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Open Access research with a European policy impact...

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 European Policies Research Centre (EPRC).

EPRC is a leading institute in Europe for comparative research on public policy, with a particular focus on regional development policies. Spanning 30 European countries, EPRC research programmes have a strong emphasis on applied research and knowledge exchange, including the provision of policy advice to EU institutions and national and sub-national government authorities throughout Europe.

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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.