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Ultra wideband indoor navigation system

IET RADAR SONAR AND NAVIGATION 2012年第5期6卷 402-411页

作者： Segura, M. Mut, V. Sisterna, C. Natl Univ San Juan Automat Inst San Juan City Argentina Natl Univ San Juan Dept Elect San Juan City Argentina

Typical indoor environments contain multiple walls and obstacles consisting of different materials. As a result, current narrowband radio frequency (RF) indoor navigation systems cannot satisfy the challenging demands for most indoor applications. The RF ultra wideband (UWB) system is a promising technology for indoor localisation owing to its high bandwidth that permits mitigation of the multipath identification problem. This work proposes a novel UWB navigation system that permits accurate mobile robot (MR) navigation in indoor environments. The navigation system is composed of two sub-systems: the localisation system and the MR control system. The main contributions of this work are focused on estimation algorithm for localisation, digital implementation of transmitter and receiver and integration of both sub-systems that enable autonomous robot navigation. For sub-systems performance evaluation, statics and dynamics experiments were carried out which demonstrated that the proposed system reached an accuracy that outperforms traditional sensors technologies used in robot navigation, such as odometer and sonar.

关键词： autonomous robot navigation performance evaluation ultra wideband communication narrowband radiofrequency indoor navigation mobile robot navigation mobile robots indoor radio sonar navigation indoor localisation MR control system Radio links and equipment multipath identification problem Mobile robots estimation algorithm odometer ultra wideband indoor navigation system

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THE EFFECTS OF NOISE ON MODEL INVERSION FOR THE RETRIEVAL OF FOREST STRUCTURE FROM SAR DATA

THE EFFECTS OF NOISE ON MODEL INVERSION FOR THE RETRIEVAL OF...

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IEEE International Geoscience and Remote Sensing Symposium (IGARSS)

作者： Clewley, D. Lucas, R. Moghaddam, M. Bunting, P. Aberystwyth Univ Aberystwyth Dyfed Wales

ISBN: (纸本)9781467311595

The inversion of physics based models presents an alternative to empirical relationships for the retrieval of forest structure from Synthetic Aperture Radar (SAR) data. A major disadvantage of such techniques is instability in the presence of moderate levels of noise. The effects of noise on the accuracy with which parameters can be retrieved is evaluated in this study under a number of conditions.

关键词： Synthetic Aperture Radar estimation algorithm Forest Structure Biomass

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estimation of Excitatory Drive from Sparse Motoneuron Sampling

Estimation of Excitatory Drive from Sparse Motoneuron Sampli...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Yao Li Lauren H. Smith Levi J. Hargrove Douglas J. Weber Gerald E. Loeb Department of Biomedical Engineering University of Southern California Los Angeles CA USA 90089 Center for Bionic Medicine at the Rehabilitation Institute of Chicago and the Department of Physical Medicine and Rehabilitation Northwestern University Chicago IL USA 60611 Department of Physical Medicine and Rehabilitation University of Pittsburgh Pittsburgh PA USA 15260

ISBN: (纸本)9781424441198

It is possible to replace amputated limbs with mechatronic prostheses, but their operation requires the user’s intentions to be detected and converted into control signals sent to the actuators. Fortunately, the motoneurons (MNs) that controlled the amputated muscles remain intact and capable of generating electrical signals, but these signals are difficult to record. Even the latest microelectrode array technologies and targeted motor reinnervation (TMR) can provide only sparse sampling of the hundreds of motor units that comprise the motor pool for each muscle. Simple rectification and integration of such records is likely to produce noisy and delayed estimates of the actual intentions of the user. We have developed a novel algorithm for optimal estimation of motor pool excitation based on the recruitment and firing rates of a small number (2-10) of discriminated motor units. We first derived the motor estimation algorithm from normal patterns of modulated MN activity based on a previously published model of individual MN recruitment and asynchronous frequency modulation. The algorithm was then validated on a target motor reinnervation subject using intramuscular fine-wire recordings to obtain single motor units.

关键词： replace amputated each muscle estimation algorithm

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THE EFFECTS OF NOISE ON MODEL INVERSION FOR THE RETRIEVAL OF FOREST STRUCTURE FROM SAR DATA

THE EFFECTS OF NOISE ON MODEL INVERSION FOR THE RETRIEVAL OF...

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IEEE International Geoscience and Remote Sensing Symposium

作者： D. Clewley R. Lucas M. Moghaddam P. Bunting Aberystwyth University The University of Southern California

ISBN: (纸本)9781467311601

The inversion of physics based models presents an alternative to empirical relationships for the retrieval of forest structure from Synthetic Aperture Radar (SAR) data. A major disad-vantage of such techniques is instability in the presence of moderate levels of noise. The effects of noise on the accuracy with which parameters can be retrieved is evaluated in this study under a number of conditions.

关键词： Synthetic Aperture Radar estimation algorithm Forest Structure Biomass

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Improved Entropy Rate estimation in Physiological Data

Improved Entropy Rate Estimation in Physiological Data

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33rd Annual International Conference of the IEEE Engineering-in-Medicine-and-Biology-Society (EMBS)

作者： Lake, D. E. Univ Virginia Dept Internal Med Div Cardiovasc Charlottesville VA 22908 USA

ISBN: (纸本)9781424441228

Calculating entropy rate in physiologic signals has proven very useful in many settings. Common entropy estimates for this purpose are sample entropy (SampEn) and its less robust elder cousin, approximate entropy (ApEn). Both approaches count matches within a tolerance r for templates of length m consecutive observations. When physiologic data records are long and well-behaved, both approaches work very well for a wide range of m and r. However, more attention to the details of the estimation algorithm is needed for short records and signals with anomalies. In addition, interpretation of the magnitude of these estimates is highly dependent on how r is chosen and precludes comparison across studies with even slightly different methodologies. In this paper, we summarize recent novel approaches to improve the accuracy of entropy estimation. An important (but not necessarily new) alternative to current approaches is to develop estimates that convert probabilities to densities by normalizing by the matching region volume. This approach leads to a novel concept introduced here of reporting entropy rate in equivalent Gaussian white noise units. Another approach is to allow r to vary so that a pre-specified number of matches are found, called the minimum numerator count, to ensure confident probability estimation. The approaches are illustrated using a simple example of detecting abnormal cardiac rhythms in heart rate records.

关键词： Entropy estimation Gaussian noise Heart rate Lakes Pediatrics Physiology White noise abnormal cardiac rhythm detection algorithm theory approximate entropy cardiology entropy entropy rate estimation equivalent Gaussian white noise estimation algorithm est

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Diffuse Initialization of Kalman Filter

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JOURNAL OF AUTOMATION AND INFORMATION SCIENCES 2011年第4期43卷 20-34页

作者： Skorokhod, B. A. Sevastopol Natl Tech Univ Sevastopol Ukraine

The behavior of Kalman filter is studied at interpretation of unknown initial conditions as the random variables having a covariance matrix proportional to large positive parameter. The developed approach allows one to express characteristics of the filter in an analytic form, to explain a phenomenon of divergence and propose a limiting estimation algorithm which is independent of large initial parameter leading to divergence. As the application there were considered two problems: filtering with a sliding window and a parameter estimation of separable regression. The received results are illustrated by example of training a radial basic neural network.

关键词： Kalman filter random variables covariance matrix estimation algorithm separable regression

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A selective review on target tracking algorithms

A selective review on target tracking algorithms

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International Conference on Graphic and Image Processing (ICGIP)

作者： Kaawaase, Kyanda Swaib Chi, Feng Harbin Engn Univ Coll Informat & Commun Engn Harbin Peoples R China

ISBN: (纸本)9780819489326

Growing research in computer vision obliges reliable and efficient target tracking methods. This letter proposes a review on target estimation and tracking algorithms grouped into two namely deterministic and nondeterministic based algorithms. Various issues affecting success and/or failure of such algorithms are discussed as well as presenting current references (fifty five in total) on the topic. In conclusion, no single algorithm can be ideal for all tracking problems. It is hoped that with only two groups of tracking and estimation algorithms, this work will guide tracking system designers on choosing a suitable algorithms for use.

关键词： deterministic models sequential filter mean square error estimation algorithm tracking

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Access point-less wireless location method based on peer-to-peer ranging of impulse radio ultra-wideband

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IET RADAR SONAR AND NAVIGATION 2010年第5期4卷 733-743页

作者： Cho, S. Y. Choi, Y. W. Elect & Telecommun Res Inst Positioning Informat Technol Res Team Taejon 305606 South Korea

This study describes an efficient wireless location method for access point (AP)-less environments based on peer-to-peer (P2P) ranging of the impulse radio ultra-wideband (IR-UWB). In order to achieve an accurate ranging, which is a basal condition for the accurate wireless location, IEEE 802.15.4a-based IR-UWB is selected as a localisation infrastructure. The IR-UWB can provide the accurate ranging information. However, the coverage of IR-UWB is as short as 30 m owing to the restriction of the power spectral density, that is, -41.3 dBm/MHz. This fact as well as the AP-less environment is the motivation of this study. To extend the coverage of localisation in the AP-less area, an efficient localisation method based on the P2P ranging between IR-UWB tags is presented. In the proposed method, iterative least square (ILS) and direct solution (DS) methods are used together for an estimation algorithm. This study also provides the clues for solving the problems that the ILS and DS methods have. Then the performance of the proposed method is verified by a Monte-Carlo simulation using the analysis tool developed in this work.

关键词： impulse radio ultra-wideband direct solution method Monte-Carlo simulation wireless location method estimation algorithm ultra wideband communication Computer networks and techniques access point-less wireless location method power spectral density Computer communications peer-to-peer ranging iterative methods least squares approximations Interpolation and function approximation (numerical analysis) peer-to-peer computing Radio links and equipment iterative least square method Monte Carlo methods personal area networks IEEE 802.15.4a-based IR-UWB

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The Design of Fuzzy Controller Based on Genetic Optimization and Neurofuzzy Networks

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JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY 2010年第4期5卷 653-665页

作者： Oh, Sung-Kwun Roh, Seok-Beom Univ Suwon Dept Elect Engn Suwon South Korea Natl Inst Technol Dept Elect Engn Warangal 506004 Andhra Pradesh India

In this study, we introduce a neurofuzzy approach to the design of fuzzy controllers. The development process exploits key technologies of Computational Intelligence (Cl), namely, genetic algorithms (GA) and neurofuzzy networks. The crux of the design methodology deals with the selection and determination of optimal values of the scaling factors of fuzzy controllers, which are essential to the entire optimization process. First, the tuning of the scaling factors of the fuzzy controller is carried out. Next, we form a nonlinear mapping for the scaling factors, which are realized by GA-based neurofuzzy networks by using a fuzzy set or fuzzy relation. The proposed approach is applied to control nonlinear systems like the inverted pendulum. Results of comprehensive numerical studies are presented through a detailed comparative analysis.

关键词： Fuzzy controller estimation algorithm Scaling factors Genetic optimization FS-based neurofuzzy networks (NFN) FR-based NFN

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estimation of Real-Time Peak Power Capability of a Traction Battery Pack Used in an HEV

Estimation of Real-Time Peak Power Capability of a Traction ...

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Asia-Pacific Power and Energy Engineering Conference (APPEEC)

作者： Zhang Cai-ping Zhang Cheng-ning Sharkh, S. M. Beijing Inst Technol Natl Engn Lab Elect Vehicle Beijing 100081 Peoples R China Univ Southampton Sch Engn Sci Southampton SO17 1BJ Hants England

ISBN: (纸本)9781424448135

Battery peak power capability estimation has an important theoretical significance and utility value for proper use of a battery and to help extend its lifetime. It is an important part of a battery management system. The paper presents an algorithm for estimating the dynamic peak power capability of a battery pack. The algorithm is based on a dynamic battery model taking into consideration constraints of rated, current, voltage and state of charge. The suitability of alternative equivalent circuit models for lithium-ion batteries was also analyzed. It is shown that using Thevenin's model, the estimation algorithm could compute the dynamic battery peak power in real-time and could provide real-time estimates of the charged and discharged power in an electric vehicle so that the battery may be used within its safe operating limits.

关键词： peak power traction battery estimation algorithm electric vehicles

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