Browsing by Author "Malakar, Nabin K."
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Item Modeling a Sensor to Improve its Efficacy(Hindawi Publishing Corporation, 2013-05-20) Malakar, Nabin K.; Gladkov, Daniil; Knuth, Kevin H.Robots rely on sensors to provide them with information about their surroundings. However, high-quality sensors can be extremely expensive and cost-prohibitive. Thus many robotic systems must make due with lower-quality sensors. Here we demonstrate via a case study how modeling a sensor can improve its efficacy when employed within a Bayesian inferential framework. As a test bed we employ a robotic arm that is designed to autonomously take its own measurements using an inexpensive LEGO light sensor to estimate the position and radius of a white circle on a black field. The light sensor integrates the light arriving from a spatially distributed region within its field of view weighted by its spatial sensitivity function (SSF). We demonstrate that by incorporating an accurate model of the light sensor SSF into the likelihood function of a Bayesian inference engine, an autonomous system can make improved inferences about its surroundings. The method presented here is data based, fairly general, and made with plug-and-play in mind so that it could be implemented in similar problems.Item Survey on the Estimation of Mutual Information Methods as a Measure of Dependency Versus Correlation Analysis(2015-02) Gencaga, Deniz; Malakar, Nabin K.; Lary, David J.; Gencaga, Deniz; Malakar, Nabin K.; Lary, David J.In this survey, we present and compare different approaches to estimate Mutual Information (MI) from data to analyse general dependencies between variables of interest in a system. We demonstrate the performance difference of MI versus correlation analysis, which is only optimal in case of linear dependencies. First, we use a piece-wise constant Bayesian methodology using a general Dirichlet prior. In this estimation method, we use a two-stage approach where we approximate the probability distribution first and then calculate the marginal and joint entropies. Here, we demonstrate the performance of this Bayesian approach versus the others for computing the dependency between different variables. We also compare these with linear correlation analysis. Finally, we apply MI and correlation analysis to the identification of the bias in the determination of the aerosol optical depth (AOD) by the satellite based Moderate Resolution Imaging Spectroradiometer (MODIS) and the ground based AErosol RObotic NETwork (AERONET). Here, we observe that the AOD measurements by these two instruments might be different for the same location. The reason of this bias is explored by quantifying the dependencies between the bias and 15 other variables including cloud cover, surface reflectivity and others.