Multi-sensors data acquisition and information fusion for manned submersible vehicle

本文介绍了一种用于载人潜水器的导航传感器的数据采集及信息融合技术。航行控制计算机通过基于工业以太网的数据通信系统对各传感器进行数据采集,采用卡尔曼滤波器完成对各传感器数据信息的融合,以便提高数据的精度和控制系统的性能,并将结果送给监控计算机,用于载人潜水器的姿态显示。

Fusion Artmap: A Neural Network Architecture for Multi-Channel Data Fusion and Classification

Fusion ARTMAP is a self-organizing neural network architecture for multi-channel, or multi-sensor, data fusion. Single-channel Fusion ARTMAP is functionally equivalent to Fuzzy ART during unsupervised learning and to Fuzzy ARTMAP during supervised learning. The network has a symmetric organization such that each channel can be dynamically configured to serve as either a data input or a teaching input to the system. An ART module forms a compressed recognition code within each channel. These codes, in turn, become inputs to a single ART system that organizes the global recognition code. When a predictive error occurs, a process called paraellel match tracking simultaneously raises vigilances in multiple ART modules until reset is triggered in one of them. Parallel match tracking hereby resets only that portion of the recognition code with the poorest match, or minimum predictive confidence. This internally controlled selective reset process is a type of credit assignment that creates a parsimoniously connected learned network. Fusion ARTMAP's multi-channel coding is illustrated by simulations of the Quadruped Mammal database.

Fusion ARTMAP: An Adaptive Fuzzy Network for Multi-Channel Classification

Fusion ARTMAP is a self-organizing neural network architecture for multi-channel, or multi-sensor, data fusion. Fusion ARTMAP generalizes the fuzzy ARTMAP architecture in order to adaptively classify multi-channel data. The network has a symmetric organization such that each channel can be dynamically configured to serve as either a data input or a teaching input to the system. An ART module forms a compressed recognition code within each channel. These codes, in turn, beco1ne inputs to a single ART system that organizes the global recognition code. When a predictive error occurs, a process called parallel match tracking simultaneously raises vigilances in multiple ART modules until reset is triggered in one of thmn. Parallel match tracking hereby resets only that portion of the recognition code with the poorest match, or minimum predictive confidence. This internally controlled selective reset process is a type of credit assignment that creates a parsimoniously connected learned network.

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.

Improved Biometric Authentication System Using Multimodal Cue Integration

Biometrics is an efficient technology with great possibilities in the area of security system development for official and commercial applications. The biometrics has recently become a significant part of any efficient person authentication solution. The advantage of using biometric traits is that they cannot be stolen, shared or even forgotten. The thesis addresses one of the emerging topics in Authentication System, viz., the implementation of Improved Biometric Authentication System using Multimodal Cue Integration, as the operator assisted identification turns out to be tedious, laborious and time consuming. In order to derive the best performance for the authentication system, an appropriate feature selection criteria has been evolved. It has been seen that the selection of too many features lead to the deterioration in the authentication performance and efficiency. In the work reported in this thesis, various judiciously chosen components of the biometric traits and their feature vectors are used for realizing the newly proposed Biometric Authentication System using Multimodal Cue Integration. The feature vectors so generated from the noisy biometric traits is compared with the feature vectors available in the knowledge base and the most matching pattern is identified for the purpose of user authentication. In an attempt to improve the success rate of the Feature Vector based authentication system, the proposed system has been augmented with the user dependent weighted fusion technique.

Multi-level Input Fusion in multi-modal systems

Context-aware multimodal interactive systems aim to adapt to the needs and behavioural patterns of users and offer a way forward for enhancing the efficacy and quality of experience (QoE) in human-computer interaction. The various modalities that constribute to such systems each provide a specific uni-modal response that is integratively presented as a multi-modal interface capable of interpretation of multi-modal user input and appropriately responding to it through dynamically adapted multi-modal interactive flow management , This paper presents an initial background study in the context of the first phase of a PhD research programme in the area of optimisation of data fusion techniques to serve multimodal interactivite systems, their applications and requirements.

Dynamic biometrics fusion at feature level for video-based human recognition

This paper proposes a novel human recognition method in video, which combines human face and gait traits
using a dynamic multi-modal biometrics fusion scheme. The Fisherface approach is adopted to extract face
features, while for gait features, Locality Preserving Projection (LPP) is used to achieve low-dimensional
manifold embedding of the temporal silhouette data derived from image sequences. Face and gait features are
fused dynamically at feature level based on a distance-driven fusion method. Encouraging experimental results
are achieved on the video sequences containing 20 people, which show that dynamically fused features produce
a more discriminating power than any individual biometric as well as integrated features built on common static
fusion schemes.

Robust multi-sensor data fusion

This research obtains the optimal estimation and data fusion for linear and nonlinear systems suffering from uncertain observations (missing measurements). The noise from the different data sources are considered to correlated. The derivation of the robust Kalman filter for systems subject to aditional uncertainties in the modelling parameters is presented.

Structural damage identification based on self-fitting ARMAX model and multi-sensor data fusion

Statistical time series methods have proven to be a promising technique in structural health monitoring, since it provides a direct form of data analysis and eliminates the requirement for domain transformation. Latest research in structural health monitoring presents a number of statistical models that have been successfully used to construct quantified models of vibration response signals. Although a majority of these studies present viable results, the aspects of practical implementation, statistical model construction and decision-making procedures are often vaguely defined or omitted from presented work. In this article, a comprehensive methodology is developed, which essentially utilizes an auto-regressive moving average with exogenous input model to create quantified model estimates of experimentally acquired response signals. An iterative self-fitting algorithm is proposed to construct and fit the auto-regressive moving average with exogenous input model, which is capable of integrally finding an optimum set of auto-regressive moving average with exogenous input model parameters. After creating a dataset of quantified response signals, an unlabelled response signal can be identified according to a 'closest-fit' available in the dataset. A unique averaging method is proposed and implemented for multi-sensor data fusion to decrease the margin of error with sensors, thus increasing the reliability of global damage identification. To demonstrate the effectiveness of the developed methodology, a steel frame structure subjected to various bolt-connection damage scenarios is tested. Damage identification results from the experimental study suggest that the proposed methodology can be employed as an efficient and functional damage identification tool. © The Author(s) 2014.

Multi-Kinect skeleton fusion for physical rehabilitation monitoring

 Kinect has been increasingly applied in rehabilitation as a motion capture device. However, the inherent limitations significantly hinder its further development in this important area. Although a number of Kinect fusion approaches have been proposed, only a few of them was actually considered for rehabilitation. In this paper, we propose to fuse information from multiple Kinects to achieve this. Given the specific scenario of users suffering from limited range of movements, we propose to calibrate depth cameras in multiple Kinects with 3D positions of joints on a human body rather than in a checkerboard pattern, so that patients are able to calibrate Kinects without extra support. Kalman filter is applied for skeleton-wise Kinect fusion since skeleton data (3D positions of joints) and its derivatives are preferred by physiotherapists to evaluate the exercise performance of patients. Various preliminary experiments were conducted to illustrate the accuracy of proposed calibration and fusion approach by comparing with a commercial Vicon system®, confirming the practical use of the system in rehabilitation exercise monitoring.

Land cover classification of Lago Grande de Curuai floodplain (Amazon, Brazil) using multi-sensor and image fusion techniques

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Landmark Detection for Fusion of Fundus and MRI Towards a Patient-Specific Multi-Modal Eye Model

Ophthalmologists typically acquire different image modalities to diagnose eye pathologies. They comprise e.g., Fundus photography, Optical Coherence Tomography (OCT), Computed Tomography (CT) and Magnetic Resonance Imaging (MRI). Yet, these images are often complementary and do express the same pathologies in a different way. Some pathologies are only visible in a particular modality. Thus, it is beneficial for the ophthalmologist to have these modalities fused into a single patient-specific model. The presented article’s goal is a fusion of Fundus photography with segmented MRI volumes. This adds information to MRI which was not visible before like vessels and the macula. This article’s contributions include automatic detection of the optic disc, the fovea, the optic axis and an automatic segmentation of the vitreous humor of the eye.

Multi-Model Data Fusion to Improve an Early Warning System for Hypo-/Hyperglycemic Events

Correct predictions of future blood glucose levels in individuals with Type 1 Diabetes (T1D) can be used to provide early warning of upcoming hypo-/hyperglycemic events and thus to improve the patient's safety. To increase prediction accuracy and efficiency, various approaches have been proposed which combine multiple predictors to produce superior results compared to single predictors. Three methods for model fusion are presented and comparatively assessed. Data from 23 T1D subjects under sensor-augmented pump (SAP) therapy were used in two adaptive data-driven models (an autoregressive model with output correction - cARX, and a recurrent neural network - RNN). Data fusion techniques based on i) Dempster-Shafer Evidential Theory (DST), ii) Genetic Algorithms (GA), and iii) Genetic Programming (GP) were used to merge the complimentary performances of the prediction models. The fused output is used in a warning algorithm to issue alarms of upcoming hypo-/hyperglycemic events. The fusion schemes showed improved performance with lower root mean square errors, lower time lags, and higher correlation. In the warning algorithm, median daily false alarms (DFA) of 0.25%, and 100% correct alarms (CA) were obtained for both event types. The detection times (DT) before occurrence of events were 13.0 and 12.1 min respectively for hypo-/hyperglycemic events. Compared to the cARX and RNN models, and a linear fusion of the two, the proposed fusion schemes represents a significant improvement.