A new distributed node localization algorithm named mobile beacons-improved particle filter (MB-IPF) was proposed. In the algorithm, the mobile nodes equipped with globe position system (GPS) move around in the wi...A new distributed node localization algorithm named mobile beacons-improved particle filter (MB-IPF) was proposed. In the algorithm, the mobile nodes equipped with globe position system (GPS) move around in the wireless sensor network (WSN) field based on the Gauss-Markov mobility model, and periodically broadcast the beacon messages Each unknown node estimates its location in a fully distributed mode based on the received mobile beacons. The localization algorithm is based on the IPF and several refinements, including the proposed weighted centroid algorithm, the residual resampling algorithm, and the markov chain monte carlo (MCMC) method etc., which were also introduced for performance improvement. The simulation results show that our proposed algorithm is efficient for most applications.展开更多
A probabilistic algorithm is proposed for the problem of simultaneous robot localization and peopletracking (SLAP) using single onboard sensor in situations with sensor noise and global uncertainties over the obser...A probabilistic algorithm is proposed for the problem of simultaneous robot localization and peopletracking (SLAP) using single onboard sensor in situations with sensor noise and global uncertainties over the observer's pose. By the decomposition of the joint distribution according to the Rao-Blackwell theorem, posteriors of the robot pose are sequentially estimated over time by a smoothed laser perception model and an improved resampling scheme with evolution strategies; the conditional distribution of the person's position is estimated using unscented Kalman filter (UKF) to deal with the nonlinear dynamic of human motion. Experiments conducted in a real indoor service robot scenario validate the favorable performance of the positional accuracy as well as the improved computational efficiency.展开更多
The clock operator U and shift operator V are higher-dimensional Pauli operators. Just recently, tighter uncertainty relations with respect to U and V were derived, and we apply them to study the electron localization...The clock operator U and shift operator V are higher-dimensional Pauli operators. Just recently, tighter uncertainty relations with respect to U and V were derived, and we apply them to study the electron localization properties in several typical one-dimensional nonuniform lattice systems. We find that uncertainties △U^2 are less than, equal to, and greater than uncertainties △V^2 for extended, critical, and localized states, respectively. The lower bound LB of the uncertainty relation is relatively large for extended states and small for localized states. Therefore, in combination with traditional quantities,for instance inverse participation ratio, these quantities can be as novel indexes to reflect Anderson localization.展开更多
Mobile phone localization plays a key role in the fast-growing location-based applications domain. Most of the existing localization schemes rely on infrastructure support such as GSM, Wi-Fi or GPS. In this paper, we ...Mobile phone localization plays a key role in the fast-growing location-based applications domain. Most of the existing localization schemes rely on infrastructure support such as GSM, Wi-Fi or GPS. In this paper, we present FTrack, a novel floor localization system to identify the floor level in a multi-floor building on which a mobile user is located. FTrack uses the mobile phone's sensors only without any infrastructure support. It does not require any prior knowledge of the building such as floor height or floor levels. Through crowdsourcing, FTrack builds a mapping table which contains the magnetic field signature of users taking the elevator/escalator or walking on the stairs between any two floors. The table can then be used for mobile users to pinpoint their current floor levels. We conduct both simulation and field studies to demonstrate the eiTiciency, scalability and robustness of FTrack. Our field trial shows that FTrack achieves an accuracy of over 96% in three different buildings.展开更多
文摘A new distributed node localization algorithm named mobile beacons-improved particle filter (MB-IPF) was proposed. In the algorithm, the mobile nodes equipped with globe position system (GPS) move around in the wireless sensor network (WSN) field based on the Gauss-Markov mobility model, and periodically broadcast the beacon messages Each unknown node estimates its location in a fully distributed mode based on the received mobile beacons. The localization algorithm is based on the IPF and several refinements, including the proposed weighted centroid algorithm, the residual resampling algorithm, and the markov chain monte carlo (MCMC) method etc., which were also introduced for performance improvement. The simulation results show that our proposed algorithm is efficient for most applications.
基金supported by National Natural Science Foundation of China (Nos. 61075090, 61005092)
文摘A probabilistic algorithm is proposed for the problem of simultaneous robot localization and peopletracking (SLAP) using single onboard sensor in situations with sensor noise and global uncertainties over the observer's pose. By the decomposition of the joint distribution according to the Rao-Blackwell theorem, posteriors of the robot pose are sequentially estimated over time by a smoothed laser perception model and an improved resampling scheme with evolution strategies; the conditional distribution of the person's position is estimated using unscented Kalman filter (UKF) to deal with the nonlinear dynamic of human motion. Experiments conducted in a real indoor service robot scenario validate the favorable performance of the positional accuracy as well as the improved computational efficiency.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61475075 and 61170321)
文摘The clock operator U and shift operator V are higher-dimensional Pauli operators. Just recently, tighter uncertainty relations with respect to U and V were derived, and we apply them to study the electron localization properties in several typical one-dimensional nonuniform lattice systems. We find that uncertainties △U^2 are less than, equal to, and greater than uncertainties △V^2 for extended, critical, and localized states, respectively. The lower bound LB of the uncertainty relation is relatively large for extended states and small for localized states. Therefore, in combination with traditional quantities,for instance inverse participation ratio, these quantities can be as novel indexes to reflect Anderson localization.
基金This work was supported by the National High Technology Research and Development 863 Program of China under Grant No. 2013AA01A213 and the National Natural Science Foundation of China under Grant Nos. 91318301, 61373011 and 61321491.
文摘Mobile phone localization plays a key role in the fast-growing location-based applications domain. Most of the existing localization schemes rely on infrastructure support such as GSM, Wi-Fi or GPS. In this paper, we present FTrack, a novel floor localization system to identify the floor level in a multi-floor building on which a mobile user is located. FTrack uses the mobile phone's sensors only without any infrastructure support. It does not require any prior knowledge of the building such as floor height or floor levels. Through crowdsourcing, FTrack builds a mapping table which contains the magnetic field signature of users taking the elevator/escalator or walking on the stairs between any two floors. The table can then be used for mobile users to pinpoint their current floor levels. We conduct both simulation and field studies to demonstrate the eiTiciency, scalability and robustness of FTrack. Our field trial shows that FTrack achieves an accuracy of over 96% in three different buildings.