IMU Auto-Calibration Based on Quaternion Kalman Filter to Identify Movements of Dairy Cows.

This work is focused on developing a self-calibration algorithm for an orientation estimation of cattle movements based on a quaternion Kalman filter. The accelerometer signals in the earth's frame provide more information to confirm that the cow is performing a jump to mount another cow. To obtain the measurements in the earth's frame, we propose a self-calibration method based on a strapdown inertial navigation system (SINS), which does not require intervention by the user once deployed in the field. The self-calibration algorithm uses a quaternion-based Kalman filter to predict the angular orientation with bias correction, and update it based on the measurements of accelerometers and magnetometers. The paper also depicts an alternate update to adjust the inclination using only the accelerometer measurements. We conducted experiments to compare the accuracy of the orientation estimation when the body moves similarly to cow mount movements. The comparison is between the proposed self-calibration algorithm with the IvenSense MPU9250 and Bosch BNO055 and the quaternion attitude estimation provided in the BNO055. The auto-calibrating algorithm presents a mean error of 0.149 rads with a mean consumption of 308.5 mW, and the Bosch algorithm shows an average error of 0.139 rads with a mean consumption of 307.5 mW. When we executed this algorithm in an MPU9250, the average error was 0.077 rads, and the mean consumption was 277.7 mW.

Harvest Stage Recognition and Potential Fruit Damage Indicator for Berries Based on Hidden Markov Models and the Viterbi Algorithm.

This article proposes a monitoring system that allows to track transitions between different stages in the berry harvesting process (berry picking, waiting for transport, transport and arrival at the packing site) solely using information from temperature and vibration sensors located in the basket. The monitoring system assumes a characterization of the process based on hidden Markov models and uses the Viterbi algorithm to perform inferences and estimate the most likely state trajectory. The obtained state trajectory estimate is then used to compute a potential damage indicator in real time. The proposed methodology does not require information about the weight of the basket to identify each of the different stages, which makes it effective and more efficient than other alternatives available in the industry.

Image correlation method for DNA sequence alignment.

The complexity of searches and the volume of genomic data make sequence alignment one of bioinformatics most active research areas. New alignment approaches have incorporated digital signal processing techniques. Among these, correlation methods are highly sensitive. This paper proposes a novel sequence alignment method based on 2-dimensional images, where each nucleic acid base is represented as a fixed gray intensity pixel. Query and known database sequences are coded to their pixel representation and sequence alignment is handled as object recognition in a scene problem. Query and database become object and scene, respectively. An image correlation process is carried out in order to search for the best match between them. Given that this procedure can be implemented in an optical correlator, the correlation could eventually be accomplished at light speed. This paper shows an initial research stage where results were "digitally" obtained by simulating an optical correlation of DNA sequences represented as images. A total of 303 queries (variable lengths from 50 to 4500 base pairs) and 100 scenes represented by 100 x 100 images each (in total, one million base pair database) were considered for the image correlation analysis. The results showed that correlations reached very high sensitivity (99.01%), specificity (98.99%) and outperformed BLAST when mutation numbers increased. However, digital correlation processes were hundred times slower than BLAST. We are currently starting an initiative to evaluate the correlation speed process of a real experimental optical correlator. By doing this, we expect to fully exploit optical correlation light properties. As the optical correlator works jointly with the computer, digital algorithms should also be optimized. The results presented in this paper are encouraging and support the study of image correlation methods on sequence alignment.