Motion Compatibility for Indoor Localization

Indoor localization -- a device's ability to determine its location within an extended indoor environment -- is a fundamental enabling capability for mobile context-aware applications. Many proposed applications assume localization information from GPS, or from WiFi access points. However, GPS fails indoors and in urban canyons, and current WiFi-based methods require an expensive, and manually intensive, mapping, calibration, and configuration process performed by skilled technicians to bring the system online for end users. We describe a method that estimates indoor location with respect to a prior map consisting of a set of 2D floorplans linked through horizontal and vertical adjacencies. Our main contribution is the notion of "path compatibility," in which the sequential output of a classifier of inertial data producing low-level motion estimates (standing still, walking straight, going upstairs, turning left etc.) is examined for agreement with the prior map. Path compatibility is encoded in an HMM-based matching model, from which the method recovers the user s location trajectory from the low-level motion estimates. To recognize user motions, we present a motion labeling algorithm, extracting fine-grained user motions from sensor data of handheld mobile devices. We propose "feature templates," which allows the motion classifier to learn the optimal window size for a specific combination of a motion and a sensor feature function. We show that, using only proprioceptive data of the quality typically available on a modern smartphone, our motion labeling algorithm classifies user motions with 94.5% accuracy, and our trajectory matching algorithm can recover the user's location to within 5 meters on average after one minute of movements from an unknown starting location. Prior information, such as a known starting floor, further decreases the time required to obtain precise location estimate

Moving-baseline localization for mobile wireless sensor networks

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2009.Includes bibliographical references (leaves 93-98).The moving-baseline localization (MBL) problem arises when a group of nodes moves through an environment in which no external coordinate reference is available. When group members cannot see or hear one another directly, each node must employ local sensing and inter-device communication to infer the spatial relationship and motion of all other nodes with respect to itself. We consider a setting in which nodes move with piecewise-linear velocities in the plane, and any node can exchange noisy range estimates with certain sufficiently nearby nodes. We develop a distributed solution to the MBL problem in the plane, in which each node performs robust hyperbola fitting, trilateration with velocity constraints, and subgraph alignment to arrive at a globally consistent view of the network expressed in its own "rest frame." Changes in any node's motion cause deviations between observed and predicted ranges at nearby nodes, triggering revision of the trajectory estimates computed by all nodes. We implement and analyze our algorithm in a simulation informed by the characteristics of a commercially available ultra-wideband (UWB) radio, and show that recovering node trajectories, rather than just locations, requires substantially less computation at each node. Finally, we quantify the minimum ranging rate and local network density required for the method's successful operation.by Jun-geun Park.S.M

Indoor localization using place and motion signatures

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2013.This electronic version was submitted and approved by the author's academic department as part of an electronic thesis pilot project. The certified thesis is available in the Institute Archives and Special Collections.Cataloged from department-submitted PDF version of thesis.Includes bibliographical references (p. 141-153).Most current methods for 802.11-based indoor localization depend on either simple radio propagation models or exhaustive, costly surveys conducted by skilled technicians. These methods are not satisfactory for long-term, large-scale positioning of mobile devices in practice. This thesis describes two approaches to the indoor localization problem, which we formulate as discovering user locations using place and motion signatures. The first approach, organic indoor localization, combines the idea of crowd-sourcing, encouraging end-users to contribute place signatures (location RF fingerprints) in an organic fashion. Based on prior work on organic localization systems, we study algorithmic challenges associated with structuring such organic location systems: the design of localization algorithms suitable for organic localization systems, qualitative and quantitative control of user inputs to "grow" an organic system from the very beginning, and handling the device heterogeneity problem, in which different devices have different RF characteristics. In the second approach, motion compatibility-based indoor localization, we formulate the localization problem as trajectory matching of a user motion sequence onto a prior map. Our method estimates indoor location with respect to a prior map consisting of a set of 2D floor plans linked through horizontal and vertical adjacencies. To enable the localization system, we present a motion classification algorithm that estimates user motions from the sensors available in commodity mobile devices. We also present a route network generation method, which constructs a graph representation of all user routes from legacy floor plans. Given these inputs, our HMM-based trajectory matching algorithm recovers user trajectories. The main contribution is the notion of path compatibility, in which the sequential output of a classifier of inertial data producing low-level motion estimates (standing still, walking straight, going upstairs, turning left etc.) is examined for metric/topological/semantic agreement with the prior map. We show that, using only proprioceptive data of the quality typically available on a modern smartphone, our method can recover the user's location to within several meters in one to two minutes after a "cold start."by Jun-geun Park.Ph.D

REMOTE SENSING OF WAVE DIRECTIONALITY BY TWO-DIMENSIONAL DIRECTIONAL WAVELETS: PART 1. THE DETECTION TOOLS OF DIRECTIONALITY IN SIGNALS

This paper presents the results of a study investigating methods of wave directionality based on wavelet transform. In part 1 of this paper, the theoretical background and characteristics of directional wavelet were discussed. Morlet wavelet and Cauchy wavelet were examined to test their efficiency in detection of directionality in signals. These wavelets were tested on numerical images which were considered to describe the basic characteristics of directionality of ocean waves

REMOTE SENSING OF WAVE DIRECTIONALITY BY TWO-DIMENSIONAL DIRECTIONAL WAVELETS : PART 2. APPLICATIONS TO THE NUMERICAL AND FIELD DATA

This paper presents the results of a study investigating methods of interpretation of wave directionality based on wavelet transform. In part 1 of this paper, the tools to be used in detection of wave directionality, i. e., the Morlet and Cauchy wavelets, were described. This paper presents the application results of the directional wavelet to numerically generated images and video images taken in laboratory wave flume, river, and sea. The results showed that directional wavelet transform can be an efficient tool in detecting wave directionality with extremely low effort and cost when it is compared to traditional practices in use

Momentum-dependent magnon lifetime in the metallic non-collinear triangular antiferromagnet CrB2

Non-collinear magnetic order arises for various reasons in several magnetic systems and exhibits interesting spin dynamics. Despite its ubiquitous presence, little is known of how magnons, otherwise stable quasiparticles, decay in these systems, particularly in metallic magnets. Using inelastic neutron scattering, we examine the magnetic excitation spectra in a metallic non-collinear antiferromagnet CrB$_{2}$, in which Cr atoms form a triangular lattice and display incommensurate magnetic order. Our data show intrinsic magnon damping and continuum-like excitations that cannot be explained by linear spin wave theory. The intrinsic magnon linewidth $\Gamma(q,E_{q})$ shows very unusual momentum dependence, which our analysis shows to originate from the combination of two-magnon decay and the Stoner continuum. By comparing the theoretical predictions with the experiments, we identify where in the momentum and energy space one of the two factors becomes more dominant. Our work constitutes a rare comprehensive study of the spin dynamics in metallic non-collinear antiferromagnets. It reveals, for the first time, definite experimental evidence of the higher-order effects in metallic antiferromagnets.Comment: 6 pages, 4 figures, accepted for publication in PR

A Study of Parameters Related to the Etch Rate for a Dry Etch Process Using NF 3

The characteristics of the dry etching of SiNx:H thin films for display devices using SF6/O2 and NF3/O2 were investigated using a dual-frequency capacitively coupled plasma reactive ion etching (CCP-RIE) system. The investigation was carried out by varying the RF power ratio (13.56 MHz/2 MHz), pressure, and gas flow ratio. For the SiNx:H film, the etch rates obtained using NF3/O2 were higher than those obtained using SF6/O2 under various process conditions. The relationships between the etch rates and the usual monitoring parameters—the optical emission spectroscopy (OES) intensity of atomic fluorine (685.1 nm and 702.89 nm) and the voltages VH and VL—were investigated. The OES intensity data indicated a correlation between the bulk plasma density and the atomic fluorine density. The etch rate was proportional to the product of the OES intensity of atomic fluorine (I(F)) and the square root of the voltages (Vh+Vl) on the assumption that the velocity of the reactive fluorine was proportional to the square root of the voltages

Prediction of the Chemical Composition and Fermentation Parameters of Fresh Coarse Italian Ryegrass Haylage Using Near Infrared Spectroscopy

Italian ryegrass (Lolium multiflorum) is an annual forage grass species which is widely cultivated in South Korea. It grows extensively in the southern part of the country and is an important component of winter forage for livestock. Each year, in Korea, over one million hectares of Italian ryegrass is converted to round bale haylage. Quality control is an important field in forage utilization research and marketing, and involves the estimation of forage nutrient content. Wet chemistry is the traditional method used to analyze the nutrient content of forage. However, this technique is often destructive, expensive, and time consuming, and it is not suitable for real-time feedstuff analysis. Near infrared spectroscopy (NIRS), on the other hand, is an alternative technique that has several major advantages over traditional methods. The analysis of silage nutrient content, using NIR, conventionally includes the drying and milling of samples. However, these processes can lead to reduction of volatile acids, which are important components of silage. NIRS can be affected by spectral regions, drying and grinding methods, particle size, packing density and the temperature of samples (Reeves and Blosser, 1991). In order to obtain accurate NIRS results, sample preparation, and the measurement conditions of the calibration set and predicted samples, need to match. The objectives of this study were to (1) assess the usefulness of NIRS in determining the nutritional composition and fermentative parameters of fresh coarse samples of Italian ryegrass haylage, (2) assess the predictive value of various NIRS calibration models, and (3) explore cost-effective and time saving methods for forage quality estimation, in field populations

Symbiotic relationship between filamentous algae (Halomicronema sp.) and extracellular polymeric substance-producing algae (Chlamydomonas sp.) through biomimetic simulation of natural algal mats

To lower the cost of biomass harvesting, the growth of natural biofilm is considered to be an optimal alternative to microalgae aggregation. This study investigated algal mats that naturally agglomerate into a lump and float on water surfaces. Halomicronema sp., a filamentous cyanobacterium with high cell aggregation and adhesion to substrates, and Chlamydomonas sp., which grows rapidly and produces high extracellular polymeric substances (EPS) in certain environments, are the main microalgae that make up selected mats through next-generation sequencing analysis. These two species play a major role in the formation of solid mats, and showed a symbiotic relationship as the medium and nutritional source, particularly owing to the large amount of EPS formed by the reaction between EPS and calcium ions through zeta potential and Fourier-transform infrared spectroscopy analysis. This led to the formation of an ecological biomimetic algal mat (BAM) that mimics the natural algal mat system, and this is a way to reduce costs in the biomass production process as there is no separate treatment process for harvesting

Synergistic effect of Indium and Gallium co-doping on growth behavior and physical properties of hydrothermally grown ZnO nanorods

We synthesized ZnO nanorods (NRs) using simple hydrothermal method, with the simultaneous incorporation of gallium (Ga) and indium (In), in addition, investigated the co-doping effect on the morphology, microstructure, electronic structure, and electrical/optical properties. The growth behavior of the doped NRs was affected by the nuclei density and polarity of the (001) plane. The c-axis parameter of the co-doped NRs was similar to that of undoped NRs due to the compensated lattice distortion caused by the presence of dopants that are both larger (In3+) and smaller (Ga3+) than the host Zn2+ cations. Red shifts in the ultraviolet emission peaks were observed in all doped NRs, owing to the combined effects of NR size, band gap renormalization, and the presence of stacking faults created by the dopant-induced lattice distortions. In addition, the NR/p-GaN diodes using co-doped NRs exhibited superior electrical conductivity compared to the other specimens due to the increase in the charge carrier density of NRs and the relatively large effective contact area of (001) planes. The simultaneous doping of In and Ga is therefore anticipated to provide a broader range of optical, physical, and electrical properties of ZnO NRs for a variety of opto-electronic applications