Physical Sciences and Mathematics Commons^™

Exploiting The Advantages And Overcoming The Challenges Of The Cable In A Tethered Drone System, Rogerio Rodrigues Lima

Graduate Theses, Dissertations, and Problem Reports

This dissertation proposes solutions for motion planning, localization, and landing of tethered drones using only tether variables. A tether-based multi-model localization framework for tethered drones is proposed. This framework comprises three independent localization strategies based on a different model. The first strategy uses simple trigonometric relations assuming that the tether is taut; the second method relies on a set of catenary equations for the slack tether case; the third estimator is a neural network-based predictor that can cover different tether shapes. Multi-layer perceptron networks previously trained with a dataset comprised of the tether variables (i.e., length, tether angles on the …

Distributed Wireless Sensor Node Localization Based On Penguin Searchoptimization, Md Al Shayokh, Soo Young Shin

Turkish Journal of Electrical Engineering and Computer Sciences

Wireless sensor networks (WSNs) have become popular for sensing areas-of-interest and performing assigned tasks based on information on the location of sensor devices. Localization in WSNs is aimed at designating distinct geographical information to the inordinate nodes within a search area. Biologically inspired algorithms are being applied extensively in WSN localization to determine inordinate nodes more precisely while consuming minimal computation time. An optimization algorithm belonging to the metaheuristic class and named penguin search optimization (PeSOA) is presented in this paper. It utilizes the hunting approaches in a collaborative manner to determine the inordinate nodes within an area of interest. …

Planning Algorithms Under Uncertainty For A Team Of A Uav And A Ugv For Underground Exploration, Matteo De Petrillo

Graduate Theses, Dissertations, and Problem Reports

Robots’ autonomy has been studied for decades in different environments, but only recently, thanks to the advance in technology and interests, robots for underground exploration gained more attention. Due to the many challenges that any robot must face in such harsh environments, this remains an challenging and complex problem to solve.

As technology became cheaper and more accessible, the use of robots for underground ex- ploration increased. One of the main challenges is concerned with robot localization, which is not easily provided by any Global Navigation Services System (GNSS). Many developments have been achieved for indoor mobile ground robots, making …

V-Slam And Sensor Fusion For Ground Robots, Ejup Hoxha

Dissertations and Theses

In underground, underwater and indoor environments, a robot has to rely solely on its on-board sensors to sense and understand its surroundings. This is the main reason why SLAM gained the popularity it has today. In recent years, we have seen excellent improvement on accuracy of localization using cameras and combinations of different sensors, especially camera-IMU (VIO) fusion. Incorporating more sensors leads to improvement of accuracy,but also robustness of SLAM. However, while testing SLAM in our ground robots, we have seen a decrease in performance quality when using the same algorithms on flying vehicles.We have an additional sensor for ground …

Anchor Adaptive Movement Algorithm For Mobile Nodes Localization, Zhou Fei, Wennan Liu

Journal of System Simulation

Abstract: Location awareness is very important in mobile sensor networks. The existing methods mainly focus on the improvement based on the MCL (Monte Carlo Localization), few of them study the anchor path planning. However, anchors random movement usually causes the waste of energy and resource. Aiming at this deficiency, this paper adopts the grid benefit criterion and achieves anchors adaptive movement. Threshold instead of traversal method is used to reduce the amount of calculation and positioning time. In order to solve the anchors aggregation problem during adaptive movement, we divide the target area into four subareas and constrain part of …

Hardware Trojan Detection And Localization Based On Local Detectors, Amin Bazzazi, Mohammad Taghi Manzuri Shalmani, Ali Mohammad Afshin Hemmatyar

Turkish Journal of Electrical Engineering and Computer Sciences

Hardware Trojans are one of the serious threats with detrimental, irreparable effects on the functionality, security, and performance of digital integrated circuits. It is difficult to detect Trojans because of their diversity in size and performance. While the majority of current methods focus on Trojan detection during chip testing, run-time techniques can be employed to gain unique advantages. This paper proposes a method based on the online scalable detection technique, which eliminates the need for a reference chip. Involving local detectors, this technique assesses the variations in the logical values of each node to find out whether there are Trojans. …

Scalable And Fully Distributed Localization In Large-Scale Sensor Networks, Miao Jin, Su Xia, Hongyi Wu, Xianfeng David Gu

Electrical & Computer Engineering Faculty Publications

This work proposes a novel connectivity-based localization algorithm, well suitable for large-scale sensor networks with complex shapes and a non-uniform nodal distribution. In contrast to current state-of-the-art connectivity-based localization methods, the proposed algorithm is highly scalable with linear computation and communication costs with respect to the size of the network; and fully distributed where each node only needs the information of its neighbors without cumbersome partitioning and merging process. The algorithm is theoretically guaranteed and numerically stable. Moreover, the algorithm can be readily extended to the localization of networks with a one-hop transmission range distance measurement, and the propagation of …

A Novel Approach To Complex Human Activity Recognition, Md Osman Gani

Dissertations (1934 -)

Human activity recognition is a technology that offers automatic recognition of what a person is doing with respect to body motion and function. The main goal is to recognize a person's activity using different technologies such as cameras, motion sensors, location sensors, and time. Human activity recognition is important in many areas such as pervasive computing, artificial intelligence, human-computer interaction, health care, health outcomes, rehabilitation engineering, occupational science, and social sciences. There are numerous ubiquitous and pervasive computing systems where users' activities play an important role. The human activity carries a lot of information about the context and helps systems …

Analysis Of Feature Detector And Descriptor Combinations With A Localization Experiment For Various Performance Metrics, Ertuğrul Bayraktar, Pinar Boyraz

Turkish Journal of Electrical Engineering and Computer Sciences

The purpose of this study is to provide a detailed performance comparison of feature detector/descriptor methods, particularly when their various combinations are used for image-matching. The localization experiments of a mobile robot in an indoor environment are presented as a case study. In these experiments, 3090 query images and 127 dataset images were used. This study includes five methods for feature detectors (features from accelerated segment test (FAST), oriented FAST and rotated binary robust independent elementary features (BRIEF) (ORB), speeded-up robust features (SURF), scale invariant feature transform (SIFT), and binary robust invariant scalable keypoints (BRISK)) and five other methods for …

Development And Experimental Evaluation Of A 3d Ultra-Wideband Localization System, Ali Muqaibel

Turkish Journal of Electrical Engineering and Computer Sciences

In this paper, an ultra-wideband (UWB) synthetic aperture radar system that can perform 3D localization of objects is implemented. The system consists of a moving platform that positions two UWB horn antennas. The 3D image construction is performed using the delay-sum beamforming algorithm. Experiments were performed using two data acquisition techniques, namely, background measurements technique and change detection. The former can be used for imaging stationary targets while the latter is applicable for moving objects. At different distances and orientations from the antennas, various targets were imaged. Through-wall imaging was also considered. The system is augmented with a graphical user …

Rapid Deployment Indoor Localization Without Prior Human Participation, Han Xu, Zimu Zhou, Longfei Shangguan

Research Collection School Of Computing and Information Systems

In this work, we propose RAD, a RApid Deployment localization framework without human sampling. The basic idea of RAD is to automatically generate a fingerprint database through space partition, of which each cell is fingerprinted by its maximum influence APs. Based on this robust location indicator, fine-grained localization can be achieved by a discretized particle filter utilizing sensor data fusion. We devise techniques for CIVD-based field division, graph-based particle filter, EM-based individual character learning, and build a prototype that runs on commodity devices. Extensive experiments show that RAD provides a comparable performance to the state-of-the-art RSSbased methods while relieving it …

Horizontal Dilution Of Precision-Based Ultra-Wideband Positioning Technique For Indoor Environments, Kerem Küçük

Turkish Journal of Electrical Engineering and Computer Sciences

Ultra-wideband (UWB) technology provides considerable performance in many indoor localization problems thanks to its very wide spectrum and high-resolution characteristics. In this paper, we propose using the horizontal dilution of precision (HDOP) to decrease the localization error in indoor environments for UWB localization systems. To achieve this aim, first we determine the positioning accuracy of a commercially available UWB positioning system using laboratory experiments. Next, the results of the position estimations obtained by the HDOP are compared with the experimental results acquired by the UWB positioning system. Finally, we investigate a detailed comparison with the least squares (LS), nonlinear regression …

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 …

Pandaa: Physical Arrangement Detection Of Networked Devices Through Ambient-Sound Awareness, Zheng Sun, Aveek Purohit, Kaifei Chen, Shijia Pan, Trevor Pering, Pei Zhang

Zheng Sun

Future ubiquitous home environments can contain 10s or 100s of devices. Ubiquitous services running on these devices (i.e. localizing users, routing, security algorithms) will commonly require an accurate location of each device. In order to obtain these locations, existing techniques require either a manual survey, active sound sources, or estimation using wireless radios. These techniques, however, need additional hardware capabilities and are intrusive to the user. Non-intrusive, automatic localization of ubiquitous computing devices in the home has the potential to greatly facilitate device deployments.

This paper presents the PANDAA system, a zero-configuration spatial localization system for networked devices based on …

Pandaa: Physical Arrangement Detection Of Networked Devices Through Ambient-Sound Awareness, Zheng Sun, Aveek Purohit, Kaifei Chen, Shijia Pan, Trevor Pering, Pei Zhang

Aveek Purohit

Future ubiquitous home environments can contain 10s or 100s of devices. Ubiquitous services running on these devices (i.e. localizing users, routing, security algorithms) will commonly require an accurate location of each device. In order to obtain these locations, existing techniques require either a manual survey, active sound sources, or estimation using wireless radios. These techniques, however, need additional hardware capabilities and are intrusive to the user. Non-intrusive, automatic localization of ubiquitous computing devices in the home has the potential to greatly facilitate device deployments.

This paper presents the PANDAA system, a zero-configuration spatial localization system for networked devices based on …

Pandaa: A Physical Arrangement Detection Technique For Networked Devices Through Ambient-Sound Awareness, Zheng Sun, Aveek Purohit, Philippe De Wagter, Irina Brinster, Chorom Hamm, Pei Zhang

Zheng Sun

This demo presents PANDAA, a zero-configuration automatic spatial localization technique for networked devices based on ambient sound sensing. We will demonstrate that after initial placement of the devices, ambient sounds, such as human speech, music, footsteps, finger snaps, hand claps, or coughs and sneezes, can be used to autonomously resolve the spatial relative arrangement of devices, such as mobile phones, using trigonometric bounds and successive approximation.

Efficient Corona Training Protocols For Sensor Networks, Alan A. Bertossi, Stephan Olariu, Cristina M. Pinotti

Computer Science Faculty Publications

Phenomenal advances in nano-technology and packaging have made it possible to develop miniaturized low-power devices that integrate sensing, special-purpose computing, and wireless communications capabilities. It is expected that these small devices, referred to as sensors, will be mass-produced and deployed, making their production cost negligible. Due to their small form factor and modest non-renewable energy budget, individual sensors are not expected to be GPS-enabled. Moreover, in most applications, exact geographic location is not necessary, and all that the individual sensors need is a coarse-grain location awareness. The task of acquiring such a coarse-grain location awareness is referred to as training. …

Improved Vehicle Based Multibeam Bathymetry Using Sub-Maps And Slam, Christopher Roman, Hanumant Singh

Christopher N. Roman

This paper presents an algorithm to improve sub-sea acoustic multibeam bottom mapping based on the simultaneous mapping and localization (SLAM) methodology. Multibeam bathymetry from underwater water vehicles can yield valuable large scale terrain maps of the sea door, but the overall accuracy of these maps is typically limited by the accuracy of the vehicle position estimates. The solution presented here uses small bathymetric patches created over short time scales in a sub-mapping context. These patches are registered with respect to one another and assembled in a single coordinate frame to produce a more accurate terrain estimate and provide improved renavigation …