Global Localization of Mobile Robots Using Local Position Estimation in a Geo Tagged Wireless Node Sensor Network

Author(s):  
Elerson R.S. Santos ◽  
Hector Azpurua ◽  
Paulo A.F. Rezeck ◽  
Mauricio F. S. Correa ◽  
Gustavo M. Freitas ◽  
...  
2013 ◽  
Vol 303-306 ◽  
pp. 578-581
Author(s):  
Kai Tuo Du ◽  
Zhen Ya Zhang ◽  
Hong Mei Cheng ◽  
Qian Sheng Fang

The process of building environmental information perception can be constructed with wireless sensor network (WSN) expediently. A WSN based information acquisition system for building running environment is described in this paper. The CPU of host computer in the system is Loongson2F and wireless nodes in the system are implemented as Telsob nodes. Because the price of wireless node is low, the hardware cost of the desired system is decreased evidently and the security of the desired system is enhanced because the CPU of the host is native. With those features, the application scenario of the desired system is extended widely. To verify the suitability of the using of Collection Tree Protocol (CTP) in construction of the WSN in the desired information acquisition system, the performance of the CTP based WSN deployed in public building space for environment information acquiring are tested and solutions for some key problems in the construction and the maintenance of the CTP based WSN are given in this paper too.


2011 ◽  
Vol 57 (3) ◽  
pp. 341-346 ◽  
Author(s):  
Safdar Khan ◽  
Boubaker Daachi ◽  
Karim Djouani

Overcoming Localization Errors due to Node Power Drooping in a Wireless Sensor NetworkReceived Signal Strength Indication (RSSI) plays a vital role in the range-free localization of sensor nodes in a wireless sensor network and a good amount of research has been made in this regard. One important factor is the battery voltage of the nodes (i.e., the MICAz sensors) which is not taken into account in the existing literature. As battery voltage level performs an indispensable role for the position estimation of sensor nodes through anchor nodes therefore, in this paper, we take into a account this crucial factor and propose an algorithm that overcomes the problem of decaying battery. We show the results, in terms of more precise localization of sensor nodes through simulation. This work is an extension to [1] and now we also use neural network to overcome the localization errors generated due to gradual battery voltage drooping.


2013 ◽  
Vol 52 (03) ◽  
pp. 239-249 ◽  
Author(s):  
H. Noma ◽  
C. Naito ◽  
M. Tada ◽  
H. Yamanaka ◽  
T. Takemura ◽  
...  

SummaryObjective: Development of a clinical sensor network system that automatically collects vital sign and its supplemental data, and evaluation the effect of automatic vital sensor value assignment to patients based on locations of sensors.Methods: The sensor network estimates the data-source, a target patient, from the position of a vital sign sensor obtained from a newly developed proximity sensing system. The proximity sensing system estimates the positions of the devices using a Bluetooth inquiry process. Using Bluetooth access points and the positioning system newly developed in this project, the sensor network collects vital sign and its 4W (who, where, what, and when) supplemental data from any Blue-tooth ready vital sign sensors such as Continua-ready devices. The prototype was evaluated in a pseudo clinical setting at Kyoto University Hospital using a cyclic paired comparison and statistical analysis.Results: The result of the cyclic paired analysis shows the subjects evaluated the proposed system is more effective and safer than POCS as well as paper-based operation. It halves the times for vital signs input and eliminates input errors. On the other hand, the prototype failed in its position estimation for 12.6% of all attempts, and the nurses overlooked half of the errors. A detailed investigation clears that an advanced interface to show the system’s “confidence”, i.e. the probability of estimation error, must be effective to reduce the oversights.Conclusions: This paper proposed a clinical sensor network system that relieves nurses from vital signs input tasks. The result clearly shows that the proposed system increases the efficiency and safety of the nursing process both subjectively and objectively. It is a step toward new generation of point of nursing care systems where sensors take over the tasks of data input from the nurses.


Robotica ◽  
2020 ◽  
pp. 1-20 ◽  
Author(s):  
Wencen Wu ◽  
Jie You ◽  
Yufei Zhang ◽  
Mingchen Li ◽  
Kun Su

SUMMARY In this article, we investigate the problem of parameter identification of spatial–temporal varying processes described by a general nonlinear partial differential equation and validate the feasibility and robustness of the proposed algorithm using a group of coordinated mobile robots equipped with sensors in a realistic diffusion field. Based on the online parameter identification method developed in our previous work using multiple mobile robots, in this article, we first develop a parameterized model that represents the nonlinear spatially distributed field, then develop a parameter identification scheme consisting of a cooperative Kalman filter and recursive least square method. In the experiments, we focus on the diffusion field and consider the realistic scenarios that the diffusion field contains obstacles and hazard zones that the robots should avoid. The identified parameters together with the located source could potentially assist in the reconstruction and monitoring of the field. To validate the proposed methods, we generate a controllable carbon dioxide (CO2) field in our laboratory and build a static CO2 sensor network to measure and calibrate the field. With the reconstructed realistic diffusion field measured by the sensor network, a multi-robot system is developed to perform the parameter identification in the field. The results of simulations and experiments show satisfactory performance and robustness of the proposed algorithms.


2009 ◽  
Vol 179 (24) ◽  
pp. 4174-4198 ◽  
Author(s):  
Soonyong Park ◽  
Soohwan Kim ◽  
Mignon Park ◽  
Sung-Kee Park

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