An integrated multi-sensor data fusion algorithm and autopilot iImplementation in an uninhabited surface craft

Unmanned surface vehicles (USVs) are able to accomplish difficult and challenging tasks both in civilian and defence sectors without endangering human lives. Their ability to work round the clock makes them well-suited for matters that demand immediate attention. These issues include but not limited to mines countermeasures, measuring the extent of an oil spill and locating the source of a chemical discharge. A number of USV programmes have emerged in the last decade for a variety of aforementioned purposes. Springer USV is one such research project highlighted in this paper. The intention herein is to report results emanating from data acquired from experiments on the Springer vessel whilst testing its advanced navigation, guidance and control (NGC) subsystems. The algorithms developed for these systems are based on soft-computing methodologies. A novel form of data fusion navigation algorithm has been developed and integrated with a modified optimal controller. Experimental results are presented and analysed for various scenarios including single and multiple waypoints tracking and fixed and time-varying reference bearings. It is demonstrated that the proposed NGC system provides promising results despite the presence of modelling uncertainty and external disturbances.

Towards an Improved Phasor Measurement Unit Data Communications Framework

This paper discusses a proposed new communications framework for phasor measurement units (PMU) optimized for use on wide area networks. Traditional PMU telecoms have been optimized for use in environments where bandwidth is restricted. The new method takes the reliability of the telecommunications medium into account and provides guaranteed delivery of data whilst optimizing for realtime delivery of the most current data. Other important aspects, such as security, are also considered.

Framework for Establishing Limits of Tabular Aerodynamic Models for Flight Dynamics Analysis

This paper describes the use of the Euler equations for the generation and testing of tabular aerodynamic models for flight dynamics analysis. Maneuvers for the AGARD Standard Dynamics Model sharp leading-edge wind-tunnel geometry are considered as a test case. Wind-tunnel data is first used to validate the prediction of static and dynamic coefficients at both low and high angles, featuring complex vortical flow, with good agreement obtained at low to moderate angles of attack. Then the generation of aerodynamic tables is described based on a data fusion approach. Time-optimal maneuvers are generated based on these tables, including level flight trim, pull-ups at constant and varying incidence, and level and 90 degrees turns. The maneuver definition includes the aircraft states and also the control deflections to achieve the motion. The main point of the paper is then to assess the validity of the aerodynamic tables which were used to define the maneuvers. This is done by replaying them, including the control surface motions, through the time accurate computational fluid dynamics code. The resulting forces and moments are compared with the tabular values to assess the presence of inadequately modeled dynamic or unsteady effects. The agreement between the tables and the replay is demonstrated for slow maneuvers. Increasing rate maneuvers show discrepancies which are ascribed to vortical flow hysteresis at the higher rate motions. The framework is suitable for application to more complex viscous flow models, and is powerful for the assessment of the validity of aerodynamics models of the type currently used for studies of flight dynamics.

Statistical data correction for unreliable memories

In this paper, we introduce a statistical data-correction framework that aims at improving the DSP system performance in presence of unreliable memories. The proposed signal processing framework implements best-effort error mitigation for signals that are corrupted by defects in unreliable storage arrays using a statistical correction function extracted from the signal statistics, a data-corruption model, and an application-specific cost function. An application example to communication systems demonstrates the efficacy of the proposed approach.

The design of a navigation guidance and control system for an unmanned surface vehicle for environmental monitoring

Maintaining the ecosystem is one of the main concerns in this modern age. With the fear of ever-increasing global warming, the UK is one of the key players to participate actively in taking measures to slow down at least its phenomenal rate. As an ingredient to this process, the Springer vehicle was designed and developed for environmental monitoring and pollutant tracking. This special issue paper highlighted the Springer hardware and software architecture including various navigational sensors, a speed controller, and an environmental monitoring unit. In addition, details regarding the modelling of the vessel were outlined based mainly on experimental data. The formulation of a fault tolerant multi-sensor data fusion technique was also presented. Moreover, control strategy based on a linear quadratic Gaussian controller was developed and simulated on the Springer model.
Gaussian controller is developed and simulated on the Springer model.

Bimodal biometric verification based on face and lips

In this paper, we present a novel approach to person verification by fusing face and lip features. Specifically, the face is modeled by the discriminative common vector and the discrete wavelet transform. Our lip features are simple geometric features based on a lip contour, which can be interpreted as multiple spatial widths and heights from a center of mass. In order to combine these features, we consider two simple fusion strategies: data fusion before training and score fusion after training, working with two different face databases. Fusing them together boosts the performance to achieve an equal error rate as low as 0.4% and 0.28%, respectively, confirming that our approach of fusing lips and face is effective and promising.

RFID based Efficient Lighting Control

The Kyoto Protocol and the European Energy Performance of Buildings Directive put an onus on governments
and organisations to lower carbon footprint in order to contribute towards reducing global warming. A key
parameter to be considered in buildings towards energy and cost savings is its indoor lighting that has a major
impact on overall energy usage and Carbon Dioxide emissions. Lighting control in buildings using Passive
Infrared sensors is a reliable and well established approach; however, the use of only Passive Infrared does not
offer much savings towards reducing carbon, energy, and cost. Accurate occupancy monitoring information can
greatly affect a building’s lighting control strategy towards a greener usage. This paper presents an approach for
data fusion of Passive Infrared sensors and passive Radio Frequency Identification (RFID) based occupancy
monitoring. The idea is to have efficient, need-based, and reliable control of lighting towards a green indoor
environment, all while considering visual comfort of occupants. The proposed approach provides an estimated
13% electrical energy savings in one open-plan office of a University building in one working day. Practical
implementation of RFID gateways provide real-world occupancy profiling data to be fused with Passive
Infrared sensing towards analysis and improvement of building lighting usage and control.

A Capabilities-Aware Framework for Using Computational Accelerators in Data-Intensive Computing

Multicore computational accelerators such as GPUs are now commodity components for highperformance computing at scale. While such accelerators have been studied in some detail as stand-alone computational engines, their integration in large-scale distributed systems raises new challenges and trade-offs. In this paper, we present an exploration of resource management alternatives for building asymmetric accelerator-based distributed systems. We present these alternatives in the context of a capabilities-aware framework for data-intensive computing, which uses an enhanced implementation of the MapReduce programming model for accelerator-based clusters, compared to the state of the art. The framework can transparently utilize heterogeneous accelerators for deriving high performance with low programming effort. Our work is the first to compare heterogeneous types of accelerators, GPUs and a Cell processors, in the same environment and the first to explore the trade-offs between compute-efficient and control-efficient accelerators on data-intensive systems. Our investigation shows that our framework scales well with the number of different compute nodes. Furthermore, it runs simultaneously on two different types of accelerators, successfully adapts to the resource capabilities, and performs 26.9% better on average than a static execution approach.

The Ties That Bind Us: Ritual, Fusion, and Identification

Most social scientists endorse some version of the claim that participating in collective rituals promotes social cohesion. The systematic testing and evaluation of this claim, however, has been prevented by a lack of precision regarding the nature of both ‘ritual’and ‘social cohesion’ as well as a lack of integration between the theories and findings of the social and evolutionary sciences. By directly addressing these challenges, we argue that a systematic investigation and evaluation of the claim that ritual promotes social cohesion is achievable.

We present a general and testable theory of the relationship between ritual, cohesion, and cooperation that more precisely connects particular elements of ‘ritual,’ such as causal opacity and emotional arousal, to two particular forms
of ‘social cohesion’: group identification and identity fusion. Further, we ground this theory in an evolutionary account of why particular modes of ritual practice would be adaptive for societies with particular resource acquisition strategies. In setting out our conceptual framework we report numerous ongoing investigations that test our hypotheses against data from controlled psychological experiments as well as from theethnographic, archaeological, and historical records.

Towards a general framework for information fusion

Depending on the representation setting, different combination rules have been proposed for fusing information from distinct sources. Moreover in each setting, different sets of axioms that combination rules should satisfy have been advocated, thus justifying the existence of alternative rules (usually motivated by situations where the behavior of other rules was found unsatisfactory). These sets of axioms are usually purely considered in their own settings, without in-depth analysis of common properties essential for all the settings. This paper introduces core properties that, once properly instantiated, are meaningful in different representation settings ranging from logic to imprecise probabilities. The following representation settings are especially considered: classical set representation, possibility theory, and evidence theory, the latter encompassing the two other ones as special cases. This unified discussion of combination rules across different settings is expected to provide a fresh look on some old but basic issues in information fusion.

Fusion of Static and Temporal Information for Threat Evaluation in Sensor Networks

In many CCTV and sensor network based intelligent surveillance systems, a number of attributes or criteria are used to individually evaluate the degree of potential threat of a suspect. The outcomes for these attributes are in general from analytical algorithms where data are often pervaded with uncertainty and incompleteness. As a result, such individual threat evaluations are often inconsistent, and individual evaluations can change as time elapses. Therefore, integrating heterogeneous threat evaluations with temporal influence to obtain a better overall evaluation is a challenging issue. So far, this issue has rarely be considered by existing event reasoning frameworks under uncertainty in sensor network based surveillance. In this paper, we first propose a weighted aggregation operator based on a set of principles that constraints the fusion of individual threat evaluations. Then, we propose a method to integrate the temporal influence on threat evaluation changes. Finally, we demonstrate the usefulness of our system with a decision support event modeling framework using an airport security surveillance scenario.