Robust localization with wearable sensors

Measuring physical movements of humans and understanding human behaviour is useful in a variety of areas and disciplines. Human inertial tracking is a method that can be leveraged for monitoring complex actions that emerge from interactions between human actors and their environment. An accurate estimation of motion trajectories can support new approaches to pedestrian navigation, emergency rescue, athlete management, and medicine. However, tracking with wearable inertial sensors has several problems that need to be overcome, such as the low accuracy of consumer-grade inertial measurement units (IMUs), the error accumulation problem in long-term tracking, and the artefacts generated by movements that are less common. This thesis focusses on measuring human movements with wearable head-mounted sensors to accurately estimate the physical location of a person over time. The research consisted of (i) providing an overview of the current state of research for inertial tracking with wearable sensors, (ii) investigating the performance of new tracking algorithms that combine sensor fusion and data-driven machine learning, (iii) eliminating the effect of random head motion during tracking, (iv) creating robust long-term tracking systems with a Bayesian neural network and sequential Monte Carlo method, and (v) verifying that the system can be applied with changing modes of behaviour, defined as natural transitions from walking to running and vice versa. This research introduces a new system for inertial tracking with head-mounted sensors (which can be placed in, e.g. helmets, caps, or glasses). This technology can be used for long-term positional tracking to explore complex behaviours

Wearable and Nearable Biosensors and Systems for Healthcare

Biosensors and systems in the form of wearables and “nearables” (i.e., everyday sensorized objects with transmitting capabilities such as smartphones) are rapidly evolving for use in healthcare. Unlike conventional approaches, these technologies can enable seamless or on-demand physiological monitoring, anytime and anywhere. Such monitoring can help transform healthcare from the current reactive, one-size-fits-all, hospital-centered approach into a future proactive, personalized, decentralized structure. Wearable and nearable biosensors and systems have been made possible through integrated innovations in sensor design, electronics, data transmission, power management, and signal processing. Although much progress has been made in this field, many open challenges for the scientific community remain, especially for those applications requiring high accuracy. This book contains the 12 papers that constituted a recent Special Issue of Sensors sharing the same title. The aim of the initiative was to provide a collection of state-of-the-art investigations on wearables and nearables, in order to stimulate technological advances and the use of the technology to benefit healthcare. The topics covered by the book offer both depth and breadth pertaining to wearable and nearable technology. They include new biosensors and data transmission techniques, studies on accelerometers, signal processing, and cardiovascular monitoring, clinical applications, and validation of commercial devices

NIAC Phase II Orbiting Rainbows: Future Space Imaging with Granular Systems

Inspired by the light scattering and focusing properties of distributed optical assemblies in Nature, such as rainbows and aerosols, and by recent laboratory successes in optical trapping and manipulation, we propose a unique combination of space optics and autonomous robotic system technology, to enable a new vision of space system architecture with applications to ultra-lightweight space optics and, ultimately, in-situ space system fabrication. Typically, the cost of an optical system is driven by the size and mass of the primary aperture. The ideal system is a cloud of spatially disordered dust-like objects that can be optically manipulated: it is highly reconfigurable, fault-tolerant, and allows very large aperture sizes at low cost. This new concept is based on recent understandings in the physics of optical manipulation of small particles in the laboratory and the engineering of distributed ensembles of spacecraft swarms to shape an orbiting cloud of micron-sized objects. In the same way that optical tweezers have revolutionized micro- and nano-manipulation of objects, our breakthrough concept will enable new large scale NASA mission applications and develop new technology in the areas of Astrophysical Imaging Systems and Remote Sensing because the cloud can operate as an adaptive optical imaging sensor. While achieving the feasibility of constructing one single aperture out of the cloud is the main topic of this work, it is clear that multiple orbiting aerosol lenses could also combine their power to synthesize a much larger aperture in space to enable challenging goals such as exo-planet detection. Furthermore, this effort could establish feasibility of key issues related to material properties, remote manipulation, and autonomy characteristics of cloud in orbit. There are several types of endeavors (science missions) that could be enabled by this type of approach, i.e. it can enable new astrophysical imaging systems, exo-planet search, large apertures allow for unprecedented high resolution to discern continents and important features of other planets, hyperspectral imaging, adaptive systems, spectroscopy imaging through limb, and stable optical systems from Lagrange-points. Furthermore, future micro-miniaturization might hold promise of a further extension of our dust aperture concept to other more exciting smart dust concepts with other associated capabilities. Our objective in Phase II was to experimentally and numerically investigate how to optically manipulate and maintain the shape of an orbiting cloud of dust-like matter so that it can function as an adaptable ultra-lightweight surface. Our solution is based on the aperture being an engineered granular medium, instead of a conventional monolithic aperture. This allows building of apertures at a reduced cost, enables extremely fault-tolerant apertures that cannot otherwise be made, and directly enables classes of missions for exoplanet detection based on Fourier spectroscopy with tight angular resolution and innovative radar systems for remote sensing. In this task, we have examined the advanced feasibility of a crosscutting concept that contributes new technological approaches for space imaging systems, autonomous systems, and space applications of optical manipulation. The proposed investigation has matured the concept that we started in Phase I to TRL 3, identifying technology gaps and candidate system architectures for the space-borne cloud as an aperture

EXPERIMENTAL EVALUATION OF MODIFIED PHASE TRANSFORM FOR SOUND SOURCE DETECTION

The detection of sound sources with microphone arrays can be enhanced through processing individual microphone signals prior to the delay and sum operation. One method in particular, the Phase Transform (PHAT) has demonstrated improvement in sound source location images, especially in reverberant and noisy environments. Recent work proposed a modification to the PHAT transform that allows varying degrees of spectral whitening through a single parameter, andamp;acirc;, which has shown positive improvement in target detection in simulation results. This work focuses on experimental evaluation of the modified SRP-PHAT algorithm. Performance results are computed from actual experimental setup of an 8-element perimeter array with a receiver operating characteristic (ROC) analysis for detecting sound sources. The results verified simulation results of PHAT- andamp;acirc; in improving target detection probabilities. The ROC analysis demonstrated the relationships between various target types (narrowband and broadband), room reverberation levels (high and low) and noise levels (different SNR) with respect to optimal andamp;acirc;. Results from experiment strongly agree with those of simulations on the effect of PHAT in significantly improving detection performance for narrowband and broadband signals especially at low SNR and in the presence of high levels of reverberation

Light Scattering by Non-Spherical Particles

Nicht-sphärische Teilchen sind in der Natur sowie in verfahrenstechnischen Anwendungen sehr häufig anzutreffen. Insbesondere die Detektion von Eiskristallen während des Fluges durch Verkehrsflugzeuge ist ein Problem, dass in den vergangenen Jahren vermehrt Aufmerksamkeit erhalten hat. Während das Problem der Streuung einer ebenen elektromagnetischen Welle durch ein homogenes und isotropes sphärisches Teilchen, wie z.B. einen Regentropfen als vollständig gelöst anzusehen ist, ist dies bei nicht-sphärischen Partikeln nicht der Fall. Hier existiert nach wie vor ein Fokus der Forschung und Entwicklung sowohl auf theoretischer, numerischer, als auch experimenteller Seite, aufgrund einer Vielzahl an unterschiedlichen Schwierigkeiten. Diese Arbeit beschreibt verschiedene numerische und semianalytische Verfahren, die auf das Streuproblem angewandt werden können und dabei die gesamte Reichweite des maßgeblichen Mie-Größenparameters abdecken. Diese Methoden werden auf die Kalibration und Interpretation der Messergebnisse des PHIPS-Messinstruments angewandt, welches in einer HALO Kampagne zur Charakterisierung von atmosphärischen Eiskristallen erprobt wurde. Die Berechnungsmethoden im Einzelnen beinhalten zwei Derivate der geometrischen Optik, anwendbar auf beliebige Partikel-Geometrien mit homogenem, als auch inhomogenem Brechungsindex, das numerisch exakte Verfahren der Finiten Integration der Maxwell-Gleichungen, sowie die in der Lichtstreuung und Quantenmechanik häufig verwendete Transitionsoperator-Methode. Diese Berechnungsmethoden werden auf eine Reihe von Beispiel- Geometrien angewandt und der Einfluss von Polarisation und gemittelter Partikel-Orientierung werden untersucht. Zusätzlich wurde ein Verfahren implementiert, dass das Strahlprofil eines Laserstrahls auf die gestreute Lichtintensität berücksichtigt, welches beispielsweise in der Anwendung bei Time-Shift Messungen eine zentrale Rolle spielt. Die Grenzen der Anwendbarkeit der verschiedenen Berechnungsmethoden werden in der Arbeit erläutert. Des Weiteren werden mehrere moderne Messverfahren auf ihre Anwendbarkeit im Hinblick auf nicht-sphärische Teilchen hin überprüft. Dies beinhaltet unter anderem das Time-Shift Messverfahren, sowie interferometrische bildgebende Verfahren. Die Analyse der Anwendbarkeit der verschiedenen Messmethoden ist im experimentellen Abschnitt der Arbeit dokumentiert. Messungen der Streulicht-Phasenfunktionen von natürlichen Eiskristallen wurden ebenfalls durchgeführt und die spezifischen Vorbereitungen für die Untersuchungen von Eiskristallen in einem optischen Experiment werden in dieser Arbeit ebenfalls erläutert. Als gemeinsame Problematik konnte bei vielen Verfahren der limitierte Dynamikbereich der verwendeten Detektoren identifiziert werden. Ein abschließender wichtiger Aspekt in dieser Arbeit ist die Produktion und Aufbewahrung von Eiskristallen mit möglichst natürlichen optischen Eigenschaften in einer Laborumgebung. Hierfür wurde eine kompakte Wolkenkammer entwickelt, die die geforderten Eigenschaften an Produktionsmenge und Qualität von Eiskristallen erfüllt. Auslegung, Konstruktion und Betrieb des Apparates werden im letzten Kapitel der Dissertation detailliert wiedergegeben

Random Matrix Theories in Quantum Physics: Common Concepts

We review the development of random-matrix theory (RMT) during the last decade. We emphasize both the theoretical aspects, and the application of the theory to a number of fields. These comprise chaotic and disordered systems, the localization problem, many-body quantum systems, the Calogero-Sutherland model, chiral symmetry breaking in QCD, and quantum gravity in two dimensions. The review is preceded by a brief historical survey of the developments of RMT and of localization theory since their inception. We emphasize the concepts common to the above-mentioned fields as well as the great diversity of RMT. In view of the universality of RMT, we suggest that the current development signals the emergence of a new "statistical mechanics": Stochasticity and general symmetry requirements lead to universal laws not based on dynamical principles.Comment: 178 pages, Revtex, 45 figures, submitted to Physics Report

Data analysis methods for the cosmic microwave background

41 pages, 21 figuresInternational audienceIn this review, we give an overview of some of the major aspects of data reduction and analysis for the cosmic microwave background (CMB). Since its prediction and discovery in the last century, the CMB radiation has proven itself to be one of our most valuable tools for precision cosmology. Recently, and especially when combined with complementary cosmological data, measurements of the CMB anisotropies have provided us with a wealth of quantitive information about the birth, evolution and structure of our Universe. We begin with a simple, general introduction to the physics of the CMB, including a basic overview of the experiments which record CMB data. The focus, however, will be the data analysis treatment of CMB data sets

NASA Tech Briefs, March 1988

Topics include: New Product Ideas; NASA TU Services; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; and Life Sciences

Multichannel source separation and tracking with phase differences by random sample consensus

Blind audio source separation (BASS) is a fascinating problem that has been tackled from many different angles. The use case of interest in this thesis is that of multiple moving and simultaneously-active speakers in a reverberant room. This is a common situation, for example, in social gatherings. We human beings have the remarkable ability to focus attention on a particular speaker while effectively ignoring the rest. This is referred to as the ``cocktail party effect'' and has been the holy grail of source separation for many decades. Replicating this feat in real-time with a machine is the goal of BASS. Single-channel methods attempt to identify the individual speakers from a single recording. However, with the advent of hand-held consumer electronics, techniques based on microphone array processing are becoming increasingly popular. Multichannel methods record a sound field from various locations to incorporate spatial information. If the speakers move over time, we need an algorithm capable of tracking their positions in the room. For compact arrays with 1-10 cm of separation between the microphones, this can be accomplished by applying a temporal filter on estimates of the directions-of-arrival (DOA) of the speakers. In this thesis, we review recent work on BSS with inter-channel phase difference (IPD) features and provide extensions to the case of moving speakers. It is shown that IPD features compose a noisy circular-linear dataset. This data is clustered with the RANdom SAmple Consensus (RANSAC) algorithm in the presence of strong reverberation to simultaneously localize and separate speakers. The remarkable performance of RANSAC is due to its natural tendency to reject outliers. To handle the case of non-stationary speakers, a factorial wrapped Kalman filter (FWKF) and a factorial von Mises-Fisher particle filter (FvMFPF) are proposed that track source DOAs directly on the unit circle and unit sphere, respectively. These algorithms combine directional statistics, Bayesian filtering theory, and probabilistic data association techniques to track the speakers with mixtures of directional distributions