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Mobile Robot localization and Navigation System Based on Monocular Vision

Transactions of Tianjin University 2012年第5期18卷 335-342页

作者：贾云伟刘铁根高丽兰王聃 School of Precision Instrument and Opto-Electronics Engineering Tianjin University School of Mechanical Engineering Tianjin University of Technology School of Computer and Communication Engineering Tianjin University of Technology

A system for mobile robot localization and navigation was *** the proposed system,the robot can be located and navigated by a single landmark in a single *** the navigation mode may be following-track,teaching and playback,or *** basic idea is that the system computes the differences between the expected and the recognized position at each time and then controls the robot in a direction to reduce those *** minimize the robot sensor equipment,only one omnidirectional camera was *** in disturbing environments show that the presented algorithm is robust and easy to implement,without camera *** rootmean-square error(RMSE) of localization is 1.4,cm,and the navigation error in teaching and playback is within 10,cm.

关键词： localization algorithm navigation omni-vision monocular vision

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localization algorithms used in self-organizing wireless sensor networks

Localization algorithms used in self-organizing wireless sen...

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International Carpathian Control Conference

作者： Varga, Attila K. Ajtonyi, István Department of Automation Faculty of Mechanical Engineering and Informatics University of Miskolc Miskolc Hungary

ISBN: (纸本)9781612843599

localization in wireless sensor networks is a main issue, i.e. to determine the position of a given device in the network. Location information of mobile nodes is a demand in many wireless systems. To give the position of the target node reference points have to be used. The node can calculate its distance and/or angle between itself and the reference points. In the 2D space, if a node knows its distance from three reference points its position can also be determined. One more reference point is needed in the 3D space to determine the current position of the target device. In this paper the main localization techniques used in self-organizing sensor networks are described. © 2011 IEEE.

关键词： Ad hoc networks Estimation Mobile communication Mobile computing Wireless networks Wireless sensor networks localization localization algorithm mobile node mobile node mobile radio self-organization self-organizing wireless sensor network wireless sensor

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Ash deposition modeling using a visco-elastic approach

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FUEL 2012年 102卷 145-155页

作者： Losurdo, Marco Spliethoff, Hartmut Kiel, Jaap TU Muenchen D-85747 Garching Germany ECN NL-1755 ZG Petten Netherlands

In pulverized fuel (PF) combustors and gasifiers, ash particles may deposit on heat exchangers reducing efficiency, performance and, in some cases, damaging boilers and gasifiers. In general, ash particle composition, size (fragmentation) and mechanical properties (hardness and stickiness) are affected by the history of each particle along their trajectory. In the present work, visco-elastic models are used to predict the Young Modulus according to time, temperature and ash composition. In commercial CFD programs, particle adhesion is usually modelled either as fully trapped or bouncing off according to a specific restitution coefficient usually given as input to the wall boundary surface. The authors apply the mechanical adhesion approach proposed by Johnson (JKR theory) which takes into account the surface energy, particle size and the hardness of both the particle and the impacted surface. The energy restitution coefficients are calculated as the remaining kinetic energy after elastic-plastic particle deformation and work of adhesion due to inertia impaction. To implement this approach, a specific Lagrangian particle tracking code was developed to track particle and predict their fate post-processing CFD flow data fields. Numerical results are validated against hollow glass particle and biomass ash experiments carried out in the entrained flow reactor in use at The Energy Research Center of The Netherlands (ECN). Hollow glass particle were used to mimic the high silica content ash obtained from co-firing biomass facilities. The final goal of this work is to present a comprehensive approach to mathematically describe deposition and deposit build-up by means of mechanical and rheological models for visco-elastic solids. Numerical results compare fairly well to available experimental data of the average particle dispersion. (C) 2012 Published by Elsevier Ltd.

关键词： Lagrangian particle tracking localization algorithm Biomass Rheology Adhesion

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A Robust localization algorithm for Wireless Sensor Networks

A Robust Localization Algorithm for Wireless Sensor Networks

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4th International Conference on Wireless Communications, Networking and Mobile Computing

作者： Zhang, Jia Luo, Junyong Luo, Xiangyang Informat Sci & Technol Inst Dept Network Engn Zhengzhou 450002 Peoples R China

ISBN: (纸本)9781424421077

Most of localization algorithms in wireless sensor networks need the location Information of reference nodes to locate the unknown nodes. When the location information is tampered by the attacks or errors, the accuracy of these algorithms will degrade badly. An improved existing typical APIT algorithm -AVNRP (APIT based on Von Neumann Rejection Principle), is proposed in this paper. The experiment results demonstrate that AVNRP has better robustness than original algorithm.

关键词： wireless sensor networks localization algorithm Von Neumann Rejection Principle distribution trait robustness

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An Energy Efficient localization algorithm for Wireless Sensor Networks Using a Mobile Anchor Node

An Energy Efficient Localization Algorithm for Wireless Sens...

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IEEE International Conference on Information and Automation

作者： Zhang, Baoli Yu, Fengqi Chinese Acad Sci Shenzhen Inst Adv Technol Dept Integrated Elect Shenzhen 518067 Guangdong Peoples R China

ISBN: (纸本)9781424421831

In this paper, we present an energy efficient localization algorithm for wireless sensor networks using a mobile anchor node. It is based on the distance measurement with extra hardware. The mobile node is equipped with a GPS receiver, RF (radio frequency) and ultrasonic transmitter. Each stationary sensor node is equipped with a RF and ultrasonic receiver. The mobile node periodically broadcasts its location information, and stationary sensor nodes take the positions as virtual anchor points. A sensor node's location is computed by measuring the distance to the virtual anchor point using TDOA (time difference of arrival) method. After the first round localization is done, the un-localized sensor nodes can compute their locations with the help of localized stationary sensor nodes. Simulation results show that our proposed localization scheme outperforms the other localization schemes using mobile anchor nodes in energy efficiency and cost.

关键词： localization algorithm mobile anchor node wireless channel sensor network

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Research on ADV-Hop localization algorithm in wireless sensor networks

Research on ADV-Hop localization algorithm in wireless senso...

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7th International Symposium on Instrumentation and Control Technology

作者： Zhao, Shijun Xu, Xiulan Zhang, Zhaohui Sun, Meiling Univ Sci & Technol Beijing Dept Informat Engn Beijing 100083 Peoples R China China Univ Petr Dept Comp Shandong 257061 Peoples R China

ISBN: (纸本)9780819473615

Wireless sensor networks (WSN) have wide applicability to many important applications including environmental monitoring, military applications and disaster management, etc. In many applications, sensors are assumed to know their absolute locations. Some localization methods of WSN have been proposed. In these methods, nodes equipped with GPS to get precise location information, namely the anchor nodes, are employed to derive the locations of other nodes. Most of the recent work focuses on increasing the accuracy in position estimation. In this paper, aiming at the high communication cost and average positioning error of DV-hop algorithm, an advanced algorithm which is called ADV-hop algorithm is proposed. Simulations are made by the network simulator NS2. The simulation results show that ADV-hop algorithm has lower communication cost and smaller average positioning error than DV-hop algorithm, which makes ADV-hop algorithm more suitable for the node location of WSN.

关键词： WSN localization algorithm average positioning error communication cost

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On Computation of Distributed Supervisory Controllers in Discrete-Event Systems

On Computation of Distributed Supervisory Controllers in Dis...

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24th Chinese Control and Decision Conference (CCDC)

作者： Zhang Renyuan Gan Yongmei Wang Zhaoan Wonham, W. M. Xi An Jiao Tong Univ Sch Elect Engn Xian 710049 Shaanxi Peoples R China Univ Toronto Dept Elect & Comp Engn Toronto ON M5S3G4 Canada

ISBN: (纸本)9781457720727

This paper refines an earlier localization procedure used to design optimal nonblocking distributed supervisory controllers in discrete-event systems (DES). The earlier algorithm needed a control consistency relation involving two conditions, and introduced superfluous selfloops. We propose a refined procedure, including a newly defined weak control consistency relation, and a cleanup algorithm, which results in simpler and cleaner controllers. It is proved to be correct, and illustrated by a Transfer Line plant.

关键词： Distributed supervisory controller localization algorithm discrete-event system

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Touchless 3D gestural interface using coded ultrasounds

Touchless 3D gestural interface using coded ultrasounds

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IEEE International Ultrasonics Symposium (IUS)

作者： Carotenuto, Riccardo Tripodi, Pietro Univ Mediterranea Reggio Calabria DIMET I-89122 Reggio Di Calabria Italy

ISBN: (纸本)9781467345620;9781467345613

Touchless human-computer interfaces are possible using wireless position sensors with sufficient positioning accuracy. The proposed locating system is composed of a set of beacons that emit a sequence of ultra-acoustic pulses in the space region containing a number of wireless position sensors. The prototype has four coplanar beacons, placed at the corners of a PC screen, which are forced to emit chirp signals in the 20-48 kHz band. Each battery-supplied sensor is equipped with a wideband miniature microphone, a conditioning circuitry and an infrared transmitter. When impinged by the sequence of acoustic wavefronts, each sensor sends back a signal to a central unit through an infrared optical transmission channel. The central unit preprocesses the received signals using the correlation technique, and obtains the times of arrival of the sensors' signals. Knowing the position of the acoustic beacons, the central unit computes the coordinates of the sensors, identifying and discarding possible false signals due to echoes and environmental noise. All the computations, including signal filtering, time of arrival detection, localization and results display, are carried out by a notebook PC at 25 Hz.

关键词： localization sensors localization algorithm touchless gestural interface airborne ultrasounds

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Performance Evaluation of localization algorithms with Measurement Errors in WSNs

Performance Evaluation of Localization Algorithms with Measu...

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7th International Conference on Wireless Communications, Networking and Mobile Computing (WiCOM)

作者： Zhao, Erdun Zheng, JunHong Yao, Juan Liu, Xinxin Cent China Normal Univ Dept Comp Sci Wuhan Peoples R China Wuhan Digital Engn Res Inst Wuhan Peoples R China

ISBN: (纸本)9781424462520

Node localization is an important area in wireless sensor networks (WSNs). Because there are unavoidable measurement errors by the popular distance measurement techniques such as RSSI and TOA, the localization precision is the main evaluation criteria for localization algorithms. In this paper, we compare the performances of localization algorithms in different error models by simulation and show that some algorithms are more sensitive to measurement errors than others. The localization errors are more serious when measurement error models are different for distance from various beacon nodes. We give a nonlinear optimal model for this case and employ the Newton Iteration algorithm to solve this problem. Simulation shows it is better when give different weights to different error models can give a better measurement precision.

关键词： Wireless sensor networks localization algorithm measurement error models Newton Iteration algorithm

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A Robust localization algorithm for Wireless Sensor Networks

A Robust Localization Algorithm for Wireless Sensor Networks

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The 4th International Conference on Wireless Communications, Networking and Mobile Computing(第四届IEEE无线通信、网络技术及移动计算国际会议)

作者： Jia Zhang Junyong Luo Xiangyang Luo Department of Network Engineering Information Science and Technology Institute Zhengzhou 450002 China

Most of localization algorithms in wireless sensor networks need the location information of reference nodes to locate the unknown nodes. When the location information is tampered by the attacks or errors, the accuracy of these algorithms will degrade badly. An improved existing typical APIT algorithm –AVNRP (APIT based on Von Neumann Rejection Principle), is proposed in this paper. The experiment results demonstrate that AVNRP has better robustness than original algorithm.

关键词： wireless sensor networks localization algorithm Von Neumann Rejection Principle distribution trait robustness

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