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We investigate the precision of attitude estimation algorithms in the particular context of pedestrian navigation with commodity smartphones and their inertial/magnetic sensors. We report on an extensive comparison and experimental analysis of existing algorithms. We focus on typical motions of smartphones when carried by pedestrians. We use a precise ground truth obtained from a motion capture system...
Having the correct posture is essentially important in our life to make our body functions properly and keeps us healthy. In our previous work, a posture detection system using consumer mobile devices for checking proper posture in a daily exercise was proposed, where, in addition to acceleration values obtained from each device sensor, the possiblitly of using the strength of RSSI (Received Signal...
Given to the specificity of positioning in fire ground, inertial navigation positioning technology based on Pedestrian Dead Reckoning (PDR) is most widely used. Stride estimation algorithm is the core of PDR. In order to improve the accuracy of it, in this paper, we selected three factors of stride (acceleration amplitude, step frequency and height) to build an empirical model for stride estimation...
Wind estimation is quite important for the control and applications of quadrotors. On the basis of the freestream-velocity estimation method using inclination-angle measurement, this paper proposes a correction method considering the acceleration's influence on the quadrotor. Both the original and correction methods use the data that totally come from the inertial measurement units (IMUs) of the quadrotor...
Electric vehicles (EVs) have shown great potential in reducing transportation-related greenhouse gas emission and fossil fuel consumption in recent years. Moreover, eco-routing systems can be used to further improve the energy efficiency of EVs by choosing the most energy-efficient route based on real-world traffic conditions. These eco-routing systems as well as accurate range prediction rely on...
In the paper, we propose a method for improving maneuverability of master-slave systems. We aim for reproducing human skillfulness and dynamic performance in master-slave robots by using assist control for human operators. In this paper, we focus on a reaching task of a master-slave robot and propose an operation assist algorithm based on visual feedback control. It consists of visual recognition...
In this paper, we study the problem of sensor placement for field estimation, where the best subset of potential sensor locations is chosen to strike a balance between the number of deployed sensors and estimation accuracy. Potential sensor locations are generated by sampling a continuous field of interest. We investigate the impact of sampling strategies on sensor placement, and show that compared...
This paper describes a low-power metabolic equivalents (METs) estimation method for monitoring physical activity. Long-term continuous METs monitoring can contribute to detection of non-communicable diseases. The proposed system consists of dedicated METs estimation hardware and a non-volatile CPU. A test is fabricated in a 130-nm CMOS with a ferroelectric capacitor process. Evaluation results show...
Inaccuracy in the center of gravity position can adversely affect the aerodynamic estimation results. A technique is proposed wherein, using flight path reconstruction in EKF framework, the aircraft cg is estimated from flight measurements alone, without using any additional information on the fuel consumed or aircraft mass or inertias. The accuracy of the estimated center of gravity is verified using...
Inferring the type of vehicles on a road is a fundamental task within several applications. Some recent works have exploited Global Positioning System (GPS) devices and used classification of GPS traces to tackle the problem. Existing approaches based on GPS data make use of GPS trajectories sampled at high frequency (about 1 sample per second), but GPS trackers currently installed on public and commercial...
Estimation of the energy consumption rate for electric vehicles (EVs) plays a critical role in a variety of EV eco-driving applications and systems. As a result, quite a few studies have been dedicated to the development of estimation models. To improve the predictive and real-time performance of EV energy consumption rate estimation for eco-driving applications, we proposed herein a hybrid modeling...
This paper describes a person identification method using a smartphone and laser range finders (LRFs) for a mobile service robot. The robot is equipped with LRFs and the target person holds a smartphone. The method first detects the foot strike timings of the target person using the smartphone and those of all people by using the LRFs. By finding the person whose foot strike timings captured by the...
In the field of indoor navigation, inertial measurement units (IMUs) are commonly used to track pedestrians. Unfortunately, in conjunction with dead reckoning localization approaches, the position accuracy is degraded by the accumulation of sensor errors. Most pedestrian dead reckoning systems are therefore adapted to human gait patterns to constraint this error growth. These interventions however...
The aim of this paper is to compare two inertial navigation systems in order to identify their strengths and weaknesses as well as to propose new fusion algorithms for these systems. The goal of the fusion is to combine the best of both navigation systems in order to obtain an improved position estimation of the pedestrian. To that extent, the comparison starts with an analysis of the sensor parameters...
Commonly used Global Navigation Satellite Systems (GNSS) are inappropriate as Location Based Services (LBS) in indoor environment. Therefore research teams are developing different systems, which can be used as a suitable alternative. One of options is to use Inertial Navigation System (INS) which consists of inertial sensors and mathematic procedures. This concept has been known for a long time,...
In conventional wireless localization techniques, the performance is generally constrained by the number of reference nodes available in the communication range. Recently, alternative localization schemes have been proposed to utilize the internal sensors embedded in wireless devices to acquire additional useful location dependent parameters. The accelerometer based localization has attracted much...
For accurate indoor positioning, a heading estimation method that does not depend on smartphone orientation has been developed. While prior methods require the smartphone to be fixed in a certain orientation before processing, the proposed method works with the smartphone in any orientation. We utilize gyroscope data from three axes and use a low-pass filter to eliminate movement noise. Experimental...
We report on GPU-based strategies for acceleration of “EMAA” — a maximum likelihood expectation maximization (MLEM) algorithm for joint estimation of emission activity distribution and photon attenuation map from PET emission signal alone. The following strategies are reported: GPU based implementation, ordered subset expectation maximization (OSEM), use of time of flight (TOF) data, and “Balanced...
Wheelchairs are the most widely used assistive device to aid activities of daily living (ADL) for disabled people. However, manual pushing of a wheelchair frequently leads to overuse of upper extremities causing shoulder pain and carpal tunnel syndrome. The purpose of this study was to test a novel method of estimating temporal parameters of wheelchair propulsion using inertial sensors. In this paper,...
An engagement dynamic model is set up for the miniature missile guidance solution under the constraints of field-of-view angle and terminal impact angle. The impact-angle constraint guidance law design is converted into an optimal control problem subjected to terminal constraints. Then a look angle guidance solution without line-of-sight rate is detailed to satisfy the requirement on field-of-view...
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