Browsing by Subject "Position measurement"
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Item Open Access Differentiation and localization of target primitives using infrared sensors(IEEE, 2002-09-10) Aytaç, Tayfun; Barshan, BillurThis study investigates the use of low-cost infrared sensors in the differentiation and localization of commonly encountered target primitives in indoor environments, such as planes, corners, edges, and cylinders. The intensity readings from such sensors are highly dependent on target location and properties in a way which cannot be represented in a simple manner, making the differentiation and localization process difficult. In this paper, we propose the use of angular intensity scans and present an algorithm to process them. This approach can determine the target type independent of its position. Once the target type is identified, its position can also be estimated. The method is verified experimentally. An average correct classification rate of 97% over all target types is achieved and targets are localized within absolute range and azimuth errors of 0.8 cm and 1.6°, respectively. The proposed method should facilitate the use of infrared sensors in mobile robot applications for differentiation and localization beyond their common usage as simple proximity sensors for object detection and collision avoidance.Item Open Access Evaluation of solid-state gyroscope for robotics applications(Institute of Electrical and Electronics Engineers, 1995-02) Barshan, B.; Durrant-Whyte, H. F.he evaluation of a low-cost solid-state gyroscope for robotics applications is described. An error model for the sensor is generated and included in a Kalman filter for estimating the orientation of a moving robot vehicle. Orientation eshation with the error model is compared to the performance when the error model is excluded from the system. The results demonstrate that without error compensation, the error in localization is between 5-15"/min but can be improved at least by a factor of 5 if an adequate error model is supplied. Like all inertial systems, the platform requires additional information from some absolute position-sensing mechanism to overcome long-term drift. However, the results show that with careful and detailed modeling of error sources, inertial sensors can provide valuable orientation information for mobile robot applications.Item Open Access H∞ filter design for vehicle tracking under delayed and noisy measurements(IEEE, 2007-06) Ezercan, Sami; Özbay, HitayIn many intelligent vehicles applications tracking plays an important role. This paper considers tracking of a vehicle under delayed and noisy measurements. For this purpose we design an H∞ optimal filter for linear systems with time delays in the state and output variables. By using the duality between filtering and control, the problem at hand is transformed to a robust controller design for systems with time delays. The skew Toeplitz method developed earlier for the robust control of infinite dimensional systems is used to solve the H∞ filtering problem. The results are illustrated with simulations and effects of the time delay on the tracking performance are demonstrated. ©2007 IEEE.Item Open Access Incorporating doppler velocity measurement for track initiation and maintenance(IET, 2006) Kural, F.; Arıkan, F.; Arıkan, Orhan; Efe, M.Performance of multiple target tracking algorithms in complex environments heavily relies on the success of track initiation and measurement-to-track association algorithms. Doppler velocity measurement is the major discriminant of clutter from the target of interest with relatively higher velocities. This work summarizes the analytical derivations and presents simulation results about track initiation and maintenance using Doppler velocity reports along with the 3D position measurements extracted by a phased array radar.Item Open Access Metamaterial based telemetric strain sensing in different materials(Optical Society of American (OSA), 2010) Melik, R.; Unal, E.; Perkgoz, N.K.; Puttlitz, C.; Demir, Hilmi VolkanWe present telemetric sensing of surface strains on different industrial materials using split-ring-resonator based metamaterials. For wireless strain sensing, we utilize metamaterial array architectures for high sensitivity and low nonlinearity-errors in strain sensing. In this work, telemetric strain measurements in three test materials of cast polyamide, derlin and polyamide are performed by observing operating frequency shift under mechanical deformation and these data are compared with commercially-available wired strain gauges. We demonstrate that hard material (cast polyamide) showed low slope in frequency shift vs. applied load (corresponding to high Young's modulus), while soft material (polyamide) exhibited high slope (low Young's modulus).Item Open Access Nested metamaterials for wireless strain sensing(IEEE, 2009-12-28) Melik, R.; Unal, E.; Perkgoz, N. K.; Santoni, B.; Kamstock, D.; Puttlitz, C.; Demir, Hilmi VolkanWe designed, fabricated, and characterized metamaterial-based RF-microelectromechanical system (RF-MEMS) strain sensors that incorporate multiple split ring resonators (SRRs) in a compact nested architecture to measure strain telemetrically. We also showed biocompatibility of these strain sensors in an animal model. With these devices, our bioimplantable wireless metamaterial sensors are intended, to enable clinicians, to quantitatively evaluate the progression of long-bone fracture healing by monitoring the strain on the implantable fracture fixation hardware in real time. In operation, the transmission spectrum of the metamaterial sensor attached to the implantable fixture is changed when an external load is applied to the fixture, and from this change, the strain is recorded remotely. By employing telemetric characterizations, we reduced the operating frequency and enhanced the sensitivity of our novel nested SRR architecture compared to the conventional SRR structure. The nested SRR structure exhibited a higher sensitivity of 1.09 kHz/kgf operating at lower frequency compared to the classical SRR that demonstrated a sensitivity of 0.72 kHz/kgf. Using soft tissue medium, we achieved the best sensitivity level of 4.00 kHz/kgf with our nested SRR sensor. Ultimately, the laboratory characterization and in vivo biocompatibility studies support further development and characterization of a fracture healing system based on implantable nested SRR.