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In order to navigate a robotic base in an unfamiliar environment, some mechanisms to detect positioning and location must be provided. When the base is in the process of navigation and makes use of these mechanisms, errors originating from the environment and base are inserted into the system, resulting in an erroneous position estimation. One relevant approach to reduce the error amplitude is to...
Soil moisture plays an important role in agriculture, hydrology, and land-atmosphere processes. Over the years, there has been a scale gap between traditional point-scale sensors and large-scale soil moisture products from satellite remote sensing. Recent advances suggest the use of cosmic-ray sensors (CRS) that provide integrated soil moisture at subkilometer scale (∼300m radius and 10 to 70cm depths)...
Colonoscopy is widely used in the diagnosis and treatment of colorectal diseases due to its minimal invasiveness, convenience and efficiency. However, it has two problems: bowel perforation and looping. In order to overcome these problems, it is necessary to get the information of the force and posture of the distal end of the colonoscope in the colonoscopy procedure. Elsewhere, we have reported an...
The method for an algorithmic correction of errors in determination of the angle parameters of three-component vector-measuring transducers installation in the body of a measuring device is presented. The factors influencing the metrological characteristics of three-component vector-measuring transducers with accelerometers are reviewed. The methods to reduce the errors defined by the constants characterizing...
While bringing massive-scale sensing at low cost, mobile participatory sensing is challenged by the low accuracy of the sensors embedded in and/or connected to the smartphones. The mobile measurements that are collected need to be corrected so as to accurately match the phenomena being observed. This paper addresses this challenge by introducing a multi-hop, multiparty calibration method that operates...
This paper presents a high-resolution near-field magnetic sensing system for nondestructive inspection applications of safety and security. The system includes a probe chip based on a 0.18-μm 5-metal-layer CMOS process technology and a micro-position calibration mechanism. The probe chip includes a magnetic pick-up coil followed by a 3-stage low-noise amplifier to amplify the induced voltage on the...
This paper explores the novel use of multiple depth sensors to overcome occlusions and improve localization and tracking of body extremities. The usage of data from only depth sensors not only overcomes visual challenges associated with RGB sensors under low illumination, but also protects the identity of surveyed person with high confidentiality. For integrating depth information from multiple sources,...
The paper aims at improving the accuracy of the calibration of strapdown inertial navigation systems (SINS). The calibration is carried out using a 2-axial motion simulator. A new computational method is investigated for the calibration coefficients of the error models of accelerometers and gyroscopes of the strapdown inertial navigation system based on the errors of the system output signals. The...
Cognitive load corresponds to the amount of working memory demanded while performing a certain task. Estimation of cognitive load is crucial to many domains and the usage of pupil size dilation to accomplish this is widely researched. However, existing approaches suffer severely as they are largely based on the raw pupil size. In this study, we aim to use the frequency domain analysis of the pupil...
Temperature (T) and pH variations affect the function of electrochemical sensors. The study of their effects on point-of-care medical sensors is vital due to their delicate use. An example comes from anesthesia where difficult-to-dose drugs are infused in patient's blood, e.g. propofol. In this case, a drug concentration monitoring system is required. However, blood pH and T can vary during anesthesia,...
Improper sitting posture can lead to a number of serious health disorders connected to the musculoskeletal system. Especially nowadays sitting periods at work or at home are increasing, and therefore consistent stance monitoring can help users improve their sitting habits and avoid related complications. In this work, we present SPoMo a real-time, practical, wearable system that automatically tracks...
This paper describes the design and setup of different measuring systems for the calibration of commercial voltage and current transformer test sets for non-conventional instrument transformers. The calibration systems are recently developed at the national metrology institutes VSL, PTB, METAS and TUBITAK within the frame of the European project “FUTURE GRID — Non-conventional voltage and current...
Various types of sensors are required to drive autonomous vehicles in order to perceive surroundings on behalf of human beings. Among the various sensors for obtaining the distance information of obstacles, the light detection and ranging (lidar) sensor is chosen as a representative. The quality and amount of information that can be obtained depends on the number and location of lidar sensors. It...
Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof, for which extrinsic sensor calibration plays fundamental role. In this paper, we tackle the problem of 3D LiDAR-radar calibration which is challenging due to low accuracy and sparse informativeness of the radar measurements. We propose a complementary calibration...
There exist some problems in the fiber optic gyro inertial measurement unit(FOG-IMU) calibration, such as dependence on high-precision turntable, low precision, rigorous calibration condition and so on. Aiming at these problems, we propose a high-precision grading calibration method. Firstly, system parameters are calibrated by the discrete calibration method, in which the effects of the lever-arm...
Image based 3D digitization methods, as an input data, use a digital photographs for reconstruction of 3D objects. Today, digital cameras are common devices used for capturing of digital photographs. Every digital camera is equipped with one of two types of digital sensors — CCD or CMOS. One of important features of these both types of sensors is their physical size. This paper presents results of...
In an autonomous driving system, drift can affect the sensor's position, introducing errors in the extrinsic calibration. For this reason, we have developed a method which continuously monitors two sensors, camera, and LIDAR with 16 beams, and adjusts the value of their cross-calibration. Our algorithm, starting from correct values of the extrinsic cross-calibration parameters, can detect small sensor...
Ultra Wide Band (UWB) is an emerging technology in the field of indoor localization, mainly due to its high performances in indoor scenarios and relatively easy deployment. However, in complex indoor environments, its positioning accuracy may drastically decrease due to biases introduced when emitters and receivers operate in Non Line-of-Sight (NLOS) conditions. This undesired phenomenon can be attenuated...
Improving the accuracy of satellite-derived precipitation estimates is very important to extend the extent and depth of their application. Existing calibration methods calibrated satellite-derived precipitation estimates based on a strong relationship between gauge measurements and estimated precipitation. However, such a relationship is always disturbed by variation of land surface characteristics,...
Reliable navigation of a low-cost mobile robot in an indoor environment can prove to be challenging as position fixing sensors, such as a GNSS receiver, are typically unavailable. Subscribing to the premise of a baseline of odometry and inertial sensors, this paper compares three navigation strategies, namely, a full 6-DOF inertial measurement unit (IMU) with kinematic constraints, a partial IMU with...
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