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Indoor robot localization by RSSI/IMU sensor fusion

Indoor robot localization by RSSI/IMU sensor fusion

International Conference on electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： Veerachai Malyavej Warapon Kumkeaw Manop Aorpimai Department of Control Instrumentation and Mechatronics Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand The Electrical Engineering Graduate Program Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand

Localization is the crucial problem for mobile robot navigation. For indoor mobile robot, since a global positioning system (GPS) is incapable, another promising technique to detect the position is the received signal strength indicator (RSSI) from wireless communication. To improve the precision and robustness of mobile unit localization, an inertial measurement unit (IMU) is normally used. In this report, we propose the algorithm for mobile robot localization based on sensor fusion between RSSI from wireless local area network (WLAN) and an IMU. The proposed fusion scheme is based on the extended Kalman filter (EKF). The experiment is conducted by using mobile unit equipped with low-cost IMU and a wireless communication module together with access points to evaluate the performance of our algorithm, and the result is promising.

关键词： Robot sensing systems Noise Mobile communication Wireless communication Mathematical model Sensor fusion Kalman filters

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States and parameters estimation in induction motor using Bayesian techniques

States and parameters estimation in induction motor using Ba...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： Majdi Mansouri Mostefa Mohamed-Seghir Hazem Nounou Mohamed Nounou Haitham Abu-Rub Electrical Engineering Department Qatar University Doha Qatar Faculty of Electrical Engineering Gdynia Maritime University Poland Chemical Engineering Program Texas A and M University at Qatar Doha Qatar

ISBN: (纸本)9781467364591

This paper addresses the problem of rotor speed, flux and parameters estimation of induction motor on the basis of a three-order electrical model. Thus, we propose to use a particle filtering (PF) to estimate states and parameters for an induction motor. It is assumed that only the voltages stator currents are measurable. In addition, the rotor resistance and magnetizing inductance, which vary with the motor temperature and magnetization level, can also be estimated within the same framework. Hence, the objective of this work is to estimate three states (the rotor speed, the rotor flux, and the stator flux) and two parameters (the rotor resistance and the magnetizing inductance). Simulation analysis demonstrates that the Bayesian algorithm can well estimate the states/parameters under disturbs of the noise, and it provides efficient accuracies for the states estimation. In addition, detailed case studies show that Bayesian algorithm has advantages over Unscented Kalman filter (UKF) for highly nonlinear estimation problems. Evaluation of the methods was performed by using Root Mean Square Error.

关键词： Magnetic separation Magnetic flux Stators Estimation Monte Carlo methods Rotors Vectors

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Ultra wideband microstrip antenna using T-shaped stub fed by coplanar waveguide

Ultra wideband microstrip antenna using T-shaped stub fed by...

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International Conference on QiR (Quality in Research)

作者： Rastanto Hadinegoro Indra Surjati Yuli Kurnia Ningsih Graduate Program Department of Electrical Engineering Faculty of Industrial Technology Trisakti University Jakarta Indonesia

A novel design for ultra wideband microstrip antenna using T-shape stub fed by coplanar waveguide is proposed and experimentally studied. The multiband frequencies can be reached by controlling the length of a and b of the T shaped stub. The results shown that the proposed antenna can be achieved multiband frequencies with return loss -21.5 dB at frequency 2.65GHz, return loss -24.5dB at frequency 5GHz, and return loss -35dB at frequency 8.42GHz. Impedance bandwidth of the proposed antenna is 6570 MHz or about 200% (VSWR

关键词： Microstrip antennas Antenna radiation patterns Ultra wideband antennas Coplanar waveguides Bandwidth Slot antennas

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A Hardware Approach for Solving the Robot Localization Problem Using a Sequential EKF

A Hardware Approach for Solving the Robot Localization Probl...

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IEEE International Symposium on Parallel and Distributed Processing Workshops and phd Forum (IPDPSW)

作者： Sérgio Cruz Daniel M. Muñoz Milton E. Conde Carlos H. Llanos Geovany A. Borges Department of Mechanical Engineering Faculty of Gama Electronics Engineering Graduate Program Department of Electrical Engineering University of Brasilia Brasília D.F Brazil

This work describes a hardware architecture for implementing a sequential approach of the Extended Kalman Filter (EKF) that is suitable for mobile robotics tasks, such as self-localization, mapping and navigation problems. As such algorithm is computationally intensive, commonly it is implemented in PC-based platforms to be employed on larger robots. In order to allow the development of small robotic platforms, as those required in many current state of the art research (for instance micro robotics area), small size, low-power and high precision computation capabilities are required. This work proposes a hardware architecture for self-localization task, allowing the fusion of data coming from different sensors such as ultrasonic and laser rangefinder. The architecture is based on a single precision floating-point arithmetic, allowing the operations to be computed with large precision and dynamic range. The system has been adapted for achieving a reconfigurable platform, suitable for research tasks, and applied to a Pioneer 3AT mobile robot platform from Mobile Robots Inc. In order to compare the performance of the system, the same localization technique has been implemented in a high-end PC, as well as using an embedded microprocessor Nios II from Alter a Inc. In this paper several metrics have been used to evaluate system performance and suitability, measuring FPGA resources consumption and performance. Finally, the suitability of reconfigurable devices for such kind of applications has been verified and also discussed.

关键词： Field programmable gate arrays Hardware Kalman filters Robot sensing systems Sensor fusion

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Estimation of nonlinear control parameters in induction machine using particle filtering

Estimation of nonlinear control parameters in induction mach...

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IEEE SSD International Multi-Conference on Systems, Signals and Devices

作者： Majdi Mansouri Mostefa Mohamed-Seghir Hazem Nounou Mohamed Nounou Haitham Abu-Rub Electrical Engineering Department Qatar University Doha Qatar Faculty of Marine Electrical Engineering Gdynia Maritime University Gdynia Poland Chemical Engineering Program Texas A and M University at Qatar Doha Qatar

ISBN: (纸本)9781467364591

In this paper, particle filtering (PF) is addressed for both estimation and control to be integrated into a unified closed-loop or feedback control system that is applicable for a general family of nonlinear control structures. In the current work, the state variables (the rotor speed, the rotor flux, and the stator flux) as well as the model parameters are simultaneously estimated from noisy measurements of these variables, and the estimation technique is evaluated by computing the estimation root mean square error (RMSE) with respect to the noise-free data. In this case, in addition to comparing the performances of the estimation, the effect of the number of estimated model parameters on the accuracy and convergence of this technique is also assessed. Simulation analysis demonstrates that the particle filter can well estimate the states/parameters under disturbs of the noise, and it provides efficient accuracies for the states estimation.

关键词： Estimation Computational modeling Rotors Noise measurement Feedback control Stators Process control

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Study of the Effects Related to the Electric Reverse Stress Currents on the Mono-Si Solar Cell electrical Parameters

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Energy Procedia 2013年 36卷 104-113页

作者： K Al Abdullah Faisal Al Alloush Ali Jaafar C. Salame Laboratory of microelectronic-University of Aleppo Faculty of Electrical and electronic Engineering-Aleppo-Syria Postgraduate Student (PhD) University of Aleppo Faculty of Electrical and electronic Engineering-Aleppo-Syria Postgraduate Student (PhD) CNRSL National Council for Scientific Research Beirut Lebanon-LPA Faculty of Sciences II Lebanese University B.P 90656 Jdeidet El Mten Lebanon CNRSL National Council for Scientific Research Beirut Lebanon-LPA Faculty of Sciences II Lebanese University B.P 90656 Jdeidet El Mten Lebanon

The main objective of this work is to study, characterize finely the defects created in photovoltaic cells made from mono crystalline silicon wafer based on semiconductor has continued its operation under extreme conditions (electrical stress). We will demonstrate the effect of reverse stress current injected in solar cell structure on the I-V and C-V characteristics under dark conditions at room temperature for several time periods. These experimental measurements were numerical analyzed using double exponential model. Experimental evidence showed that different levels of reverse currents are confirmed to be a major degrading factor affecting the performance, efficiency, and power of solar modules. The experimental results were consistent with computational predictions.

关键词： Solar cell module Partial shading C–V characteristic Stress currents double exponential model.

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Sensor Fault Detection and Isolation in the Quadrotor Vehicle Using Nonlinear Identity Observer Approach

Sensor Fault Detection and Isolation in the Quadrotor Vehicl...

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Conference on Control and Fault-Tolerant Systems

作者： Younes Al Younes Hassan Noura Abdelhamid Rabhi Ahmed El Hajjaji Nedaa Al Hussien Mechanical Engineering Faculty at Higher Colleges of Technology Chairman of Electrical Engineering Department at United Arab Emirates University Information & System Lab - Control & Vehicle Group- at University of Picardie Electrical Engineering Program at United Arab Emirates University

ISBN: (纸本)9781479928569

The Fault Detection and Isolation (FDI) of a quadrotor vehicle, which is described by a nonlinear model, are tackled in this paper. The nonlinear identity observer is utilized to detect the various types of sensors faults, and the Generalized Observer Scheme (GOS) is used to isolate the faulty sensor. The robustness of the observer and its scheme is investigated through several simulation results to build the Decision- Making Unit (DMU) for the residuals. Various simulation results have validated the FDI method and shown the system performance towards different fault scenarios.

关键词： Quadrotor Vehicle Nonlinear Observer Observer Scheme Structured Residuals

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Methods for Evaluating Medical Tests and Biomarkers

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Diagnostic and Prognostic Research 2017年第1期1卷 1-34页

作者： Gowri Gopalakrishna Miranda Langendam Patrick Bossuyt Mariska Leeflang Rob Scholten Anna Noel-Storr James Thomas Iain Marshall Byron Wallace Penny Whiting Clare Davenport Gowri GopalaKrishna Isabel de Salis Sue Mallett Robert Wolff Marie Westwood Jos Kleinen Richard Riley Gary Collins Hans Reitsma Karel Moons Antonia Zapf Katharina Kramer Annika Hoyer Oliver Kuss J. Ensor R. D. Riley J. J. Deeks E. C. Martin Gerta Rücker Martin Schumacher Susanne Steinhauser Joie Ensor Kym Snell Brian Willis Jon Deeks Thomas Debray Lavinia Ferrante di Ruffano Sian Taylor-Phillips Chris Hyde Stuart A. Taylor Gauraang Batnagar Lavinia Ferrante Di Ruffano Farah Seedat Aileen Clarke Sarah Byron Frances Nixon Rebecca Albrow Thomas Walker Carla Deakin Zhivko Zhelev Harriet Hunt Yaling Yang Lucy Abel James Buchanan Thomas Fanshawe Bethany Shinkins Laure Wynants Sabine Van Huffel Jan Verbakel Dirk Timmerman Ben Van Calster Aeliko Zwinderman Jason Oke Jack O’Sullivan Rafael Perera Brian Nicholson Hannah L. Bromley Tracy E. Roberts Adele Francis Denniis Petrie G. Bruce Mann Kinga Malottki Holly Smith Lucinda Billingham Alice Sitch Oke Gerke Mie Holm-Vilstrup Eivind Antonsen Segtnan Ulrich Halekoh Poul Flemming Høilund-Carlsen Bernard G. Francq Jac Dinnes Julie Parkes Walter Gregory Jenny Hewison Peter Selby Doug Altman William Rosenberg Julien Asselineau Paul Perez Aïssatou Paye Emilie Bessede Cécile Proust-Lima Christiana Naaktgeboren Joris de Groot Johannes Reitsma Anne Rutjes Emmanuel Ogundimu Jonathan Cook Yannick Le Manach Yvonne Vergouwe Romin Pajouheshnia Rolf Groenwold Karen Moons Linda Peelen Bavo De Cock Daan Nieboer Ewout W. Steyerberg Micael J. Pencina Jennifer Cooper Nick Parsons Chris Stinton Steve Smith Andy Dickens Rachel Jordan Alexandra Enocson David Fitzmaurice Peymane Adab Charles Boachie Gaj Vidmar Karoline Freeman Martin Connock Rachel Court Carl Moons Jessica Harris Zoe Plummer Barnaby Reeves Chris Rogers Andrew Mumford Kurtis Lee Veerle Verheyden Gianni D. Angelini Gavin J. Murphy Jeremy Huddy Melody Ni George Hanna Department of Clinical Epidemiology Biostatistics & Bioinformatics Academic Medical Center University of Amsterdam Amsterdam The Netherlands Department of Clinical Epidemiology and Biostatistics Academic Medical Center University of Amsterdam Amsterdam Netherlands Cochrane Netherlands Julius Center for Health Sciences and Primary Care University Medical Center Utrecht Utrecht Netherlands Cochrane Dementia and Cognitive Improvement Group University of Oxford Oxford UK EPPI-Centre Department of Social Science University College London London UK Division of Health and Social Care Research King’s College London London UK College of Computer and Information Science Northeastern University Boston USA University Hospitals Bristol NHS Foundation Trust School of Social and Community Medicine Bristol UK Institute of Applied Health Research University of Birmingham Birmingham UK School of Social and Community Medicine University of Bristol Bristol UK Kleijnen Systematic Reviews Ltd York UK Research Institute for Primary Care and Health Sciences Keele University Keele UK Centre for Statistics in Medicine Nuffield Department of Orthopaedics Rheumatology and Musculoskeletal Sciences University of Oxford Oxford UK Julius Center for Health Sciences and Primary Care University Medical Center Utrecht Utrecht The Netherlands Cochrane Netherlands University Medical Center Utrecht Utrecht The Netherlands Julius Center for Health Sciences and Primary Care University Medical Center Utrecht 3584 CG Utrecht Netherlands Department of Medical Statistics University Medical Center Göttingen Göttingen Germany Institute for Biometry and Epidemiology German Diabetes Center Leibniz Institute for Diabetes Research at Heinrich Heine University Düsseldorf Germany Manchester Pharmacy School University of Manchester Manchester UK Institute for Medical Biometry and Statistics Faculty of Medicine and Medical Center – University of Freiburg Stefan-Meier-Str. 26 79104 Freiburg Germany

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The perceived orientation in people with and without Alzheimer's

The perceived orientation in people with and without Alzheim...

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International IEEE/EMBS Conference on Neural engineering, CNE

作者： D. Zen A. Byagowi M. Garcia D. Kelly B. Lithgow Z. Moussavi Faculty of Medicine at Federal University Espirito Santo Brazil Electrical and Computer Engineering Department University of Manitoba Biomedical Engineering Program University of Manitoba Department of Psychology and Biomedical Engineering Program University of Manitoba Alfred Hospital Monash University Australia

Accurate spatial perception is important for the successful performance of any motor task. Research suggests that this capability declines significantly in patients with Alzheimer's disease. Using a virtual reality navigational test, this study investigates the orientation ability. In particular, we hypothesize the ability to orient using egocentric information declines significantly with Alzheimer's even at early stages, whereas general orientation abilities maybe preserved through the use of allocentric orientation strategies in mild Alzheimer's patients. The study subjects were 11 cognitively healthy and 8 patients with mild to moderate Alzheimer's. The results are congruent with our hypothesis, and encourage further investigation in a larger population.

关键词： Alzheimer's disease Floors Educational institutions Solid modeling Virtual reality Windows

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The resolving integer ambiguity cycle of GPS carrier phase difference using GA-GSO

The resolving integer ambiguity cycle of GPS carrier phase d...

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International Conference on electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON

作者： C. Tatiyaworanun S. Purivigraipong The Electrical Engineering Graduate Program Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand Centre for Electronic System Design and Signal Processing Department of Electronic Engineering Mahanakorn University of Technology Bangkok Thailand

This paper presents an approach to resolve integer ambiguity of GPS carrier phase difference between two antennas separated by the baseline length. An approached algorithm based on Gram-Schmidt Orthonormalisation associated with Genetic Algorithm (GA), is proposed for medium length baseline observations. The proposed approach was exploited to reduce the dimensional search space and number of search. The implemented algorithms are tested with a simulated data of minisatellite orbiting in low Earth orbit. The results showed that a carrier phase difference can be recovered.

关键词： Global Positioning System Extraterrestrial measurements Antenna measurements Vectors Genetic algorithms Space vehicles Satellites

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