| 1. |
- Patel, Chirag, et al.
(författare)
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DBGC : Dimension-Based Generic Convolution Block for Object Recognition
- 2022
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Ingår i: Sensors. - : MDPI. - 1424-8220. ; 22:5
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Tidskriftsartikel (refereegranskat)abstract
- The object recognition concept is being widely used a result of increasing CCTV surveillance and the need for automatic object or activity detection from images or video. Increases in the use of various sensor networks have also raised the need of lightweight process frameworks. Much research has been carried out in this area, but the research scope is colossal as it deals with open-ended problems such as being able to achieve high accuracy in little time using lightweight process frameworks. Convolution Neural Networks and their variants are widely used in various computer vision activities, but most of the architectures of CNN are application-specific. There is always a need for generic architectures with better performance. This paper introduces the Dimension-Based Generic Convolution Block (DBGC), which can be used with any CNN to make the architecture generic and provide a dimension-wise selection of various height, width, and depth kernels. This single unit which uses the separable convolution concept provides multiple combinations using various dimension-based kernels. This single unit can be used for height-based, width-based, or depth-based dimensions; the same unit can even be used for height and width, width and depth, and depth and height dimensions. It can also be used for combinations involving all three dimensions of height, width, and depth. The main novelty of DBGC lies in the dimension selector block included in the proposed architecture. Proposed unoptimized kernel dimensions reduce FLOPs by around one third and also reduce the accuracy by around one half; semi-optimized kernel dimensions yield almost the same or higher accuracy with half the FLOPs of the original architecture, while optimized kernel dimensions provide 5 to 6% higher accuracy with around a 10 M reduction in FLOPs.
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| 2. |
- Drezner, Jonathan A, et al.
(författare)
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Abnormal electrocardiographic findings in athletes : recognising changes suggestive of cardiomyopathy.
- 2013
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Ingår i: British Journal of Sports Medicine. - : BMJ. - 0306-3674 .- 1473-0480. ; 47:3, s. 137-52
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Tidskriftsartikel (refereegranskat)abstract
- Cardiomyopathies are a heterogeneous group of heart muscle diseases and collectively are the leading cause of sudden cardiac death (SCD) in young athletes. The 12-lead ECG is utilised as both a screening and diagnostic tool for detecting conditions associated with SCD. Fundamental to the appropriate evaluation of athletes undergoing ECG is an understanding of the ECG findings that may indicate the presence of an underlying pathological cardiac disorder. This article describes ECG findings present in cardiomyopathies afflicting young athletes and outlines appropriate steps for further evaluation of these ECG abnormalities. The ECG findings defined as abnormal in athletes were established by an international consensus panel of experts in sports cardiology and sports medicine.
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| 3. |
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| 4. |
- Mukundan, Arvind, et al.
(författare)
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Kalam Rover
- 2021
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Ingår i: AIAA SCITECH 2022 Forum, January 3-7 2022, San Diego, CA & Virtual. - Reston, Virginia : American Institute of Aeronautics and Astronautics Inc, AIAA.
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Konferensbidrag (refereegranskat)abstract
- Our knowledge about the formation and feasibility for the near-future manned mission of the lunar farside highlands is still restricted since relatively few missions and research studies have been conducted. However, there are many interesting particulars on the far side, and finding sufficient evidence for practically accessible water ice near those land sites can potentially increase the prospect for future human colonization. Therefore, this paper proposes a novel rover design that would provide a base foundation for future human missions and lunar outposts. A small, lightweight, and low-power consuming rover have been developed, designed, and analyzed to perform in-situ research and excavation on the lunar far side. This paper put forward the scientific objectives, the payloads on the rover, the design of the rover with integrated excavation drill mechanism, the telemetry & telecommand, the technology, and the power and mass budget of building such a lunar rover.
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| 5. |
- Mukundan, Arvind, et al.
(författare)
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The Dvaraka Initiative: Mars's First Permanent Human Settlement Capable of Self-Sustenance
- 2023
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Ingår i: Aerospace. - : MDPI. - 2226-4310. ; 10:3
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Tidskriftsartikel (refereegranskat)abstract
- From the farthest reaches of the universe to our own galaxy, there are many different celestial bodies that, even though they are very different, each have their own way of being beautiful. Earth, the planet with the best location, has been home to people for as long as we can remember. Even though we cannot be more thankful for all that Earth has given us, the human population needs to grow so that Earth is not the only place where people can live. Mars, which is right next to Earth, is the answer to this problem. Mars is the closest planet and might be able to support human life because it is close to Earth and shares many things in common. This paper will talk about how the first settlement on Mars could be planned and consider a 1000-person colony and the best place to settle on Mars, and make suggestions for the settlement's technical, architectural, social, and economic layout. By putting together assumptions, research, and estimates, the first settlement project proposed in this paper will suggest the best way to colonize, explore, and live on Mars, which is our sister planet.
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| 6. |
- Patel, Akash, et al.
(författare)
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Control of ARWs
- 2023
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Ingår i: Aerial Robotic Workers. - : Elsevier. - 9780128149096 ; , s. 49-65
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- This Chapter focuses on Aerial Robotic Workers (ARWs) various control methods to successfully track the desired states, waypoints, and trajectories. Additionally, this Chapter discusses the regulation from the motor commands level to the accurate tracking of waypoints in 3D space. Various model-based control frameworks are presented based on the modeled dynamics of the Modeling for ARWs (Chapter 3). Initially, a classical Proportional-Integral-Derivative (PID) control scheme is introduced, while in the sequel, a Linear Quadratic Regulator (LQR) and a Model Predictive Controller (MPC) are designed for the linearized dynamics of ARWs. In the sequel, a Nonlinear-MPC (NMPC) version of the simplified position control scheme is given. Finally, a switching MPC is presented for the attitude regulation of a reconfigurable ARW.
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| 7. |
- Patel, Akash, et al.
(författare)
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Design and Model Predictive Control of a Mars Coaxial Quadrotor
- 2022
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Ingår i: 2022 IEEE Aerospace Conference (AERO). - : IEEE.
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Konferensbidrag (refereegranskat)abstract
- Mars has been a prime candidate for planetary explo-ration of the solar system because of the science discoveries that support chances of future habitation on this planet. The Mars exploration landers and rovers have laid the foundation of our understanding of the planet's atmosphere and terrain. However, the rovers have presented limitations in terms of their pace, travers ability, and exploration capabilities from the ground and thus, one of the main field of interest for future robotic mission to Mars is to enhance the autonomy of this exploration vehicles. Martian caves and lava tubes like terrains, which consists of uneven ground, poor visibility and confined space, makes it impossible for wheel based rovers to navigate through these areas. In order to address these limitations and advance the exploration capability in a Martian terrain, this article presents the design and control of a novel coaxial quadrotor Micro Aerial Vehicle (MAV). As it will be presented, the key contributions on the design and control architecture of the proposed Mars coaxial quadrotor, are introducing an alternative and more enhanced, from a control point of view concept, when compared in terms of autonomy to Ingenuity. Based on the presented design, the article will introduce the mathematical modelling and automatic control framework of the vehicle that will consist of a linearised model of a co-axial quadrotor and a corresponding Model Pre-dictive Controller (MPC) for the trajectory tracking. Among the many models, proposed for the aerial flight on Mars, a reliable control architecture lacks in the related state of the art. The MPC based closed loop responses of the proposed MAV will be verified in different conditions during the flight with additional disturbances, induced to replicate a real flight scenario. For the model validation purpose, the Mars coaxial quadrotor is sim-ulated inside a Martian environment with related atmospheric conditions in the Gazebo simulator, which will use the proposed MPC controller for following an a priory defined trajectory. In order to further validate the proposed control architecture and prove the efficacy of the suggested design, the introduced Mars coaxial quadrotor and the MPC scheme will be compared to a PID-type controller, similar to the Ingenuity helicopter's control architecture for the position and the heading.
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| 8. |
- Patel, Akash, et al.
(författare)
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Exploration with ARWs
- 2023
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Ingår i: Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications. - : Elsevier. - 9780128149096 ; , s. 109-127
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- This chapter presents an overview of various exploration schemes with single and multi Aerial Robotic Workers (ARWs) and their applications in Search and Rescue, Environmental Monitoring, and planetary exploration missions, under the assumption that the map is partially known or completely unknown. The presented methods in the chapter are in line with the field deployment of the ARWs in subterranean and planetary exploration missions. The addressed questions will include the operating environment configuration and path planning methods for single and multi-robot exploration. The chapter will also briefly present two exploration strategies in terms of frontier and sampling-based exploration algorithms. More specifically, frontier-based and Rapidly Exploring Random Tree (RRT)-based exploration methodologies with results will be explained in detail.
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| 9. |
- Patel, Akash, et al.
(författare)
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Fast Planner for MAV Navigation in Unknown Environments Based on Adaptive Search of Safe Look-Ahead Poses
- 2022
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Ingår i: 2022 30th Mediterranean Conference on Control and Automation (MED). - : IEEE. ; , s. 545-550
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Konferensbidrag (refereegranskat)abstract
- Autonomous navigation capability is a crucial part for deploying robots in an unknown environment. In this article a reactive local planner for autonomous and safe navigation in subterranean environment is presented. The proposed planning framework navigates the MAV forward in a tunnel such that the MAV gains more information about the environment while avoiding obstacles. The proposed planning architecture works solely based on the information of local surrounding of the MAV thus, making navigation simple yet fast. One of the biggest novelties of the article comes from solving the combined problem of autonomous navigation and obstacle avoidance. The proposed algorithm for selecting the next way point of interest also accounts in the safety margin for traversing to such way point. The approach presented in this article is also different from classical map based global planning algorithms because it favours the next way point away from obstacles in way point selection process and thus providing a safe path for incremental forward navigation. The approach is validated by simulating a MAV equipped with the proposed reactive local planner in order for the MAV to navigate in a subterranean cave environment.
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| 10. |
- Patel, Akash, et al.
(författare)
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Modeling for ARWs
- 2023
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Ingår i: Aerial Robotic Workers. - : Elsevier. - 9780128149096 ; , s. 31-47
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- This Chapter presents an overview of the aerial vehicles' rigid body dynamics. First, the Euler equations, Direction Cosine Matrix (DCM), and Quaternion formulations that describe the attitude of an ARW are presented, while in the sequel, the full nonlinear model based on the Newton-Euler equations is presented along with a simplified nonlinear position model. Finally, the modeling of a reconfigurable ARW is presented.
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