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OD-SLAM: Real-Time Localization and Mapping in Dynamic Environment through Multi-sensor Fusion

OD-SLAM: Real-Time Localization and Mapping in Dynamic Envir...

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International conference on Advanced Robotics and Mechatronics (ICARM)

作者： Hua Xu Chenguang Yang Zhijun Li Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China School of Information Science and Technology University of Science and Technology of China Anhui China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Only when the robot knows its position can it execute some specific functions. But in many cases, the robot faces an unknown environment and doesn't know where it is. Visual SLAM system uses the camera on the robot to capture the image of the surrounding environment for positioning. this is a method that relies on external information for positioning. When the external information is dynamic, the pose estimated by the traditional visual SLAM system is inaccurate. So a novel SLAM system is proposed in this paper, which mainly uses a neural network and multi-sensor fusion to realize robot positioning in a dynamic environment. the SLAM system is developed based on ORB-SLAM2. It recognizes highly dynamic objects in the image through the neural network and removes them from the image. Because the neural network can't accurately identify dynamic objects every time, it will affect the pose estimation of the SLAM system. therefore, the SLAM system proposed in this paper uses odometer to constrain features extracted in the image, so as to obtain static features, and finally estimate a more accurate pose. Finally, the experimental results show that our system has better real-time and accuracy compared with the traditional visual SLAM systems and other dynamic SLAM systems.

关键词： Feature extraction Simultaneous localization and mapping Visualization Vehicle dynamics Semantics Real-time systems

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System Architecture Directions for Post-SoC/32-bit networked sensors 18

System Architecture Directions for Post-SoC/32-bit Networked...

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16th conference on embedded networked sensor systems (SENSYS)

作者： Kim, Hyung-Sin Andersen, Michael P. Chen, Kaifei Kumar, Sam Zhao, William J. Ma, Kevin Culler, David E. Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA

ISBN: (纸本)9781450359528

the emergence of low-power 32-bit systems-on-Chip (SoCs), which integrate a 32-bit MCU, radio, and flash, presents an opportunity to re-examine design points and trade-offs at all levels of the system architecture of networked sensors. To this end, we develop a post-SoC/32-bit design point called Hamilton, showing that using integrated components enables a similar to$7 core and shifts hardware modularity to design time. We study the interaction between hardware and embedded operating systems, identifying that (1) post-SoC motes provide lower idle current (5.9 mu A) than traditional 16-bit motes, (2) 32-bit MCUs are a major energy consumer (e.g., tick increases idle current > 50 times), comparable to radios, and (3) thread-based concurrency is viable, requiring only 8.3 mu s of context switch time. We design a system architecture, based on a tickless multithreading operating system, with cooperative/adaptive clocking, advanced sensor abstraction, and preemptive packet processing. Its efficient MCU control improves concurrency with similar to 30% less energy consumption. Together, these developments set the system architecture for networked sensors in a new direction.

关键词： Wireless sensor Network System-on-Chip Mote System Architecture Operating System Multithreading RIOT Openthread

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Demo Abstract: sKey: A Sensing-free Smart Key Handle 16

Demo Abstract: sKey: A Sensing-free Smart Key Handle

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16th conference on embedded networked sensor systems (SENSYS)

作者： Lin, Ke Cheng, Siyao Li, Jianzhong Zhang, Yang Gao, Hong Harbin Inst Technol Harbin Heilongjiang Peoples R China

ISBN: (纸本)9781450359528

As an important application of smart home, the smart keys, which can record the locking information of users, are quite useful in our daily lives and guarantee the security of our houses and properties. the existing techniques for supporting smart keys either require to change the locks or need a large amount of sensory data to build a complex model, so that they will cost too much money or energy, and are not very practical in the real applications. therefore, we propose a sensing- free smart key handle, named as sKey, in this demo. Compared with the existing techniques, our sKey does not depend on any detection model, and thus no resources will be consumed for sensory data acquisition and transmission during using sKey. Besides, our sKey has high recognition precision, and is quite cheap and easy to deploy according to our analysis and experimental results.

关键词： Smart Home embedded System Smart Key

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Demo Abstract: Bringing Full-Scale TCP to Low-Power Networks 16

Demo Abstract: Bringing Full-Scale TCP to Low-Power Networks

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16th conference on embedded networked sensor systems (SENSYS)

作者： Kumar, Sam Andersen, Michael P. Kim, Hyung-Sin Culler, David E. Univ Calif Berkeley Div Comp Sci Berkeley CA 94720 USA

ISBN: (纸本)9781450359528

Although TCP has widespread adoption in the Internet, wireless sensor networks WSNs) generally use simpler UDP-based protocols. the few existing TCP implementations for sensor network operating systems do not support all of the features of TCP. We present a full-scale TCP implementation for sensor networks, called TCPlp, based on the TCP protocol logic of the FreeBSD Operating System. Our implementation demonstrates that full-scale TCP can run within the resource constraints of a modern WSN platform, and serves as a vehicle to explore the benefits of using a full TCP stack in the WSN setting. We showcase TCPlp via three applications of TCP: (1) reliable data collection in the context of an application, (2) an interactive configuration/debug shell, and (3) a mote-based web server.

关键词： sensor Network Low-Power Network Transport Layer Transmission Control Protocol IEEE 802.15.4

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Demo Abstract: An Energy-driven Wireless Bicycle Trip Counter with Zero Energy Storage 16

Demo Abstract: An Energy-driven Wireless Bicycle Trip Counte...

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16th conference on embedded networked sensor systems (SENSYS)

作者： Bing, Samuel Wong Chang Balsamo, Domenico Merrett, Geoff V. Univ Southampton Ctr Internet Things & Pervas Syst Southampton Hants England

ISBN: (纸本)9781450359528

this paper presents the implementation of a bicycle trip counter, which measures cycling speed, traveled distance, and cycling time, that is directly powered from tiny periodic pulses of energy with only the intrinsically present decoupling capacitance as an energy buffer. To cope with the highly variable amount of energy generated during each pulse, an energy-driven approach is used. the core principles in this approach are to dynamically adjust operational mode according to energy availability, to scale performance, for example sensing accuracy, proportional to energy harvested, and to perform intermittent or transient computing to enable computation across multiple power cycles. the device presented is able to start operation from energy supply pulses as low as 4 uJ, where a rough estimate of the sensing parameters is done, and perform increasingly complex and time-consuming tasks such as additional more accurate measurements, sensor fusion, and filtering computations as more energy becomes available.

关键词： Energy Driven Framework Transient Computing Energy Harvesting embedded systems

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Poster Abstract: Automated Sleep Period Estimation in Wearable Multi-sensor systems 16

Poster Abstract: Automated Sleep Period Estimation in Wearab...

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16th conference on embedded networked sensor systems (SENSYS)

作者： Zhang, Yuezhou Yang, Zhicheng Zhang, Zhengbo Liu, Xiaoli Cao, Desen Li, Peiyao Zheng, Jiewen Lan, Ke Beijing Hlth Regulat Technol Beijing Peoples R China Univ Calif Davis Davis CA 95616 USA Chinese Peoples Liberat Army Gen Hosp Beijing Peoples R China Beihang Univ Beijing Peoples R China Chinese Peoples Liberat Army Gen Hosp Dept Biomed Engn Beijing Peoples R China Chinese Peoples Liberat Army Gen Hosp Med Device R&D & Evaluat Ctr Beijing Peoples R China

ISBN: (纸本)9781450359528

Sleep period determination is essential to accurate sleep quality analysis. In this paper, we propose an automated algorithm for wearable multi-sensor systems to precisely estimate the sleep period. It leverages the information of accelerometer, and vital signs such as heart rate and breathing rate. Compared to the sleep periods determined by the clinical diagnosing-grade equipment, our algorithm achieves average time differences of 9.0 and 10.4 minutes for healthy subjects and clinical patients, respectively.

关键词： Sleep periods Wearable sensors Healthcare Algorithm

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Demo Abstract: ECRT: An Edge Computing System for Real-Time Image-based Object Tracking 16

Demo Abstract: ECRT: An Edge Computing System for Real-Time ...

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16th conference on embedded networked sensor systems (SENSYS)

作者： Zhao, Zhihe Jiang, Zhehao Ling, Neiwen Shuai, Xian Xing, Guoliang Xian Jiaotong Liverpool Univ Suzhou Peoples R China Chinese Univ Hong Kong Hong Kong Peoples R China

ISBN: (纸本)9781450359528

Real-time image-based object tracking from live video is of great importance for several smart city applications like surveillance, intelligent traffic management and autonomous driving. Although recent deep learning systems can achieve satisfactory tracking performance, they incur significant compute overhead, which prevents them from wide adoption on resource-constrained IoT platforms. In this demonstration, we present an Edge Computing system for Real-time object Tracking (ECRT) for resource-constrained devices. the key feature of our system is that it intelligently partitions compute-intensive tasks such as inferencing a convolutional neural network(CNN) into two parts, which are executed locally on an IoT device and/or on the edge server. Moreover, ECRT can minimize the power consumption of IoT devices while taking into consideration the dynamic network environment and user requirement on end to end delay.

关键词： Edge computing Real-time embedded system Computer vision

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Physical Layer Security Proposal for Wireless Body Area Networks

Physical Layer Security Proposal for Wireless Body Area Netw...

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Middle East conference on Biomedical Engineering (MECBME)

作者： Oumeyma JOUINI Kaouthar SEthOM InnovCOM Lab SUPCOMUniversity of Catrhage Tunis Tuinisia

ISBN: (数字)9781728123585

ISBN: (纸本)9781728123592

Over the last few decades, and thanks to the advancement of embedded systems and wireless technologies, the wireless sensors network (WSN) are increasingly used in many fields. Many researches are being done on the use of WSN in Wireless body Area Network (WBAN) systems to facilitate and improve the quality of care and remote patient *** broadcast nature of wireless communications makes it difficult to hide transmitted signals from unauthorized users. To this end, Physical layer security is emerging as a promising paradigm to protect wireless communications against eavesdropping attacks. the primary contribution of this paper is achieving a minimum secrecy outage probability by using the jamming technique which can be used by the legitimate communication partner to increase the noise level of the eavesdropper and ensure higher secure communication rate. We also evaluate the effect of additional jammers on the security of the WBAN system.

关键词： Jamming Wireless communication Body area networks Security Wireless sensor networks sensors Probability

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A Nyström-Based Method for Incoherently Distributed Source Localization

A Nyström-Based Method for Incoherently Distributed Source ...

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International conference on Computers, Communications, and systems (ICCCS)

作者： Yonglin Ju Zhiwen Liu Yougen Xu School of Information and Electronics Beijing Institute of Technology Beijing China

ISBN: (数字)9781728161365

ISBN: (纸本)9781728161372

Subspace-based methods are attractive solutions to localization problems due to their satisfactory performance and super-resolution property. In large-scale MIMO systems, the prohibitive computational complexity induced by direct eigenvalue decomposition of the high-dimensional covariance matrix severely limits their practical application. In this paper, a Nyström-based method is proposed to solve the complexity problem. A randomized SVD procedure embedded with orthogonal iteration is introduced into the proposed method which releases the computational burden to a big extent. To address the degradation problem of the proposed method in low SNR scenario, an approximate noiseless covariance matrix is devised based on Nyström approximation. Numerical experiments indicate that the proposed method can obtain adequate performance compared with the standard Nyström method as well as the classical subspace-based method, while the complexity of the proposed method is further reduced which makes it a more practical option in large-scale MIMO systems.

关键词： Covariance matrices Eigenvalues and eigenfunctions Estimation sensor arrays MIMO communication Direction-of-arrival estimation Standards

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5th EAI International conference on Industrial Networks and Intelligent systems, INISCOM 2019

5th EAI International Conference on Industrial Networks and ...

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5th EAI International conference on Industrial Networks and Intelligent systems, INISCOM 2019

ISBN: (纸本)9783030301484

the proceedings contain 24 papers. the special focus in this conference is on Industrial Networks and Intelligent systems. the topics include: Preface;On secure cooperative non-orthogonal multiple access network with RF power transfer;Outage analysis of MIMO-NOMA relay system with user clustering and beamforming under imperfect CSI in Nakagami-m fading channels;a data-driven approach for network intrusion detection and monitoring based on kernel null space;social coalition-aware task assignment in flying internet of things;ontology-based semantic search for national database of natural resources and environment;Generating test data for blackbox testing from UML-based web engineering content and presentation models;Linearizing RF power amplifiers using adaptive RPEM algorithm;LBP-based edge information for color texture classification;User-pairing scheme in NOMA systems: A PSO-based approach;a Vietnamese sentiment analysis system based on multiple classifiers with enhancing lexicon features;A security proof of the GLP signature scheme;toward a trust-based authentication framework of northbound interface in software defined networking;Detecting signalling DoS attacks on LTE networks;Anomaly detection using one-class SVM for logs of juniper router devices;resource sharing and segment allocation optimized video streaming over multi-hop multi-path in dense D2D 5G networks;QoE-aware video streaming over HTTP and software defined networking;an optimal power allocation for D2D communications over multi-user cellular uplink channels;secrecy performance enhancement using path selection over cluster-based cognitive radio networks;physical layer secrecy enhancement for non-orthogonal multiple access cooperative network with artificial noise;performance analysis of software defined network concepts in networked embedded systems.

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