A review of sensor technology and sensor fusion methods for map-based localization of service robot

Service robot is currently gaining traction, particularly in hospitality, geriatric care and healthcare industries. The navigation of service robots requires high adaptability, flexibility and reliability. Hence, map-based navigation is suitable for service robot because of the ease in updating changes in environment and the flexibility in determining a new optimal path. For map-based navigation to be robust, an accurate and precise localization method is necessary. Localization problem can be defined as recognizing the robot’s own position in a given environment and is a crucial step in any navigational process. Major difficulties of localization include dynamic changes of the real world, uncertainties and limited sensor information. This paper presents a comparative review of sensor technology and sensor fusion methods suitable for map-based localization, focusing on service robot applications

Drift Correction Methods for gas Chemical Sensors in Artificial Olfaction Systems: Techniques and Challenges

In this chapter the authors introduce the main challenges faced when developing drift correction techniques and will propose a deep overview of state-of-the-art methodologies that have been proposed in the scientific literature trying to underlying pros and cons of these techniques and focusing on challenges still open and waiting for solution

Design Issues and Challenges of File Systems for Flash Memories

This chapter discusses how to properly address the issues of using NAND flash memories as mass-memory devices from the native file system standpoint. We hope that the ideas and the solutions proposed in this chapter will be a valuable starting point for designers of NAND flash-based mass-memory devices

Development and deployment of a microfluidic platform for water quality monitoring

There is an increasing demand for autonomous sensor devices which can provide reliable data on key water quality parameters at a higher temporal and geographical resolution than is achievable using current approaches to sampling and monitoring. Microfluidic technology, in combination with rapid and on-going developments in the area of wireless communications, has significant potential to address this demand due to a number of advantageous features which allow the development of compact, low-cost and low-powered analytical devices. Here we report on the development of a microfluidic platform for water quality monitoring. This system has been successfully applied to in-situ monitoring of phosphate in environmental and wastewater monitoring applications. We describe a number of the technical and practical issues encountered and addressed during these deployments and summarise the current status of the technology

Autonomous Correction of Sensor Data Applied to Building Technologies Utilizing Statistical Processing Methods

Autonomous detection and correction of potentially missing or corrupt sensor data is a essential concern in building technologies since data availability and correctness is necessary to develop accurate software models for instrumented experiments. Therefore, this paper aims to address this problem by using statistical processing methods including: (1) least squares; (2) maximum likelihood estimation; (3) segmentation averaging; and (4) threshold based techniques. Application of these validation schemes are applied to a subset of data collected from Oak Ridge National Laboratory\u27s (ORNL) ZEBRAlliance research project, which is comprised of four single-family homes in Oak Ridge, TN outfitted with a total of 1,218 sensors. The focus of this paper is on three different types of sensor data: (1) temperature; (2) humidity; and (3) energy consumption. Simulations illustrate the threshold based statistical processing method performed best in predicting temperature, humidity, and energy data

Modeling and interpolation of the ambient magnetic field by Gaussian processes

Anomalies in the ambient magnetic field can be used as features in indoor positioning and navigation. By using Maxwell's equations, we derive and present a Bayesian non-parametric probabilistic modeling approach for interpolation and extrapolation of the magnetic field. We model the magnetic field components jointly by imposing a Gaussian process (GP) prior on the latent scalar potential of the magnetic field. By rewriting the GP model in terms of a Hilbert space representation, we circumvent the computational pitfalls associated with GP modeling and provide a computationally efficient and physically justified modeling tool for the ambient magnetic field. The model allows for sequential updating of the estimate and time-dependent changes in the magnetic field. The model is shown to work well in practice in different applications: we demonstrate mapping of the magnetic field both with an inexpensive Raspberry Pi powered robot and on foot using a standard smartphone.Comment: 17 pages, 12 figures, to appear in IEEE Transactions on Robotic

Mixed marker-based/marker-less visual odometry system for mobile robots

When moving in generic indoor environments, robotic platforms generally rely solely on information provided by onboard sensors to determine their position and orientation. However, the lack of absolute references often leads to the introduction of severe drifts in estimates computed, making autonomous operations really hard to accomplish. This paper proposes a solution to alleviate the impact of the above issues by combining two vision‐based pose estimation techniques working on relative and absolute coordinate systems, respectively. In particular, the unknown ground features in the images that are captured by the vertical camera of a mobile platform are processed by a vision‐based odometry algorithm, which is capable of estimating the relative frame‐to‐frame movements. Then, errors accumulated in the above step are corrected using artificial markers displaced at known positions in the environment. The markers are framed from time to time, which allows the robot to maintain the drifts bounded by additionally providing it with the navigation commands needed for autonomous flight. Accuracy and robustness of the designed technique are demonstrated using an off‐the‐shelf quadrotor via extensive experimental test