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Free, publicly-accessible full text available June 19, 2022
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Siciliano, B. ; Laschi, C. ; Khatib, O. (Ed.)
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In this paper, we propose a real-time deep-learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous robots localizing themselves, in a communicationconstrained underwater environment, is essential for many applications such as underwater exploration, mapping, multirobot convoying, and other multi-robot tasks. Due to the profound difficulty of collecting ground truth images with accurate 6D poses underwater, this work utilizes rendered images from the Unreal Game Engine simulation for training. An image translation network is employed to bridge the gap between the rendered and the real images producing synthetic imagesmore »
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Heating, ventilation and air-conditioning (HVAC) systems have been adopted to create comfortable, healthy and safe indoor environments. In the control loop, the technical feature of the human demand-oriented supply can help operate HVAC effectively. Among many technical options, real time monitoring based on feedback signals from end users has been frequently reported as a critical technology to confirm optimizing building performance. Recent studies have incorporated human thermal physiologysignals and thermal comfort/discomfort status as real-time feedback signals. A series of human subject experiments used to be conducted by primarily adopting subjective questionnaire surveys in a lab-setting study, which is limited inmore »