3 May 2018 Hydra: a modular, universal multi-sensor data collection system
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Abstract
The Sensor Analysis and Intelligence Laboratory (SAIL) at Mississippi State University's (MSU's) Center for Advanced Vehicular Systems (CAVS) and the Social, Therapeutic and Robotic Systems Lab (STaRS) at MSU's Computer Science and Engineering department have designed and implemented a modular platform for automated sensor data collection and processing, named the Hydra. The Hydra is an open-source system (all artifacts and code are published to the research community), and it consists of a modular rigid mounting platform (sensors, processors, power supply and conditioning) that utilize the Picatinny rail (a standardized mounting system originally developed for firearms) as a rigid mounting system, a software platform utilizing the Robotic Operating System (ROS) for data collection, and design packages (schematics, CAD drawings, etc.). The Hydra system streamlines the assembly of a configurable multi-sensor system. This system is motivated to enable researchers to quickly select sensors, assemble them as an integrated system, and collect data (without having to recreate the Hydras hardware and software). Prototype results are presented from a recent data collection on a small robot during a SWAT-robot training.
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Madelyn Davis, Madelyn Davis, Lucas Cagle, Lucas Cagle, Courtney Morgan, Courtney Morgan, Christopher Hudson, Christopher Hudson, Bostic Shell, Bostic Shell, David Gardner, David Gardner, Muhammad Aminul Islam, Muhammad Aminul Islam, Cindy L. Bethel, Cindy L. Bethel, John E. Ball, John E. Ball, James R. Gafford, James R. Gafford, Derek T. Anderson, Derek T. Anderson, Yucheng Liu, Yucheng Liu, Andrew LeClair, Andrew LeClair, } "Hydra: a modular, universal multi-sensor data collection system", Proc. SPIE 10643, Autonomous Systems: Sensors, Vehicles, Security, and the Internet of Everything, 106430D (3 May 2018); doi: 10.1117/12.2305118; https://doi.org/10.1117/12.2305118
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