Combined infrared-ultrasonic positioning system to improve the data availability

Many indoor positioning applications related to accurate monitoring and tracking targets require centimeter precision. Infrared (IR)- and ultrasound (US)-based systems represent a feasible approach providing high robustness against interference. Furthermore, their combination may achieve better performance by mitigating their complementary drawbacks, covering larger areas, and improving the availability of positioning measurements. In this context, this work presents the proposal and experimental evaluation of a tightly coupled fusion method that uses an extended Kalman filter (EKF) to merge an IR- and a US-based positioning system. An outlier detection method is considered to select measurements with an adequate performance. Experimental results reveal that the IR and US systems are unable to position in 4.08% and 26.06% of locations, whereas the combined IR -US system has 100% of availability. In addition, the merged solution achieves less than 4 cm of positioning error in 90% of cases, outperforming the IR and US systems when they work independently

Calibration of Beacons for Indoor Environments based on a Digital Map and Heuristic Information

This paper proposes an algorithm for calibrating the position of beacons which are placed on the ceiling of an indoor environment. In this context, the term calibration is used to estimate the position coordinates of a beacon related to a known reference system in a map. The positions of a set of beacons are used for indoor positioning purposes. The operation of the beacons can be based on different technologies such as radiofrequency (RF), infrared (IR) or ultrasound (US), among others. In this case we are interested in the positions of several beacons that compose an Ultrasonic Local Positioning System (ULPS) placed on different strategic points of the building. The calibration proposal uses several distances from a beacon to the neighbor walls measured by a laser meter. These measured distances, the map of the building in a vector format and other heuristic data (such as the region in which the beacon is located, the approximate orientation of the distance measurements to the walls and the equations in the map coordinate system of the line defining these walls) are the inputs of the proposed algorithm. The output is the best estimation of the position of the beacon. The process is repeated for all the beacons. To find the best estimation of the position of the beacons we have implemented a numerical minimization based on the use of a Genetic Algorithm (GA) and a Harmony Search (HS) methods. The proposal has been validated with simulations and real experiments, obtaining the positions of the beacons and an estimation of the error associated that depends on which walls (and the angle of incidence of the laser) are selected to make the distance measurements.Universidad de AlcaláJunta de Comunidades de Castilla-La ManchaMinisterio de Economía y Competitivida

Visible light positioning system based on a quadrant photodiode and encoding techniques

Visible light positioning systems (VLPSs) are a feasible alternative to local positioning systems due to the technology improvement and massive use of light-emitting diodes (LEDs). Compared to other technologies, VLPSs can provide significant advantages, such as the achieved accuracy, although they still present some issues, mainly related to the reduced coverage area or the high computational load. This article proposes the design of a VLPS based on four LED lamps as transmitters and a quadrant photodiode angular diversity aperture (QADA) as a receiver. As the shape of the QADA is circular and the aperture to be installed over it is square, we derive the corresponding general equations to obtain the currents through the different pads of the QADA, regarding the angle of incidence of the light (and, inversely, how to estimate the angle of incidence from the measured currents). An encoding scheme based on 1023-bit Kasami sequences is proposed for every transmission from the LED lamps, thus providing multiple access capability and robustness against low signal-to-noise ratios and harsh conditions, such as multipath and near-far effect. A triangulation technique has been applied to estimate the receiver's position, by means of the least-squares estimator (LSE), together with some geometrical considerations. The proposal has been validated by simulation and by experimental tests, obtaining 3-D positioning average errors below 13 and 5.5 cm for separations between the transmitters' plane and the receiver of 2 and 1 m, respectively

Application of Text Summarization techniques to the Geographical Information Retrieval task

Automatic Text Summarization has been shown to be useful for Natural Language Processing tasks such as Question Answering or Text Classification and other related fields of computer science such as Information Retrieval. Since Geographical Information Retrieval can be considered as an extension of the Information Retrieval field, the generation of summaries could be integrated into these systems by acting as an intermediate stage, with the purpose of reducing the document length. In this manner, the access time for information searching will be improved, while at the same time relevant documents will be also retrieved. Therefore, in this paper we propose the generation of two types of summaries (generic and geographical) applying several compression rates in order to evaluate their effectiveness in the Geographical Information Retrieval task. The evaluation has been carried out using GeoCLEF as evaluation framework and following an Information Retrieval perspective without considering the geo-reranking phase commonly used in these systems. Although single-document summarization has not performed well in general, the slight improvements obtained for some types of the proposed summaries, particularly for those based on geographical information, made us believe that the integration of Text Summarization with Geographical Information Retrieval may be beneficial, and consequently, the experimental set-up developed in this research work serves as a basis for further investigations in this field.This work has been partially funded by the European Commission under the Seventh (FP7-2007-2013) Framework Programme for Research and Technological Development through the FIRST project (FP7-287607). It has also been partially supported by a grant from the Fondo Europeo de Desarrollo Regional (FEDER), projects TEXT-MESS 2.0 (TIN2009-13391-C04-01) and TEXT-COOL 2.0 (TIN2009-13391-C04-02) from the Spanish Government, a Grant from the Valencian Government, project "Desarrollo de Técnicas Inteligentes e Interactivas de Minería de Textos" (PROMETEO/2009/119), and a Grant No. ACOMP/2011/001

The world meets the body: Sociocultural aspects of terminological metaphor

Proceedings of the 37th Annual Meeting of the Berkeley Linguistics Society (2013), pp. 359-37

Estimation of the polar angle in a 3D infrared indoor positioning system based on a QADA receiver

2019 International Conference on Indoor Positioning and Indoor Navigation (IPIN), 30 September 2019 - 03 October 2019, Pisa, Italy.Three-dimension infrared positioning systems are a must on indoor local positioning systems, where those based on photodetectors are the most typically used in order not to have complex processing algorithms but a fast positioning computation. Most optical positioning systems are characterized by their low cost, low lifetime, and easy integration on the workplace. This work proposes an infrared positioning system based on four infrared LEDs and a QADA receiver. By applying encoding techniques to the infrared transmissions, the points of incidence from those transmitters on the QADA receiver are simultaneously obtained and the polar angle compensated, in order to finally estimate the receiver?s position. The geometrical considerations of the system have been derived, including the polar angle and its behaviour with regard to the receiver?s position, the angle of incidence and the aperture height. The proposal has been successfully validated by simulation and experimental tests, obtaining positioning errors below 10 cm.Ministerio de Economía y CompetitividadAgencia Estatal de Investigació

Evaluation of Multi-Sensor Fusion Methods for Ultrasonic Indoor Positioning

Indoor positioning systems have become a feasible solution for the current development of multiple location-based services and applications. They often consist of deploying a certain set of beacons in the environment to create a coverage volume, wherein some receivers, such as robots, drones or smart devices, can move while estimating their own position. Their final accuracy and performance mainly depend on several factors: the workspace size and its nature, the technologies involved (Wi-Fi, ultrasound, light, RF), etc. This work evaluates a 3D ultrasonic local positioning system (3D-ULPS) based on three independent ULPSs installed at specific positions to cover almost all the workspace and position mobile ultrasonic receivers in the environment. Because the proposal deals with numerous ultrasonic emitters, it is possible to determine different time differences of arrival (TDOA) between them and the receiver. In that context, the selection of a suitable fusion method to merge all this information into a final position estimate is a key aspect of the proposal. A linear Kalman filter (LKF) and an adaptive Kalman filter (AKF) are proposed in that regard for a loosely coupled approach, where the positions obtained from each ULPS are merged together. On the other hand, as a tightly coupled method, an extended Kalman filter (EKF) is also applied to merge the raw measurements from all the ULPSs into a final position estimate. Simulations and experimental tests were carried out and validated both approaches, thus providing average errors in the centimetre range for the EKF version, in contrast to errors up to the meter range from the independent (not merged) ULPSs.Agencia Estatal de InvestigaciónUniversidad de Alcal

Ability to Predict Side-Out Performance by the Setter’s Action Range with First Tempo Availability in Top European Male and Female Teams

The aims of this study were to compare the Setter’s action range with availability of first tempo (SARA) between male and female volleyball; and to determine the relationship between several spatial and o ensive variables and their influence in the success of the side-out in male and female volleyball. A total of 1302 side-outs (639 male, 663 female) were registered (2019 European Championship). The ranking, reception e cacy, position and trajectory of the setter between reception and set, first tempo availability, side-out result, rotation, and attack lane were analyzed through Recursive Partitioning for classification, regression and survival tree models and classification and regression trees algorithms. Our results present female teams with more reduced SARAs than male teams, meaning female setters tend to play closer to the net. The correlation between the ranking and the distance from the average position of the setter to the ideal setting zone was not significant. A movement of the setter of 30 or less and more than 1 m in distance might improve the performance of the side-out. Depending on the spatial usage of the setter, some rotations might be more successful than others. When assessing performance, the teams should consider the ability to play quick attacks when their reception is not as precise as they would expect.German Research Foundation (DFG) FPU14/02234Spanish Ministry of Economy and Competitiveness - Spanish Ministry of Economy, Industry and Competitivity DEP2011-27503 TIN2016-81113-RFEDER-Junta de Andalucia, Consejeria de Economia y Conocimiento TIC.388.UGR1

Implementation of a High Measurement Rate VLP System

redOptical positioning systems have raised interest in recent years, due to the centimeter accuracy in three-dimension environments they are able to provide, thanks to the use of light emitting diodes (LED) and diode photoreceptors. This work is based on the design and implementation of the signal processing algorithms for an optical indoor positioning system. It is configured using some LED beacons placed at known positions and the corresponding receivers to be positioned moving in the coverage area. The definition and design of the hardware architecture for the processing associated to the receiver, for the case of a Quadrant Photodiode Angular Diversity Aperture (QADA) detector is proposed, analyzing different aspects involved in the final performance, such as the fixed-point notation used in the hardware definition. Furthermore, the implementation of the proposal includes an analog conditioning stage, an acquisition system, as well as a FPGA-based (Field-Programmable Gate Array) System-on-Chip (SoC) for implementing the necessary hardware and software elements, required to estimate the final position coordinates of the QADA receiver. In addition to the description of the positioning system and all its stages, some preliminary experimental tests are also shown, including position estimation for two specific locations, achieving the validation of a processing system associated with indoor positioning systems capable of handling high data rates (in the range of Msps)

Review of UAV positioning in indoor environments and new proposal based on US measurements

Este documento se considera que es una ponencia de congresos en lugar de un capítulo de libro.10th International Conference on Indoor Positioning and Indoor Navigation (IPIN 2019) Pisa, Italy, September 30th - October 3rd, 2019The use of unmanned aerial vehicles (UAVs) has increased dramatically in recent years because of their huge potential in both civil and military applications and the decrease in prize of UAVs products. Location detection can be implemented through GNSS technology in outdoor environments, nevertheless its accuracy could be insufficient for some applications. Usability of GNSS in indoor environments is limited due to the signal attenuation as it cross through walls or the absence of line of sight. Considering the big market opportunity of indoor UAVs many researchers are devoting their efforts in the exploration of solutions for their positioning. Indoor UAV applications include location based services (LBS), advertisement, ambient assisted living environments or emergency response. This work is an update survey in UAV indoor localization, so it can provide a guide and technical comparison perspective of different technologies with their main advantages and drawbacks. Finally, we propose an approach based on an ultrasonic local positioning system.Universidad de AlcaláJunta de Comunidades de Castilla-La ManchaMinisterio de Economía, Industria y Competitivida