FlexTDOA : Robust and Scalable Time-Difference of Arrival Localization Using Ultra-Wideband Devices

In this paper, we propose FlexTDOA, an indoor localization method using ultra-wideband (UWB) radios, and we demonstrate its performance in a functional system. Our method uses time-difference of arrival (TDOA) localization so that the user device remains passive and is able to compute its location simply by listening to the communication between the fixed anchors, ensuring the scalability of the system. The anchors communicate using a custom and flexible time-division multiple-access (TDMA) scheme in which time is divided in slots. In each time slot, one anchor interrogates one or more anchors which respond in the same slot. The anchors do not need to have their clocks synchronized. We implemented FlexTDOA on in-house designed hardware using a commercial UWB module. We evaluate the localization accuracy of FlexTDOA with different system parameters such as the number of responses, the order of responses, and the number of anchors. We simulate and evaluate the effect of the physical speed of the tag on the choice of optimum system parameters. We also compare FlexTDOA against the classic TDOA approach and range-based localization in a deployment of ten anchors and one tag, both with and without obstructions. Results show that FlexTDOA achieves the highest localization accuracy in most of the scenarios, with up to 38% reduction in the localization error compared to the classic approach.Peer reviewe

Congenital Abnormalities of the Fetal Face

Even at the early stages of gestation, the fetal face can be examined. There have been observations of the normal anatomy, such as orbits and the forehead, starting with the 12th week of gestation. However, nowadays, ultrasound equipment still cannot distinguish the soft tissues of the face, which are too thin. Yet, after the age of 14 weeks, we can easily examine the forehead, orbits, nose, lips, and ears. Recently, three-dimensional ultrasound (3D) images of the fetus can also be obtained. However, two-dimensional (2D) ultrasonographic (US) images are more easily, rapidly, efficiently, and accurately obtained. At the first stage of embryogenesis, the main part in the development of the fetal face is taken by the genetic factors. Later, the influence of the environment becomes more important. It is known that the outcome of chromosomal aberrations and of teratogenic factors is the facial malformation. Therefore, examining the facial dimorphism may get us useful hints in revealing chromosomal or genetic abnormalities. This chapter focuses on the fetal face anomalies more frequently found while performing the prenatal diagnosis. It is divided into anomalies of the orbits, nose, lip, palate, and mandible