Temporal accuracy is a fundamental characteristic of logging technology and is needed to correlate data streams. Single biologgers sensing animal movement (accelerometers, gyroscope, magnetometers, collectively inertial measurement unit; IMU) have been extensively used to study the ecology of animals. To better capture whole body movement and increase the accuracy of behavior classification, there is a need to deploy multiple loggers on a single individual to capture the movement of multiple body parts. Yet due to temporal drift, accurately aligning multiple IMU datasets can be problematic, especially as deployment duration increases. In this paper we quantify temporal drift and errors in commercially available IMU data loggers using a combination of robotic and animal borne experiments. The variance in drift rate within a tag is over an order of magnitude lower (
- Award ID(s):
- 1651904
- NSF-PAR ID:
- 10313608
- Date Published:
- Journal Name:
- Movement Ecology
- Volume:
- 9
- Issue:
- 1
- ISSN:
- 2051-3933
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Abstract σ = 0.001 s h−1) than the variance between tags (σ = 0.015 s·h−1), showing that recording frequency is a characteristic of each tag and not a random variable. Furthermore, we observed a large offset (0.54 ± 0.016 s·h−1) between two groups of tags that had differing recording frequencies, and we observed three instances of instantaneous temporal jumps within datasets introducing errors into the data streams. Finally, we show that relative drift rates can be estimated even when deployed on animals displaying various behaviors without the tags needing to be simultaneously moved. For the tags used in this study, drift rates can vary significantly between tags, are repeatable, and can be accurately measured in the field. The temporal alignment of multiple tag datasets allows researchers to deploy multiple tags on an individual animal which will greatly increase our knowledge of movement kinematics and expand the range of movement characteristics that can be used for behavioral classification. -
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Driver maneuver interaction learning (DMIL) refers to the classification task with the goal of identifying different driver-vehicle maneuver interactions (e.g., left/right turns). Existing conventional studies largely focused on the centralized collection of sensor data from the drivers' smartphones (say, inertial measurement units or IMUs, like accelerometer and gyroscope). Such a centralized mechanism might be precluded by data regulatory constraints. Furthermore, how to enable an adaptive and accurate DMIL framework remains challenging due to (i) complexity in heterogeneous driver maneuver patterns, and (ii) impacts of anomalous driver maneuvers due to, for instance, aggressive driving styles and behaviors.
To overcome the above challenges, we propose AF-DMIL, an Anomaly-aware Federated Driver Maneuver Interaction Learning system. We focus on the real-world IMU sensor datasets (e.g., collected by smartphones) for our pilot case study. In particular, we have designed three heterogeneous representations for AF-DMIL regarding spectral, time series, and statistical features that are derived from the IMU sensor readings. We have designed a novel heterogeneous representation attention network (HetRANet) based on spectral channel attention, temporal sequence attention, and statistical feature learning mechanisms, jointly capturing and identifying the complex patterns within driver maneuver behaviors. Furthermore, we have designed a densely-connected convolutional neural network in HetRANet to enable the complex feature extraction and enhance the computational efficiency of HetRANet. In addition, we have designed within AF-DMIL a novel anomaly-aware federated learning approach for decentralized DMIL in response to anomalous maneuver data. To ease extraction of the maneuver patterns and evaluation of their mutual differences, we have designed an embedding projection network that projects the high-dimensional driver maneuver features into low-dimensional space, and further derives the exemplars that represent the driver maneuver patterns for mutual comparison. Then, AF-DMIL further leverages the mutual differences of the exemplars to identify those that exhibit anomalous patterns and deviate from others, and mitigates their impacts upon the federated DMIL. We have conducted extensive driver data analytics and experimental studies on three real-world datasets (one is harvested on our own) to evaluate the prototype of AF-DMIL, demonstrating AF-DMIL's accuracy and effectiveness compared to the state-of-the-art DMIL baselines (on average by more than 13% improvement in terms of DMIL accuracy), as well as fewer communication rounds (on average 29.20% fewer than existing distributed learning mechanisms).
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This article reports an adaptive sensor bias observer and attitude observer operating directly on [Formula: see text] for true-north gyrocompass systems that utilize six-degree-of-freedom inertial measurement units (IMUs) with three-axis accelerometers and three-axis angular rate gyroscopes (without magnetometers). Most present-day low-cost robotic vehicles employ attitude estimation systems that employ microelectromechanical system (MEMS) magnetometers, angular rate gyros, and accelerometers to estimate magnetic attitude (roll, pitch, and magnetic heading) with limited heading accuracy. Present-day MEMS gyros are not sensitive enough to dynamically detect the Earth’s rotation, and thus cannot be used to estimate true-north geodetic heading. Relying on magnetic compasses can be problematic for vehicles that operate in environments with magnetic anomalies and those requiring high-accuracy navigation as the limited accuracy ([Formula: see text] error) of magnetic compasses is typically the largest error source in underwater vehicle navigation systems. Moreover, magnetic compasses need to undergo time-consuming recalibration for hard-iron and soft-iron errors every time a vehicle is reconfigured with a new instrument or other payload, as very frequently occurs on oceanographic marine vehicles. In contrast, the gyrocompass system reported herein utilizes fiber optic gyroscope (FOG) IMU angular rate gyro and MEMS accelerometer measurements (without magnetometers) to dynamically estimate the instrument’s time-varying true-north attitude (roll, pitch, and geodetic heading) in real-time while the instrument is subject to a priori unknown rotations. This gyrocompass system is immune to magnetic anomalies and does not require recalibration every time a new payload is added to or removed from the vehicle. Stability proofs for the reported bias and attitude observers, preliminary simulations, and a full-scale vehicle trial are reported that suggest the viability of the true-north gyrocompass system to provide dynamic real-time true-north heading, pitch, and roll utilizing a comparatively low-cost FOG IMU.more » « less
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Abstract Background Kangaroo rats are small mammals that are among the most abundant vertebrates in many terrestrial ecosystems in Western North America and are considered both keystone species and ecosystem engineers, providing numerous linkages between other species as both consumers and resources. However, there are challenges to studying the behavior and activity of these species due to the difficulty of observing large numbers of individuals that are small, secretive, and nocturnal. Our goal was to develop an integrated approach of miniaturized animal-borne accelerometry and radiotelemetry to classify the cryptic behavior and activity cycles of kangaroo rats and test hypotheses of how their behavior is influenced by light cycles, moonlight, and weather.
Methods We provide a proof-of-concept approach to effectively quantify behavioral patterns of small bodied (< 50 g), nocturnal, and terrestrial free-ranging mammals using large acceleration datasets by combining low-mass, miniaturized animal-borne accelerometers with radiotelemetry and advanced machine learning techniques. We developed a method of attachment and retrieval for deploying accelerometers, a non-disruptive method of gathering observational validation datasets for acceleration data on free-ranging nocturnal small mammals, and used these techniques on Merriam’s kangaroo rats to analyze how behavioral patterns relate to abiotic factors.
Results We found that Merriam’s kangaroo rats are only active during the nighttime phases of the diel cycle and are particularly active during later light phases of the night (i.e., late night, morning twilight, and dawn). We found no reduction in activity or foraging associated with moonlight, indicating that kangaroo rats are actually more lunarphilic than lunarphobic. We also found that kangaroo rats increased foraging effort on more humid nights, most likely as a mechanism to avoid cutaneous water loss.
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1186/s40462-021-00243-z
