CONCURRENT LOCALIZATION AND MAPPING WITH SONAR SENSORS AND CONSIDERATION OF VEHICLE MOTION

Simultaneous Localization and Mapping (SLAM) is a procedure used to determine the location of a mobile vehicle in an unknown environment, while constructing a map of the unknown environment at the same time. Mobile platforms, which make use of SLAM algorithms, have industrial applications in autonomous maintenance, such as the inspection of flaws and defects in oil pipelines and storage tanks. A typical SLAM consists of four main components, namely, experimental setup (data gathering), vehicle pose estimation, feature extraction, and filtering. Feature extraction is the process of realizing significant features from the unknown environment such as corners, edges, walls, and interior features. In this work, an original feature extraction algorithm specific to distance measurements obtained through SONAR sensor data is presented. This algorithm has been constructed by combining the SONAR Salient Feature Extraction Algorithm and the Triangulation Hough Based Fusion with point-in-polygon detection. The reconstructed maps obtained through simulations and experimental data with the fusion algorithm are compared to the maps obtained with existing feature extraction algorithms. Based on the results obtained, it is suggested that the proposed algorithm can be employed as an option for data obtained from SONAR sensors in environment, where other forms of sensing are not viable. The algorithm fusion for feature extraction requires the vehicle pose estimation as an input, which is obtained from a vehicle pose estimation model. For the vehicle pose estimation, the author uses sensor integration to estimate the pose of the mobile vehicle. Different combinations of these sensors are studied (e.g., encoder, gyroscope, or encoder and gyroscope). The different sensor fusion techniques for the pose estimation are experimentally studied and compared. The vehicle pose estimation model, which produces the least amount of error, is used to generate inputs for the feature extraction algorithm fusion. In the experimental studies, two different environmental configurations are used, one without interior features and another one with two interior features. Numerical and experimental findings are discussed. Finally, the SLAM algorithm is implemented along with the algorithms for feature extraction and vehicle pose estimation. Three different cases are experimentally studied, with the floor of the environment intentionally altered to induce slipping. Results obtained for implementations with and without SLAM are compared and discussed. The present work represents a step towards the realization of autonomous inspection platforms for performing concurrent localization and mapping in harsh environments.

Time-Reversal Massive Multipath Effect and Bandwidth Heterogeneity

The proliferation of new mobile communication devices, such as smartphones and tablets, has led to an exponential growth in network traffic. The demand for supporting the fast-growing consumer data rates urges the wireless service providers and researchers to seek a new efficient radio access technology, which is the so-called 5G technology, beyond what current 4G LTE can provide. On the other hand, ubiquitous RFID tags, sensors, actuators, mobile phones and etc. cut across many areas of modern-day living, which offers the ability to measure, infer and understand the environmental indicators. The proliferation of these devices creates the term of the Internet of Things (IoT). For the researchers and engineers in the field of wireless communication, the exploration of new effective techniques to support 5G communication and the IoT becomes an urgent task, which not only leads to fruitful research but also enhance the quality of our everyday life. Massive MIMO, which has shown the great potential in improving the achievable rate with a very large number of antennas, has become a popular candidate. However, the requirement of deploying a large number of antennas at the base station may not be feasible in indoor scenarios. Does there exist a good alternative that can achieve similar system performance to massive MIMO for indoor environment? In this dissertation, we address this question by proposing the time-reversal technique as a counterpart of massive MIMO in indoor scenario with the massive multipath effect. It is well known that radio signals will experience many multipaths due to the reflection from various scatters, especially in indoor environments. The traditional TR waveform is able to create a focusing effect at the intended receiver with very low transmitter complexity in a severe multipath channel. TR's focusing effect is in essence a spatial-temporal resonance effect that brings all the multipaths to arrive at a particular location at a specific moment. We show that by using time-reversal signal processing, with a sufficiently large bandwidth, one can harvest the massive multipaths naturally existing in a rich-scattering environment to form a large number of virtual antennas and achieve the desired massive multipath effect with a single antenna. Further, we explore the optimal bandwidth for TR system to achieve maximal spectral efficiency. Through evaluating the spectral efficiency, the optimal bandwidth for TR system is found determined by the system parameters, e.g., the number of users and backoff factor, instead of the waveform types. Moreover, we investigate the tradeoff between complexity and performance through establishing a generalized relationship between the system performance and waveform quantization in a practical communication system. It is shown that a 4-bit quantized waveforms can be used to achieve the similar bit-error-rate compared to the TR system with perfect precision waveforms. Besides 5G technology, Internet of Things (IoT) is another terminology that recently attracts more and more attention from both academia and industry. In the second part of this dissertation, the heterogeneity issue within the IoT is explored. One of the significant heterogeneity considering the massive amount of devices in the IoT is the device heterogeneity, i.e., the heterogeneous bandwidths and associated radio-frequency (RF) components. The traditional middleware techniques result in the fragmentation of the whole network, hampering the objects interoperability and slowing down the development of a unified reference model for the IoT. We propose a novel TR-based heterogeneous system, which can address the bandwidth heterogeneity and maintain the benefit of TR at the same time. The increase of complexity in the proposed system lies in the digital processing at the access point (AP), instead of at the devices' ends, which can be easily handled with more powerful digital signal processor (DSP). Meanwhile, the complexity of the terminal devices stays low and therefore satisfies the low-complexity and scalability requirement of the IoT. Since there is no middleware in the proposed scheme and the additional physical layer complexity concentrates on the AP side, the proposed heterogeneous TR system better satisfies the low-complexity and energy-efficiency requirement for the terminal devices (TDs) compared with the middleware approach.

Microfabricated elastomer tactile sensors for robotic fingertip systems

Tactile sensing is an important aspect of robotic systems, and enables safe, dexterous robot-environment interaction. The design and implementation of tactile sensors on robots has been a topic of research over the past 30 years, and current challenges include mechanically flexible “sensing skins”, high dynamic range (DR) sensing (i.e.: high force range and fine force resolution), multi-axis sensing, and integration between the sensors and robot. This dissertation focuses on addressing some of these challenges through a novel manufacturing process that incorporates conductive and dielectric elastomers in a reusable, multilength-scale mold, and new sensor designs for multi-axis sensing that improve force range without sacrificing resolution. A single taxel was integrated into a 1 degree of freedom robotic gripper for closed-loop slip detection. Manufacturing involved casting a composite silicone rubber, polydimethylsiloxane (PDMS) filled with conductive particles such as carbon nanotubes, into a mold to produce microscale flexible features on the order of 10s of microns. Molds were produced via microfabrication of silicon wafers, but were limited in sensing area and were costly. An improved technique was developed that produced molds of acrylic using a computer numerical controlled (CNC) milling machine. This maintained the ability to produce microscale features, and increased the sensing area while reducing costs. New sensing skins had features as small as 20 microns over an area as large as a human hand. Sensor architectures capable of sensing both shear and normal force sensing with high dynamic range were produced. Using this architecture, two sensing modalities were developed: a capacitive approach and a contact resistive approach. The capacitive approach demonstrated better dynamic range, while the contact resistive approach used simpler circuitry. Using the contact resistive approach, normal force range and resolution were 8,000 mN and 1,000 mN, respectively, and shear force range and resolution were 450 mN and 100 mN, respectively. Using the capacitive approach, normal force range and resolution were 10,000 mN and 100 mN, respectively, and shear force range and resolution were 1,500 mN and 50 mN, respectively.