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Information on atmospheric pressure may be used in local positioning systems based on wireless sensors networks. This paper discusses the possibility of improving positioning accuracy in multistory buildings. Also pressure sensor data are used to save radio bandwidth and thus to decrease power consumption of radio modules. It is applicable especially in the systems with server-centric control of ranging...
Localization in previously unknown and GPS-denied areas is challenging, especially, when no infrastructure can be assumed. In this paper, we present a hybrid person localization approach for ad-hoc scenarios. Example applications are search and rescue operations, but also on construction sites or during maintenance tasks of large industrial plants. The outlined scheme is based on received signal strength...
In this paper, a tracking scheme based on adaptive weighted technique is proposed to reduce the computational load of traditional data-fusion algorithm for heterogeneous measurements. For the location-estimation technique with the data fusion of radio-based ranging measurement and speed-based sensing measurement, the proposed tracking scheme based on the Bayesian approach is handled by a state space...
In order to study influence rules of the obstacle's material, placed distance and deflection angle on the ultrasonic sensor ranging accuracy in the mobile robot, the quadratic orthogonal rotational combination design was carried out. The ranging data was collected by using ultrasonic sensors in the mobile robot, and then the changing curves and regression equations of various factors interaction were...
A 1.5Mpixel RGBZ image sensor that simultaneously captures color (RGB) and time-of-flight (ToF) range (Z) images is presented. While ToF sensors are well documented [1,2], few, if any, monolithic sensors have been reported that capture both range and color. In one sensor [3], a combined pixel structure captures color and range, but presumably in sequential fields. This approach does not allow simultaneous...
Autonomous vehicles working in unknown environments require tools that allow them to learn about their surroundings. Once a vehicle knows about the environment in which it is working, then it is able to move about the environment freely and in an optimized pattern to fulfill the required tasks while staying out of harms way. While various sensors have been developed for vehicles operating out of the...
Target tracking is an important application of Wireless Sensor Networks (WSN). This paper presents the design of a WSN testbed that used a custom-built wireless sensor node, specifically designed for target tracking. The sensor node consists of a Digi Xbee device, a Passive Infrared (PIR) and MaxSonar ultrasonic ranging sensors. Appropriate multi-channel MAC protocols were designed and implemented...
Cramer-Rao bounds for geolocation based on Received Signal Strength have previously been studied under a Log Normal fading model. This paper develops new bounds under several different assumptions to identify the most promising scenarios. We find the CRLB under a spatially Correlated Log Normal (CLN) model. We derive a new bound for a Relative Received Signal Strength (RRSS) technique based on power...
In order to solve the short distance ultrasonic distance measuring device, measurement accuracy is low, the circuit complex and technically difficult, and difficult to debug and other shortcomings. Article Atmega 16 microcontroller as the core, developed a high-precision, real-time response to, a good man-machine interface, communication ability of the ultrasonic range finder. This paper introduces...
Localization inside the human body using radio frequency (RF) transmission is gaining importance in a number of applications such as Capsule Endoscopy. The accuracy of RF localization depends on the technology adopted for this purpose. The two most common RF localization technologies use received signal strength (RSS) and time-of-arrival (TOA). This paper presents a comparison of the accuracy of TOA...
In this paper we introduce issues relevant to understanding of the human body as a medium for radio frequency (RF) navigation of smart robots travelling inside the body for wireless medical applications. We provide the results of Cramer Rao Lower Bound (CRLB) for in-body localization using received signal strength (RSS) and we highlight challenges demanding further research for attaining more precise...
Cortina is an energy-efficient indoor localization system, which leverages a wireless sensor network to support navigation and tracking applications. To improve the localization performance, we develop a hybrid ranging system, which incorporate both RSS and RToF-based techniques. To overcome effects from indoor multipath, we design and implement algorithms to take into account various contextual information...
In this paper, we propose a vision-based control system for the localization of an unmanned aerial vehicle (UAV) which equips on-board cameras. The proposed approach is combined a visual odometer with inertial measurement from IMU and pressure signal which compensate attitude and altitude, respectively. For the autonomous control of a UAV, we consider only natural landmarks provided by a feature tracking...
This paper presents an asynchronous virtual slot-based ranging (AVSR) utilizing broadcast ranging request. The utilized virtual slot is accomplished in a fully distributed manner among reference nodes. The evaluation result demonstrates that in spite of very low traffic intensity, AVSR is more robust against ranging error than conventional ranging schemes: TWR and SDS-TWR.
This paper describes an indoor cleaning robot coverage path to avoid obstacle based on behavior fuzzy controller under dynamic environment. The robot measures the distance between the robot and obstacle with ultrasonic sensors and infrared range sensors. The behavior architecture has three levels behaviors: emergency behavior, obstacle avoidance behavior, and task oriented behavior. The task oriented...
A CW-radar sensor concept based on interferometric measurement is presented. The usage of LTCC as sensor substrate offers the possibility to create a highly integrated sensor module, including active and passive components. It is shown, that the antenna integration can be realized by using corrugations and special housing designs for shielding and isolating effects. The used tapered slot antenna with...
This paper presents a Laser-SLAM algorithm which can be programmed in less than 200 lines C-language program. The first idea aimed to develop and implement a simple SLAM algorithm providing good performances without exceeding 200 lines in a C-language program. We use a robotic platform called MinesRover, a six wheels robot with several sensors. We based our work and calculations on a laser sensor...
The IEEE 802.16e network faces the challenge of bandwidth shortage due to the growing demand for high-bandwidth applications. One promising approach is to obtain bandwidth by using cognitive radio (CR) technology, which provides an effective way to achieve incremental bandwidth from unlicensed spectrum. However, the appearance of primary users (PUs) does harm to the performance of secondary users...
In wireless sensor networks, location-aware applications require an accurate and robust sensor localization algorithm. Among them, most of the multihop-based localization algorithms approximate the shortest path distances to the Euclidean distances. This approximation is valid only if the sensors are uniformly and densely deployed in a convex area where the shortest paths are close to straight lines...
We consider estimating the location of a target moving in a 2D plane by combining distance measurements from multiple sensors. Given that available energy in sensors is at a premium, it is desirable that energy be conserved by selecting fewer number of sensors that measure distance and communicate to the central tracker. We propose heuristics on the basis of which a handful of sensors may be selected...
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