In this paper,we present an RFID based human and Unmanned Aerial Vehicle(UAV)Interaction system,termed RFHUI,to provide an intuitive and easy-to-operate method to navigate a UAV in an indoor environment.It relies on t...In this paper,we present an RFID based human and Unmanned Aerial Vehicle(UAV)Interaction system,termed RFHUI,to provide an intuitive and easy-to-operate method to navigate a UAV in an indoor environment.It relies on the passive Radio-Frequency IDentification(RFID)technology to precisely track the pose of a handheld controller,and then transfer the pose information to navigate the UAV.A prototype of the handheld controller is created by attaching three or more Ultra High Frequency(UHF)RFID tags to a board.A Commercial Off-The-Shelf(COTS)RFID reader with multiple antennas is deployed to collect the observations of the tags.First,the precise positions of all the tags can be obtained by our proposed method,which leverages a Bayesian filter and Channel State Information(CSI)phase measurements collected from the RFID reader.Second,we introduce a Singular Value Decomposition(SVD)based approach to obtain a 6-DoF(Degrees of Freedom)pose of the controller from estimated positions of the tags.Furthermore,the pose of the controller can be precisely tracked in a real-time manner,while the user moves the controller.Finally,control commands will be generated from the controller's pose and sent to the UAV for navigation.The performance of the RFHUI is evaluated by several experiments.The results show that it provides precise poses with 0.045m mean error in position and 2.5∘mean error in orientation for the controller,and enables the controller to precisely and intuitively navigate the UAV in an indoor environment.展开更多
文摘In this paper,we present an RFID based human and Unmanned Aerial Vehicle(UAV)Interaction system,termed RFHUI,to provide an intuitive and easy-to-operate method to navigate a UAV in an indoor environment.It relies on the passive Radio-Frequency IDentification(RFID)technology to precisely track the pose of a handheld controller,and then transfer the pose information to navigate the UAV.A prototype of the handheld controller is created by attaching three or more Ultra High Frequency(UHF)RFID tags to a board.A Commercial Off-The-Shelf(COTS)RFID reader with multiple antennas is deployed to collect the observations of the tags.First,the precise positions of all the tags can be obtained by our proposed method,which leverages a Bayesian filter and Channel State Information(CSI)phase measurements collected from the RFID reader.Second,we introduce a Singular Value Decomposition(SVD)based approach to obtain a 6-DoF(Degrees of Freedom)pose of the controller from estimated positions of the tags.Furthermore,the pose of the controller can be precisely tracked in a real-time manner,while the user moves the controller.Finally,control commands will be generated from the controller's pose and sent to the UAV for navigation.The performance of the RFHUI is evaluated by several experiments.The results show that it provides precise poses with 0.045m mean error in position and 2.5∘mean error in orientation for the controller,and enables the controller to precisely and intuitively navigate the UAV in an indoor environment.
基金supported by the National Natural Science Foundation of China(52172202)Guangdong Basic and Applied Basic Research Foundation(2023A1515030163 and 2022A1515010049)the Science and Technology Planning Project of Guangzhou(201605030008).
文摘血氧饱和度已成为继心电图、呼吸和血压后的一项用于健康评价的重要生理参数.本研究中,我们制备出高质量窄带隙三元阳离子Sn-Pb钙钛矿薄膜,该光电薄膜呈现择优的生长晶向,且光吸收截止边拓宽至961 nm.通过双界面层修饰,构建的PPPB(PEDOT:PSS/perovskite/PCBM/BCP)近红外光电探测器展现出增强的光电响应,极快的响应速度(373 ns),宽的线性动态范围(LDR=159 dB),高的比探测率(D*=1.56×10^(11)Jones),以及优异的光响应度(190 mA W^(−1)).基于器件出色的光电性能,我们探索并演示了该探测器在脉搏血氧仪系统中的应用,实现了对不同生理状态下心率和血氧饱和度的准确和非侵入性评估.本研究突显了三元阳离子锡铅钙钛矿光探测器在实时监测血氧饱和度和心率方面的应用潜力.
