Fine-grained Indoor Tracking by Fusing Inertial Sensor and Physical Layer Information in WLANs

Indoor positioning has become an emerging research area because of huge commercial demands for location-based services in indoor environments. Channel State Information (CSI) as a fine-grained physical layer information has been recently proposed to achieve high positioning accuracy by using range-based methods, e.g., trilateration. In this work, we propose to fuse the CSI-based ranges and velocity estimated from inertial sensors by an enhanced particle filter to achieve highly accurate tracking. The algorithm relies on some enhanced ranging methods and further mitigates the remaining ranging errors by a weighting technique. Additionally, we provide an efficient method to estimate the velocity based on inertial sensors. The algorithms are designed in a network-based system, which uses rather cheap commercial devices as anchor nodes. We evaluate our system in a complex environment along three different moving paths. Our proposed tracking method can achieve 1:3m for mean accuracy and 2:2m for 90% accuracy, which is more accurate and stable than pedestrian dead reckoning and range-based positioning.

Robust indoor localization of narrowband signals

Many location-based services target users in indoor environments. Similar to the case of dense urban areas where many obstacles exist, indoor localization techniques suffer from outlying measurements caused by severe multipath propaga??tion and non-line-of-sight (NLOS) reception. Obstructions in the signal path caused by static or mobile objects downgrade localization accuracy. We use robust multipath mitigation techniques to detect and filter out outlying measurements in indoor environments. We validate our approach using a power-based lo??calization system with GSM. We conducted experiments without any prior knowledge of the tracked device's radio settings or the indoor radio environment. We obtained localization errors in the range of 3m even if the sensors had NLOS links to the target device.

Fine-grained indoor positioning and tracking systems

Indoor positioning has attracted considerable attention for decades due to the increasing demands for location based services. In the past years, although numerous methods have been proposed for indoor positioning, it is still challenging to find a convincing solution that combines high positioning accuracy and ease of deployment. Radio-based indoor positioning has emerged as a dominant method due to its ubiquitousness, especially for WiFi. RSSI (Received Signal Strength Indicator) has been investigated in the area of indoor positioning for decades. However, it is prone to multipath propagation and hence fingerprinting has become the most commonly used method for indoor positioning using RSSI. The drawback of fingerprinting is that it requires intensive labour efforts to calibrate the radio map prior to experiments, which makes the deployment of the positioning system very time consuming. Using time information as another way for radio-based indoor positioning is challenged by time synchronization among anchor nodes and timestamp accuracy. Besides radio-based positioning methods, intensive research has been conducted to make use of inertial sensors for indoor tracking due to the fast developments of smartphones. However, these methods are normally prone to accumulative errors and might not be available for some applications, such as passive positioning. This thesis focuses on network-based indoor positioning and tracking systems, mainly for passive positioning, which does not require the participation of targets in the positioning process. To achieve high positioning accuracy, we work on some information of radio signals from physical-layer processing, such as timestamps and channel information. The contributions in this thesis can be divided into two parts: time-based positioning and channel information based positioning. First, for time-based indoor positioning (especially for narrow-band signals), we address challenges for compensating synchronization offsets among anchor nodes, designing timestamps with high resolution, and developing accurate positioning methods. Second, we work on range-based positioning methods with channel information to passively locate and track WiFi targets. Targeting less efforts for deployment, we work on range-based methods, which require much less calibration efforts than fingerprinting. By designing some novel enhanced methods for both ranging and positioning (including trilateration for stationary targets and particle filter for mobile targets), we are able to locate WiFi targets with high accuracy solely relying on radio signals and our proposed enhanced particle filter significantly outperforms the other commonly used range-based positioning algorithms, e.g., a traditional particle filter, extended Kalman filter and trilateration algorithms. In addition to using radio signals for passive positioning, we propose a second enhanced particle filter for active positioning to fuse inertial sensor and channel information to track indoor targets, which achieves higher tracking accuracy than tracking methods solely relying on either radio signals or inertial sensors.

Fine-grained Indoor Tracking by Fusing Inertial Sensor and Physical Layer Information in WLANs

Indoor positioning has become an emerging research area because of huge commercial demands for location-based services in indoor environments. Channel State Information (CSI) as fine-grained physical layer information has been recently proposed to achieve high positioning accuracy by using range based methods, e.g., trilateration. In this work, we propose to fuse the CSI-based ranging and velocity estimated from inertial sensors by an enhanced particle filter to achieve highly accurate tracking. The algorithm relies on some enhanced ranging methods and further mitigates the remaining ranging errors by a weighting technique. Additionally, we provide an efficient method to estimate the velocity based on inertial sensors. The algorithms are designed in a network-based system, which uses rather cheap commercial devices as anchor nodes. We evaluate our system in a complex environment along three different moving paths. Our proposed tracking method can achieve 1.3m for mean accuracy and 2.2m for 90% accuracy, which is more accurate and stable than pedestrian dead reckoning and range-based positioning.

Use of light intensity, temperature, and humidity to verify exposure location

Research studies on the association between exposures to air contaminants and disease frequently use worn dosimeters to measure the concentration of the contaminant of interest. But investigation of exposure determinants requires additional knowledge beyond concentration, i.e., knowledge about personal activity such as whether the exposure occurred in a building or outdoors. Current studies frequently depend upon manual activity logging to record location. This study's purpose was to evaluate the use of a worn data logger recording three environmental parameters—temperature, humidity, and light intensity—as well as time of day, to determine indoor or outdoor location, with an ultimate aim of eliminating the need to manually log location or at least providing a method to verify such logs. For this study, data collection was limited to a single geographical area (Houston, Texas metropolitan area) during a single season (winter) using a HOBO H8 four-channel data logger. Data for development of a Location Model were collected using the logger for deliberate sampling of programmed activities in outdoor, building, and vehicle locations at various times of day. The Model was developed by analyzing the distributions of environmental parameters by location and time to establish a prioritized set of cut points for assessing locations. The final Model consisted of four "processors" that varied these priorities and cut points. Data to evaluate the Model were collected by wearing the logger during "typical days" while maintaining a location log. The Model was tested by feeding the typical day data into each processor and generating assessed locations for each record. These assessed locations were then compared with true locations recorded in the manual log to determine accurate versus erroneous assessments. The utility of each processor was evaluated by calculating overall error rates across all times of day, and calculating individual error rates by time of day. Unfortunately, the error rates were large, such that there would be no benefit in using the Model. Another analysis in which assessed locations were classified as either indoor (including both building and vehicle) or outdoor yielded slightly lower error rates that still precluded any benefit of the Model's use.^

A Bayesian strategy to enhance the performance of indoor localization systems

This work describes the probabilistic modelling af a Bayesian-based mechanism to improve location estimates of an already deployed location system by fusing its outputs with low-cost binary sensors. This mechanism takes advantege of the localization captabilities of different technologies usually present in smart environments deployments. The performance of the proposed algorithm over a real sensor deployment is evaluated using simulated and real experimental data.

Indoor positioning using Android Platform

In recent years, there has been a great increase in the development of wireless technologies and location services. For this reason, numerous projects in the location field, have arisen. In addition, with the appearance of the open Android operating system, wireless technologies are being developed faster than ever. This Project approaches the design and development of a system that combines the technologies of wireless, location and Android with the implementation of an indoor positioning system. As a result, an Android application has been obtained, which detects the position of a phone in a simple and useful way. The application is based on the WIFI manager API of Android. It combines the data stored in a SQL database with the wifi data received at any given time. Afterwards the position of the user is determined with the algorithm that has been implemented. This application is able to obtain the position of any person who is inside a building with Wi-Fi coverage, and display it on the screen of any device with the Android operating system. Besides the estimation of the position, this system displays a map that helps you see in which quadrant of the room are positioned in real time. This system has been designed with a simple interface to allow people without technology knowledge. Finally, several tests and simulations of the system have been carried out to see its operation and accuracy. The performance of the system has been verified in two different places and changes have been made in the Java code to improve its precision and effectiveness. As a result of the several tests, it has been noticed that the placement of the access point (AP) and the configuration of the Wireless network is an important point that should be taken into account to avoid interferences and errors as much as possible, in the estimation of the position. RESUMEN. En los últimos años, se ha producido un incremento en el desarrollo de tecnologías inalámbricas y en servicios de localización y posicionamiento. Por esta razón, han surgido numerosos proyectos relacionados con estas tecnologías. Por otra parte, un punto importante en el desarrollo de estas tecnologías ha sido la aparición del lenguaje Android que ha hecho que estas nuevas tecnologías se implementaran con una mayor rapidez. Este proyecto, se acerca al diseño y desarrollo de un sistema que combina tecnologías inalámbricas, de ubicación y uso de lenguaje Android para el desarrollo de una aplicación de un sistema de posicionamiento en interiores. Como consecuencia de esto se ha obtenido una aplicación Android que detecta la posición de un dispositivo móvil de una manera sencilla e intuititva. La aplicación se basa en la API WIFI de Android, que combina los datos almacenados en una base de datos SQL con los datos recibidos vía Wi-Fi en cualquier momento. A continuación, la posición del usuario se determina con el algoritmo que se ha implementado a lo largo de todo el proyecto utilizando código Android. Esta aplicación es capaz de obtener la posición de cualquier persona que se encuentra dentro de un edificio con cobertura Wi-Fi, mostrando por pantalla la ubicación del usuario en cualquier dispositivo que disponga de sistema operativo Android. Además de la estimación de la posición, este sistema muestra un mapa que le ayuda a ver en qué cuadrante de la sala está situado el usuario. Este sistema ha sido diseñado con una interfaz sencilla para permitir que usuarios sin conocimiento tecnológico o no acostumbrados al uso de los nuevos dispositivos de hoy en día puedan usarlo de una manera sencilla y de forma intuitiva. Por último, se han llevado a cabo varias pruebas y simulaciones del sistema para verificar su funcionamiento y precisión. El rendimiento del sistema se ha comprobado en dos puntos diferentes de la sala (lugar donde se han hecho todas las pruebas y desarrollado la aplicación) realizando cambios en el código Java para mejorar aún más la precisión y eficacia del posicionamiento. Como resultado de todo esto, se ha comprobado que la ubicación del punto de acceso (AP) y la configuración de la red inalámbrica es importante, y por ello se debe de tener en cuenta para evitar interferencias y tantos errores como sea posible en la estimación de la posición.

RF MIMO Systems for Wide-Area Indoor Human Motion Monitoring

Human motion monitoring is an important function in numerous applications. In this dissertation, two systems for monitoring motions of multiple human targets in wide-area indoor environments are discussed, both of which use radio frequency (RF) signals to detect, localize, and classify different types of human motion. In the first system, a coherent monostatic multiple-input multiple-output (MIMO) array is used, and a joint spatial-temporal adaptive processing method is developed to resolve micro-Doppler signatures at each location in a wide-area for motion mapping. The downranges are obtained by estimating time-delays from the targets, and the crossranges are obtained by coherently filtering array spatial signals. Motion classification is then applied to each target based on micro-Doppler analysis. In the second system, multiple noncoherent multistatic transmitters (Tx's) and receivers (Rx's) are distributed in a wide-area, and motion mapping is achieved by noncoherently combining bistatic range profiles from multiple Tx-Rx pairs. Also, motion classification is applied to each target by noncoherently combining bistatic micro-Doppler signatures from multiple Tx-Rx pairs. For both systems, simulation and real data results are shown to demonstrate the ability of the proposed methods for monitoring patient repositioning activities for pressure ulcer prevention.

Indoor air quality in Portuguese schools: levels and sources of pollutants

Indoor air quality (IAQ) parameters in 73 primary classrooms in Porto were examined for the purpose of assessing levels of volatile organic compounds (VOCs), aldehydes, particulate matter, ventilation rates and bioaerosols within and between schools, and potential sources. Levels of VOCs, aldehydes, PM2.5 , PM10 , bacteria and fungi, carbon dioxide (CO2 ), carbon monoxide, temperature and relative humidity were measured indoors and outdoors and a walkthrough survey was performed concurrently. Ventilation rates were derived from CO2 and occupancy data. Concentrations of CO2 exceeding 1000 ppm were often encountered, indicating poor ventilation. Most VOCs had low concentrations (median of individual species <5 μg/m(3) ) and were below the respective WHO guidelines. Concentrations of particulate matter and culturable bacteria were frequently higher than guidelines/reference values. The variability of VOCs, aldehydes, bioaerosol concentrations, and CO2 levels between schools exceeded the variability within schools. These findings indicate that IAQ problems may persist in classrooms where pollutant sources exist and classrooms are poorly ventilated; source control strategies (related to building location, occupant behavior, maintenance/cleaning activities) are deemed to be the most reliable for the prevention of adverse health consequences in children in schools.

Evaluation Of The Location Of Capsules Swallowed With Food During The Pharyngeal Phase Triggering In Asymptomatic Adults.

To assess the location of hard gelatin capsules in the pharyngeal phase triggering among asymptomatic adults. The location of the bolus during the pharyngeal phase triggering provides information about the sensorimotor model of the beginning of deglutition onset. To evaluate the location of hard gelatin capsules in the pharyngeal phase triggering among asymptomatic adults. A videofluoroscopy swallowing study was carried out in 60 subjects (14 male and 46 female participants) aged between 27 and 55 years, who were evaluated with hard gelatin capsules #00 and #3 containing barium sulfate, swallowed with liquid food and pudding, in free volume. The first laryngeal elevation movement was the criterion to locate the pharyngeal phase triggering. Statistical analysis was based on the McNemar test. Capsule #3 presented higher percentage of location in the tongue dorsum compared to capsule #00, and capsule #00 presented higher percentage of location in the tongue base and vallecula compared to capsule #3. There was a difference between different capsules swallowed with liquid (p=0.016) and pudding (p=0.037). The capsule size influenced the location of the pharyngeal phase triggering. Smaller capsules started pharyngeal phase in the most anterior region (tongue dorsum) compared to larger capsules.

Impacto da desidratação na geração de força de atletas de arco e flecha durante competição Indoor e Outdoor

INTRODUÇÃO: O arco e flecha é um esporte estático que requer força e resistência da parte superior do corpo, sendo que a habilidade do arqueiro é definida pela capacidade de atirar a flecha no alvo em um intervalo de tempo com precisão. A contração muscular gerada durante a execução do gesto esportivo propicia o aumento da temperatura corporal, da oxidação de glicose e da sudorese, podendo esta ser potencializada pelas condições climáticas às quais o atleta é exposto. Todos estes fatores alteram a percepção de esforço e a própria geração de força, impondo um estresse negativo à performance. OBJETIVOS: Avaliar e relacionar o estado de hidratação de atletas de arco e flecha com alterações fisiológicas e de força intervenientes no rendimento competitivo. MÉTODOS: Participaram 11 arqueiros em duas competições distintas (indoor e outdoor). Foram mensurados parâmetros relacionados ao estado de hidratação, glicemia, percepção de esforço subjetivo e alteração na força de preensão palmar. RESULTADOS: Os atletas analisados apresentaram alterações significativas nos parâmetros relacionados ao estado hídrico em diferentes dias, provavelmente relacionadas às condições climáticas adversas na competição outdoor (34ºC e 60% URA) em relação à competição indoor (22ºC e 90% URA). O mesmo não foi observado para a glicemia. CONCLUSÃO: Este trabalho é o primeiro a comprovar a relação direta entre fatores climáticos e de rendimento em arqueiros de alto nível durante evento competitivo, assim como a evidenciar quais métodos não invasivos seriam os mais indicados para a avaliação do impacto destas alterações.

Cytogenetic analysis of Astylus antis (Perty, 1830) (Coleoptera, Melyridae): Karyotype, heterochromatin and location of ribosomal genes

Cytogenetic analysis of Astylus antis using mitotic and meiotic cells was performed to characterize the haploid and diploid numbers, sex determination system, chromosome morphology, constitutive heterochromatin distribution pattern and chromosomes carrying nucleolus organizer regions (NORs). Analysis of spermatogonial metaphase cells revealed the diploid number 2n = 18, with mostly metacentric chromosomes. Metaphase I cells exhibited 2n = 8II+Xyp and a parachute configuration of the sex chromosomes. Spermatogonial metaphase cells submitted to C-banding showed the presence of small dots of constitutive heterochromatin in the centromeric regions of nearly all the autosomes and on the short arm of the X chromosome (Xp), as well as an additional band on one of the arms of pair 1. Mitotic cells submitted to double staining with base-specific fluorochromes (DAPI-CMA3) revealed no regions rich in A+T or G+C sequences. Analysis of spermatogonial mitotic cells after sequential Giemsa/AgNO3 staining did not reveal any specific mark on the chromosomes. Meiotic metaphase I cells stained with silver nitrate revealed a strong impregnation associated to the sex chromosomes, and in situ hybridization with an 18S rDNA probe showed ribosomal cistrons in an autosomal bivalent.

Indoor and outdoor atmospheric fungal spores in the São Paulo metropolitan area (Brazil): species and numeric concentrations

The aim of this study was to estimate the indoor and outdoor concentrations of fungal spores in the Metropolitan Area of Sao Paulo (MASP), collected at different sites in winter/spring and summer seasons. The techniques adopted included cultivation (samples collected with impactors) and microscopic enumeration (samples collected with impingers). The overall results showed total concentrations of fungal spores as high as 36,000 per cubic meter, with a large proportion of non culturable spores (around 91 per cent of the total). Penicillium sp. and Aspergillus sp. were the dominant species both indoors and outdoors, in all seasons tested, occurring in more than 30 per cent of homes at very high concentrations of culturable airborne fungi [colony forming units(CFU) m−3]. There was no significant difference between indoor and outdoor concentrations. The total fungal spore concentration found in winter was 19 per cent higher than that in summer. Heat and humidity were the main factors affecting fungal growth; however, a non-linear response to these factors was found. Thus, temperatures below 16°C and above 25°C caused a reduction in the concentration (CFU m−3) of airborne fungi, which fits with MASP climatalogy. The same pattern was observed for humidity, although not as clearly as with temperature given the usual high relative humidity (above 70 per cent) in the study area. These results are relevant for public health interventions that aim to reduce respiratory morbidity among susceptible populations

Work start time and chronotype of indoor and outdoor daytime workers

Introdução e objetivo: A exposição à luz natural tem efeitos relevantes no sistema de temporização biológica. Pode-se supor que essa exposição poderia promover um ajuste melhor entre os ritmos biológicos e os horários de início de trabalho entre trabalhadores diurnos de ambientes externos. O objetivo deste estudo foi comparar a matutinidade/vespertinidade e a relação entre o horário de trabalho real e o ideal em trabalhadores diurnos expostos a condições de iluminação distintas. Métodos: O estudo foi conduzido com dois grupos de trabalhadores (n=49) que residiam em uma área rural e tinham condições sociais similares. Um grupo trabalhava em ambiente interno (n=20, idade média 30,8 anos (21-50); desvio padrão=9,8) e o outro grupo trabalhava em ambiente externo (n=29, idade média 30,8 anos (17- 50); desvio padrão=10,0). Os trabalhadores preencheram um questionário de matutinidade/vespertinidade (MEQ). Foi realizada uma ANOVA de um fator com o intuito de comparar os escores do MEQ entre os dois grupos de trabalhadores. Resultados: Como esperado, o Grupo do Ambiente Externo (GAE) apresentou média de escores mais elevada que o Grupo do Ambiente Interno (GAI), o que significa uma tendência à matutinidade (GAE: 58,4±7,9; GAI; 47,4±6,4), com significância estatística (F=26,22; p<0,001). De acordo com os dados relatados em relação aos horários de trabalho, o GAE gostaria de atrasar seu horário de trabalho em 31 minutos, em média, enquanto que o GAI gostaria de atrasar em 96 minutos seu horário de trabalho (F=7,71; p<0,01). Conclusões: Os resultados desse estudo sugerem que a exposição à luz natural pode promover um ajuste melhor aos horários de início de trabalho matutinos

A scientific note: Foragers deposit attractive scent marks in a stingless bee that does not communicate food location

National Science Foundation NSF IBN[0316697]