1,721,144 research outputs found
Amplitude and Phase inaccuracies due to the Round-Off noise of FFT processors
No full textThis report proposes to discuss the Fourier domain analysis performances of a RESPER probe. A uniform ADC, which is characterized by a sensible phase inaccuracy depending on frequency, is connected to a Fast Fourier Transform (FFT) processor, that is especially affected by a round-off amplitude noise linked to both the FFT register length and samples number. If the register length is equal to 32 bits, then the round-off noise is entirely negligible, else, once bits are reduced to 16, a technique of compensation must occur. In fact, oversampling can be employed within a short time window, reaching a compromise between the needs of limiting the phase inaccuracy due to ADC and not raising too much the number of averaged FFT values sufficient to bound the round-off.
Finally, the appendix presents an outline of somewhat lengthy demonstrations needed to calculate the amplitude and especially phase inaccuracies due to the round-off noise of FFT processors.Istituto Nazionale di Geofisica e Vulcanologia INGV) –
Sezione Roma 2 -
via di Vigna Murata 605, I-00143 Rome, ItalyPublished1.8. Osservazioni di geofisica ambientaleope
Amplitude and Phase inaccuracies due to the Round-Off noise of FFT processors
No full textThis report proposes to discuss the Fourier domain analysis performances of a RESPER probe. A uniform ADC, which is characterized by a sensible phase inaccuracy depending on frequency, is connected to a Fast Fourier Transform (FFT) processor, that is especially affected by a round-off amplitude noise linked to both the FFT register length and samples number. If the register length is equal to 32 bits, then the round-off noise is entirely negligible, else, once bits are reduced to 16, a technique of compensation must occur. In fact, oversampling can be employed within a short time window, reaching a compromise between the needs of limiting the phase inaccuracy due to ADC and not raising too much the number of averaged FFT values sufficient to bound the round-off.
Finally, the appendix presents an outline of somewhat lengthy demonstrations needed to calculate the amplitude and especially phase inaccuracies due to the round-off noise of FFT processors.Istituto Nazionale di Geofisica e Vulcanologia INGV) –
Sezione Roma 2 -
via di Vigna Murata 605, I-00143 Rome, ItalyPublished1.8. Osservazioni di geofisica ambientaleope
The value of splenoportography and splenomanometry in the diagnosis of portal hypertension in childhood
No full textEfficient 2D LIDAR-Based Map Updating For Long-Term Operations in Dynamic Environments
No full textLong-time operations of autonomous vehicles and mobile robots in logistics and service applications are still a challenge. To avoid a continuous re-mapping, the map can be updated to obtain a consistent representation of the current environment. In this paper, we propose a novel LIDAR-based occupancy grid map updating algorithm for dynamic environments taking into account possible localisation and measurement errors. The proposed approach allows robust long-term operations as it can detect changes in the working area even in presence of moving elements. Results highlighting map quality and localisation performance, both in simulation and experiments, are reported
LiDAR-based GNSS denied localization for autonomous racing cars
Get PDFSelf driving vehicles promise to bring one of the greatest technological and social revolutions of the next decade for their potential to drastically change human mobility and goods transportation, in particular regarding efficiency and safety. Autonomous racing provides very similar technological issues while allowing for more extreme conditions in a safe human environment. While the software stack driving the racing car consists of several modules, in this paper we focus on the localization problem, which provides as output the estimated pose of the vehicle needed by the planning and control modules. When driving near the friction limits, localization accuracy is critical as small errors can induce large errors in control due to the nonlinearities of the vehicle’s dynamic model. In this paper, we present a localization architecture for a racing car that does not rely on Global Navigation Satellite Systems (GNSS). It consists of two multi-rate Extended Kalman Filters and an extension of a state-of-the-art laser-based Monte Carlo localization approach that exploits some a priori knowledge of the environment and context. We first compare the proposed method with a solution based on a widely employed state-of-the-art implementation, outlining its strengths and limitations within our experimental scenario. The architecture is then tested both in simulation and experimentally on a full-scale autonomous electric racing car during an event of Roborace Season Alpha. The results show its robustness in avoiding the robot kidnapping problem typical of particle filters localization methods, while providing a smooth and high rate pose estimate. The pose error distribution depends on the car velocity, and spans on average from 0.1 m (at 60 km/h) to 1.48 m (at 200 km/h) laterally and from 1.9 m (at 100 km/h) to 4.92 m (at 200 km/h) longitudinally
Safe and Robust Map Updating for Long-Term Operations in Dynamic Environments †
No full textEnsuring safe and continuous autonomous navigation in long-term mobile robot applications is still challenging. To ensure a reliable representation of the current environment without the need for periodic remapping, updating the map is recommended. However, in the case of incorrect robot pose estimation, updating the map can lead to errors that prevent the robot’s localisation and jeopardise map accuracy. In this paper, we propose a safe Lidar-based occupancy grid map-updating algorithm for dynamic environments, taking into account uncertainties in the estimation of the robot’s pose. The proposed approach allows for robust long-term operations, as it can recover the robot’s pose, even when it gets lost, to continue the map update process, providing a coherent map. Moreover, the approach is also robust to temporary changes in the map due to the presence of dynamic obstacles such as humans and other robots. Results highlighting map quality, localisation performance, and pose recovery, both in simulation and experiments, are reported
Going Beyond Counting First Authors in Author Co-citation Analysis
Get PDFThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
The calculation of ionospheric absorption with modern computers
No full textNew outcomes are proposed for ionospheric absorption starting from the Appleton-Hartree formula, in its complete form. The range of applicability is discussed for the approximate formulae, which are usually employed in the calculation of non-deviative absorption coefficient. These results were achieved by performing a more refined approximation that is valid under quasi-longitudinal (QL) propagation conditions. The more refined QL approximation and the usually employed non-deviative absorption are compared with that derived from a complete formulation. Their expressions, nothing complicated, can usefully be implemented in a software program running on modern computers. Moreover, the importance of considering Booker’s rule is highlighted. A radio link of ground range D = 1000 km was also simulated using ray tracing for a sample daytime ionosphere. Finally, some estimations of the integrated absorption for the radio link considered are provided for different frequencies.Published1642-16502A. Fisica dell'alta atmosferaJCR Journalope
- …
