We present an underwater localization system for medium-sized Autonomous Underwater Vehicles (AUVs) that leverages a broadband wireless acoustic communication GPS-denied localization. Many current systems assume single line-of-sight path and use either narrow-band signals or short-duration pings the convenience of mitigating motion-induced Doppler at expense time-of-arrival (TOA) accuracy opera...

We propose a navigation system combining sensor-aided inertial and prior-map-based localization to improve the stability accuracy of robot in structure-rich environments. Specifically, we adopt point, line, plane features enhance feature richness low-texture environments reliability. additionally integrate structure prior information constrain drifts accuracy. The is called priors parameterized...

Currently the Web is a platform for performing complex tasks which involve dealing with different Web applications. However users still have to face these tasks in a handcrafted way. In this paper we present a novel approach that combines concern-sensitive adaptation and navigation history to improve the user experience while performing a task. We have developed some simple though powerful tool...

Accurate energy expenditure monitoring will be an essential part of medical diagnosis in the future, enabling individually-tailored just-in-time interventions. However, there are currently no real-time monitors that are practical for continuous daily use. In this paper, we introduce the K-Sense energy expenditure monitor that uses inertial measurement units (IMUs) mounted to an individual’s wri...

This paper aims to analyze human navigation behavior and identify similarities of cognitive styles using measures obtained from psychometric tests. Specific navigation metrics are utilized to find identifiable groups of users that have similar navigation patterns in relation to their cognitive style. The proposed work has been evaluated with a user study that entails a psychometricbased survey ...

We consider a left-invariant dynamics on an arbitrary Lie group. We show that it is possible, when the output map is right-left equivariant, to build non-linear observers such that the error equation is autonomous. The theory is illustrated by an inertial navigation example.