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In this study we describe the development of a ride assistance application which can be implemented on the widespread smart phones and tablet. The ride assistance application has a signal processing and pattern classification module which…
Tire slip angle is a vital parameter in tire/vehicle dynamics and control. This paper proposes an accurate estimation method by the fusion of intelligent tire technology and machine-learning techniques. The intelligent tire is equipped by…
A reliable self-contained navigation system is essential for autonomous vehicles. Based on our previous study on Wheel-INS \cite{niu2019}, a wheel-mounted inertial measurement unit (Wheel-IMU)-based dead reckoning (DR) system, in this…
This paper proposes a new simultaneous terahertz (THz) information and power transfer (STIPT) system, which is assisted by reconfigurable intelligent surface (RIS) for both the information data and power transmission. We aim to maximize the…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
We propose to estimate 3D human pose from multi-view images and a few IMUs attached at person's limbs. It operates by firstly detecting 2D poses from the two signals, and then lifting them to the 3D space. We present a geometric approach to…
In this work, we investigate a reconfigurable intelligent surface (RIS) aided integrated sensing and communication scenario, where a base station (BS) communicates with multiple devices in a full-duplex mode, and senses the positions of…
Reconfigurable intelligent surface (RIS) is a newly-emerged technology that might fundamentally change how wireless networks are operated. Though extensively studied in recent years, the practical limitations of RIS are often neglected when…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…
Accurate alignment of a fixed mobile device equipped with inertial sensors inside a moving vehicle is important for navigation, activity recognition, and other applications. Accurate estimation of the device mounting angle is required to…
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the…
In robotics, accurate ground-truth position fostered the development of mapping and localization algorithms through the creation of cornerstone datasets. In outdoor environments and over long distances, total stations are the most accurate…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
This paper investigates the problem of attitude and air velocity estimation for fixed-wing unmanned aerial vehicles (UAVs) using IMU measurements and at least one Pitot tube measurement, with almost global asymptotic stability (AGAS)…
Reconfigurable intelligent surfaces (RISs) are considered as an enabling technology for the upcoming sixth generation of wireless systems, exhibiting significant potential for radio localization and sensing. An RIS is usually treated as an…
This paper proposes a novel optimization framework for discrete phase shifts of a reconfigurable intelligent surface (RIS) using a coherent Ising machine (CIM). Unlike conventional methods based on iterative convex approximation or…
This paper presents a novel approach to real-time safety monitoring in human-robot collaborative manufacturing environments through a wrist-mounted Inertial Measurement Unit (IMU) system integrated with a Predictive Safety Model (PSM). The…
Reconfigurable intelligent surfaces (RISs) not only assist communication but also help the localization of user equipment (UE). This study focuses on the indoor localization of UE with a single access point (AP) aided by multiple RISs.…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…