Pedestrian localisation for indoor environments

Ubiquitous computing systems aim to assist us as we go about our daily lives, whilst at the same time fading into the background so that we do not notice their presence. To do this they need to be able to sense their surroundings and infer context about the state of the world. Location has proven to be an important source of contextual information for such systems. If a device can determine its own location then it can infer its surroundings and adapt accordingly. Of particular interest for many ubiquitous computing systems is the ability to track people in indoor environments. This interest has led to the development of many indoor location systems based on a range of technologies including infra-red light, ultrasound and radio. Unfortunately existing systems that achieve the kind of sub-metre accuracies desired by many location-aware applications require large amounts of infrastructure to be installed into the environment. This thesis investigates an alternative approach to indoor pedestrian tracking that uses on-body inertial sensors rather than relying on fixed infrastructure. It is demonstrated that general purpose inertial navigation algorithms are unsuitable for pedestrian tracking due to the rapid accumulation of errors in the tracked position. In practice it is necessary to frequently correct such algorithms using additional measurements or constraints. An extended Kalman filter is developed for this purpose and is applied to track pedestrians using foot-mounted inertial sensors. By detecting when the foot is stationary and applying zero velocity corrections a pedestrian’s relative movements can be tracked far more accurately than is possible using uncorrected inertial navigation. Having developed an effective means of calculating a pedestrian’s relative movements, a localisation filter is developed that combines relative movement measurements with environmental constraints derived from a map of the environment. By enforcing constraints such as impassable walls and floors the filter is able to narrow down the absolute position of a pedestrian as they move through an indoor environment. Once the user’s position has been uniquely determined the same filter is demonstrated to track the user’s absolute position to sub-metre accuracy. The localisation filter in its simplest form is computationally expensive. Furthermore symmetry exhibited by the environment may delay or prevent the filter from determining the user’s position. The final part of this thesis describes the concept of assisted localisation, in which additional measurements are used to solve both of these problems. The use of sparsely deployed WiFi access points is discussed in detail. The thesis concludes that inertial sensors can be used to track pedestrians in indoor environments. Such an approach is suited to cases in which it is impossible or impractical to install large amounts of fixed infrastructure into the environment in advance

A virtual 3D mobile guide in the INTERMEDIA project

In this paper, we introduce a European research project, interactive media with personal networked devices (INTERMEDIA) in which we seek to progress beyond home and device-centric convergence toward truly user-centric convergence of multimedia. Our vision is to make the user the multimedia center: the user as the point at which multimedia services and the means for interacting with them converge. This paper proposes the main research goals in providing users with a personalized interface and content independent of physical networked devices, and space and time. As a case study, we describe an indoors, mobile mixed reality guide system: Chloe@University. With a see-through head-mounted display (HMD) connected to a small wearable computing device, Chloe@University provides users with an efficient way to guide someone in a building. A 3D virtual character in front of the user guides him/her to the required destinatio

Serious Gaming for Water Systems Planning and Management

This is the final version of the article. Available from MDPI via the DOI in this record.Water systems planning and management share the same roots with gaming, as they rely on concepts in systems analysis, operations research and decision sciences. This paper focuses on Serious Games (those used for purposes other than mere entertainment), with applications in the area of water systems planning and management. A survey of published work on gaming is carried out with particular attention given to applications of Serious Gaming to water systems planning and management. The survey is also used to identify the principal criteria for the classification of Serious Gaming for water related applications, including application areas, goals, number and type of players, user interface, type of simulation model used, realism of the game, performance feedback, progress monitoring and game portability. The review shows that game applications in the water sector can be a valuable tool for making various stakeholders aware of the socio-techno-economic issues related to managing complex water systems. However, the critical review also indicates a gap that exists in the Serious Game application area with the lack of water distribution system games. A conceptually simple, but computationally elaborate new game for water distribution system analysis, design and evaluation (SeGWADE) is presented in this paper. It has a main goal of finding a least-cost design for a well-known benchmark problem, for which the game environment takes the computational and visualisation burden away from the simulation tool and the player. The game has been evaluated in a classroom environment in which a high degree of player engagement with the game was observed, due to its basic game ingredients and activities, i.e., challenge, play and fun. In addition, a clear improvement in learning has been observed in how players attempted to identify solutions that satisfy the pressure criterion with players readily identifying the proximity of the better solutions to the starting, infeasible configuration. Through applications of Serious Gaming such as this, decision makers can learn about the complexity of the water distribution system design problem, experiment safely using a computer model of a real system, understand conflicting objectives (i.e., minimization of cost and satisfaction of minimum pressure) and develop strategies for coping with complexity without being burdened by the limitations of the ICT technology at their disposal.The authors would like to acknowledge the funding provided by the UK Engineering and Physical Sciences Research Council, grant EP/M018865/1 (The Nexus Game)

Cleared for Launch - Lessons Learned from the OSIRIS-REx System Requirements Verification Program

Requirements verification of a large flight system is a challenge. It is especially challenging for engineers taking on their first role in space systems engineering. This paper describes our approach to verification of the Origins, Spectral Interpretation, Resource Identification, Security-Regolith Explorer (OSIRIS-REx) system requirements. It also captures lessons learned along the way from developing systems engineers embroiled in this process. We begin with an overview of the mission and science objectives as well as the project requirements verification program strategy. A description of the requirements flow down is presented including our implementation for managing the thousands of program and element level requirements and associated verification data. We discuss both successes and methods to improve the managing of this data across multiple organizational interfaces. Our approach to verifying system requirements at multiple levels of assembly is presented using examples from our work at instrument, spacecraft, and ground segment levels. We include a discussion of system end-to-end testing limitations and their impacts to the verification program. Finally, we describe lessons learned that are applicable to all emerging space systems engineers using our unique perspectives across multiple organizations of a large NASA program

Simple identification tools in FishBase

Simple identification tools for fish species were included in the FishBase information system from its inception. Early tools made use of the relational model and characters like fin ray meristics. Soon pictures and drawings were added as a further help, similar to a field guide. Later came the computerization of existing dichotomous keys, again in combination with pictures and other information, and the ability to restrict possible species by country, area, or taxonomic group. Today, www.FishBase.org offers four different ways to identify species. This paper describes these tools with their advantages and disadvantages, and suggests various options for further development. It explores the possibility of a holistic and integrated computeraided strategy

MK3: On optimizing the management of cascades or systems of reservoirs at catchment level

This project is about scaling up to the catchment level the results obtained from optimizing the management of individual reservoirs. As such, it draws on results from MKs 1 and 2. It seeks to understand at the catchment scale the cumulative upstream and downstream consequences of management decisions taken for multiple reservoirs. It includes the study of land degradation and reservoir siltation processes

JSC research and technology

The primary roles and missions of JSC incorporate all aspects of human presence in space. Therefore, the Center is involved in the development of technology that will allow humans to stay longer in Earth orbit, allow safe flight in space, and provide capabilities to explore the Moon and Mars. The Center's technology emphasis areas include human spacecraft development, human support systems and infrastructure, and human spacecraft operations. Safety and reliability are critical requirements for the technologies that JSC pursues for long-duration use in space. One of the objectives of technology development at the Center is to give employees the opportunity to enhance their technological expertise and project management skills by defining, designing, and developing projects that are vital to the Center's strategy for the future. This report is intended to communicate within and outside the Agency our research and technology (R&T) accomplishments, as well as inform Headquarters program managers and their constituents of the significant accomplishments that have promise for future Agency programs. While not inclusive of all R&T efforts, the report presents a comprehensive summary of JSC projects in which substantial progress was made in the 1992 fiscal year. At the beginning of each project description, names of the Principal Investigator (PI) and the Technical Monitor (TM) are given, followed by their JSC mail codes or their company or university affiliations. The funding sources and technology focal points are identified in the index

Recent Advances in Indoor Localization Systems and Technologies

Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods

A virtual 3D mobile guide in the INTERMEDIA project

In this paper, we introduce a European research project, interactive media with personal networked devices (INTERMEDIA) in which we seek to progress beyond home and device-centric convergence toward truly user-centric convergence of multimedia. Our vision is to make the user the multimedia center: the user as the point at which multimedia services and the means for interacting with them converge. This paper proposes the main research goals in providing users with a personalized interface and content independent of physical networked devices, and space and time. As a case study, we describe an indoors, mobile mixed reality guide system: Chloe@University. With a see-through head-mounted display (HMD) connected to a small wearable computing device, Chloe@University provides users with an efficient way to guide someone in a building. A 3D virtual character in front of the user guides him/her to the required destination