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This paper presents a strategy to improve positioning estimation from low-cost Inertia Measurement Unit (IMU) sensor and Global Positioning System (GPS) for apron vehicle localization. IMU sensor provides raw acceleration values and its attitude, while GPS provides geodetic position, velocity, and heading course values. Fusion result from both sensors believed could comply Advanced-Surface Movement...
Compressive spectral clustering (CSC) efficiently leverages graph filter and random sampling techniques to speed up clustering process. However, we find that CSC algorithm suffers from two main problems: i) The direct use of the dichotomy and eigencount techniques for estimating laplacian matrix’s k-th eigenvalue is expensive. ii) The computation of polynomial approximation repeats in each iteration...
In the AHRS using accelerometer can correct the error when calculating the attitude information of gyroscope. However, in the AHRS work process, the accelerometer measures the acceleration of gravity is affected by the external acceleration, and the accuracy is lost, which leads to the increase of the error of the attitude information. In order to estimate the external acceleration, this paper proposes...
Localization is one of the main tasks of autonomous mobile robots. There are many approaches on how to determine the robot's position with reasonable precision, as with the use of sensor fusion (IMU, GPS, Image, LiDAR). Even though it is possible to achieve high precision with these sensors combined, a solution that requires less resources in terms of processing, energy consumption and yet provide...
This paper proposes a novel rotor angular position estimation method based on self-inductance rectangle for doubly salient electro-magnetic motor (DSEM). It starts with injecting three test voltage pulses A+C-, B+A- and C+B-with the same width in order. At the end of each test pulse, the response currents iac, iba and icb are sampled and detected to identify the two-phase series inductances Lac, L...
We developed the algorithm to estimate sleep-wake during sleep period using a 3-axis acceleration wrist sensor for the purpose of self-management of sleep status in everyday life. The 3-axis acceleration data were transformed into combined acceleration time series, from which sleep-wake was estimated. The algorithm discriminated sleep from waking time with 91.8[87.4–95.3]% sensitivity and 55.5[40...
In this paper, we evaluate methods of aggregating personal sensor data to estimate the degree of group stress. We compare the estimation accuracy of two aggregation methods, one without and one with personal distribution scaling. As a result of applying the data of 9 groups of people (105 people) to the methods, it is shown that the no-scaling method successfully estimates the degree of group stress...
Real-time tracking of subway riding will provide great convenience to millions of commuters in metropolitan areas. Traditional approaches using timetables need continuous attentions from the subway riders and are limited to the poor accuracy of estimating the travel time. Recent approaches using mobile devices rely on GSM and WiFi, which are not always available underground. In this work, we present...
To predict the vibration displacement distributed on a vibrating surface, an r order Non-equidistant Grey Model (r-NGM) is proposed in this paper. This model is built by accumulating the initial discrete non-equidistant vibration displacement set with the r order Accumulated Generating Operation (r-AGO). The r-NGM is applied to a vibrating surface of a shaker to displacement prediction. The experimental...
Personal mobility devices such as wheelchairs, bicycles, and compact cars are used in daily life and to runs on sidewalks. However, there are several factors that may lead to discomfort rides, such as steps, slopes, and crowded sidewalks for a passenger. This paper proposes a system that detects the factors using smartphone attached to the personal mobility device and generates a discomfort-ride map...
To address the problem of direction of arrival (DOA) of fast moving target in accelerated scenario, a new DOA estimation algorithm based on the generalized almost-cyclostationary processes analysis is proposed. First, the property of fast moving target signal with a constant relative acceleration is discussed. We reveal that the received signal arises cyclostationarity even for the accelerated target...
In this paper, the authors proposes a easy calibration of DOD-based BLE beacon system for an indoor localization application. By the proposed calibration method, we can easily recognize the orientation and location of the beacon even though the beacons are roughly installed. The method uses DOD calculated from RSSI of received beacon signals and sensor information of the mobile handset for calibration...
This paper presents a study of the transient performance of the speed and position sensorless control of an interior permanent magnet synchronous motor (IPMSM) based on back-electromotive force (back-EMF) estimation method in the rotor reference frame. The fundamental characteristics of the estimated back-EMF, position and speed components using mathematical models of the IPMSM are analyzed. The analyzed...
In the last years, the worldwide sales volume of electric vehicles increased and almost all well-known automobile manufacturers now have special departments for developing autonomous vehicles. This development leads to new challenges in the automobile sector. Besides the development of necessary components, one big challenge is the compliance with safety requirements. Autonomous vehicles need a large...
We have developed an innovative medical round robot “Terapio” in hospitals. This novel robot is mainly tasked to deliver medical armamentarium and manage round data. An implemented omni-directional mobile mechanism and a person tracking control system to follow a medical doctor realize smooth transferring movement from a nurse station to a patient's bedroom. In this paper, person tracking control...
A paper is devoted to the management of innovative projects based on the theory of fuzzy sets. To analyze project risks based on the terms of their implementation — acceleration, according to the plan and with the delay, authors proposed to employ both the asymmetry coefficient and the coefficient of asymmetry variation which are characterizing the asymmetric distribution of costs due to changes in...
The research presented here aims to improve the sensory economy of an all-accelerometer inertial measurement unit (IMU). The authors will show that accelerometers are underutilised in this class of IMUs when they are attached to dynamically constrained systems. This scenario usually warrants one of two solutions; each being geared towards general unconstrained motion. In this paper, however, the authors...
Vertical height estimation is critical to indoor localization technique. However, the common story height covers from 2.8m to 6.0m in multistory buildings, which make it meaningless to estimate height alone. An efficient indoor location system should provide accurate floor estimation with fuzzy story height information. This paper proposes a Bayesian Network inference method to identify pedestrian's...
This paper presents a sensor fusion algorithm to estimate step-size for pedestrian navigation using multiple low-cost wearable inertial sensors. A sensor data logger is developed for reading multiple low-cost sensors. A treadmill experiment with an optical motion capture system is conducted for algorithm evaluation. A INS-ZUPT Kalman filter is implemented to estimate stride length from each foot mounted...
This paper describes a method for detecting the change in the conditions and behaviors of motorcycles from the motion data acquired by simplified measurement systems that estimate the dynamics of ride-type interfaces. In this method, motorcycle motion data, such as the acceleration and angular velocities, are determined using a microcontroller. Then, the changes in the conditions and behaviors of...
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