This technical report outlines a system for robust indoor localization on a commercial smart-phone. Towards achieving effective localization, in the absence of GPS, we combine complementary localization algorithms of dead reckoning and Wifi signal strength fingerprinting. Dead reckoning is performed using the on-board accelerometer, magnetometer, and gyroscope sensors to detect motion and estim...

Simultaneous Localization and Mapping (SLAM) is one of the classical problems in mobile robotics. The task is to build a map of the environment using on-board sensors while at the same time localizing the robot relative to this map. Rao-Blackwellized particle filters have emerged as a powerful technique for solving the SLAM problem in a wide variety of environments. It is a well-known fact for ...

The predicted thermal flash from supernova (SN) shock breakout might have been detected for the first time by Swift in GRB 060218/SN 2006aj. The detected thermal X-ray emission in this event implies emergence of a trans-relativistic (TR) SN shock with kinetic energy of Ek & 10 erg. During TRSN shock breakout, the thermal photons could be “accelerated” by the shock through repeated bulk Compton ...

In this paper, we present a cooperative perception system between wall mounted cameras and sensors on-board a mobile robot to : (i) track and follow a given target person wearing a Radio Frequency Identification (RFID) tag, and (ii) facilitate navigation in the presence of passers-by during the execution of this mission. We employ a "trackingby-detection" approach within a Particle Filtering st...

Two novel neural chips SAND (Simple Applicable Neural Device) and SIOP (Serial Input Operating Parallel) are described. Both are highly usable for hardware triggers in particle physics. The chips are optimized for a high input data rate at a very low cost basis. The performance of a single SAND chip is 200 MOPS due to four parallel 16 bit multipliers and 40 bit adders working in one clock cycle...

[1] We investigate waves observed by the Cluster wideband instrument (WBD) during an orbital conjunction with the Polar spacecraft. During this perigee pass, Polar was at the upper extent of the auroral kilometric radiation (AKR) source region in the Southern Hemisphere nightside auroral region. Cluster was located at higher altitude above this region and observed AKR with clear signatures of o...

.......................................................................................................................... IX 1.0 INTRODUCTION..............................................................................................................1 1.2 LITERATURE REVIEW.............................................................................................................................

We study a particle moving in R2 under a constant (external) force and bouncing off a periodic array of convex domains (scatterers); the latter must satisfy a standard ‘finite horizon’ condition to prevent ‘ballistic’ (collision-free) motion. This model is known to physicists as Galton board (it is also identical to a periodic Lorentz gas). Previous heuristic and experimental studies have sugge...

This paper presents a direct and stochastic technique for real time estimation of on board camera position and orientation—the ego-motion problem. An on board stereo vision system is used. Unlike existing works, which rely on feature extraction either in the image domain or in 3D space, our proposed approach directly estimates the unknown parameters from the brightness of a stream of stereo pai...