Adaptive smartphone-based sensor fusion for estimating competitive rowing kinematic metrics.

Competitive rowing highly values boat position and velocity data for real-time feedback during training, racing and post-training analysis. The ubiquity of smartphones with embedded position (GPS) and motion (accelerometer) sensors motivates their possible use in these tasks. In this paper, we investigate the use of two real-time digital filters to achieve highly accurate yet reasonably priced measurements of boat speed and distance traveled. Both filters combine acceleration and location data to estimate boat distance and speed; the first using a complementary frequency response-based filter technique, the second with a Kalman filter formalism that includes adaptive, real-time estimates of effective accelerometer bias. The estimates of distance and speed from both filters were validated and compared with accurate reference data from a differential GPS system with better than 1 cm precision and a 5 Hz update rate, in experiments using two subjects (an experienced club-level rower and an elite rower) in two different boats on a 300 m course. Compared with single channel (smartphone GPS only) measures of distance and speed, the complementary filter improved the accuracy and precision of boat speed, boat distance traveled, and distance per stroke by 44%, 42%, and 73%, respectively, while the Kalman filter improved the accuracy and precision of boat speed, boat distance traveled, and distance per stroke by 48%, 22%, and 82%, respectively. Both filters demonstrate promise as general purpose methods to substantially improve estimates of important rowing performance metrics

A Model that Predicts the Material Recognition Performance of Thermal Tactile Sensing

Tactile sensing can enable a robot to infer properties of its surroundings, such as the material of an object. Heat transfer based sensing can be used for material recognition due to differences in the thermal properties of materials. While data-driven methods have shown promise for this recognition problem, many factors can influence performance, including sensor noise, the initial temperatures of the sensor and the object, the thermal effusivities of the materials, and the duration of contact. We present a physics-based mathematical model that predicts material recognition performance given these factors. Our model uses semi-infinite solids and a statistical method to calculate an F1 score for the binary material recognition. We evaluated our method using simulated contact with 69 materials and data collected by a real robot with 12 materials. Our model predicted the material recognition performance of support vector machine (SVM) with 96% accuracy for the simulated data, with 92% accuracy for real-world data with constant initial sensor temperatures, and with 91% accuracy for real-world data with varied initial sensor temperatures. Using our model, we also provide insight into the roles of various factors on recognition performance, such as the temperature difference between the sensor and the object. Overall, our results suggest that our model could be used to help design better thermal sensors for robots and enable robots to use them more effectively.Comment: This article is currently under review for possible publicatio

Fingerprint Verification Using Spectral Minutiae Representations

Most fingerprint recognition systems are based on the use of a minutiae set, which is an unordered collection of minutiae locations and orientations suffering from various deformations such as translation, rotation, and scaling. The spectral minutiae representation introduced in this paper is a novel method to represent a minutiae set as a fixed-length feature vector, which is invariant to translation, and in which rotation and scaling become translations, so that they can be easily compensated for. These characteristics enable the combination of fingerprint recognition systems with template protection schemes that require a fixed-length feature vector. This paper introduces the concept of algorithms for two representation methods: the location-based spectral minutiae representation and the orientation-based spectral minutiae representation. Both algorithms are evaluated using two correlation-based spectral minutiae matching algorithms. We present the performance of our algorithms on three fingerprint databases. We also show how the performance can be improved by using a fusion scheme and singular points

Auditory Spectrum-Based Pitched Instrument Onset Detection

In this paper, a method for onset detection of music signals using auditory spectra is proposed. The auditory spectrogram provides a time-frequency representation that employs a sound processing model resembling the human auditory system. Recent work on onset detection employs DFT-based features describing spectral energy and phase differences, as well as pitch-based features. These features are often combined for maximizing detection performance. Here, the spectral flux and phase slope features are derived in the auditory framework and a novel fundamental frequency estimation algorithm based on auditory spectra is introduced. An onset detection algorithm is proposed, which processes and combines the aforementioned features at the decision level. Experiments are conducted on a dataset covering 11 pitched instrument types, consisting of 1829 onsets in total. Results indicate that auditory representations outperform various state-of-the-art approaches, with the onset detection algorithm reaching an F-measure of 82.6%