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The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by Strathclyde researchers, including by researchers from the Physical Activity for Health Group based within the School of Psychological Sciences & Health. Research here seeks to better understand how and why physical activity improves health, gain a better understanding of the amount, intensity, and type of physical activity needed for health benefits, and evaluate the effect of interventions to promote physical activity.

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Practical constraints on real time Bayesian filtering for NDE applications

Summan, R. and Pierce, S. and Dobie, G. and Hensman, J. and MacLeod, C. (2014) Practical constraints on real time Bayesian filtering for NDE applications. Mechanical Systems and Signal Processing, 42 (1-2). pp. 181-193. ISSN 0888-3270

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Abstract

An experimental evaluation of Bayesian positional filtering algorithms applied to mobile robots for Non-Destructive Evaluation is presented using multiple positional sensing data – a real time, on-robot implementation of an Extended Kalman and Particle filter was used to control a robot performing representative raster scanning of a sample. Both absolute and relative positioning were employed – the absolute being an indoor acoustic GPS system that required careful calibration. The performance of the tracking algorithms are compared in terms of computational cost and the accuracy of trajectory estimates. It is demonstrated that for real time NDE scanning, the Extended Kalman Filter is a more sensible choice given the high computational overhead for the Particle filter.