Engineering Commons^™

Secure Localization Topology And Methodology For A Dedicated Automated Highway System, Bhaswati Deka

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

In today’s fast-paced world, mobility is a very important factor in improving the quality of living. The purpose of an automated transportation system (ATS) is to provide mobility to one and all, irrespective of their capabilities. An ATS requires a lot of planning to be efficient and safe for public use. One of the main aspects of safety is to determine the location of the individual vehicles within the system and ensure that their location is not posing any hazard to other vehicles in the system or any other entity outside the system. The process of determining or verifying the …

Conductive Textiles And Their Use In Combat Wound Detection, Sensing, And Localization Applications, Stephen A. Holland

Masters Theses

Conductive textiles, originally used for electromagnetic shielding purposes, have recently been utilized in body area network applications as fabric antennas and distributed sensors used to document and analyze kinematic movement, health vital signs, or haptic interactions. This thesis investigates the potential for using conductive textiles as a distributed sensor and integrated communication system component for use in combat wound detection, sensing, and localization applications. The goal of these proof-of-concept experiments is to provide a basis for robust system development which can expedite and direct the medical response team in the field. The combat wound detection system would have the capability …

Routing, Localization And Positioning Protocols For Wireless Sensor And Actor Networks, Mustafa Akbas

Electronic Theses and Dissertations

Wireless sensor and actor networks (WSANs) are distributed systems of sensor nodes and actors that are interconnected over the wireless medium. Sensor nodes collect information about the physical world and transmit the data to actors by using one-hop or multi-hop communications. Actors collect information from the sensor nodes, process the information, take decisions and react to the events. This dissertation presents contributions to the methods of routing, localization and positioning in WSANs for practical applications. We first propose a routing protocol with service differentiation for WSANs with stationary nodes. In this setting, we also adapt a sports ranking algorithm to …

Developing A System For Blind Acoustic Source Localization And Separation, Raghavendra Kulkarni

Wayne State University Theses

This dissertation presents innovate methodologies for locating, extracting, and separating multiple incoherent sound sources in three-dimensional (3D) space; and applications of the time reversal (TR) algorithm to pinpoint the hyper active neural activities inside the brain auditory structure that are correlated to the tinnitus pathology. Specifically, an acoustic modeling based method is developed for locating arbitrary and incoherent sound sources in 3D space in real time by using a minimal number of microphones, and the Point Source Separation (PSS) method is developed for extracting target signals from directly measured mixed signals. Combining these two approaches leads to a novel technology …

Walkcompass: Finding Walking Direction Leveraging Smartphone's Inertial Sensors, Nirupam Roy

Theses and Dissertations

Determining moving direction with smartphone's inertial sensors is a well known problem in the field of location service. Compass alone cannot solve this problem because smartphone's compass cannot achieve high accuracy. Moreover GPS is not suitable in indoor scenario. Another well known approach is dead-reckoning but dead-reckoning needs to know phones initial orientation and over time it keeps accumulating errors and after some time the estimation becomes to noisy to use. To overcome these limitations, we propose a solution called WalkCompass which is specially designed for pedestrians keeping in mind the variation of force during normal human walk. Therefore the …

Computational Analysis And Prediction Of Genome-Wide Protein Targeting Signals And Localization, Jhih-Rong Lin

Theses and Dissertations

Computational prediction of protein subcellular localization can greatly help to elucidate its functions. Despite the existence of dozens of protein localization prediction algorithms, the prediction accuracy and coverage are still low. Several ensemble algorithms have been proposed to improve the prediction performance, which usually include as many as 10 or more individual localization algorithms. However, their performance is still limited by the running complexity and redundancy among individual prediction algorithms. In the first part of the dissertation, we propose a novel method for rational design of minimalist ensemble algorithms for practical genome-wide protein subcellular localization prediction. The algorithm is based …

Robotic Swarming Without Inter-Agent Communication, Daniel Jonathan Standish

USF Tampa Graduate Theses and Dissertations

Many physical and algorithmic swarms utilize inter-agent communication to achieve advanced swarming behaviors. These swarms are inspired by biological swarms that can be seen throughout nature and include bee swarms, ant colonies, fish schools, and bird flocks. These biological swarms do not utilize inter-agent communication like their physical and algorithmic counterparts. Instead, organisms in nature rely on a local awareness of other swarm members that facilitates proper swarm motion and behavior. This research aims to pursue an effective swarm algorithm using only line-of-sight proximity information and no inter-agent communication. It is expected that the swarm performance will be lower than …

Mapping And Visualizing Ancient Water Storage Systems With An Rov – An Approach Based On Fusing Stationary Scans Within A Particle Filter, William D. Mcvicker

Master's Theses

This paper presents a new method for constructing 2D maps of enclosed un- derwater structures using an underwater robot equipped with only a 2D scanning sonar, compass and depth sensor. In particular, no motion model or odometry is used. To accomplish this, a two step offline SLAM method is applied to a set of stationary sonar scans. In the first step, the change in position of the robot between each consecutive pair of stationary sonar scans is estimated using a particle filter. This set of pair wise relative scan positions is used to create an estimate of each scan’s position …

Multi-Tag Access For A High Precision Ultra-Wideband Localization System, Nathan Carl Rowe

Masters Theses

Ultra-Wideband (UWB) wireless positioning systems have many advantages for track- ing and locating items in indoor environments. Surgical navigation and industrial process control are potential applications for high accuracy UWB localization systems with millimeter or sub-millimeter accuracy. I present improvements made to an existing high accuracy, multi-tag, UWB localization system. The goal of this thesis was to improve the multi-tag performance of this system while maintaining the high localization accuracy, and to utilize the UWB system for digital communications allowing the existing narrowband 2.4 GHz transceiver to be eliminated.

This thesis presents a proof-of-concept for a multi-tag, UWB localization system …

A Study Of Environment Noise In Ultra-Wideband Indoor Position Tracking, William Suski

All Dissertations

This work is motivated by the problem of improving the accuracy of indoor ultra-wideband (UWB) position tracking through the study of the environment noise that affects such a system. Current systems can provide accuracy in the range of 30-100 cm in a small building, suitable for applications that require rough room-level precision such as asset tracking and surveillance. Our long-term goal is to improve the accuracy to 1 cm or better, expanding potential applications to telepresence, augmented reality, training and entertainment.
This work investigates the possibility of systematically observing the measurement noise of an UWB position tracking system and building …

Target Localization In Passive And Active Systems : Performance Bonds, Vlad Mihai Chiriac

Dissertations

The main goal of this dissertation is to improve the understanding and to develop ways to predict the performance of localization techniques as a function of signal-to-noise ratio (SNR) and of system parameters. To this end, lower bounds on the maximum likelihood estimator (MLE) performance are studied. The Cramer-Rao lower bound (CRLB) for coherent passive localization of a near-field source is derived. It is shown through the Cramer-Rao bound that, the coherent localization systems can provide high accuracies in localization, to the order of carrier frequency of the observed signal. High accuracies come to a price of having a highly …

Passive Acoustic Vessel Localization, Pasang Sherpa Suwal

Dissertations and Theses

This thesis investigates the development of a low-cost passive acoustic system for localizing moving vessels to monitor areas where human activities such as fishing, snorkeling and poaching are restricted. The system uses several off-the-shelf sensors with unsynchronized clocks where the Time Difference of Arrival (TDOA) or time delay is extracted by cross-correlation of the signal between paired sensors. The cross-correlation function uses phase correlation or Phase Transform (PHAT) which whitens the cross-spectrum in order to de-emphasize dominant frequency components. Using the locations of pairs of sensors as foci, hyperbolic equations can be defined using the time delay between them. With …

State Estimation For Tracking Of Tagged Sharks With An Auv, Christina Forney

Master's Theses

Presented is a method for estimating the planar position, velocity, and orientation states of a tagged shark. The method is designed for implementation on an Autonomous Underwater Vehicle (AUV) equipped with a stereo-hydrophone and receiver system that detects acoustic signals transmitted by a tag. The particular hydrophone system used here provides a measurement of relative bearing angle to the tag, but does not provide the sign (+ or -) of the bearing angle. A particle filter was used for fusing measurements over time to produce a state estimate of the tag location. The particle filter combined with an active control …

Underwater Localization And Tracking Of Physical Systems, Patrick E. Carroll

Master's Theses

In this paper, we investigate the problem of localizing an underwater sensor node basedon message broadcasting from multiple surface nodes. With the time-of-arrival measurementsfrom a DSP-based multicarrier modem, each sensor node localizes itself based on the traveltime differences among multiple senders to the receiver. Using one-way message passing, such asolution can scale to accommodate a large number of nodes in a network. We consider the issuefrom not only the physical layer, but also at the node processing layer by incorporating a trackingsolution. We present simulation results as well as preliminary testing results in a swimming poolwith both stationary and moving …

3-D Terrain Mapping And Navigation Using A Laser Range Finder, Matthew L. Azevedo, Matthew Parilla, Kevin K. Parsons

Mechanical Engineering

The purpose of this Senior Project is to develop and implement a three-dimensional mapping and navigation system utilizing laser technology on a robotic platform. The sponsor of this project, Synbotics® Incorporated, currently has an obstacle avoidance system only operating in a single horizontal plane. This limits the mapping and navigation ability of the robot because objects below and above this plane are not accounted for. A three-dimensional system is needed to allow the robot to better navigate and map an area by accounting for these objects in the third dimension and avoiding collisions. Keith Guy, Synbotics® Chief Executive Officer, requested …

Efficient Time Of Arrival Calculation For Acoustic Source Localization Using Wireless Sensor Networks, Prashanth G. Reddy

ETD Archive

Acoustic source localization is a very useful tool in surveillance and tracking applications. Potential exists for ubiquitous presence of acoustic source localization systems. However, due to several significant challenges they are currently limited in their applications. Wireless Sensor Networks (WSN) offer a feasible solution that can allow for large, ever present acoustic localization systems. Some fundamental challenges remain. This thesis presents some ideas for helping solve the challenging problems faced by networked acoustic localization systems. We make use of a low-power WSN designed specifically for distributed acoustic source localization. Our ideas are based on three important observations. First, sounds emanating …

Monocular Vision And Image Correlation To Accomplish Autonomous Localization, Matthew Paul Schlachtman

Master's Theses

For autonomous navigation, robots and vehicles must have accurate estimates of their current state (i.e. location and orientation) within an inertial coordinate frame. If a map is given a priori, the process of determining this state is known as localization. When operating in the outdoors, localization is often assumed to be a solved problem when GPS measurements are available. However, in urban canyons and other areas where GPS accuracy is decreased, additional techniques with other sensors and filtering are required.

This thesis aims to provide one such technique based on monocular vision. First, the system requires a map be generated, …

Transmitter Localization Using Autonomous Robotic Swarms, Joshua S. Adams

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

The purpose of this research is to design a proof of concept system that is capable of locating a hidden radio transmitter and to investigate methods of multi-agent formation control with a specific interest in the effectiveness of these methods on the overall objective of locating this transmitter. A system is proposed and developed in which autonomous agents work together to locate this transmitter and their responsiveness is analyzed while using formations based both on a behavioral system and a system derived from centroidal Voronoi tessellations. Many software adaptations to the existing MASnet program are required, as well as some …

Wi-Fi Localization Using Rssi Fingerprinting, Michael Quan, Eduardo Navarro, Benjamin Peuker

Computer Engineering

Wireless Local Area Networks using Wi-Fi is becoming more and more ubiquitous. As such, they provide a potential pre-built infrastructure for small area localization. This project serves as a proof of concept for a playground child tracking system to be deployed at Cal Poly's Child Development Playground Lab. The two main options for doing Wi-Fi localization are triangulation and fingerprinting. Triangulation involves mapping signal strength as a function of distance while fingerprinting creates a probability distribution of signal strengths at a given location and uses a map of these distributions to predict a location given signal strength samples. The triangulation …

Localization And Surveillance Using Wireless Sensor Network And Pan/Tilt Camera, Pratikkumar U. Desai

Browse all Theses and Dissertations

The ever growing challenges in hostile environments, health care and warzone require accurate indoor localization and surveillance. The de facto localization technique using GPS has poor indoor performance due to the complexity of the indoor environment. Other Radio frequency based indoor localization techniques are unable of accurate localization due to multipath fading.

In this thesis, a system consisting of Cricket wireless sensor motes, a camera and a Pan/Tilt gimbal is proposed to solve the indoor localization and surveillance problems. The system is easy to deploy, is cost effective and gives accurate results. The Crickets motes use the Time Difference of …

Applications Of Search Theory To Coordinated Searching By Unmanned Aerial Vehicles, Steven R. Hansen

Theses and Dissertations

Concepts in optimal search theory have been used in human-based aerial search since World War II. This thesis addresses the technical and theoretical issues necessary to apply this crucial theory to search path planning for Small Unmanned Aerial Vehicles (SUAVs). A typical search often requires that more than one target be located. Accordingly, a method is presented to locate multiple targets in three dimensions, as well as to differentiate between them. However, significant error can be present when locating targets from an airborne platform, and the idea of target quality is also introduced as a way to describe the reliability …

A Nonlocal Model For Coupled Damage-Plasticity Incorporating Gradients Of Internal State Variables At Multiscales, Robert J. Dorgan

LSU Doctoral Dissertations

The thermodynamically consistent formulation and the subsequent numerical implementation of a gradient enhanced continuum coupled damage-plasticity model as a constitutive framework to model ill-posed localization problems is presented. By the introduction of "nonlocal," gradient-enhanced measures in the plasticity potential function and yield criterion and in the damage potential function and damage criterion, the proposed model introduces microstructural characteristic material length scales which allows the size of localized zones to be predicted based on material constants, as opposed to local models where the loss of ellipticity causes the localized zones to be mesh dependent.
The gradient model proposed introduces non-linear functions …

Simulation And Analysis Of Rfid Localization Algorithms, Zubin Shah

Browse all Theses and Dissertations

Radio frequency identification (RFID) based localization systems provide a unique approach to localize mobile entities equipped with RFID readers or tagged with RFID tags. UHF RFID systems using passive tags are a good choice considering their cost, reading range, and reliability. With global acceptance and deployment of UHF RFID systems using passive tags for tracking and identification, virtually everything around us can be tagged with small and low-cost passive RFID tags. This thesis describes a Monte Carlo Localization based algorithm to localize a mobile RFID reader within a tagged environment. A software tool is developed to validate this localization process, …

Vision-Based Target Localization From A Small, Fixed-Wing Unmanned Air Vehicle, Joshua D. Redding

Theses and Dissertations

Unmanned air vehicles (UAVs) are attracting increased attention as their envelope of suitable tasks expands to include activities such as perimeter tracking, search and rescue assistance, surveillance and reconnaissance. The simplified goal of many of these tasks is to image an object for tracking or information-gathering purposes. The ability to determine the inertial location of a visible, ground-based object without requiring a priori knowledge of its exact location would therefore prove beneficial. This thesis discusses a method of localizing a ground-based object when imaged from a fixed-wing UAV. Using the target's pixel location in an image, with measurements of UAV …