@ARTICLE{Świetlicka_A._Robot_2020,
 author={Świetlicka, A. and Kolanowski, K.},
 volume={68},
 number={No. 6},
 journal={Bulletin of the Polish Academy of Sciences Technical Sciences},
 pages={1525-1533},
 howpublished={online},
 year={2020},
 abstract={In this work, we present a failure detection system in sensors of any robot. It is based on the k-fold cross-validation approach and built from N neural networks, where N is the number of signals read from sensors. Our tests were carried out using an unmanned aerial vehicle (UAV, quadrocopter), where signals were read from three sensors: accelerometer, magnetometer and gyroscope. Artificial neural network was used to determine Euler angles, based on signals from these sensors. The presented system is an extension of the system that we proposed in one of our previous papers. The improvement shown in this work took place on two levels. The first one was related to improvement of a neural network՚s reproduction quality – we have replaced a recurrent neural network with a convolutional one. The second level was associated with the improvement of the validation process, i.e. with adding some new criteria to check the values of Euler՚s angles determined by the convolutional neural network in subsequent time steps. To highlight the proposed system improvement we present a number of indicators such as RMSE, NRMSE and NDR (Normalized Detection Ratio).},
 type={Article},
 title={Robot sensor failure detection system based on convolutional neural networks for calculation of Euler angles},
 URL={http://ochroma.man.poznan.pl/Content/118367/PDF/28_D1525-1533_01836_Bpast.No.68-6_29.12.20_OK.pdf},
 doi={10.24425/bpasts.2020.135389},
 keywords={quadrocopter, convolutional neural network, AHRS, Attitude and Heading Reference System},
}