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Model-Free Sensor Fusion for Redundant Measurements Using Sliding Window Variance
P. Makinen,P. Mustalahti,S. Launis,J. Mattila 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
In this paper, a model-free data fusion method for combining redundant sensor data is presented. The objective is to maintain a reliable tool center point pose measurement of a long-reach robotic manipulator using a visual sensor system with multiple cameras. The fusion method is based on weighted averaging. The weight parameter for each variable is computed using the sliding window variance with N latest observations. After each sliding window, the window length N is updated, and simple transition smoothing is included. For experimental validation, two sets of pose trajectory data from redundant visual sensors were obtained: 1) using a camera located near the tip of a long-reach manipulator running a simultaneous localization and mapping (SLAM) algorithm and 2) marker-based tracking with cameras located near the base of the manipulator. For pose tracking, a fiducial marker was attached near the SLAM camera. The proposed methodology was examined using a real-time measurement setup and offline data analysis using the recorded data. The results demonstrate that the proposed system can increase the overall robustness and fault tolerance of the system, which are desired features for future autonomous field robotic machines.
Fernandez-Ayala, Daniel J.M.,Sanz, Alberto,Vartiainen, Suvi,Kemppainen, Kia K.,Babusiak, Marek,Mustalahti, Eero,Costa, Rodolfo,Tuomela, Tea,Zeviani, Massimo,Chung, Jongkyeong,O'Dell, Kevin M.C.,Rustin Elsevier 2009 Cell metabolism Vol.9 No.5
<P><B>Summary</B></P><P>Defects in mitochondrial OXPHOS are associated with diverse and mostly intractable human disorders. The single-subunit alternative oxidase (AOX) found in many eukaryotes, but not in arthropods or vertebrates, offers a potential bypass of the OXPHOS cytochrome chain under conditions of pathological OXPHOS inhibition. We have engineered <I>Ciona intestinalis</I> AOX for conditional expression in <I>Drosophila melanogaster.</I> Ubiquitous AOX expression produced no detrimental phenotype in wild-type flies. However, mitochondrial suspensions from AOX-expressing flies exhibited a significant cyanide-resistant substrate oxidation, and the flies were partially resistant to both cyanide and antimycin. AOX expression was able to complement the semilethality of partial knockdown of both <I>cyclope</I> (COXVIc) and the complex IV assembly factor <I>Surf1</I>. It also rescued the locomotor defect and excess mitochondrial ROS production of flies mutated in <I>dj-1</I>β, a <I>Drosophila</I> homolog of the human Parkinson's disease gene <I>DJ1</I>. AOX appears to offer promise as a wide-spectrum therapeutic tool in OXPHOS disorders.</P>