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The Autonomous Surface / Sub-surface Survey System (ASSSS) research program combines long endurance autonomous surface vessels (ASVs) and long endurance autonomous underwater vehicles (AUVs) to create an integrated cooperative navigation system effectively transforming the capabilities and accuracy of AUV survey. ASV is leading the project, working alongside National Oceanography Centre, a world leading...
The autonomous navigation of unmanned aerial vehicles (UAVs) require a lot of sensing modalities to improve their cruise efficiency. This paper presents a system for autonomous navigation and path planning of UAVs in GPS-denied environment based on the fusion of geo-registered 3D point clouds with proprioceptive sensors (IMU, odometry and barometer) and the 2D Google maps. The contributions of this...
Data or measurement-to-track association is an integral and expensive part of any solution performing multi-target multi-sensor Cooperative Localization (CL) for better state estimation. Various performance evaluations have been performed between various state-of-the-art solutions, but they have been often limited within same family of algorithms. However, there exist solutions which avoid the task...
The Internet of Things is one of the trending technologies wherein connecting any device to the Internet and control power to any appliance and in addition possess capability of connecting those appliances to each other in creating a network. In this work, a WiFi enabled micro-controller is interfaced with few sensors like ADXL335, a 3-axis accelerometer for sensing tilt of the object, motion, vibration...
Indoor positioning without GPS is one of the most important problems in indoor pedestrian navigation. In this paper, we propose an accurate indoor positioning algorithm using a particle filter based on a floormap, where we use the proximity of the Bluetooth beacons as well as acceleration and geomagnetic sensors. In designing the likelihood function in the particle filter, we effectively use the proximity...
This paper presents an obstacle detection system able to permit the visually impaired user to get information on the surrounding complex environment. The system also allows setting an active mobile connection with the distant assistant guide. A low-cost ultrasound microcontroller based system, capable of detecting grounded or raised obstacles up to a few meters in front of the subject, is proposed...
Within the world of wireless technologies, Bluetooth has recently been at the forefront of innovation. It is becoming increasingly relevant for vehicles to become aware of their surroundings. Therefore, having knowledge of nearby Bluetooth devices, both inside and outside other vehicles, can provide the listening vehicles with enough data to learn about their environment. In this paper, we collect...
Vehicle accidents are one of the most leading causes of fatality. The time between an accident occurrence and the emergency medical personnel are dispatched to the location of accident is the critical factor in the survival rate after an accident. By minimizing the gap time, mortality rate can be reduced. One approach to reduce the delay time is to use the Real Time Wireless Accident Tracker Using...
In the mobile internet era, location-based services have been widely used in mobile applications for delivering novel services to end-users. As battery technologies have long been the bottleneck holding back the development of mobile applications, a large body of research has focused on saving energy. This paper proposes an adaptive middleware architecture for mobile applications using location-based...
This paper presents a scheme which aims to track patients in hospitals and to generate the suggestion information to the patients. In this scheme, hardware like location tracking devices such as GPS, WiFi positioning system, Bluetooth Low Energy (BLE), and RFID is not required. Instead, the proposed system entirely relies on the existing data in the Hospital Information System (HIS). The data analytics...
This paper presents an implementation of a system that is autonomously able to find, follow and land on a car moving at 15 km/h. Our solution consists of two parts, the image processing for fast onboard detection of landing platform and the Model Predictive Control tracker for trajectory planning and control. This approach is fully autonomous using only the onboard computer and onboard sensors with...
The Internet of Things (IoT) is a very promising concept that by connecting numerous devices to the internet and extracting large sums of information (BigData) can enable the realisation of various futuristic scenarios. In order to develop and assess future applications and services, it is necessary the availability of datasets that can be used to train, test and cross validate. Project SCoT (Smart...
Today, the necessity of strong cyber security measures is self-evident. The proliferation of cyber attacks is causing increasing damage to companies, governments and individuals and it is not just the number of cyber security attacks that is increasing: the severity of these attacks is on the rise as well. In particular, aviation systems and Remotely Piloted Aircraft Systems are of highest importance...
The objective of this work is to introduce an autonomous Hovercraft with minimum Energy consumption. To achieve this goal, a computer simulation in addition to practical testing of a simple hovercraft model have been carried out. A mathematical model for the hovercraft is considered and simulated in the MATLAB/SIMULINK environment. A navigation system with Global Positioning System (GPS) integrated...
One of the leading causes of road accidents is speeding and the numbers are increasing every year. Traffic enforcement officials do not have the manpower or resources to monitor every stretch of road 24/7. The developed system can be installed into a vehicle, possibly during manufacturing, to detect if a vehicle is breaching the speed limit and if so, the driver is notified of the fine via an SMS...
Classification of motion mode (walking, running, standing still) and device mode (hand-held, in pocket, in backpack) is an enabler in personal navigation systems for the purpose of saving energy and design parameter settings and also for its own sake. Our main contribution is to publish one of the most extensive datasets for this problem, including inertial data from eight users, each one performing...
In this paper a stick guide model represented for visually impaired persons to guide in their way, which consist of a Global Positioning System (GPS) and a Global System for Mobile communication (GSM) modules along with sensors like Ultrasonic and Infrared sensors. This is a smart stick that will make the visually impaired persons guiding their way. GPS module is used in this to get the current location...
This paper discusses a meta-heuristic echolocation mathematical model, as a possible method to discover adjacent vehicles and road-side units in a smart transportation setting with levels 3, 4, and 5 autonomous vehicles. The operation of IoAV based on monitoring several parameters as well as major obstacles for the proliferation of level 4 and 5 autonomous vehicles are also analyzed. In this paper,...
The Internet of Things (IoT) has recently become a dominating technology which allows different "things" to communicate through the Internet and understand each other. IoT uses Artificial Intelligence techniques to process data gathered by different sensors and act accordingly. The world is now moving towards employing IoT in different disciplines such as manufacturing, agriculture, education,...
This paper presents a novel and an improved approach for estimating the position of a vehicle using vehicle-infrastructure cooperative localization. In our previous work we presented a Factor Graph based solution which added the topology (inter-vehicle distance) as a constraint while localizing the vehicle using data from sensors from both inside and outside the vehicle. This paper extends the work...
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