Research at the University of Michigan’s Mobile Robotics Lab aims at the development of an accurate proprioceptive (i.e., without external references) position estimation (PPE) system for planetary rovers. Much like other PPE systems, ours uses an inertial measurement unit (IMU) comprising three fiber-optic gyroscopes and a two-axes accelerometer, as well as odometry based on wheel encoders. Ou...

This paper presents a method of indoor position determination using an accelerometer, compass and gyroscope which are typically available in devices such as smart phones. The method makes use of measurements from such a device worn on the body, such as attached to a belt. The accelerometer in the device estimates the stride length indirectly from the vertical acceleration associated with walkin...

Consider a binary image containing one or more objects. A signed distance transform assigns to each pixel (voxel, etc.), both inside and outside of any objects, the minimum distance from that pixel to the nearest pixel on the border of an object. By convention, the sign of the assigned distance value indicates whether or not the point is within some object (positive) or outside of all objects (...

This paper compares position measurement techniques using dead reckoning. We are seeking to find a technique which is suitable for use by pedestrians, and have compared a number of sensors that can be used to achieve a robust and accurate dead reckoning system. All our techniques are step based. To measure steps we have compared the use of pedometers and accelerometers. To determine heading we ...

This paper deals with planning of visual navigation strategies for a mobile robot under uncertainty of both visual data and dead reckoning data. When a robot passes through a narrow space, it has to move slowly while carefully observing surrounding objects and estimating the distances to the objects precisely. On the other hand, the robot can move fast in a widely open space. A novel method is ...

This paper proposes a dynamic Stackelberg repeated game for decentralized Device-to-Device (D2D) communications overlaying cellular communications. The proposed game aims to jointly optimize D2D user behavior via a user-in-the-loop (UIL) approach; and minimize transmit power, while maximizing packet delivery ratio (PDR) for all D2D users. The Stackelberg game architecture consists of a single l...

Bacillus Sp. was isolated near the mining area and was studied for biosorption U and Th. This study presents uptake of uranium (U) and thorium (Th) by live and dead cells of Bacillus Sp. Increasing concentration of U and Th showed decrease in absorption by Bacillus Sp. Dead cells of Bacillus Sp. exhibited same or more uptake of U and Th than living cells. Increasing temperature promotes uptake ...

In this paper, we propose a new approach to map-based indoor localization for walking people using an Inertial Measurement Unit (IMU). Generally, an office building includes various components such as corridors, rooms, floors, staircases, elevators. We consider the components for personal positioning. We present two mapping methods that are a map representation method and a position compensatio...

Piloting and dead reckoning navigation strategies use very different cue constellations and computational processes (Darwin, 1873; Barlow, 1964; O'Keefe and Nadel, 1978; Mittelstaedt and Mittelstaedt, 1980; Landeau et al., 1984; Etienne, 1987; Gallistel, 1990; Maurer and Se guinot, 1995). Piloting requires the use of the relationships between relatively stable external (visual, olfactory, audit...

A predictive model-based mobility tracking method, called dead reckoning, is proposed for mobile ad hoc networks. It disseminates both location and movement models of mobile nodes in the network so that every node is able to predict or track the movement of every other node with a very low overhead. This technique is applied to solve the unicast routing problem by modeling link costs using both...