Dynamic Adjustment of Measurement Noise Covariance Matrix in an Infrared-based Positioning and Tracking System

2022 IEEE 12th International Conference on Indoor Positioning and Indoor Navigation (IPIN), 5-8 September, 2022, Beijing, China.The accuracy of optical positioning systems can be compromised by multiple factors (reflections, calibration, etc.). As an alternative to the triangulation, multilateration, or fingerprinting techniques typically used in these systems, stochastic estimation techniques can be used, such as Kalman Filters (KF) in its different variants. They estimate the receiver position based on the acquired measurements and the estimated positions in previous iterations. This work presents the evaluation of a 3D optical positioning system, based on four LED beacons and a quadrant receiver, using an Extended Kalman Filter (EKF). The implementation of a measurement noise covariance matrix that is adjusted depending on the angle and distance between transmitters and receiver, obtained in the previous iteration, is analysed. The receiver position estimation using both a dynamic and a static measurement noise covariance matrix is evaluated and compared with simulations and experimental tests. In simulations, the achieved errors are below 6 cm and 12 cm in 75% of the cases when using a dynamic and a static noise matrix, respectively. In the experimental tests, the obtained errors in 75% of the cases for the position in plane XY and the rotation angle ? are smaller than 7.44 cm and 1.06 ? with a dynamic noise matrix; and below 7.59 cm and 1.62 ? for a static one.Agencia Estatal de InvestigaciónUniversidad de Alcal

Fixed-point Processing for an IR Positioning System based on QADA Receivers

2022 IEEE 12th International Conference on Indoor Positioning and Indoor Navigation (IPIN), 5-8 September, 2022, Beijing, China.Indoor optical positioning systems have increased in popularity in recent years because they can provide centimeter accuracy in three dimensions (3D) utilizing light-emitting diodes (LEDs) and photoreceptors. This work presents the design of a positioning system, which is based on a set of four photoreceptors functioning as beacons at known places for a single LED to be positioned. However, it might be extended to additional emitters with some medium access control. The associated processing is explained, as well as the basic assumptions to be addressed when approaching its hardware implementation, such as the preliminary partitioning of tasks between hardware and software, and the fixed-point representation of the processing to be implemented in hardware. The system has been validated by simulation in a 2 × 2 × 3.4 m3 volume, yielding mean absolute errors around 0.004 m for the X and Y axes, and around 0.01 m for the Z-axis, as well as lower standard deviations than 0.004 m for the X and Y axes and 0.01 m for the Z-axis.Agencia Estatal de InvestigaciónUniversidad de Alcal

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)

High-rate acquisition system for an infrared LPS

2023 38th Conference on Design of Circuits and Integrated Systems (DCIS), 15-17 November 2023, Málaga, Spain.In the last years, the demand for positioning systems based on visible light, infrared light or, in general, optical signals has increased considerably due to their high accuracy and low cost compared to positioning systems based on other technologies, as well as their ease of integration due to their wide presence in domestic and industrial environments. The main constraint of these solutions is that the high speed of light makes the acquisition process complex. This work proposes a complete acquisition architecture for the twelve signals coming from four QADA (Quadrature Angular Diversity Aperture) photoreceptors, based on an analog front-end for signal conditioning at the input, an analog-to-digital converter, and a final digital stage using an FPGA for the acquisition of the data coming from the converter with high data rates up to 16.25 Msps. To verify the system performance, LS (Loosely Synchronized) sequences, often used in positioning systems, are emitted by a LED, and, later, they are acquired and digitally processed successfully by the proposed architecture in some preliminary experimental tests.Agencia Estatal de InvestigaciónUniversidad de AlcaláJunta de Comunidades de Castilla-La ManchaEuropean Science Foundatio

Clinical features and health-related quality of life in adult patients with mucopolysaccharidosis IVA: the Spanish experience

Elosulfasa alfa; Qualitat de vida relacionada amb la salut; Síndrome de Morquio AElosulfasa alfa; Calidad de vida relacionada con la salud; Síndrome de Morquio AElosulfase alfa; Health-related quality of life; Morquio A syndromeBackground Mucopolysaccharidosis (MPS) IVA or Morquio A syndrome is a progressive and disabling disease characterized by a deficiency of the enzyme N-acetylgalactosamine-6-sulphate sulphatase. Its clinical presentation is very heterogeneous and poorly understood in adults. The aim of this study was to describe the clinical manifestations of MPS IVA in adult patients in Spain and to assess their health-related quality of life (HRQoL). Results Thirty-three patients from nine reference centres participated in the study. The median age was 32 (interquartile range [IQR]: 20.5–40.5) years. The phenotype was classical in 54.5% of patients, intermediate in 33.3% of patients, and non-classical in 12.1% of patients. The most common clinical manifestation was bone dysplasia, with a median height of 118 (IQR: 106–136) cm. Other frequent clinical manifestations were hearing loss (75.7%), ligamentous laxity (72.7%), odontoid dysplasia (69.7%), limb deformities that required orthopaedic aids (mainly hip dysplasia and genu valgus) (63.6%), and corneal clouding (60.6%). In addition, 36.0% of patients had obstructive sleep apnoea/hypopnoea syndrome and 33.3% needed non-invasive ventilation. Cervical surgery and varisation osteotomy were the most common surgical interventions (36.4% each). Almost 80% of patients had mobility problems and 36.4% used a wheelchair at all times. Furthermore, 87.9% needed help with self-care, 33.3% were fully dependent, and 78.8% had some degree of pain. HRQoL according to the health assessment questionnaire was 1.43 (IQR: 1.03–2.00) in patients with the non-classical phenotype, but 2.5 (IQR: 1.68–3.00) in those with the classical phenotype. Seven patients were initiated on enzyme replacement therapy (ERT), but two of them were lost to follow-up. Lung function improved in four patients and slightly worsened in one patient. The distance achieved in the six-minute walk test increased in the four patients who could perform it. HRQoL was better in patients treated with elosulfase alfa, with a median (IQR) of 1.75 (1.25–2.34) versus 2.25 (1.62–3.00) in patients not treated with ERT. Conclusions The study provides real-world data on patients with MPS IVA. Limited mobility, difficulties with self-care, dependence, and pain were common, together with poor HRQoL. The severity and heterogeneity of clinical manifestations require the combined efforts of multidisciplinary teams.BioMarin Pharmaceuticals España SL. funded the writing of this paper

Composition pluridisciplinaire en sciences de la communication: textualité juridique, didactique et littéraire - De ce huitième numéro

Ce huitième numéro de la revue Synergies Espagne a pris sa source dans le souhait et la volonté, de la part de la rédaction et de la coordination scientifique, de donner en 2015 à cet espace éditorial annuel un caractère ouvert et pluridisciplinaire, à l'opposé de toute délimitation monographique préétablie, ce qui revient à composer un numéro particulièrement riche et original, pourvu à la fois d'unités thématiques qui se sont tissées progressivement et d'articles varia

Using Perspective-n-Point Algorithms for a Local Positioning System Based on LEDs and a QADA Receiver

The research interest on location-based services has increased during the last years ever since 3D centimetre accuracy inside intelligent environments could be confronted with. This work proposes an indoor local positioning system based on LED lighting, transmitted from a set of beacons to a receiver. The receiver is based on a quadrant photodiode angular diversity aperture (QADA) plus an aperture placed over it. This configuration can be modelled as a perspective camera, where the image position of the transmitters can be used to recover the receiver’s 3D pose. This process is known as the perspective-n-point (PnP) problem, which is well known in computer vision and photogrammetry. This work investigates the use of different state-of-the-art PnP algorithms to localize the receiver in a large space of 2 × 2 m2 based on four co-planar transmitters and with a distance from transmitters to receiver up to 3.4 m. Encoding techniques are used to permit the simultaneous emission of all the transmitted signals and their processing in the receiver. In addition, correlation techniques (match filtering) are used to determine the image points projected from each emitter on the QADA. This work uses Monte Carlo simulations to characterize the absolute errors for a grid of test points under noisy measurements, as well as the robustness of the system when varying the 3D location of one transmitter. The IPPE algorithm obtained the best performance in this configuration. The proposal has also been experimentally evaluated in a real setup. The estimation of the receiver’s position at three particular points for roll angles of the receiver of γ={0°, 120°, 210° and 300°} using the IPPE algorithm achieves average absolute errors and standard deviations of 4.33 cm, 3.51 cm and 28.90 cm; and 1.84 cm, 1.17 cm and 19.80 cm in the coordinates x, y and z, respectively. These positioning results are in line with those obtained in previous work using triangulation techniques but with the addition that the complete pose of the receiver (x, y, z, α, β, γ) is obtained in this proposal