An energy-efficient strategy for combined RSS-PDR indoor localization

We propose an optimization-based framework to minimize the energy consumption in a sensor network when using an indoor localization system based on the combination of received signal strength (RSS) and pedestrian dead reckoning (PDR). The objective is to find the RSS localization frequency and the number of RSS measurements used at each localization round that jointly minimize the total consumed energy, while ensuring at the same time a desired accuracy in the localization result. The optimization approach leverages practical models to predict the localization error and the overall energy consumption for combined RSS-PDR localization systems. The performance of the proposed strategy is assessed through simulation, showing energy savings with respect to other approaches while guaranteeing a target accuracy.

Performance assessment of a kinetically-powered network for herd localization

Developing a herd localization system capable to operate unattended in communication-challenged areas arises from the necessity of improving current systems in terms of cost, autonomy or any other facilities that a certain target group (or overall users) may demand. A network architecture of herd localization is proposed with its corresponding hardware and a methodology to assess performance in different operating conditions. The system is designed taking into account an eventual environmental impact hence most nodes are simple, cheap and kinetically powered from animal movements-neither batteries nor sophisticated processor chips are needed. Other network elements integrating GPS and batteries operate with selectable duty cycles, thus reducing maintenance duties. Equipment has been tested on Scandinavian reindeer in Lapland and its element modeling is integrated into a simulator to analyze such localization network applicability for different use cases. Performance indicators (detection frequency, localization accuracy and delay) are fitted to assess the overall performance; system relative costs are enclosed also for a range of deployments.

Semantic localization in the PCL library

The semantic localization problem in robotics consists in determining the place where a robot is located by means of semantic categories. The problem is usually addressed as a supervised classification process, where input data correspond to robot perceptions while classes to semantic categories, like kitchen or corridor. In this paper we propose a framework, implemented in the PCL library, which provides a set of valuable tools to easily develop and evaluate semantic localization systems. The implementation includes the generation of 3D global descriptors following a Bag-of-Words approach. This allows the generation of fixed-dimensionality descriptors from any type of keypoint detector and feature extractor combinations. The framework has been designed, structured and implemented to be easily extended with different keypoint detectors, feature extractors as well as classification models. The proposed framework has also been used to evaluate the performance of a set of already implemented descriptors, when used as input for a specific semantic localization system. The obtained results are discussed paying special attention to the internal parameters of the BoW descriptor generation process. Moreover, we also review the combination of some keypoint detectors with different 3D descriptor generation techniques.

Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

A visual system for distributed mosaics using an auvs fleet

The use of teams of Autonomous Underwater Vehicles for visual inspection tasks is a promising robotic field. The images captured by different robots can be also to aid in the localization/navigation of the fleet. In a previous work, a distributed localization system was presented based on the use of Augmented States Kalman Filter through the visual maps obtained by the fleet. In this context, this paper details a system for on-line construction of visual maps and its use to aid the localization and navigation of the robots. Different aspects related to the capture, treatment and construction of mosaics by fleets of robots are presented. The developed system can be executed on-line on different robotic platforms. The paper is concluded with a series of tests and analyses aiming at to system validation.

Localization of a mobile robot based on odometry and natural landmarks using extended kalman filter

SANTANA, André M.; SOUZA, Anderson A. S.; BRITTO, Ricardo S.; ALSINA, Pablo J.; MEDEIROS, Adelardo A. D. Localization of a mobile robot based on odometry and natural landmarks using extended Kalman Filter. In: INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 5., 2008, Funchal, Portugal. Proceedings... Funchal, Portugal: ICINCO, 2008.

Odometry-driven inference to link multiple exemplars of a location

A major challenge for robot localization and mapping systems is maintaining reliable operation in a changing environment. Vision-based systems in particular are susceptible to changes in illumination and weather, and the same location at another time of day may appear radically different to a system using a feature-based visual localization system. One approach for mapping changing environments is to create and maintain maps that contain multiple representations of each physical location in a topological framework or manifold. However, this requires the system to be able to correctly link two or more appearance representations to the same spatial location, even though the representations may appear quite dissimilar. This paper proposes a method of linking visual representations from the same location without requiring a visual match, thereby allowing vision-based localization systems to create multiple appearance representations of physical locations. The most likely position on the robot path is determined using particle filter methods based on dead reckoning data and recent visual loop closures. In order to avoid erroneous loop closures, the odometry-based inferences are only accepted when the inferred path's end point is confirmed as correct by the visual matching system. Algorithm performance is demonstrated using an indoor robot dataset and a large outdoor camera dataset.

Coverage algorithms for an under-actuated car-like vehicle in an uncertain environment

A coverage algorithm is an algorithm that deploys a strategy as to how to cover all points in terms of a given area using some set of sensors. In the past decades a lot of research has gone into development of coverage algorithms. Initially, the focus was coverage of structured and semi-structured indoor areas, but with time and development of better sensors and introduction of GPS, the focus has turned to outdoor coverage. Due to the unstructured nature of an outdoor environment, covering an outdoor area with all its obstacles and simultaneously performing reliable localization is a difficult task. In this paper, two path planning algorithms suitable for solving outdoor coverage tasks are introduced. The algorithms take into account the kinematic constraints of an under-actuated car-like vehicle, minimize trajectory curvatures, and dynamically avoid detected obstacles in the vicinity, all in real-time. We demonstrate the performance of the coverage algorithm in the field by achieving 95% coverage using an autonomous tractor mower without the aid of any absolute localization system or constraints on the physical boundaries of the area.

A robot application to marine vessel inspection

Seagoing vessels have to undergo regular inspections, which are currently performed manually by ship surveyors. The main cost factor in a ship inspection is to provide access to the different areas of the ship, since the surveyor has to be close to the inspected parts, usually within arm's reach, either to perform a visual analysis or to take thickness measurements. The access to the structural elements in cargo holds, e.g., bulkheads, is normally provided by staging or by 'cherry-picking' cranes. To make ship inspections safer and more cost-efficient, we have introduced new inspection methods, tools, and systems, which have been evaluated in field trials, particularly focusing on cargo holds. More precisely, two magnetic climbing robots and a micro-aerial vehicle, which are able to assist the surveyor during the inspection, are introduced. Since localization of inspection data is mandatory for the surveyor, we also introduce an external localization system that has been verified in field trials, using a climbing inspection robot. Furthermore, the inspection data collected by the robotic systems are organized and handled by a spatial content management system that enables us to compare the inspection data of one survey with those from another, as well as to document the ship inspection when the robot team is used. Image-based defect detection is addressed by proposing an integrated solution for detecting corrosion and cracks. The systems' performance is reported, as well as conclusions on their usability, all in accordance with the output of field trials performed onboard two different vessels under real inspection conditions.

Accurate Indoor Positioning of Firefighters using Dual Foot-mounted Inertial Sensors and Inter-agent Ranging

A real-time cooperative localization system, utilizing dual foot-mounted low-cost inertial sensors and RF-based inter-agent ranging, has been developed. Scenario-based tests have been performed, using fully-equipped firefighters mimicking a search operation in a partly smoke-filled environment, to evaluate the performance of the TOR (Tactical lOcatoR) system. The performed tests included realistic firefighter movements and inter-agent distances, factors that are crucial in order to provide realistic evaluations of the expected performance in real-world operations. The tests indicate that the TOR system may be able to provide a position accuracy of approximately two to three meters during realistic firefighter operations, with only two smoke diving firefighters and one supervising firefighter within range.

The effects of disorder in dimerized quantum magnets in mean field approximations

15 p.

An Obstacle Cluster Based Data Fusion Method for Mobile Robot

首先给出了一种通过融合多个超声波传感器和一台激光全局定位系统的数据建立机器人环境地图的方法 ,并在此基础上 ,首次提出了机器人在非结构环境下识别障碍物的一种新方法 ,即基于障碍物群的方法 .该方法的最大特点在于它可以更加简洁、有效地提取和描述机器人的环境特征 ,这对于较好地实现机器人的导航、避障 ,提高系统的自主性和实时性是至关重要的 .大量的实验结果表明了该方法的有效性 .

Real-Time Channel Model Selection Using Windowed Received Signal Strength Measurements

This paper investigates the potential for using the windowed variance of the received signal strength to select from a set of predetermined channel models for a wireless ranging or localization system. An 868 MHz based measurement system was used to characterize the received signal strength (RSS) of the off-body link formed between two wireless nodes attached to either side of a human thorax and six base stations situated in the local surroundings.

Trafic intracellulaire de l’ARN de la télomérase chez Saccharomyces cerevisiæ : relation entre biogénèse de la télomérase et homéostasie des télomères

Le contrôle de la longueur des télomères est une étape critique régissant le potentiel réplicatif des cellules eucaryotes. A cause du problème de fin de réplication, les chromosomes raccourcissent à chaque cycle de division. Ce raccourcissement se produit dans des séquences particulières appelées télomères. La longueur des télomères est en relation directe avec les capacités prolifératives des cellules et est responsable de la limite de division de Hayflick. Cependant, dans certains types cellulaires et dans plus de 90% des cancers, la longueur des télomères va être maintenue par une enzyme spécialisée appelée télomérase. Encore aujourd’hui, comprendre la biogénèse de la télomérase et savoir comment elle est régulée reste un élément clé dans la lutte contre le cancer. Depuis la découverte de cette enzyme en 1985, de nombreux facteurs impliqués dans sa maturation ont été identifiés. Cependant, comment ces facteurs sont intégrés dans le temps et dans l’espace, afin de produire une forme active de la télomérase, est une question restée sans réponse. Dans ce projet, nous avons utilisé la levure Saccharomyces cerevisiæ comme modèle d’étude des voies de biogénèse et de trafic intracellulaire de l’ARN de la télomérase, en condition endogène. La première étape de mon travail fut d’identifier les facteurs requis pour l’assemblage et la localisation de la télomérase aux télomères en utilisant des techniques d’Hybridation In Situ en Fluorescence (FISH). Nous avons pu montrer que la composante ARN de la télomérase fait la navette entre le noyau et le cytoplasme, en condition endogène, dans les cellules sauvages. Nos travaux suggèrent que ce trafic sert de contrôle qualité puisqu’un défaut d’assemblage de la télomérase conduit à son accumulation cytoplasmique et prévient donc sa localisation aux télomères. De plus, nous avons identifié les voies d’import/export nucléaire de cet ARN. Dans une deuxième approche, nous avons réussi à développer une méthode de détection des particules télomérasiques in vivo en utilisant le système MS2-GFP. Notre iv étude montre que contrairement à ce qui a été précédemment décrit, la télomérase n’est pas associée de façon stable aux télomères au cours du cycle cellulaire. En fin de phase S, au moment de la réplication des télomères, la télomérase se regroupe en 1 à 3 foci dont certains colocalisent avec les foci télomériques, suggérant que nous visualisons la télomérase active aux télomères in vivo. La délétion des gènes impliqués dans l’activation et le recrutement de la télomérase aux télomères entraine une forte baisse dans l’accumulation des foci d’ARN au sein de la population cellulaire. Nos résultats montrent donc pour la première fois la localisation endogène de l’ARN TLC1 in situ et in vivo et propose une vue intégrée de la biogenèse et du recrutement de la télomérase aux télomères.

Exciton behavior in GaAs/AlGaAs coupled double quantum wells with interface disorder

In this work, we present a detailed study on the optical properties of two GaAs/Al(0.35)Ga(0.65)As coupled double quantum wells (CDQWs) with inter-well barriers of different thicknesses, by using photoluminescence (PL) spectroscopy. The two CDQWs were grown in a single sample, assuring very similar experimental conditions for measurements of both. The PL spectrum of each CDQW exhibits two recombination channels which can be accurately identified as the excitonic e(1)-hh(1) transitions originated from CDQWs of different effective dimensions. The PL spectra characteristics and the behavior of the emissions as a function of temperature and excitation power are interpreted in the scenario of the bimodal interface roughness model, taking into account the exciton migration between the two regions considered in this model and the difference in the potential fluctuation levels between those two regions. The details of the PL spectra behavior as a function of excitation power are explained in terms of the competition between the band gap renormalization (BGR) and the potential fluctuation effects. The results obtained for the two CDQWs, which have different degrees of potential fluctuation, are also compared and discussed. (C) 2009 Elsevier B.V. All rights reserved.