Ultra Wideband Based Indoor Localization Using Sensor Fusion And Support Vector Machine
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Ultra Wideband Based Indoor Localization Using Sensor Fusion And Support Vector Machine
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Author : Zhuoqi Zeng
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2020-12-21
Ultra Wideband Based Indoor Localization Using Sensor Fusion And Support Vector Machine written by Zhuoqi Zeng and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-12-21 with Technology & Engineering categories.
To further improve the NLOS detection and mitigation performance for Ultra-wideband (UWB) system, this thesis systematically investigates the UWB LOS/NLOS errors. The LOS errors are evaluated in different environments and with different distances. Different blockage materials and blockage conditions are considered for NLOS errors. The UWB signal propagation is also investigated. Furthermore, the relationships between the CIRs and the accurate/inaccurate range measurements are theoretically discussed in three different situations: ideal LOS path, small-scale fading: multipath and NLOS path. These theoretical relationships are validated with real measured CIRs in the Bosch Shanghai office environment. Based on the error and signal propagation investigation results, four different algorithms are proposed for four different scenarios to improve the NLOS identification accuracy. After the comparison of the localization performance for TOA/TDOA, it is found that on normal office floor, TOA works better than TDOA. In harsh industrial environments, where NLOS frequently occurs, TDOA is more suitable than TOA. Thus, in the first scenario, the position estimation is realized with TOA on the office floor, while in the second scenario, a novel approach to combined TOA and TDOA with accurate range and range difference selection is proposed in the harsh industrial environment. The optimization of the feature combination and parameters in machine learning algorithms for accurate measurement detection is discussed for both scenarios. For the third and fourth scenarios, the UWB/IMU fusion system stays in focus. Instead of detecting the NLOS outliers by assuming that the error distributions are Gaussian, the accurate measurement detection is realized based on the triangle inequality theorem. All the proposed approaches are tested with the collected measurements from the developed UWB system. The position estimation of these approaches has better accuracy than that of the traditional methods.
Optimal Active Power Control Of Wind Turbines For Grid Stability Support
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Author : Bashar Mousa Melhem
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2025-03-07
Optimal Active Power Control Of Wind Turbines For Grid Stability Support written by Bashar Mousa Melhem and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-03-07 with Technology & Engineering categories.
This dissertation addresses the critical challenge of grid frequency stability in the context of increasing reliance on renewable energy sources, particularly wind power. As the integration of wind turbines into power systems grows, ensuring their effective contribution to frequency regulation becomes essential. This research proposes a novel approach that employs data-enabled predictive control to enhance the frequency control of the future heterogeneous power grid and hence improve the overall grid stability. The study begins with a comprehensive analysis of the dynamic interactions between wind turbines and the power grid, identifying key factors that impact frequency control. A predictive control framework is developed to anticipate grid frequency fluctuations and optimize turbine responses. Through rigorous simulations and practical case studies, the author demonstrates the effectiveness of the proposed strategies in mitigating frequency deviations and improving overall system resilience. The findings highlight that data-enabled control not only enhances the responsiveness of wind turbines, among other generating units, to frequency support but also contributes significantly to a more stable and reliable power grid.
Distributed Optimisation For Multi Robot Cooperative Manipulation Control In Dynamic Environments
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Author : Yanhao He
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2022-12-15
Distributed Optimisation For Multi Robot Cooperative Manipulation Control In Dynamic Environments written by Yanhao He and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-12-15 with Technology & Engineering categories.
Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furthermore, under the trend of human-robot co-existence, collision-free motion control is now also desired on multi-robot groups. This dissertation aims to design a novel distributed optimal control framework to deal with multi-robot cooperative manipulation of rigid objects in dynamic environments. Besides object transportation, the control scheme also tackles obstacle avoidance, joint-space performance optimisation and internal force suppression. The proposed control framework has a two-layer structure, with a distributed optimisation algorithm in the kinematic layer for generating proper joint configuration references, followed by a robot motion controller in the dynamic control layer to fulfil the reference. An indirect and a direct distributed optimisation method are developed for the kinematic layer, both of which are computationally and communicationally efficient. In the dynamic control layer, impedance control is employed for safe physical interaction. As another highlight, abundant experiments carried out on a multi-arm test bench have demonstrated the effectiveness of the presented control schemes under various environmental and task settings. The recorded computation time shows the applicability of the control framework in practice.
Modelling And Control Of An Autonomous Two Wheeled Vehicle
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Author : Alen Turnwald
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2020-11-13
Modelling And Control Of An Autonomous Two Wheeled Vehicle written by Alen Turnwald and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-13 with Technology & Engineering categories.
With respect to the future urban mobility, modern electrical bicycles, advanced motorcycles and innovative two-wheeled vehicles are arresting enormous amount of attention. Especially, model-based control and optimal trajectory planning for such vehicles are important to the research and development of the future. Therefore, a reliable and yet usable vehicle model as well as a systematic approach to motion control for two-wheeled vehicles are essential, to which this work makes a contribution. Currently available two-wheeled vehicle models are mostly either too complex to be used for a systematic control synthesis, or too simple such that the physical behaviour of the vehicle is no more represented. In this thesis, a unifying approach to modelling and control for autonomous two-wheeled vehicles is presented. The resulting model is generally valid and physically detailed enough to represent the characteristic dynamical behaviour such as the self-stability. At the same time, it is suited to a systematic control synthesis. Furthermore, the systematic extenddability, for instance by a rider, is demonstrated. The model is validated by simulations and by comparison to well-known models from the literature. The proposed vehicle model is derived in the Lagrangian and Hamiltonian framework and used for model-based optimal trajectory planning. Furthermore, a passivity-based trajectory tracking controller is designed based on the resulting port-Hamiltonian system using the so-called generalised canonical transformations. Such a controller is physically interpretable and robust against parameter uncertainties. To this end, existing approaches of passivity-based controller design are extended and adjusted for two-wheeled vehicles. Finally, a prototype two-wheeled vehicle is introduced which is used for experimental validation of the model and to demonstrate motion control algorithms for autonomous two-wheeled vehicles.
Recent Advances In Indoor Localization Systems And Technologies
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Author : Gyula Simon
language : en
Publisher: MDPI
Release Date : 2021-08-30
Recent Advances In Indoor Localization Systems And Technologies written by Gyula Simon and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-08-30 with Technology & Engineering categories.
Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods.
Wireless And Satellite Systems
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Author : Hsiao-Hwa Chen
language : en
Publisher: Springer Nature
Release Date : 2025-03-26
Wireless And Satellite Systems written by Hsiao-Hwa Chen and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-03-26 with Computers categories.
This two-volume set, LNICST 605 and 606, constitutes the refereed post-conference proceedings of the 14th International Conference on Wireless and Satellite Services, WiSATS 2024, held in Harbin, China during August 23–25, 2024. The 42 full papers and 20 short papers presented here were carefully selected and reviewed from 182 submissions. These papers have been organized in the following topical sections: Pat I- Satellite Communications; Physical Layer. Part II- Sensing and Communication; Communication Networks and Systems; Resource Allocation and Path Optimization; Hardware and Innovation.
Localization Algorithms And Strategies For Wireless Sensor Networks Monitoring And Surveillance Techniques For Target Tracking
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Author : Mao, Guoqiang
language : en
Publisher: IGI Global
Release Date : 2009-05-31
Localization Algorithms And Strategies For Wireless Sensor Networks Monitoring And Surveillance Techniques For Target Tracking written by Mao, Guoqiang and has been published by IGI Global this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-05-31 with Computers categories.
Wireless localization techniques are an area that has attracted interest from both industry and academia, with self-localization capability providing a highly desirable characteristic of wireless sensor networks. Localization Algorithms and Strategies for Wireless Sensor Networks encompasses the significant and fast growing area of wireless localization techniques. This book provides comprehensive and up-to-date coverage of topics and fundamental theories underpinning measurement techniques and localization algorithms. A useful compilation for academicians, researchers, and practitioners, this Premier Reference Source contains relevant references and the latest studies emerging out of the wireless sensor network field.
Indoor Positioning Technologies
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Author : Rainer Mautz
language : en
Publisher: Sudwestdeutscher Verlag Fur Hochschulschriften AG
Release Date : 2012
Indoor Positioning Technologies written by Rainer Mautz and has been published by Sudwestdeutscher Verlag Fur Hochschulschriften AG this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012 with categories.
In the age of automation the ability to navigate persons and devices in indoor environments has become increasingly important for a rising number of applications. However, we are still far away from achieving cheap provision of global indoor positioning with an accuracy of 1 meter or better. With the emergence of global satellite positioning systems, the performance of outdoor positioning has become excellent, but many mass market applications require seamless positioning capabilities in all environments. Therefore indoor positioning has become a focus of research and development during the past decade. This book categorizes all sighted indoor positioning approaches into 13 distinct technologies and describes the measuring principles of each. Individual approaches are characterized and key performance parameters are quantified.
Wireless Communications Networking And Applications
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Author : Qing-An Zeng
language : en
Publisher: Springer
Release Date : 2015-10-28
Wireless Communications Networking And Applications written by Qing-An Zeng and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-10-28 with Technology & Engineering categories.
This book is based on a series of conferences on Wireless Communications, Networking and Applications that have been held on December 27-28, 2014 in Shenzhen, China. The meetings themselves were a response to technological developments in the areas of wireless communications, networking and applications and facilitate researchers, engineers and students to share the latest research results and the advanced research methods of the field. The broad variety of disciplines involved in this research and the differences in approaching the basic problems are probably typical of a developing field of interdisciplinary research. However, some main areas of research and development in the emerging areas of wireless communication technology can now be identified. The contributions to this book are mainly selected from the papers of the conference on wireless communications, networking and applications and reflect the main areas of interest: Section 1 - Emerging Topics in Wireless and Mobile Computing and Communications; Section 2 - Internet of Things and Long Term Evolution Engineering; Section 3 - Resource Allocation and Interference Management; Section 4 - Communication Architecture, Algorithms, Modeling and Evaluation; Section 5 - Security, Privacy, and Trust; and Section 6 - Routing, Position Management and Network Topologies.
Location Systems
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Author : Anthony LaMarca
language : en
Publisher: Morgan & Claypool Publishers
Release Date : 2008
Location Systems written by Anthony LaMarca and has been published by Morgan & Claypool Publishers this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with Computers categories.
Introduces researchers and developers to the most popular technologies and systems for location estimation and the challenges and opportunities that accompany their use. For each technology, the authors discuss the history of its development, the various systems that are based on it, and their trade-offs and their effects on cost and performance.