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We present a novel approach to the tracking of piecewise linear trajectories using a network of cheap “binary sensors” i.e. devices that can only detect whether an object is in their sensing range. We show that an object traveling on almost all straight lines, even with an unknown speed, can be tracked by generically placed three binary sensors whose sensing ranges need not intersect with each other,...
A sensor network deployed for long-term monitoring shall sustain meanwhile provide as much useful sensory information (i.e., as high network utility) as possible. We propose a JCRA (Joint Charging and Rate Allocation) scheme to maximize the network utility while satisfying the network sustainability requirement. JCRA is designed based on the observation that the energy repository of a sensor node...
Recently, personal vehicles have received a lot of attention to expand our mobility for low carbon society and diversification of individual mobility. So far several small vehicles have been developed. However a new thesis of designing and controlling personal vehicles is required, because there are some difference between general vehicle-used environment and personal vehicle-used environment like...
In studying biological systems, identifying the underlying gene regulatory networks from data has been important and will continue to affect the study of gene regulatory networks. We consider the problem of reconstructing the network structure from observed data, and in turn uncovering the underlying mechanisms responsible for the observed behaviors. A key challenge inherent in the network reconstruction...
The sit-to-stand transfer has been examined in depth using many different methods. Pressure mats and or force plates have been used to partition the transfer into phases. These phases help to identify the beginning and end of the transfer and describe the movement performance, therefore characterizing the transition. The methods of phase breakdown, however, vary depending on the source. In this paper,...
This paper presents distributed state estimation methods through wireless sensor networks with event triggered communication protocols among the sensors. Optimal consensus filters are derived which apply to generic non-uniform and asynchronous information exchange scenarios among neighboring sensors. To obtain a scalable covariance propagation algorithm, the optimal filter is approximated by a suboptimal...
This paper introduces an local path planning algorithm for the self-driving car in a complex environment. The proposed algorithm is composed of three parts: the novel path representation, the collision detection and the path modification using a voronoi cell. The novel path representation provides convenience for checking the collision and modifying the path and continuous control input for steering...
Conventional VLC receivers use photo-electronic devices with a fixed spectral response, and have no capability of canceling in-band interference from other users. We propose the use of filter array receivers equipped with data combing approaches to achieve interference rejection for wavelength-division-multiplexing visible-light-communication (WDM-VLC) systems. To reduce the computational cost of...
This work addresses a vision-based tracking problem between a mobile observer and a target in the presence of a circular obstacle. The task of keeping the target in the observer's field-of-view is modeled as a pursuit-evasion game by assuming that the target is adversarial in nature. The objective of the observer is to maintain a line-of-sight with the target at all times. The objective of the target...
Satellite is a specific product with a 4-H characteristic: high-tech, high-cost, high-benefit and high-risk, which makes satellite difficult to develop. However, simulation technology has the potential to fix the problem. It is highly reliable, non-destructive and can be recycled regardless of the time and space. All the advantages enable the technology to provide an effective way to reduce the cost...
We investigate the problem of optimizing the shape and location of sensors and actuators for evolution systems driven by distributed parameter systems or partial differential equations (PDE). We consider wave, Schrödinger and heat equations on an arbitrary domain Ω, in any space dimension, and with suitable boundary conditions (if there is a boundary) which can be of Dirichlet, Neumann, mixed or Robin...
This paper presents new investigations to improve dynamic behavior of electrostatic cantilever based MEMS sensors by reducing pull-in voltage nonlinearity. It is believe that pull-in voltage is one of the major factors to generate pull-in force that induces parasitic pull-in frequency as a result the behavior of MEMS sensor become nonlinear. The dynamic behavior of the device is modeled under the...
Computer-based guidance of passenger vehicles is a common reality today, but cost, computation, and robustness challenges remain to obtain accurate vehicle state estimates. This study builds on previous work by the authors towards the development of a vehicle state estimation framework that uses optimal preview control theory to fuse map, GPS, inertial, and forward-looking camera information in a...
Based on high-resolution radars a new approach for determining the full 2D-motion state (yaw rate, longitudinal and lateral speed) of an extended rigid object in a single measurement is proposed. The system does not rely on any model assumptions and is independent of the exact position, expansion and orientation of the object. In comparison to related methods it is not based on temporal filtering,...
Monitoring teams of mobile nodes is becoming crucial in a growing number of activities. When it is not possible to use fix references or external measurements, a practicable solution is to derive relative positions from local communication. In this work, we propose an anchor-free Received Signal Strength Indicator (RSSI) method aimed at small multi-robot teams. Information from Inertial Measurement...
This paper deals with the modeling, identification and feedforward control of hysteresis found in multi-degrees of freedom (DOF) piezoelectric actuators. One main characteristic of the considered hysteresis behavior is the strong couplings. To express such multivariable hysteresis, we propose to extend the previous Bouc-Wen hysteresis monovariable model used for 1-DOF actuators. Then we propose to...
Interaction with appliances present in an environment can be difficult for people who have mobility problems (such as the elderly or moving out of a wheelchair). This paper presents an approach based on the use of an Inertial Measurement Unit which identifies human movements from two points of view: on the one hand, the user can specify the object with which it wants to interact by simply pointing...
High-precision scan stages are used for fabrication of integrated circuits, liquid crystal displays and so on. To fabricate such precise devices, not only stages position but also stages attitude needs to be controlled rapidly and precisely. In this paper, an experimental 6-degree-of-freedom (6-DOF) high-precision stage with a novel 6-DOF air bearing called “gravity canceller” is designed and fabricated...
This paper studies the near-optimality of the recent geometric approximate minimum-energy (GAME) filter, an attitude filter for estimation on the rotation group SO(3). The GAME filter approximates the minimum-energy (optimal) filtering solution by truncating the derivatives of the associated value function of order higher than 2. In this work, this approximation is pinned down in terms of an analytic...
Collaborative spectrum sensing in Cognitive Radio Networks is vulnerable to Spectrum Sensing Data Falsification (SSDF) attack. Many existing SSDF attack defending algorithms need the assistance of reference sensing devices with high spectrum sensing performance, which are difficult and costly to be implemented in reality. Most of other existing approaches are based on statistic characteristics of...
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