Modeling a Sensor to Improve Its Efficacy

Joint Authors

Knuth, Kevin H.
Gladkov, Daniil
Malakar, Nabin K.

Source

Journal of Sensors

Issue

Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-11, 11 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2013-07-17

Country of Publication

Egypt

No. of Pages

11

Main Subjects

Civil Engineering

Abstract EN

Robots rely on sensors to provide them with information about their surroundings.

However, high-quality sensors can be extremely expensive and cost-prohibitive.

Thus many robotic systems must make due with lower-quality sensors.

Here we demonstrate via a case study how modeling a sensor can improve its efficacy when employed within a Bayesian inferential framework.

As a test bed we employ a robotic arm that is designed to autonomously take its own measurements using an inexpensive LEGO light sensor to estimate the position and radius of a white circle on a black field.

The light sensor integrates the light arriving from a spatially distributed region within its field of view weighted by its spatial sensitivity function (SSF).

We demonstrate that by incorporating an accurate model of the light sensor SSF into the likelihood function of a Bayesian inference engine, an autonomous system can make improved inferences about its surroundings.

The method presented here is data based, fairly general, and made with plug-and-play in mind so that it could be implemented in similar problems.

American Psychological Association (APA)

Malakar, Nabin K.& Gladkov, Daniil& Knuth, Kevin H.. 2013. Modeling a Sensor to Improve Its Efficacy. Journal of Sensors،Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-474969

Modern Language Association (MLA)

Malakar, Nabin K.…[et al.]. Modeling a Sensor to Improve Its Efficacy. Journal of Sensors No. 2013 (2013), pp.1-11.
https://search.emarefa.net/detail/BIM-474969

American Medical Association (AMA)

Malakar, Nabin K.& Gladkov, Daniil& Knuth, Kevin H.. Modeling a Sensor to Improve Its Efficacy. Journal of Sensors. 2013. Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-474969

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-474969