A Grid-based Sensor Floor Platform for Robot Localization using Machine Learning

Wireless Sensor Network (WSN) applications reshape the trend of warehouse monitoring systems allowing them to track and locate massive numbers of logistic entities in real-time. To support the tasks, classic Radio Frequency (RF)-based localization approaches (e.g. triangulation and trilateration) confront challenges due to multi-path fading and signal loss in noisy warehouse environment. In this paper, we investigate machine learning methods using a new grid-based WSN platform called Sensor Floor that can overcome the issues. Sensor Floor consists of 345 nodes installed across the floor of our logistic research hall with dual-band RF and Inertial Measurement Unit (IMU) sensors. Our goal is to localize all logistic entities, for this study we use a mobile robot. We record distributed sensing measurements of Received Signal Strength Indicator (RSSI) and IMU values as the dataset and position tracking from Vicon system as the ground truth. The asynchronous collected data is pre-processed and trained using Random Forest and Convolutional Neural Network (CNN). The CNN model with regularization outperforms the Random Forest in terms of localization accuracy with aproximate 15 cm. Moreover, the CNN architecture can be configured flexibly depending on the scenario in the warehouse. The hardware, software and the CNN architecture of the Sensor Floor are open-source under https://github.com/FLW-TUDO/sensorfloor.Comment: This is a preprint version for IEEE I2MTC 202

A Review of Indoor Millimeter Wave Device-based Localization and Device-free Sensing Technologies and Applications

The commercial availability of low-cost millimeter wave (mmWave) communication and radar devices is starting to improve the penetration of such technologies in consumer markets, paving the way for large-scale and dense deployments in fifth-generation (5G)-and-beyond as well as 6G networks. At the same time, pervasive mmWave access will enable device localization and device-free sensing with unprecedented accuracy, especially with respect to sub-6 GHz commercial-grade devices. This paper surveys the state of the art in device-based localization and device-free sensing using mmWave communication and radar devices, with a focus on indoor deployments. We first overview key concepts about mmWave signal propagation and system design. Then, we provide a detailed account of approaches and algorithms for localization and sensing enabled by mmWaves. We consider several dimensions in our analysis, including the main objectives, techniques, and performance of each work, whether each research reached some degree of implementation, and which hardware platforms were used for this purpose. We conclude by discussing that better algorithms for consumer-grade devices, data fusion methods for dense deployments, as well as an educated application of machine learning methods are promising, relevant and timely research directions.Comment: 43 pages, 13 figures. Accepted in IEEE Communications Surveys & Tutorials (IEEE COMST

A Machine Learning Approach to Indoor Localization Data Mining

Indoor positioning systems are increasingly commonplace in various environments and produce large quantities of data. They are used in industrial applications, robotics, asset and employee tracking just to name a few use cases. The growing amount of data and the accelerating progress of machine learning opens up many new possibilities for analyzing this data in ways that were not conceivable or relevant before. This paper introduces connected concepts and implementations to answer question how this data can be utilized. Data gathered in this thesis originates from an indoor positioning system deployed in retail environment, but the discussed methods can be applied generally. The issue will be approached by first introducing the concept of machine learning and more generally, artificial intelligence, and how they work on a general level. A deeper dive is done to subfields and algorithms that are relevant to the data mining task at hand. Indoor positioning system basics are also shortly discussed to create a base understanding on the realistic capabilities and constraints that these kinds of systems encase. These methods and previous knowledge from literature are put to test with the freshly gathered data. An algorithm based on existing example from literature was tested and improved upon with the new data. A novel method to cluster and classify movement patterns was introduced, utilizing deep learning to create embedded representations of the trajectories in a more complex learning pipeline. This type of learning is often referred to as deep clustering. The results are promising and both of the methods produce useful high level representations of the complex dataset that can help a human operator to discern the relevant patterns from raw data and to be used as an input for subsequent supervised and unsupervised learning steps. Several factors related to optimizing the learning pipeline, such as regularization were also researched and the results presented as visualizations. The research found that pipeline consisting of CNN-autoencoder followed by a classic clustering algorithm such as DBSCAN produces useful results in the form of trajectory clusters. Regularization such as L1 regression improves this performance. The research done in this paper presents useful algorithms for processing raw, noisy localization data from indoor environments that can be used for further implementations in both industrial applications and academia

Smart Monitoring and Control in the Future Internet of Things

The Internet of Things (IoT) and related technologies have the promise of realizing pervasive and smart applications which, in turn, have the potential of improving the quality of life of people living in a connected world. According to the IoT vision, all things can cooperate amongst themselves and be managed from anywhere via the Internet, allowing tight integration between the physical and cyber worlds and thus improving efficiency, promoting usability, and opening up new application opportunities. Nowadays, IoT technologies have successfully been exploited in several domains, providing both social and economic benefits. The realization of the full potential of the next generation of the Internet of Things still needs further research efforts concerning, for instance, the identification of new architectures, methodologies, and infrastructures dealing with distributed and decentralized IoT systems; the integration of IoT with cognitive and social capabilities; the enhancement of the sensing–analysis–control cycle; the integration of consciousness and awareness in IoT environments; and the design of new algorithms and techniques for managing IoT big data. This Special Issue is devoted to advancements in technologies, methodologies, and applications for IoT, together with emerging standards and research topics which would lead to realization of the future Internet of Things

A Review of Physical Human Activity Recognition Chain Using Sensors

In the era of Internet of Medical Things (IoMT), healthcare monitoring has gained a vital role nowadays. Moreover, improving lifestyle, encouraging healthy behaviours, and decreasing the chronic diseases are urgently required. However, tracking and monitoring critical cases/conditions of elderly and patients is a great challenge. Healthcare services for those people are crucial in order to achieve high safety consideration. Physical human activity recognition using wearable devices is used to monitor and recognize human activities for elderly and patient. The main aim of this review study is to highlight the human activity recognition chain, which includes, sensing technologies, preprocessing and segmentation, feature extractions methods, and classification techniques. Challenges and future trends are also highlighted.

Calibrated Simplex Mapping Classification

We propose a novel supervised multi-class/single-label classifier that maps training data onto a linearly separable latent space with a simplex-like geometry. This approach allows us to transform the classification problem into a well-defined regression problem. For its solution we can choose suitable distance metrics in feature space and regression models predicting latent space coordinates. A benchmark on various artificial and real-world data sets is used to demonstrate the calibration qualities and prediction performance of our classifier.Comment: 24 pages, 8 figures, 7 table