一种自适应残差补偿算法在移动机器人姿态估计中的应用研究

针对两轮移动机器人MEMS IMU姿态估计的数据融合问题,提出一种以卡尔曼滤波为基础的自适应残差补偿算法。该算法结合惯性传感器误差模型与移动机器人姿态模型构建卡尔曼滤波器,利用卡尔曼滤波量测更新的加速度残差自适应补偿非重力载体位移加速度对姿态估计的影响。实验结果表明,该算法有效的融合了MEMS IMU姿态测量数据,抑制了传感器随机漂移误差,同时自适应补偿了非重力载体位移加速度。     

Pedestrian Detection and Tracking Using Deformable Part Models and Kalman Filtering

Abstract： Pedestrian detection techniques are important and challenging especially for complex real world scenes. They can be used for ensuring pedestrian safety, ADASs （advance driver assistance systems） and safety surveillance systems. In this paper, we propose a novel approach for multi-person tracking-by-detection using deformable part models in Kalman filtering framework. The Kalman filter is used to keep track of each person and a unique label is assigned to each tracked individual. Based on this approach, people can enter and leave the scene randomly. We test and demonstrate our results on Caltech Pedestrian benchmark, which is two orders of magnitude larger than any other existing datasets and consists of pedestrians varying widely in appearance, pose and scale. Complex situations such as people occluded by each other are handled gracefully and individual persons can be tracked correctly after a group of people split. Experiments confirm the real-time performance and robustness of our system, working in complex scenes. Our tracking model gives a tracking accuracy of 72.8% and a tracking precision of 82.3%. We can further reduce false positives by 2.8%, using Kalman filtering.     

Mobile Advertising Service Based on 4R Mode

As people own more and more various smart devices, providing advertising to those devices has become a lucrative platform for different advertisement providers. However, the way advertisements are delivered to customers＇ smart devices needs to be improved. Many variables determine the most effective way to provide the mobile advertisement to the end-user. So a mobile advertising service based on the 4R model is needed The correct time, location, contents and target device to make the mobile advertising interesting and also useful for the customers. need to be determined in order for the advertisement to be contextual and the most effective. The 4R model is beneficial for the advertisers and the end-users alike.     

Counterworking the Operation Disturbance of a Radiators Structure due to External Actions

The operation of a complicated radiators structure creating a required field in a given area is disturbed often due to different external actions. As an example, the impact of metallic objects approaching off to an antenna system with minimal irradiation on user＇s body is analyzed. In this case, the zone itself, where the area of a weak field （a dark spot） is created, is generally not approachable for sensors installation. In order to counteract the disturbance of the system operation due to presence of different metallic objects in close proximity to the radiators, two methods based on two information sources are studied. These information sources are antennas driving currents and fields at a predetermined point outside the given area. As an example, the antenna system used in the compensation method for reducing human＇s body irradiation, to which a metal object approaches, is analyzed. The conditions of severe external actions are considered： a great metal body and a small distance from this body to the dark spot. It is shown that under these conditions of severe external actions the second method based on the field values measuring demonstrates a higher efficiency. A block scheme for structure of an automatic adjustment is suggested. The considered problem is a common one, and developers of radio circuits are faced with them constantly.     

Use Case for the Development of a Mobile Learning Application

This paper presents use cases developed for a mobile learning application named MLEA （mobile learning environment adapter）, developed in collaboration with the Universidad do Vale do Rio dos Sinos-Unisinos, Brazil and UTP （Universidad Tecnologica de Panama）. MLEA allows users to access, through a single platform, courses in a content management system--Moodle. The objective of this project is to create a communication platform that allows users of Android based mobile devices to use services of the virtual campus of UTP. The work team is composed of six professors and researchers in Panama and three in Brazil, with voluntary students in both countries. A complete, step by step use case is documented, including requirement specifications, interface designs based on Android patterns, as well as programming patterns used for the communication between mobile devices and Moodle platform.     

A Study of Bruneian Corporate Customers＇ Uses of Mobile Services： An Application of Value-Based Adoption Model

This pioneering study investigates the seventy Bruneian corporate customers＇ adoption intentions towards using the mobile services. The study uses and validates the VAM （value-based adoption model） for investigating mobile service in different geographical setting contrary to the original study for Mobile Interact. The study combines four external variables such as perceived usefulness, perceived enjoyment, technicality and perceived fee with perceived value in predicting the adoption intentions of using mobile services. The study results indicate that only perceived usefulness is significant predictor of perceived values which are significant indicator of adoption intentions of using mobile services. Based on the results, some recommendations are made for the managerial implications.     

A novel low-noise high-linearity CMOS transmitter for mobile UHF RFID reader

A novel CMOS transmitter with low TX noise and high linearity is implemented in a 0.18μm 1P6M standard CMOS process for Mobile UHF RFID reader.Adopting double-sideband amplitude-shift-keying(DSBASK)as the only modulation is supported,this transmitter has very low power consumption.A novel analog baseband circuit is proposed to reduce the transmitter noise.With a G′′m–cancellation technology,a highly linear up-conversion active mixer and a power amplifier driver are designed.The transmitter has a measured output1 dB compression point of 13.4 dBm.Occupying a silicon area of about 1 mm2and consuming 144 mW from a1.8 V voltage supply,the transmitter makes the Mobile UHF RFID reader communicate with a transponder in a distance of 1 m conveniently.     

Environmental Monitoring in Museums Based on Wireless Sensor Network via Cell Phone

Conservation of artworks in museums is a crucial issue to prevent their degradation. Thus, it is fundamental to continuously monitor the environment where artifacts are located. The WISE-MUSE project proposes the use of WSNs （wireless sensor networks） to carry out monitoring and automatically control of museums＇ environment and structural health. The deployment of a WSN can help to implement these measurements continuously, in a real-time basis, and in a much easier and cheaper way than when using traditional measuring equipment and procedures. Nevertheless, continuous monitoring implies providing immediate information of any abnormal value detected in the museums＇ environment. Thus, this contribution arises： the development of a new mobile application that allows users to continuously monitor the environment, but specially helps them to be more aware of any undesirable changes that may occur.     

A DHT-based fast handover mobile identifier/locator management scheme for separation networks

Several researches propose the identifier/locator separation architecture to tackle the scMing prob- lems of today＇s Internet routing and addressing system. And scalable and seamless mobility support is an important task in mobile identifier/locator separation networks. In this paper, by analyzing the features, such as direct separation, flexible mapping and identifier replacement, we show that the new architecture delivers data packets more efficiently and protects location privacy better than traditional mobile IP networks, and is able to implement soft handover conveniently. Then we present a distributed Hash table （DHT） based fast handover management （DFHM） scheme for the new architecture, which improves the reactive handover mode of FMIPv6 and eliminates the duplicate address detection （DAD） and return routability （RR） processes in MIPv6. And we propose a generic analysis framework for handover management. Further, we demonstrate the validity of our framework by simulation and quantificationMly study the effects of network scale and movement velocity. The results show that DFHM has good scalability and low handover latency, and has great advantages in the signaling cost and fast mobility support.     

Pearson＇s Correlation Coefficient： A More Realistic Threshold for Applications on Autonomous Robotics

Many applications for control of autonomous platform are being developed and one important aspect is the excess of information, frequently redundant, that imposes a great computational cost in data processing. Taking into account the temporal coherence between consecutive frames, the PCC （Pearson＇s Correlation Coefficient） was proposed and applied as： discarding criteria methodology, dynamic power management solution, environment observer method which selects automatically only the regions-of-interest; and taking place in the obstacle avoidance context, as a method for collision risk estimation for vehicles in dynamic and unknown environments. Even if the PCC is a great tool to help the autonomous or semi-autonomous navigation, distortions in the imaging system, pixel noise, slight variations in the object＇s position relative to the camera, and other factors produce a false PCC threshold. Whereas there are homogeneous regions in the image, in order to obtain a more realistic Pearson＇s correlation, we propose to use some prior known environment information.     

Modelling the User

The relatively high percentage of people with disabilities in Europe combined with the facts of ageing population, strong relation of impairment to age, and as State of the Art shows, dissatisfaction or even unawareness of people with disabilities of available assistive technology are revealing the necessity to incorporate a user-centric approach that beyond 2nd generation practices will achieve to provide embedded and built-in accessibility solutions, as well as toolkits for developers, for ＂engraving＂ accessibility in existing and emerging mass-market ICT-based products, aiming to make accessibility open, plug and play, personalised and configurable, realistic and applicable in various contexts, keeping always the user in the loop. The AEGIS （Accessibility Everywhere： Groundwork, Infrastructure, Standards） IP （Integrated Project） of the 7th European Framework Programme seeks to determine whether 3rd generation access techniques will provide a more accessible, more exploitable and deeply embeddable approach in mainstream ICT （information and communication technologies）. This paper presents the holistic UCD （user-centered design） implementation plan, upon which AEGIS has been based in order to achieve its targets, starting from modelling its target users, in the most efficient way possible.     

Return Link Systems for Wireless Mobile Camera Using 42 GHz-Band with Frequency and Space Diversity Techniques

In this paper, return link systems for wireless mobile camera using 42 GHz-band in multipath fading environments are proposed. The return link systems for wireless mobile camera require wireless transmission with high reliability as same as the conventional wired camera systems. The proposed return link systems achieve transmission with high reliability by taking into consideration frequency and space diversity techniques. The proposed systems can be classified as 3 three types of return link systems according to diversity techniques： FD （frequency diversity） systems, SD （space diversity） systems and FD＋SD system （frequency and space diversity）. Computer simulations are carried out in order to confirm the effectiveness of the proposed return link systems. It is confirmed that the proposed three types of return link systems have an advantage about BER performances and effectively exploit frequency and space resources.     

具有非完整约束移动机器人的超宽带-惯导-里程计融合定位与能观测性分析

为解决现有超宽带-惯导组合定位系统在轮式移动机器人的定位精度低、依赖高精度IMU等问题,提出了一种采用误差状态卡尔曼滤波融合超宽带-惯导-里程计的定位算法,利用里程计的线速度测量和由非完整约束隐含的伪测量,提高了移动机器人的位置和姿态估计精度.同时,对于由多传感器测量模型组成的非线性系统,通过基于李导数的能观性秩条件分析方法对该系统的能观测性进行了详细的理论分析与数学证明,得到了系统局部弱可观的条件,从而确定了系统状态可以被无偏估计所需要的测量输出以及控制输入.仿真结果表明,在满足能观测性条件时,本文提出的方法能够有效地获得移动机器人较准确的六自由度位姿,且相比传统方法显著提升了定位精度.     

Dynamic Regular Plans and Rebroadcasting for Mobile Clients

The broadcast problem including the plan design is considered. The data are inserted and numbered into customized size relations at a predefined order. The server ability to create a full, RBP （regular broadcast plan） with single and multiple channels after some data transformations is examined. The BRA （basic regular algorithm） prepares an RBP and enables users to catch their items while avoiding wasting energy by their devices. In the case of multiple channels, a dynamic grouping solution is proposed, called the PVA （partition value algorithm） under a multiplicity constraint. A FPVA （fast type of PVA） that uses small size of the integrated relations can decrease the delay. The PVACF （PVA with complete filling）, using a parameter of the cold set, can provide solution for the discovery of the RBP. In order to provide consistency in data values the RRD （rebroadcasting of regular data） Algorithm is presented. The delay differentiation of services is also examined. The above properties can enrich the servers＇ operational capabilities, beyond their self-monitoring and self-organizing features. Channel availability and lower energy consumption can be provided by using a smaller, with equal bandwidth, number of channels. Simulation results are provided. Simulation results are provided.     

基于惯性/磁力传感器与单目视觉融合的SLAM方法

针对单目视觉SLAM（同时定位与地图构建）算法没有尺度信息以及在相机移动过快时无法使用的问题,提出了一种IMU（惯性测量单元）!!/磁力传感器与单目视觉融合的SLAM方法．首先,提出了一种模糊自适应的九轴姿态融合算法,对IMU的航向角进行高精度估计．然后,采用单目ORB-SLAM2（oriented FAST and rotated BRIEF SLAM2）算法,通过IMU估计其尺度因子,并对其输出的位姿信息进行尺度转换．最后,采用松耦合方式,对IMU估计的位姿和ORB-SLAM2算法经过尺度转换后的位姿,进行卡尔曼滤波融合．在公开数据集EuRoC上进行了测试,测试结果表明本文方法总的位置均方根误差为5.73 cm．为了进一步在实际环境中验证,设计了全向移动平台,以平台上激光雷达所测的位姿数据为基准,测试结果表明本文方法的旋转角度误差小于5°,总的位置均方根误差为9.76 cm．     

带有转动机构的捷联惯导初始对准方法分析

在现有器件精度基础上依靠旋转调制技术实现更高精度导航成为当前惯性技术的研究热点。针对移动测量系统旋转光纤惯导系统对初始化可靠性和准确性提出的更高要求,设计一种不同惯性系下重力加速度建立转换矩阵的粗对准加两位置卡尔曼滤波精对准的初始化方法。分析粗对准过程转换矩阵求取机理,设计惯性坐标系重力及其微分构建初始捷联矩阵的方法;利用转动机构实现IMU处于2个最优方位完成光纤惯导系统的卡尔曼滤波精对准。转台实验结果表明,惯性系粗对准加两位置卡尔曼组合精对准可有效实现旋转惯导系统的高精度初始化。     

列车组合导航系统研究与仿真

提出了一种列车组合导航系统.首先,采用低精度的惯性传感器构成简易惯性测量装置(IMU),设计了该简易IMU的安装结构,并给出了其导航定位解算方法.然后,将简易IMU与GPS构成组合导航系统,分析了IMU和GPS各自的误差源,并建立了组合系统误差模型,从而利用卡尔曼滤波技术设计了IMU/GPS列车组合导航算法.仿真结果表明,该IMU/GPS列车组合导航系统具有精度高、可靠性好、成本低等显著优点,非常适用于列车导航定位.     

基于多传感器融合的移动机器人定位

针对移动机器人定位系统中单一传感器定位精度低与环境地图的重要性问题, 提出了一种基于多传感器融合的移动机器人定位方法. 首先, 在未知环境下, 分别利用单一里程计, 扩展卡尔曼滤波(extended Kalman filter,EKF)算法融合里程计、惯性测量单元(inertial measurement unit, ...     

基于DSP的IMU/GPS数据融合算法实现

提出了基于DSP的IMU/GPS数据融合算法的实现方案;鉴于GPS数据稳定性高、误差不随时间积累和IMU数据更新率快、在短时间内精度高的特点,采用强跟踪卡尔曼滤波算法对二者的数据进行融合处理,并且在DSP上将其实现,获取精度更高、稳定性更好的导航参数;给出了详细的设计步骤,进行了大量的静态和动态试验,并且对实验数据进行了分析与对比;结果表明,该实现方案可以获取可实用的导航参数。     

An IMU/UWB/Vision-based Extended Kalman Filter for Mini-UAV Localization in Indoor Environment using 802.15.4a Wireless Sensor Network

Indoor localization of mobile agents using wireless technologies is becoming very important in military and civil applications. This paper introduces an approach for the indoor localization of a mini UAV based on Ultra-WideBand technology, low cost IMU and vision based sensors. In this work an Extended Kalman Filter (EKF) is introduced as a possible technique to improve the localization. The proposed approach allows to use a low-cost Inertial Measurement Unit (IMU) in the prediction step and the integration of vision-odometry for the detection of markers nearness the touchdown area. The ranging measurements allow to reduce the errors of inertial sensors due to the limited performance of accelerometers and gyros. The obtained results show that an accuracy of 10 cm can be achieved.