Stephen Bruder

Exact orthogonal kernel estimation from finite data records: Extending Wiener's identification of nonlinear systems

A technique is described for exact estimation of kernels in functional expansions for nonlinear systems. The technique operates by orthogonalizing over the data record and in so doing permits a wide variety of input excitation. In particular, the excitation is not limited to inputs that are white, Gaussian, or lengthy. Diagonal kernel values can be estimated, without modification, as accurately as off-diagonal values. Simulations are provided to demonstrate that the technique is more accurate than the Lee-Schetzen method with a white Gaussian input of limited duration, retaining its superiority when the system output is corrupted by noise.

Information type filters for tracking a maneuvering target

Two previously proposed adaptive covariance-type Kalman filtering techniques for tracking maneuvering targets (see Y.T. Chan et al. ibid., p.237-44, Mar. 1979, and Z. Tang et al. Report, Department of Electrical and Computer Engineering, Oregon State University, Corvallis, Oct. 1983) are developed further to utilize the information-type Kalman filter. These adaptive information-type filters are described in structurally decoupled forms, thereby greatly reducing the computational requirements while rendering the filters amenable to implementation on parallel processors. A coherent decision procedure for including partial coupling when necessary is developed via offline analysis of crosscorrelation functions. >

Robotics in the classroom

This article presents an integrated approach for incorporating robotics into secondary education with the objective of further engaging students through an exciting application of math, computers, and science. One of the principal objectives of this university-based outreach effort is to promote the creation of independent programs at the secondary-school level in New Mexico by providing a structured set of resources from which the schools may begin. These resources include an adaptable mobile robot kit with detailed do-it-your-self online instructions, various Web-based course offerings with material directed to both secondary students and teachers, and a personnel support structure, including college engineering faculty, secondary teachers, practicing engineers, undergraduate engineering students, and junior-high and high-school students. An outreach program to integrate robotics into secondary education.

An information centric approach to heterogeneous multi-sensor integration for robotic applications

An autonomous robots ability to respond intelligently to an unstructured non-static environment is constrained by its ability to sense and interpret its world. The prospective benefits of employing multiple diverse sensors outweigh the potential limitations. Herein, the two most important issues of what to fuse and how to fuse are developed in detail. The former is known as the registration problem, and the latter the fusion problem. The registration procedure is addressed by a comprehensive three-stage process. It is a goal of this work to provide a viable framework towards the real-time interpretation of heterogeneous sensor data for robots.

Comments on "Tracking a maneuvering target using input estimation

A best linear unbiased estimate (BLUE) of the input process which characterizes a pilot-induced maneuver is developed for the case of the one-dimensional Kalman filter. This approach is utilized to yield a recursive implementation of the adaptive Kalman filter that is identical to that obtained by P.L. Bogler in the above mentioned paper (see ibid., vol.AES-23, no.3, p.298-310, May 1987). >

Implementation of an FPGA-based aided IMU on a low-cost autonomous outdoor robot

This paper presents the implementation of real-time algorithms for an aided Inertial Navigation System (INS) on a fabric processor based field programmable gate array (FPGA). Such an approach allows for the development of a hard real-time computational architecture tailored to the specific INS requirements while still preserving flexibility. The development of a realistic simulator proved to be an important stepping stone in the deployment of the INS algorithms in addition to providing useful insight into overall system operation. The simulation supports modular code verification and validation for the embedded target. Specifically, we focus on the integration of an inertial navigation systems (INS) with a man-portable tracked MATILDA robot manufactured by Mesa Robotics. This platform has seen service in both Afghanistan and Iraq, and divides into three pieces for transportation where each piece weighs about 20 pounds.

Power Control in Ad Hoc Networks: An Overview

In this paper, a brief overview of the power control problem will be presented along with different directions in power control design. In addition, a new approach to power control design inspired from control theory will be introduced. In this approach, linear quadratic control will be utilized to determine the transmission power of each node in the network. The system states will represent the signal quality and the error between the signal-to-interference level and the desired target. The necessary modifications to the IEEE 802.11 MAC layer to incorporate the proposed power control algorithm will be described.

Incorporating robotics into secondary education

Universities can play an important role in the high school educational system. In particular, New Mexico Tech has developed a robotics outreach program to provide high school students exposure to engineering concepts via building small robots. The authors have developed an integrated approach for incorporating robotics into secondary education with the objective of further engaging students through an exciting application of math, computers, and science. One of the principal objectives of this outreach effort is to promote the creation of programs at the secondary school level in New Mexico by providing a resource base for the teachers and students. These resources include an adaptable mobile robot kit, training, significant web-based materials (course offerings, an assembly/user manual,...) directed to both secondary students and teachers, and a personnel support structure including college engineering faculty, secondary teachers, practicing engineers, undergraduate engineering students, and junior-high and high-school students.

Robotic heterogeneous multi-sensor fusion with spatial and temporal alignment

The authors address the development of a coherent framework suitable for the treatment of the heterogeneous multisensor fusion problem, in the context of a robotic environment. The analysis, is based on a geometric description of the robotic environment, and concentrates on parameterizable features of the assumed rigid dynamic objects of interest present in the environment. A quantitative representation of a sensors inherent ability to extract pertinent information from the environment is stressed. A highly efficient, flexible, and fault-tolerant, decentralized sensor fusion architecture based on a linear information type structure is presented and compared with previous work in this area. The inclusion of techniques to cope with generalized spatial and temporal uncollocation, along with conclusive discussions on the most appropriate level in the fusion structure for these alignment procedures to be performed, represent the principal contribution.<<ETX>>

Transmission power management in ad hoc networks: issues and advantages

Power management is a very important aspect of ad-hoc networks. With power management capacity, throughput and battery lifetime could be increased, and latency could be reduced. But all of these advantages may be hindered depending on the power management employed and depending on the network configuration. In this paper, issues and advantages involved in the design of power control and management schemes are discussed. We also present a novel approach to power management by utilizing modern control theory to achieve the low-level power control. Simulation has shown that the new approach provides a more accurate and faster power control, than traditional power control.