scholarly journals ULTRASONIC BASED HEADING ESTIMATION FOR AIDING LAND VEHICLE NAVIGATION IN GNSS DENIED ENVIRONMENT

2018 ◽  
Vol XLII-1 ◽  
pp. 315-322 ◽  
Author(s):  
M. Moussa ◽  
A. Moussa ◽  
N. El-Sheimy
Keyword(s):  
Low Cost ◽  
Ultrasonic Sensor ◽  
The Body ◽  
Navigation Solution ◽  
Land Vehicles ◽  
Land Vehicle Navigation ◽  
Novel Approach ◽  
Constant Distance ◽  
Heading Estimation ◽  
Wooden Surface

<p><strong>Abstract.</strong> This paper introduces a novel approach for land vehicles navigation in GNSS denied environment by aiding the Inertial Navigation System (INS) with a very low-cost ultrasonic sensor using Extended Kalman Filter (EKF) to bound its drift during GNSS blockage through a heading change update to enhance the navigation estimation.</p><p>The ultrasonic sensor is mounted on the body of the car facing the direction of the car motion and behind the front right wheel, a wooden surface is mounted on the car body on the other side of this wheel with a constant distance between the sensor and this surface. The ultrasonic sensor measures this range as long as the car moving straight. When orientation changes, the ultrasonic sensor senses the range to the front right wheel. The relation between the range and the estimated GNSS/INS change of heading during GNSS availability is estimated through a linear regression model. During GNSS signal outage, the ultrasonic sensor provides heading change update to the INS standalone navigation solution.</p><p>Experimental road tests were performed, and the results show that the navigation states estimation using the proposed aiding is improved compared with INS standalone navigation solution during GNSS signal outage. For multiple GNSS outages of 60<span class="thinspace"></span>seconds, the inclusion of the proposed update reduced the position RMSE to around 80<span class="thinspace"></span>% of its value when using the non-holonomic constraints and velocity update only.</p>

scholarly journals Steering Angle Assisted Vehicular Navigation Using Portable Devices in GNSS-Denied Environments

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1618 ◽  
Author(s):  
Mohamed Moussa ◽  
Adel Moussa ◽  
Naser El-Sheimy
Keyword(s):  
Low Cost ◽  
Measurement Unit ◽  
Steering Wheel ◽  
Portable Devices ◽  
Steering Angle ◽  
Navigation Solution ◽  
Land Vehicle ◽  
Land Vehicle Navigation ◽  
Novel Approach ◽  
Vehicle Acceleration

Recently, land vehicle navigation, and especially by the use of low-cost sensors, has been the object of a huge level of research interest. Consumer Portable Devices (CPDs) such as tablets and smartphones are being widely used by many consumers all over the world. CPDs contain sensors (accelerometers, gyroscopes, magnetometer, etc.) that can be used for many land vehicle applications such as navigation. This paper presents a novel approach for estimating steering wheel angles using CPD accelerometers by attaching CPDs to the steering wheel. The land vehicle change of heading is then computed from the estimated steering wheel angle. The calculated change of heading is used to update the navigation filter to aid the onboard Inertial Measurement Unit (IMU) through the use of an Extended Kalman Filter (EKF) in GNSS-denied environments. Four main factors that may affect the steering wheel angle accuracy are considered and modeled during steering angle estimations: static onboard IMU leveling, inclination angle of the steering wheel, vehicle acceleration, and vehicle inclination. In addition, these factors are assessed for their effects on the final result. Therefore, three methods are proposed for steering angle estimation: non-compensated, partially-compensated, and fully-compensated methods. A road experimental test was carried out using a Pixhawk (PX4) navigation system, iPad Air, and the OBD-II interface. The average Root Mean Square Error (RMSE) of the change of heading estimated by the proposed method was 0.033 rad/s. A navigation solution was estimated while changes of heading and forward velocity updates were used to aid the IMU during different GNSS signal outages. The estimated navigation solution is enhanced when applying the proposed updates to the navigation filter by 91% and 97% for 60 s and 120 s of GNSS signal outage, respectively, compared to the IMU standalone solution.

scholarly journals Design and Fabrication of an Automated Low-Cost Non-Contact Temperature Scanner and Sanitizer for Covid-19 Prevention

2021 ◽  
Vol 6 (2) ◽  
Author(s):  
Olaitan Akinsanmi ◽  
Abiodun E. Amoran ◽  
Ayodele S Oluwole ◽  
P C Igwe ◽  
P Adejuwon
Keyword(s):  
Temperature Sensor ◽  
Low Cost ◽  
Ultrasonic Sensor ◽  
The Body ◽  
Contact Temperature ◽  
High Rate ◽  
Motion Sensor ◽  
The Novel ◽  
Novel Virus ◽  
Sensor Temperature

The rate at which the novel virus Covid-19 spread across the world in an alarming rate with high rate of death of the infected persons is quite disturbing, hence the need to checkmate its spread by quickly identifying persons with the symptoms of this viral infection. This paper discusses the development of an automated low-cost non-contact temperature scanner and sanitizer. The system automatically detects a human being, scans for temperature, and sanitizes the person with no interference required. The circuit for the system comprises an Arduino microcontroller, LCD display, relays, ultrasonic sensors, temperature sensor, 12v DC pump motion sensor and a high pressure 12v DC pump. The temperature sensor (MLX90614) senses the temperature, certifies that the value is within the specified range as controlled by its ultrasonic sensor and displays the temperature on the LCD. Thereafter, an ultrasonic sensor activates the 12V DC pump to dispense the sanitizer. At the disinfectant chamber, the motion sensor will trigger the high-pressured DC pump when it senses movement, it dispenses the body sanitizer through the nozzles. C++ was used to program the Arduino in Arduino user interface. The entire process takes 60seconds and it helps to maintain personal preventive measures as well as detecting a possible symptomatic person as fever with high temperature which is one of the major symptoms of Covid-19. The device has been tested and works effectively, and it will be very useful for any organization with one or more buildings. It can be positioned at the entrance of buildings to sanitize and scan all staff and visitors against Covid-19. Keywords: Arduino, Covid-19, Hand sanitizer, Ultrasonic sensor, Temperature Scanner

Deep Fusion of a Skewed Redundant Magnetic and Inertial Sensor for Heading State Estimation in a Saturated Indoor Environment

2021 ◽  
Vol 15 (03) ◽  
pp. 313-335
Author(s):  
Mojtaba Karimi ◽  
Edwin Babaians ◽  
Martin Oelsch ◽  
Eckehard Steinbach
Keyword(s):  
Magnetic Field ◽  
Indoor Environment ◽  
Inertial Sensor ◽  
Low Cost ◽  
Magnetic Sensors ◽  
Filter Model ◽  
Novel Approach ◽  
Essential Components ◽  
Heading Estimation

Robust attitude and heading estimation in an indoor environment with respect to a known reference are essential components for various robotic applications. Affordable Attitude and Heading Reference Systems (AHRS) are typically using low-cost solid-state MEMS-based sensors. The precision of heading estimation on such a system is typically degraded due to the encountered drift from the gyro measurements and distortions of the Earth’s magnetic field sensing. This paper presents a novel approach for robust indoor heading estimation based on skewed redundant inertial and magnetic sensors. Recurrent Neural Network-based (RNN) fusion is used to perform robust heading estimation with the ability to compensate for the external magnetic field anomalies. We use our previously described correlation-based filter model for preprocessing the data and for empowering perturbation mitigation. Our experimental results show that the proposed scheme is able to successfully mitigate the anomalies in the saturated indoor environment and achieve a Root-Mean-Square Error of less than [Formula: see text] for long-term use.

scholarly journals Experiments on Energy-Efficient Evaporative Cooling Systems for Poultry Farm Application in Multan (Pakistan)

2021 ◽  
Vol 13 (5) ◽  
pp. 2836
Author(s):  
Khawar Shahzad ◽  
Muhammad Sultan ◽  
Muhammad Bilal ◽  
Hadeed Ashraf ◽  
Muhammad Farooq ◽  
...  
Keyword(s):  
Heat Stress ◽  
Low Cost ◽  
Evaporative Cooling ◽  
Thermal Exposure ◽  
Climatic Conditions ◽  
The Body ◽  
Dew Point ◽  
Sweat Glands ◽  
Cooling Systems ◽  
Humidity Index

Poultry are one of the most vulnerable species of its kind once the temperature-humidity nexus is explored. This is so because the broilers lack sweat glands as compared to humans and undergo panting process to mitigate their latent heat (moisture produced in the body) in the air. As a result, moisture production inside poultry house needs to be maintained to avoid any serious health and welfare complications. Several strategies such as compressor-based air-conditioning systems have been implemented worldwide to attenuate the heat stress in poultry, but these are not economical. Therefore, this study focuses on the development of low-cost and environmentally friendly improved evaporative cooling systems (DEC, IEC, MEC) from the viewpoint of heat stress in poultry houses. Thermodynamic analysis of these systems was carried out for the climatic conditions of Multan, Pakistan. The results appreciably controlled the environmental conditions which showed that for the months of April, May, and June, the decrease in temperature by direct evaporative cooling (DEC), indirect evaporative cooling (IEC), and Maisotsenko-Cycle evaporative cooling (MEC) systems is 7–10 °C, 5–6.5 °C, and 9.5–12 °C, respectively. In case of July, August, and September, the decrease in temperature by DEC, IEC, and MEC systems is 5.5–7 °C, 3.5–4.5 °C, and 7–7.5 °C, respectively. In addition, drop in temperature-humidity index (THI) values by DEC, IEC, and MEC is 3.5–9 °C, 3–7 °C, and 5.5–10 °C, respectively for all months. Optimum temperature and relative humidity conditions are determined for poultry birds and thereby, systems’ performance is thermodynamically evaluated for poultry farms from the viewpoint of THI, temperature-humidity-velocity index (THVI), and thermal exposure time (ET). From the analysis, it is concluded that MEC system performed relatively better than others due to its ability of dew-point cooling and achieved THI threshold limit with reasonable temperature and humidity indexes.

Voice In Ear

2021 ◽  
Vol 5 (1) ◽  
pp. 1-25
Author(s):  
Yang Gao ◽  
Yincheng Jin ◽  
Jagmohan Chauhan ◽  
Seokmin Choi ◽  
Jiyang Li ◽  
...  
Keyword(s):  
User Authentication ◽  
Low Cost ◽  
The Body ◽  
Ear Canal ◽  
Replay Attacks ◽  
Increasing Demand ◽  
The Right ◽  
Sound Conduction ◽  
Enrollment Data ◽  
Secure Authentication

With the rapid growth of wearable computing and increasing demand for mobile authentication scenarios, voiceprint-based authentication has become one of the prevalent technologies and has already presented tremendous potentials to the public. However, it is vulnerable to voice spoofing attacks (e.g., replay attacks and synthetic voice attacks). To address this threat, we propose a new biometric authentication approach, named EarPrint, which aims to extend voiceprint and build a hidden and secure user authentication scheme on earphones. EarPrint builds on the speaking-induced body sound transmission from the throat to the ear canal, i.e., different users will have different body sound conduction patterns on both sides of ears. As the first exploratory study, extensive experiments on 23 subjects show the EarPrint is robust against ambient noises and body motions. EarPrint achieves an Equal Error Rate (EER) of 3.64% with 75 seconds enrollment data. We also evaluate the resilience of EarPrint against replay attacks. A major contribution of EarPrint is that it leverages two-level uniqueness, including the body sound conduction from the throat to the ear canal and the body asymmetry between the left and the right ears, taking advantage of earphones' paring form-factor. Compared with other mobile and wearable biometric modalities, EarPrint is a low-cost, accurate, and secure authentication solution for earphone users.

scholarly journals MEMS Based SINS/OD Filter for Land Vehicles’ Applications

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Huisheng Liu ◽  
Zengcai Wang ◽  
Susu Fang ◽  
Chao Li
Keyword(s):  
Navigation System ◽  
Velocity Measurement ◽  
Microelectromechanical Systems ◽  
Low Cost ◽  
Detection Algorithm ◽  
Measurement Unit ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Land Vehicles ◽  
Mems Imu

A constrained low-cost SINS/OD filter aided with magnetometer is proposed in this paper. The filter is designed to provide a land vehicle navigation solution by fusing the measurements of the microelectromechanical systems based inertial measurement unit (MEMS IMU), the magnetometer (MAG), and the velocity measurement from odometer (OD). First, accelerometer and magnetometer integrated algorithm is studied to stabilize the attitude angle. Next, a SINS/OD/MAG integrated navigation system is designed and simulated, using an adaptive Kalman filter (AKF). It is shown that the accuracy of the integrated navigation system will be implemented to some extent. The field-test shows that the azimuth misalignment angle will diminish to less than 1°. Finally, an outliers detection algorithm is studied to estimate the velocity measurement bias of the odometer. The experimental results show the enhancement in restraining observation outliers that improves the precision of the integrated navigation system.

scholarly journals Cytokines as Biomarkers and Their Respective Clinical Cutoff Levels

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Rebecca N. Monastero ◽  
Srinivas Pentyala
Keyword(s):  
Tumor Necrosis ◽  
Inflammatory Diseases ◽  
Low Cost ◽  
The Body ◽  
Tumor Necrosis Factors ◽  
Biochemical Pathways ◽  
Downstream Effects ◽  
Future Work ◽  
Receiver Operator Characteristics ◽  
Cutoff Levels

Cytokines, including interleukins, interferons, tumor necrosis factors, and chemokines, have a variety of pro- and anti-inflammatory effects in the body through a number of biochemical pathways and interactions. Stimuli, actions, interactions, and downstream effects of cytokines have been investigated in more depth in recent years, and clinical research has also been conducted to implicate cytokines in causal patterns in certain diseases. However, particular cutoffs of cytokines as biomarkers for disease processes have not been well studied, and this warrants future work to potentially improve diagnoses for diseases with inflammatory markers. A limited number of studies in this area are reviewed, considering diseases correlated with abnormal cytokine profiles, as well as specific cutoffs at which cytokines have been deemed clinically useful for diagnosing those diseases through Receiver Operator Characteristics modeling. In light of studies such as those discussed in this review, cytokine testing has the potential to support diagnosis due to its lack of invasiveness and low cost, compared to other common types of testing for infections and inflammatory diseases.

scholarly journals Development and evaluation of low-cost walker with trunk support for senior citizen

2017 ◽  
Vol 51 (0) ◽  
Author(s):  
Paloma Hohmann Poier ◽  
Francisco Godke ◽  
José Aguiomar Foggiatto ◽  
Leandra Ulbricht
Keyword(s):  
Senior Citizens ◽  
Low Cost ◽  
Senior Citizen ◽  
Descriptive Study ◽  
The Body ◽  
Two Stage ◽  
Monitoring Time ◽  
Static Body ◽  
Study Development

Abstract OBJECTIVE Develop and evaluate a low-cost walker with trunk support for senior citizens. METHOD Two-stage descriptive study: development of a walker with trunk support and evaluation with fourth age senior citizens. RESULTS Twenty-three fourth age senior citizens were selected. The evaluated criteria were the immediate influence of the walker on the static stabilometry with baropodometer and the evaluation of gait with accelerometers monitoring time and amplitude of the hip movement. There was a significant decrease in the body oscillation of senior citizens with the use of the developed walker, and there were changes in the joint amplitudes of the hip, but they were not significant. CONCLUSION Using low-cost materials, it was possible to develop and equipment that met resistance and effectiveness requirements. The walker interfered in the balance of the senior citizens, reducing significantly the static body oscillation.

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