[技術・研究報告] ROS対応移動ロボットを用いた屋外ロボットチャレンジへの取り組み

人とロボットが共存する社会の実現を目的として，移動ロボットに，移動物体の識別や，対象人物の検出，交通法規を遵守するための環境認識など，様々な課題を設けた屋外ロボットチャレンジが実施されている．本稿では，知能化空間システムを構築するための情報収集ロボットの開発を目標とする．ロボットチャレンジを通した実環境で動作できる自律移動ロボットの検証について報告する．本研究では，課題解決のための手段として，ソフトウェア資産の再利用するためにオープンソースであるRobot Operating System (ROS)に対応した移動ロボットフォームを用いてシステムを構築する．これまでの２回にわたる屋外ロボットチャレンジへの参加をとおしたシステムの検証を報告し，甲南大学ロボティクス研究室の屋外ロボットシステム構築の展望について述べる

Indoor location identification technologies for real-time IoT-based applications: an inclusive survey

YesThe advent of the Internet of Things has witnessed tremendous success in the application of wireless sensor networks and ubiquitous computing for diverse smart-based applications. The developed systems operate under different technologies using different methods to achieve their targeted goals. In this treatise, we carried out an inclusive survey on key indoor technologies and techniques, with to view to explore their various benefits, limitations, and areas for improvement. The mathematical formulation for simple localization problems is also presented. In addition, an empirical evaluation of the performance of these indoor technologies is carried out using a common generic metric of scalability, accuracy, complexity, robustness, energy-efficiency, cost and reliability. An empirical evaluation of performance of different RF-based technologies establishes the viability of Wi-Fi, RFID, UWB, Wi-Fi, Bluetooth, ZigBee, and Light over other indoor technologies for reliable IoT-based applications. Furthermore, the survey advocates hybridization of technologies as an effective approach to achieve reliable IoT-based indoor systems. The findings of the survey could be useful in the selection of appropriate indoor technologies for the development of reliable real-time indoor applications. The study could also be used as a reliable source for literature referencing on the subject of indoor location identification.Supported in part by the Tertiary Education Trust Fund of the Federal Government of Nigeria, and in part by the European Union’s Horizon 2020 Research and Innovation Programme under Grant agreement H2020-MSCA-ITN-2016 SECRET-72242

The always best positioned paradigm for mobile indoor applications

In this dissertation, methods for personal positioning in outdoor and indoor environments are investigated. The Always Best Positioned paradigm, which has the goal of providing a preferably consistent self-positioning, will be defined. Furthermore, the localization toolkit LOCATO will be presented, which allows to easily realize positioning systems that follow the paradigm. New algorithms were developed, which particularly address the robustness of positioning systems with respect to the Always Best Positioned paradigm. With the help of this toolkit, three example positioning-systems were implemented, each designed for different applications and requirements: a low-cost system, which can be used in conjunction with user-adaptive public displays, a so-called opportunistic system, which enables positioning with room-level accuracy in any building that provides a WiFi infrastructure, and a high-accuracy system for instrumented environments, which works with active RFID tags and infrared beacons. Furthermore, a new and unique evaluation-method for positioning systems is presented, which uses step-accurate natural walking-traces as ground truth. Finally, six location based services will be presented, which were realized either with the tools provided by LOCATO or with one of the example positioning-systems.In dieser Doktorarbeit werden Methoden zur Personenpositionierung im Innen- und Außenbereich von Gebäuden untersucht. Es wird das ,,Always Best Positioned” Paradigma definiert, welches eine möglichst lückenlose Selbstpositionierung zum Ziel hat. Weiterhin wird die Lokalisierungsplattform LOCATO vorgestellt, welche eine einfache Umsetzung von Positionierungssystemen ermöglicht. Hierzu wurden neue Algorithmen entwickelt, welche gezielt die Robustheit von Positionierungssystemen unter Berücksichtigung des ,,Always Best Positioned” Paradigmas angehen. Mit Hilfe dieser Plattform wurden drei Beispiel Positionierungssysteme entwickelt, welche unterschiedliche Einsatzgebiete berücksichtigen: Ein kostengünstiges System, das im Zusammenhang mit benutzeradaptiven öffentlichen Bildschirmen benutzt werden kann; ein sogenanntes opportunistisches Positionierungssystem, welches eine raumgenaue Positionierung in allen Gebäuden mit WLAN-Infrastruktur ermöglicht, sowie ein metergenaues Positionierungssystem, welches mit Hilfe einer Instrumentierung aus aktiven RFID-Tags und Infrarot-Baken arbeitet. Weiterhin wird erstmalig eine Positionierungsevaluation vorgestellt, welche schrittgenaue, natürliche Bewegungspfade als Referenzsystem einsetzt. Im Abschluss werden 6 lokationsbasierte Dienste vorgestellt, welche entweder mit Hilfe von LOCATO oder mit Hilfe einer der drei Beispiel-Positionierungssysteme entwickelt wurden

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

Abstracts on Radio Direction Finding (1899 - 1995)

The files on this record represent the various databases that originally composed the CD-ROM issue of "Abstracts on Radio Direction Finding" database, which is now part of the Dudley Knox Library's Abstracts and Selected Full Text Documents on Radio Direction Finding (1899 - 1995) Collection. (See Calhoun record https://calhoun.nps.edu/handle/10945/57364 for further information on this collection and the bibliography). Due to issues of technological obsolescence preventing current and future audiences from accessing the bibliography, DKL exported and converted into the three files on this record the various databases contained in the CD-ROM. The contents of these files are: 1) RDFA_CompleteBibliography_xls.zip [RDFA_CompleteBibliography.xls: Metadata for the complete bibliography, in Excel 97-2003 Workbook format; RDFA_Glossary.xls: Glossary of terms, in Excel 97-2003 Workbookformat; RDFA_Biographies.xls: Biographies of leading figures, in Excel 97-2003 Workbook format]; 2) RDFA_CompleteBibliography_csv.zip [RDFA_CompleteBibliography.TXT: Metadata for the complete bibliography, in CSV format; RDFA_Glossary.TXT: Glossary of terms, in CSV format; RDFA_Biographies.TXT: Biographies of leading figures, in CSV format]; 3) RDFA_CompleteBibliography.pdf: A human readable display of the bibliographic data, as a means of double-checking any possible deviations due to conversion

Portugal SB13: contribution of sustainable building to meet EU 20-20-20 targets

Proceedings of the International Conference Portugal SB13: contribution of sustainable building to meet EU 20-20-20 targetsThe international conference Portugal SB13 is organized by the University of Minho, the Technical University of Lisbon and the Portuguese Chapter of the International Initiative for a Sustainable Built Environment in Guimarães, Portugal, from the 30th of October till the 1st of November 2013. This conference is included in the Sustainable Building Conference Series 2013-2014 (SB13-14) that are being organized all over the world. The event is supported by high prestige partners, such as the International Council for Research and Innovation in Building and Construction (CIB), the United Nations Environment Programme (UNEP), the International Federation of Consulting Engineers (FIDIC) and the International Initiative for a Sustainable Built Environment (iiSBE). Portugal SB13 is focused on the theme â Sustainable Building Contribution to Achieve the European Union 20-20-20 Targetsâ . These targets, known as the â EU 20-20-20â targets, set three key objectives for 2020: - A 20% reduction in EU greenhouse gas emissions from 1990 levels; - Raising the share of EU energy consumption produced from renewable resources to 20%; - A 20% improvement in the EU's energy efficiency. Building sector uses about 40% of global energy, 25% of global water, 40% of global resources and emit approximately 1/3 of the global greenhouse gas emissions (the largest contributor). Residential and commercial buildings consume approximately 60% of the worldâ s electricity. Existing buildings represent significant energy saving opportunities because their performance level is frequently far below the current efficiency potentials. Energy consumption in buildings can be reduced by 30 to 80% using proven and commercially available technologies. Investment in building energy efficiency is accompanied by significant direct and indirect savings, which help offset incremental costs, providing a short return on investment period. Therefore, buildings offer the greatest potential for achieving significant greenhouse gas emission reductions, at least cost, in developed and developing countries. On the other hand, there are many more issues related to the sustainability of the built environment than energy. The building sector is responsible for creating, modifying and improving the living environment of the humanity. Construction and buildings have considerable environmental impacts, consuming a significant proportion of limited resources of the planet including raw material, water, land and, of course, energy. The building sector is estimated to be worth 10% of global GDP (5.5 trillion EUR) and employs 111 million people. In developing countries, new sustainable construction opens enormous opportunities because of the population growth and the increasing prosperity, which stimulate the urbanization and the construction activities representing up to 40% of GDP. Therefore, building sustainably will result in healthier and more productive environments. The sustainability of the built environment, the construction industry and the related activities are a pressing issue facing all stakeholders in order to promote the Sustainable Development. The Portugal SB13 conference topics cover a wide range of up-to-date issues and the contributions received from the delegates reflect critical research and the best available practices in the Sustainable Building field. The issues presented include: - Nearly Zero Energy Buildings - Policies for Sustainable Construction - High Performance Sustainable Building Solutions - Design and Technologies for Energy Efficiency - Innovative Construction Systems - Building Sustainability Assessment Tools - Renovation and Retrofitting - Eco-Efficient Materials and Technologies - Urban Regeneration - Design for Life Cycle and Reuse - LCA of sustainable materials and technologies All the articles selected for presentation at the conference and published in these Proceedings, went through a refereed review process and were evaluated by, at least, two reviewers. The Organizers want to thank all the authors who have contributed with papers for publication in the proceedings and to all reviewers, whose efforts and hard work secured the high quality of all contributions to this conference. A special gratitude is also addressed to Eng. José Amarílio Barbosa and to Eng. Catarina Araújo that coordinated the Secretariat of the Conference. Finally, Portugal SB13 wants to address a special thank to CIB, UNEP, FIDIC and iiSBE for their support and wish great success for all the other SB13 events that are taking place all over the world

Time Localization of Abrupt Changes in Cutting Process using Hilbert Huang Transform

Cutting process is extremely dynamical process influenced by different phenomena such as chip formation, dynamical responses and condition of machining system elements. Different phenomena in cutting zone have signatures in different frequency bands in signal acquired during process monitoring. The time localization of signal’s frequency content is very important. An emerging technique for simultaneous analysis of the signal in time and frequency domain that can be used for time localization of frequency is Hilbert Huang Transform (HHT). It is based on empirical mode decomposition (EMD) of the signal into intrinsic mode functions (IMFs) as simple oscillatory modes. IMFs obtained using EMD can be processed using Hilbert Transform and instantaneous frequency of the signal can be computed. This paper gives a methodology for time localization of cutting process stop during intermittent turning. Cutting process stop leads to abrupt changes in acquired signal correlated to certain frequency band. The frequency band related to abrupt changes is localized in time using HHT. The potentials and limitations of HHT application in machining process monitoring are shown

Proceedings of the 9th Annual International Conference of the International Institute for Infrastructure Renewal and Reconstruction

Proceedings of The 9th Annual International Conference of the International Institute for Infrastructure Renewal and Reconstruction. The conference was held at Queensland University of Technology (QUT), Brisbane, Australia from 8-10 July 2013. The event title for the 9th Annual Conference was: Risk-informed Disaster Management: Planning for Response, Recovery and Resilience. All papers were double blind peer reviewed and the Proceedings were published online in March 2015