A Hybrid Global Minimization Scheme for Accurate Source Localization in Sensor Networks

We consider the localization problem of multiple wideband sources in a multi-path environment by coherently taking into account the attenuation characteristics and the time delays in the reception of the signal. Our proposed method leaves the space for unavailability of an accurate signal attenuation model in the environment by considering the model as an unknown function with reasonable prior assumptions about its functional space. Such approach is capable of enhancing the localization performance compared to only utilizing the signal attenuation information or the time delays. In this paper, the localization problem is modeled as a cost function in terms of the source locations, attenuation model parameters and the multi-path parameters. To globally perform the minimization, we propose a hybrid algorithm combining the differential evolution algorithm with the Levenberg-Marquardt algorithm. Besides the proposed combination of optimization schemes, supporting the technical details such as closed forms of cost function sensitivity matrices are provided. Finally, the validity of the proposed method is examined in several localization scenarios, taking into account the noise in the environment, the multi-path phenomenon and considering the sensors not being synchronized

The influences of environmental conditions on source localisation using a single vertical array and their exploitation through ground effect inversion

The performance of microphone arrays outdoors is influenced by the environmental conditions. Numerical simulations indicate that, while horizontal arrays are hardly affected, direction-of-arrival (DOA) estimation with vertical arrays becomes biased in presence of ground reflections and sound speed gradients. Turbulence leads to a huge variability in the estimates by reducing the ground effect. Ground effect can be exploited by combining classical source localization with an appropriate propagation model (ground effect inversion). Not only does this allow the source elevation and range to be determined with a single vertical array but also it allows separation of sources which can no longer be distinguished by far field localization methods. Furthermore, simulations provide detail of the achievable spatial resolution depending on frequency range, array size and localization algorithm and show a clear advantage of broadband processing. Outdoor measurements with one or two sources confirm the results of the numerical simulations

Tactile Mapping and Localization from High-Resolution Tactile Imprints

This work studies the problem of shape reconstruction and object localization using a vision-based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from contact, an approach to reconstruct the tactile shape of objects from tactile imprints, and an accurate method for object localization of previously reconstructed objects. The algorithms can be applied to a large variety of 3D objects and provide accurate tactile feedback for in-hand manipulation. Results show that by exploiting the dense tactile information we can reconstruct the shape of objects with high accuracy and do on-line object identification and localization, opening the door to reactive manipulation guided by tactile sensing. We provide videos and supplemental information in the project's website http://web.mit.edu/mcube/research/tactile_localization.html.Comment: ICRA 2019, 7 pages, 7 figures. Website: http://web.mit.edu/mcube/research/tactile_localization.html Video: https://youtu.be/uMkspjmDbq

Where Does the Density Localize? Convergent Behavior for Global Hybrids, Range Separation, and DFT+U

Approximate density functional theory (DFT) suffers from many-electron self- interaction error, otherwise known as delocalization error, that may be diagnosed and then corrected through elimination of the deviation from exact piecewise linear behavior between integer electron numbers. Although paths to correction of energetic delocalization error are well- established, the impact of these corrections on the electron density is less well-studied. Here, we compare the effect on density delocalization of DFT+U, global hybrid tuning, and range- separated hybrid tuning on a diverse test set of 32 transition metal complexes and observe the three methods to have qualitatively equivalent effects on the ground state density. Regardless of valence orbital diffuseness (i.e., from 2p to 5p), ligand electronegativity (i.e., from Al to O), basis set (i.e., plane wave versus localized basis set), metal (i.e., Ti, Fe, Ni) and spin state, or tuning method, we consistently observe substantial charge loss at the metal and gain at ligand atoms (ca. 0.3-0.5 e or more). This charge loss at the metal is preferentially from the minority spin, leading to increasing magnetic moment as well. Using accurate wavefunction theory references, we observe that a minimum error in partial charges and magnetic moments occur at higher tuning parameters than typically employed to eliminate energetic delocalization error. These observations motivate the need to develop multi-faceted approximate-DFT error correction approaches that separately treat density delocalization and energetic errors in order to recover both correct density and magnetization properties.Comment: 34 pages, 11 figure

Estimation of the gravitational wave polarizations from a non template search

Gravitational wave astronomy is just beginning, after the recent success of the four direct detections of binary black hole (BBH) mergers, the first observation from a binary neutron star inspiral and with the expectation of many more events to come. Given the possibility to detect waves from not perfectly modeled astrophysical processes, it is fundamental to be ready to calculate the polarization waveforms in the case of searches using non-template algorithms. In such case, the waveform polarizations are the only quantities that contain direct information about the generating process. We present the performance of a new valuable tool to estimate the inverse solution of gravitational wave transient signals, starting from the analysis of the signal properties of a non-template algorithm that is open to a wider class of gravitational signals not covered by template algorithms. We highlight the contributions to the wave polarization associated with the detector response, the sky localization and the polarization angle of the source. In this paper we present the performances of such method and its implications by using two main classes of transient signals, resembling the limiting case for most simple and complicated morphologies. Performances are encouraging, for the tested waveforms: the correlation between the original and the reconstructed waveforms spans from better than 80% for simple morphologies to better than 50% for complicated ones. For a not-template search this results can be considered satisfactory to reconstruct the astrophysical progenitor

Localization of short duration gravitational-wave transients with the early advanced LIGO and Virgo detectors

The Laser Interferometer Gravitational wave Observatory (LIGO) and Virgo, advanced ground-based gravitational-wave detectors, will begin collecting science data in 2015. With first detections expected to follow, it is important to quantify how well generic gravitational-wave transients can be localized on the sky. This is crucial for correctly identifying electromagnetic counterparts as well as understanding gravitational-wave physics and source populations. We present a study of sky localization capabilities for two search and parameter estimation algorithms: \emph{coherent WaveBurst}, a constrained likelihood algorithm operating in close to real-time, and \emph{LALInferenceBurst}, a Markov chain Monte Carlo parameter estimation algorithm developed to recover generic transient signals with latency of a few hours. Furthermore, we focus on the first few years of the advanced detector era, when we expect to only have two (2015) and later three (2016) operational detectors, all below design sensitivity. These detector configurations can produce significantly different sky localizations, which we quantify in detail. We observe a clear improvement in localization of the average detected signal when progressing from two-detector to three-detector networks, as expected. Although localization depends on the waveform morphology, approximately 50% of detected signals would be imaged after observing 100-200 deg$^2$ in 2015 and 60-110 deg$^2$ in 2016, although knowledge of the waveform can reduce this to as little as 22 deg$^2$. This is the first comprehensive study on sky localization capabilities for generic transients of the early network of advanced LIGO and Virgo detectors, including the early LIGO-only two-detector configuration.Comment: 18 pages, 8 figure