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Sabyasachi Maiti - IEEE Xplore Author Profile

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In this research, we propose a generic deep autoencoder model for automated feature extraction from the raw sensor data. Extracted deep features are classified with random forest algorithm for fault detection. Sensor data are labelled as healthy and faulty based on the maintenance actions recorded. The remaining healthy data is used for validation of the model to prove its efficacy in terms of avo...Show More
In this research, we propose a generic multilayer perceptron (MLP) neural network model based on deep learning algorithm for automatic calculation of highly informative deep features from the elevator time series data and based on extracted deep features faults are detected. Sensor data are labelled as healthy or faulty based on the maintenance actions recorded. The remaining healthy data are used...Show More
In this paper, we propose a new algorithm for data extraction from time series data, and furthermore automatic calculation of highly informative deep features to be used in fault detection. In data extraction elevator start and stop events are extracted from sensor data including both acceleration and magnetic signals. In addition, a generic deep autoencoder model is also developed for automated f...Show More
This paper proposes a new efficient path-planning algorithm for articulated steering vehicles operating in semi-structured environments, in which obstacles are detected online by the vehicle's sensors. The first step of the algorithm is offline and computes a finite set of feasible motions that connect discrete robot states to construct a search space. The motion primitives are parameterized using...Show More
Autonomous mobile machines use onboard sensors for navigation and obstacle avoidance. The accuracy of the sensor data in global frame is however dependent on the localization accuracy of the machine. Simultaneous localization and mapping algorithms (SLAM) are widely used with 3D laser scanners for mapping the world. They use scan matching algorithms to solve the accuracy problem by matching prior ...Show More
Mobile multimachine work environments, in general, consist of varying types of machines driving across a site to complete a moving or manipulation task. As the view from the machines over the environment can be limited due to the structure of the machines, the environment, and the moved/manipulated items, there is a risk of collision between machines. In this paper, we propose a situation awarenes...Show More
This article suggests a novel path planning algorithm for a non-holonomic wheeled vehicle operating in a semi-structured environment. The first step of the algorithm is to compute offline a finite set of feasible motions connecting discrete robot states to construct a search graph. The motion primitives based on Bézier curves are generated by solving the constrained optimization problem (COP). App...Show More
This paper addresses a visual servoing problem for a mobile manipulator. Specifically, it investigates pallet picking by using visual feedback using afork lift truck. A manipulator with limited degrees of freedom and differential constraint mobility together with large dimensions of the machine require reliable visual feedback (pallet pose) from relatively large distances. To address this challeng...Show More
In this paper I aim to explain how important is to reach an optimal synchronization between Control Station (CS) and Mobile Machine (MM). In this research synchronize means to give a correct order to all the elements involved during data acquisition and transference in the teleoperation process. Also the synchronization process includes the policy to follow in case of transmissions error during th...Show More
This paper is the next stage in the result of my research in wireless teleoperation on hydraulic mobile machines. In this paper I aim to explain the benefits of using a multi-packet protocol versus a mono-packet protocol. During my research work the system has been updated from the mono-packet protocol to the multi-packet protocol to provide the system with more flexibility to face possible change...Show More
This paper is a step forward in my research work about creating more intelligence in wireless teleoperation on hydraulics mobile machines. This paper deals with the importance of synchronization in the data transference between different elements to provide a reliable connection during the teleoperation process. A new module (G.P.S. receiver) is installed into the system to provide information abo...Show More
This paper is a step forward in my research work about using wireless teleoperation on hydraulics mobile machines. This paper deals with the importance of data acquisition from and to the mobile machine and the ways of displaying the information for the teleoperator in control station. The paper also explores a set of possible errors occurring during the teleoperation process and suggests solution...Show More
The mobile machine subject to study is a skid steered loader equipped with boom and bucket. In order to teleoperate the mobile machine, two operator-machine interfaces, which take into account the special requirements of hydraulic machines, have been designed and tested. The operator-machine interfaces are implemented in a laptop computer equipped with a steering wheel, pedals and joystick and in ...Show More