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Articles 1 - 11 of 11
Full-Text Articles in Engineering
Crowdsourcing Based Micro Navigation System For Visually Impaired, Quan Shi
Crowdsourcing Based Micro Navigation System For Visually Impaired, Quan Shi
Masters Theses
Mobility and safety are primary concerns for blind and visually impaired (BVI) users when navigating in unfamiliar environments. Typically, a sighted person can locate a place of interest if they are provided guidance while approaching within a few meters of the location. However, this resolution of guidance is often insufficient for blind travelers. In this thesis, we propose a crowdsourcing based micro navigation system for BVI users in both indoor and outdoor environments. To achieve this goal, our system includes three parts: crowdsourcing reports generated by volunteers using the volunteer application, landmarks validation performed by the system administrator using the …
Improvements For Vision-Based Navigation Of Small, Fixed-Wing Unmanned Aerial Vehicles, Robert C. Leishman, Jeremy Gray, John F. Raquet, Adam Rutkowski
Improvements For Vision-Based Navigation Of Small, Fixed-Wing Unmanned Aerial Vehicles, Robert C. Leishman, Jeremy Gray, John F. Raquet, Adam Rutkowski
Faculty Publications
Investigating alternative navigation approaches for use when GPS signals are unavailable is an active area of research across the globe. In this paper we focus on the navigation of small, fixed-wing unmanned aerial vehicles (UAVs) that employ vision-based approaches combined with other measurements as a replacement for GPS. We demonstrate with flight test data that vehicle attitude information, derived from cheap, MEMS-based IMUs is sufficient to improve two different types of vision processing algorithms. Secondly, we show analytically and with flight test data that range measurements to one other vehicle with global pose is sufficient to constrain the global drift …
Enabling Autonomous Navigation For Affordable Scooters, Kaikai Liu, Rajathswaroop Mulky
Enabling Autonomous Navigation For Affordable Scooters, Kaikai Liu, Rajathswaroop Mulky
Faculty Publications
Despite the technical success of existing assistive technologies, for example, electric wheelchairs and scooters, they are still far from effective enough in helping those in need navigate to their destinations in a hassle-free manner. In this paper, we propose to improve the safety and autonomy of navigation by designing a cutting-edge autonomous scooter, thus allowing people with mobility challenges to ambulate independently and safely in possibly unfamiliar surroundings. We focus on indoor navigation scenarios for the autonomous scooter where the current location, maps, and nearby obstacles are unknown. To achieve semi-LiDAR functionality, we leverage the gyros-based pose data to compensate …
A Dynamical System Approach For Resource-Constrained Mobile Robotics, Tauhidul Alam
A Dynamical System Approach For Resource-Constrained Mobile Robotics, Tauhidul Alam
FIU Electronic Theses and Dissertations
The revolution of autonomous vehicles has led to the development of robots with abundant sensors, actuators with many degrees of freedom, high-performance computing capabilities, and high-speed communication devices. These robots use a large volume of information from sensors to solve diverse problems. However, this usually leads to a significant modeling burden as well as excessive cost and computational requirements. Furthermore, in some scenarios, sophisticated sensors may not work precisely, the real-time processing power of a robot may be inadequate, the communication among robots may be impeded by natural or adversarial conditions, or the actuation control in a robot may be …
Navigation Using Vector And Tensor Measurements Of The Earth's Magnetic Anomaly Field, Lauren A. Mount
Navigation Using Vector And Tensor Measurements Of The Earth's Magnetic Anomaly Field, Lauren A. Mount
Theses and Dissertations
This research explores the viability of using a navigation system that relies on measurements of the magnetic anomaly field as an alternative to GPS navigation. Previous research has been conducted on developing a navigation system using the intensity of the Earth's magnetic anomaly field as an alternative signal. This research focuses on using vector and tensor measurements, as opposed to scalar measurements of the anomaly field, as a means of obtaining accurate position and orientation solutions. This paper presents two navigation systems. The first uses an Extended Kalman Filter (EKF) with vector measurements of the magnetic anomaly field to aid …
Metamorphic Testing Of Navigation Software: A Pilot Study With Google Maps, Joshua Brown, Zhiquan Zhou, Yang-Wai Chow
Metamorphic Testing Of Navigation Software: A Pilot Study With Google Maps, Joshua Brown, Zhiquan Zhou, Yang-Wai Chow
Faculty of Engineering and Information Sciences - Papers: Part B
Millions of people use navigation software every day to commute and travel. In addition, many systems rely upon the correctness of navigation software to function, ranging from directions applications to self-driving machinery. Navigation software is difficult to test because it is hard or very expensive to evaluate its output. This difficulty is generally known as the oracle problem, a fundamental challenge in software testing. In this study, we propose a metamorphic testing strategy to alleviate the oracle problem in testing navigation software, and conduct a case study by testing the Google Maps mobile app, its web service API, and its …
Applications Of Robot Operating System (Ros) To Mobile Microgrid Formation Outdoors, John Naglak
Applications Of Robot Operating System (Ros) To Mobile Microgrid Formation Outdoors, John Naglak
Dissertations, Master's Theses and Master's Reports
Application of mobile robots to microgrid formation has value for disaster response and service of forward operating bases. This thesis describes the development, testing and demonstration of broad effort across multiple disciplines to enable outdoor positioning and connection of mobile microgrids for the first time. This work includes an outdoor waypoint controller for a UGV agent, specifically the Clearpath Husky. It details sensor fusion of 2D LiDAR and stereo vision, and fusion of odometry sources using an Extended Kalman Filter. Development of these software tools entails integration of many of the packages available through the Robot Operating System (ROS), with …
Multitarget Tracking And Terrain-Aided Navigation Using Square-Root Consider Filters, James Samuel Mccabe
Multitarget Tracking And Terrain-Aided Navigation Using Square-Root Consider Filters, James Samuel Mccabe
Doctoral Dissertations
"Filtering is a term used to describe methods that estimate the values of partially observed states, such as the position, velocity, and attitude of a vehicle, using current observations that are corrupted due to various sources, such as measurement noise, transmission dropouts, and spurious information. The study of filtering has been an active focus of research for decades, and the resulting filters have been the cornerstone of many of humankind's greatest technological achievements. However, these achievements are enabled principally by the use of specialized techniques that seek to, in some way, combat the negative impacts that processor roundoff and truncation …
Instrumentation And Inertial Navigation Systems Design For Tensegrity Robot Implementations, Scott Edward Harper
Instrumentation And Inertial Navigation Systems Design For Tensegrity Robot Implementations, Scott Edward Harper
Graduate Theses, Dissertations, and Problem Reports
One of the major challenges faced when developing missions for the exploration of planetary bodies is the risk these terrains pose on the science platform when using a traditional lander or wheeled rover. One means of developing platforms to traverse these harsh terrains is to utilize mobility systems comprised of tensegrity structures. These structures have the capacity to distribute loads across a network of axially loaded members such that they can be constructed in a very lightweight manner and morph their geometries when required. In literature, there has been significant progress in simulated environments to utilize tensegrity structures as mobility …
Effects Of Terrain-Based Altimetry On Navigation Performance, Kenneth Michael Kratzer
Effects Of Terrain-Based Altimetry On Navigation Performance, Kenneth Michael Kratzer
Masters Theses
"Navigation filters used during an entry, descent, and landing scenario often receive measurements related to the terrain over which the vehicle is traversing. Models of the terrain can be presented in varying degrees of fidelity, providing increasingly realistic and accurate models of the surface. While it is ideal to provide the filter with the most realistic model possible, the performance is limited by the strict nature of the real time scenario. Therefore, it is of interest to determine what level of fidelity is necessary to achieve an accurate filtering solution. Determining how best to incorporate terrain-related data into navigation solutions …
Navigational Heads-Up Display, Alex Walenchok, Nicholas Seifert, Joshua Reed, Joshua Humphrey
Navigational Heads-Up Display, Alex Walenchok, Nicholas Seifert, Joshua Reed, Joshua Humphrey
Williams Honors College, Honors Research Projects
One problem drivers face is distraction from looking at their mobile device while navigating rather than watching the road. This problem can be solved with a heads-up display placed directly on the driver’s windshield. By using a mobile device with a custom GPS application, the following design will be able to send GPS data to a device that will display navigational information on a car windshield. The design includes two primary components, a mobile device and a System Unit, where the System Unit is composed of a portable power supply, a single board computer, and a display. For the design, …