developed USV navigation autopilot is described as a system with two inputs and one output. The autopilot selected is an adaptive controller based on the concept of proportional, integral, and derivative (PID). The autopilot is implemented on the STM32 microcontroller and allows precisely maintaining a given course, adjusting the speed and angle of rotation during wind drift and other influences. The new technique for sensor calibration and data acquisition is described. Simulation results are given, showing the performance of the autopilot algorithm in response to variations in the environment. The numerical experiments of the model have presented the result of confirming the sufficient correspondence between prototype characteristics and simulation results. Finally, thorough field trials were performed to verify the reliability and precision of the proposed solutions. The developed unmanned surface vehicle can be used for environmental monitoring (water sampling, hydrography, patrolling water areas). In turn, the solutions obtained will be suitable for the design of other USV of different sizes.

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Section: Resultsmentioning

confidence: 99%

“…The designated route that the boat should follow is shown in Figure 16. To set control points and display the traversed path, the Google Earth program was used [25,26]. The data about the track is usually presented in the formats (.kmz), (.kml).…”

Section: Resultsmentioning

confidence: 99%

Design of Small Unmanned Surface Vehicle with Autonomous Navigation System

et al. 2021

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“…The coordination subsystem checks the internal functions of MA, and receives the queries for coordination from other MA [3]. According to the general structure of manufacturing, [7] proposes the architecture of the manufacturing system on an agent-based concept, whereas the core of the system can be based on a number of technologies, presented in [25,26,[28][29][30][31][32][33][34][35][36][37]. Decision-making systems became an object of software development design in the works [38,39].…”

Section: Agent-based Systems and Role Of Robotsmentioning

confidence: 99%

Predicate-Based Model of Problem-Solving for Robotic Actions Planning

2021

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The aim of the article is to describe a predicate-based logical model for the problem-solving of robots. The proposed article deals with analyses of trends of problem-solving robotic applications for manufacturing, especially for transportations and manipulations. Intelligent agent-based manufacturing systems with robotic agents are observed. The intelligent cores of them are considered from point of view of ability to propose the plans of problem-solving in the form of strategies. The logical model of adaptive strategies planning for the intelligent robotic system is composed in the form of predicates with a presentation of data processing on a base of set theory. The dynamic structures of workspaces, and a possible change of goals are considered as reasons for functional strategies adaptation.

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“…For example, it is easy to understand and simple to implement, tests fast, is highly able to handle outliers and nonlinearity, and shows good performance in parallel training and big data. As a result, it is widely used in medicine, computer vision, machine learning, and other fields, which achieved great results [42][43][44][45][46][47][48][49][50]. However, the number of decision trees is an important parameter of RF, which will affect the RF's classification accuracy and computational efficiency.…”

Section: Introductionmentioning

confidence: 99%

A Stochastic Learning Algorithm for Machine Fault Diagnosis

Dong

Liu

Kang

et al. 2022

Shock and Vibration

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Industrial big data bring a large number of high-dimensional sample datasets. Although a deep learning network can well mine the internal nonlinear structure of the dataset, the construction of the deep learning model requires a lot of computing time and hardware facilities. At the same time, there are some nonlinear problems such as noise and fluctuation in industrial data, which make the deep architecture extremely complex and the recognition accuracy of the diagnosis model difficult to guarantee. To solve this problem, a new method, named stochastic learning algorithm (SL), is proposed in this paper for dimension reduction. The proposed method consists of three steps: firstly, to increase the computational efficiency of the model, the dimension of the high-dimensional data is reduced by establishing a random matrix; secondly, for enhancing the clustering influence of the sample, the input data are enhanced by feature processing; thirdly, to make the clustering effects more pronounced, the noise and interference of the data need to be processed, and the singularity value denoising method is used to denoise training data and test data. To further prove the superiority of the SL method, we conducted two sets of experiments on the wind turbine gearbox and the benchmark dataset. It can be seen from the experimental results that the SL method not only improves the classification accuracy but also reduces the computational burden.

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An RSSI-Based Localization, Path Planning and Computer Vision-Based Decision Making Robotic System

Cited by 13 publications

References 30 publications

Design of Small Unmanned Surface Vehicle with Autonomous Navigation System

Design of Small Unmanned Surface Vehicle with Autonomous Navigation System

Predicate-Based Model of Problem-Solving for Robotic Actions Planning

A Stochastic Learning Algorithm for Machine Fault Diagnosis

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