Graph Optimization Approach to Range-based Localization

In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization. Range and trajectory smoothness constraints are constructed in a position graph, then the robot trajectory over a sliding window is estimated by a graph based optimization algorithm. Moreover, convergence analysis of the algorithm is provided, and the effects of the number of iterations and window size in the optimization on the localization accuracy are analyzed. Extensive experiments on quadcopter under a variety of scenarios verify the effectiveness of the proposed algorithm and demonstrate a much higher localization accuracy than the existing range-based localization methods, especially in the altitude direction

Non-Contact Human Motion Sensing Using Radar Techniques

Human motion analysis has recently gained a lot of interest in the research community due to its widespread applications. A full understanding of normal motion from human limb joint trajectory tracking could be essential to develop and establish a scientific basis for correcting any abnormalities. Technology to analyze human motion has significantly advanced in the last few years. However, there is a need to develop a non-invasive, cost effective gait analysis system that can be functional indoors or outdoors 24/7 without hindering the normal daily activities for the subjects being monitored or invading their privacy. Out of the various methods for human gait analysis, radar technique is a non-invasive method, and can be carried out remotely. For one subject monitoring, single tone radars can be utilized for motion capturing of a single target, while ultra-wideband radars can be used for multi-subject tracking. But there are still some challenges that need to be overcome for utilizing radars for motion analysis, such as sophisticated signal processing requirements, sensitivity to noise, and hardware imperfections. The goal of this research is to overcome these challenges and realize a non-contact gait analysis system capable of extracting different organ trajectories (like the torso, hands and legs) from a complex human motion such as walking. The implemented system can be hugely beneficial for applications such as treating patients with joint problems, athlete performance analysis, motion classification, and so on

Noncontact Vital Signs Detection

Human health condition can be accessed by measurement of vital signs, i.e., respiratory rate (RR), heart rate (HR), blood oxygen level, temperature and blood pressure. Due to drawbacks of contact sensors in measurement, non-contact sensors such as imaging photoplethysmogram (IPPG) and Doppler radar system have been proposed for cardiorespiratory rates detection by researchers.The UWB pulse Doppler radars provide high resolution range-time-frequency information. It is bestowed with advantages of low transmitted power, through-wall capabilities, and high resolution in localization. However, the poor signal to noise ratio (SNR) makes it challenging for UWB radar systems to accurately detect the heartbeat of a subject. To solve the problem, phased-methods have been proposed to extract the phase variations in the reflected pulses modulated by human tiny thorax motions. Advance signal processing method, i.e., state space method, can not only be used to enhance SNR of human vital signs detection, but also enable the micro-Doppler trajectories extraction of walking subject from UWB radar data.Stepped Frequency Continuous Wave (SFCW) radar is an alternative technique useful to remotely monitor human subject activities. Compared with UWB pulse radar, it relieves the stress on requirement of high sampling rate analog-to-digital converter (ADC) and possesses higher signal-to-noise-ratio (SNR) in vital signs detection. However, conventional SFCW radar suffers from long data acquisition time to step over many frequencies. To solve this problem, multi-channel SFCW radar has been proposed to step through different frequency bandwidths simultaneously. Compressed sensing (CS) can further reduce the data acquisition time by randomly stepping through 20% of the original frequency steps.In this work, SFCW system is implemented with low cost, off-the-shelf surface mount components to make the radar sensors portable. Experimental results collected from both pulse and SFCW radar systems have been validated with commercial contact sensors and satisfactory results are shown

The Future of the Operating Room: Surgical Preplanning and Navigation using High Accuracy Ultra-Wideband Positioning and Advanced Bone Measurement

This dissertation embodies the diversity and creativity of my research, of which much has been peer-reviewed, published in archival quality journals, and presented nationally and internationally. Portions of the work described herein have been published in the fields of image processing, forensic anthropology, physical anthropology, biomedical engineering, clinical orthopedics, and microwave engineering. The problem studied is primarily that of developing the tools and technologies for a next-generation surgical navigation system. The discussion focuses on the underlying technologies of a novel microwave positioning subsystem and a bone analysis subsystem. The methodologies behind each of these technologies are presented in the context of the overall system with the salient results helping to elucidate the difficult facets of the problem. The microwave positioning system is currently the highest accuracy wireless ultra-wideband positioning system that can be found in the literature. The challenges in producing a system with these capabilities are many, and the research and development in solving these problems should further the art of high accuracy pulse-based positioning

Optimisation des performances de réseaux de capteurs dynamiques par le contrôle de synchronisation dans les systèmes ultra large bande

The basic concept of Impulse-Radio UWB (IR-UWB) technology is to transmit and receive baseband impulse waveform streams of very low power density and ultra-short duration pulses (typically at nanosecond scale). These properties of UWB give rise to fine time-domain resolution, rich multipath diversity, low power and low cost on-chip implementation facility, high secure and safety, enhanced penetration capability, high user capacity, and potential spectrum compatibility with existing narrowband systems. Due to all these features, UWB technology has been considered as a feasible technology for WSN applications. While UWB has many reasons to make it a useful and exciting technology for wireless sensor networks and many other applications, it also has some challenges which must be overcome for it to become a popular approach, such as interference from other UWB users, accurate modelling of the UWB channel in various environments, wideband RF component (antennas, low noise amplifiers) designs, accurate synchronization, high sampling rate for digital implementations, and so on. In this thesis, we will focus only on one of the most critical issues in ultra wideband systems: Timing Synchronization.Dans cette thèse nous nous sommes principalement concentrés sur les transmissions impulsion radio Ultra Large Bande (UWB-IR) qui a plusieurs avantages grâce à la nature de sa bande très large (entre 3.1GHZ et 10.6GHz) qui permet un débit élevé et une très bonne résolution temporelle. Ainsi, la très courte durée des impulsions émises assure une transmission robuste dans un canal multi-trajets dense. Enfin la faible densité spectrale de puissance du signal permet au système UWB de coexister avec les applications existantes. En raison de toutes ces caractéristiques, la technologie UWB a été considérée comme une technologie prometteuse pour les applications WSN. Cependant, il existe plusieurs défis technologiques pour l'implémentation des systèmes UWB. A savoir, une distorsion différente de la forme d'onde du signal reçu pour chaque trajet, la conception d'antennes très larges bandes de petites dimensions et non coûteuses, la synchronisation d'un signal impulsionnel, l'utilisation de modulation d'onde d'ordre élevé pour améliorer le débit etc. Dans ce travail, Nous allons nous intéresser à l'étude et l'amélioration de la synchronisation temporelle dans les systèmes ULB

High-performance signal acquisition algorithms for wireless communications receivers

Due to the uncertainties introduced by the propagation channel, and RF and mixed signal circuits imperfections, digital communication receivers require efficient and robust signal acquisition algorithms for timing and carrier recovery, and interfer- ence rejection. The main theme of this work is the development of efficient and robust signal synchronization and interference rejection schemes for narrowband, wideband and ultra wideband communications systems. A series of novel signal acquisition schemes together with their performance analysis and comparisons with existing state-of-the- art results are introduced. The design effort is first focused on narrowband systems, and then on wideband and ultra wideband systems. For single carrier modulated narrowband systems, it is found that conventional timing recovery schemes present low efficiency, e.g., certain feedback timing recov- ery schemes exhibit the so-called hang-up phenomenon, while another class of blind feedforward timing recovery schemes presents large self-noise. Based on a general re- search framework, we propose new anti-hangup algorithms and prefiltering techniques to speed up the feedback timing recovery and reduce the self-noise of feedforward tim- ing estimators, respectively. Orthogonal frequency division multiplexing (OFDM) technique is well suited for wideband wireless systems. However, OFDM receivers require high performance car-rier and timing synchronization. A new coarse synchronization scheme is proposed for efficient carrier frequency offset and timing acquisition. Also, a novel highly accurate decision-directed algorithm is proposed to track and compensate the residual phase and timing errors after the coarse synchronization step. Both theoretical analysis and computer simulations indicate that the proposed algorithms greatly improve the performance of OFDM receivers. The results of an in-depth study show that a narrowband interference (NBI) could cause serious performance loss in multiband OFDMbased ultra-wideband (UWB) sys- tems. A novel NBI mitigation scheme, based on a digital NBI detector and adaptive analog notch filter bank, is proposed to reduce the effects of NBI in UWB systems. Simulation results show that the proposed NBI mitigation scheme improves signifi- cantly the performance of a standard UWB receiver (this improvement manifests as a signal-to-noise ratio (SNR) gain of 9 dB)