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Leveraging Machine Learning and Wireless Sensing for Robot Localization - Location Variance Analysis
Description
Object localization is used to determine the location of a device, an important aspect of applications ranging from autonomous driving to augmented reality. Commonly-used localization techniques include global positioning systems (GPS), simultaneous localization and mapping (SLAM), and positional tracking, but all of these methodologies have drawbacks, especially in high traffic indoor or urban environments. Using recent improvements in the field of machine learning, this project proposes a new method of localization using networks with several wireless transceivers and implemented without heavy computational loads or high costs. This project aims to build a proof-of-concept prototype and demonstrate that the proposed technique is feasible and accurate.
Modern communication networks heavily depend upon an estimate of the communication channel, which represents the distortions that a transmitted signal takes as it moves towards a receiver. A channel can become quite complicated due to signal reflections, delays, and other undesirable effects and, as a result, varies significantly with each different location. This localization system seeks to take advantage of this distinctness by feeding channel information into a machine learning algorithm, which will be trained to associate channels with their respective locations. A device in need of localization would then only need to calculate a channel estimate and pose it to this algorithm to obtain its location.
As an additional step, the effect of location noise is investigated in this report. Once the localization system described above demonstrates promising results, the team demonstrates that the system is robust to noise on its location labels. In doing so, the team demonstrates that this system could be implemented in a continued learning environment, in which some user agents report their estimated (noisy) location over a wireless communication network, such that the model can be implemented in an environment without extensive data collection prior to release.
Modern communication networks heavily depend upon an estimate of the communication channel, which represents the distortions that a transmitted signal takes as it moves towards a receiver. A channel can become quite complicated due to signal reflections, delays, and other undesirable effects and, as a result, varies significantly with each different location. This localization system seeks to take advantage of this distinctness by feeding channel information into a machine learning algorithm, which will be trained to associate channels with their respective locations. A device in need of localization would then only need to calculate a channel estimate and pose it to this algorithm to obtain its location.
As an additional step, the effect of location noise is investigated in this report. Once the localization system described above demonstrates promising results, the team demonstrates that the system is robust to noise on its location labels. In doing so, the team demonstrates that this system could be implemented in a continued learning environment, in which some user agents report their estimated (noisy) location over a wireless communication network, such that the model can be implemented in an environment without extensive data collection prior to release.
ContributorsChang, Roger (Co-author) / Kann, Trevor (Co-author) / Alkhateeb, Ahmed (Thesis director) / Bliss, Daniel (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
Epilepsy affects numerous people around the world and is characterized by recurring seizures, prompting the ability to predict them so precautionary measures may be employed. One promising algorithm extracts spatiotemporal correlation based features from intracranial electroencephalography signals for use with support vector machines. The robustness of this methodology is tested through a sensitivity analysis. Doing so also provides insight about how to construct more effective feature vectors.
ContributorsMa, Owen (Author) / Bliss, Daniel (Thesis director) / Berisha, Visar (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2015-05
Description
Pacemakers in the early 1970s were powered by betavoltaic devices which provided long lasting battery life. The betavoltaic devices also emitted gamma radiation due to inadvertent radioisotope contamination, which could not be completely shielded. The betavoltaic devices were quickly replaced by lithium batteries after their invention, and betavoltaics were abandoned. Modern technological advancements made it possible to isolate beta emitting radioisotopes properly and achieve better energy conversion efficiencies which revived the topic of betavoltaics. This research project has studied state-of-the-art pacemakers and modern radioactive power sources in order to determine if modern pacemakers can be safely nuclear powered and if that is a reasonable combination.
ContributorsAwad, Al-Homam Abdualrahman (Author) / Holbert, Keith (Thesis director) / Aberle, James (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2014-12
Description
The world of a hearing impaired person is much different than that of somebody capable of discerning different frequencies and magnitudes of sound waves via their ears. This is especially true when hearing impaired people play video games. In most video games, surround sound is fed through some sort of digital output to headphones or speakers. Based on this information, the gamer can discern where a particular stimulus is coming from and whether or not that is a threat to their wellbeing within the virtual world. People with reliable hearing have a distinct advantage over hearing impaired people in the fact that they can gather information not just from what is in front of them, but from every angle relative to the way they're facing. The purpose of this project was to find a way to even the playing field, so that a person hard of hearing could also receive the sensory feedback that any other person would get while playing video games To do this, visual surround sound was created. This is a system that takes a surround sound input, and illuminates LEDs around the periphery of glasses based on the direction, frequency and amplitude of the audio wave. This provides the user with crucial information on the whereabouts of different elements within the game. In this paper, the research and development of Visual Surround Sound is discussed along with its viability in regards to a deaf person's ability to learn the technology, and decipher the visual cues.
ContributorsKadi, Danyal (Co-author) / Burrell, Nathaneal (Co-author) / Butler, Kristi (Co-author) / Wright, Gavin (Co-author) / Kosut, Oliver (Thesis director) / Bliss, Daniel (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2015-05
Description
Generally, increasing the electrical size of an antenna will increase the directivity of the antenna. In the case of an array of identical antennas with uniform spacing, the electrical size can be increased by increasing the number of elements. However, directivity can be further increased by performing signal processing on the signals received by elements of an antenna array. This thesis focuses primarily on reproducing and expanding upon a method to increase the directivity of a two-element array using non-linear transmission lines periodically loaded with varactor diodes, which act as harmonic multipliers. Simulation and circuit design is performed using Keysight Advanced Design System, a microwave circuit simulation software package. Furthermore, a hardware implementation is discussed and recommendations are made for construction of the hardware array. Finally, possible expansion of the two-element array to a four or more element array is discussed, and preliminary simulations are examined.
ContributorsHanson, Elliot (Author) / Diaz, Rudolfo (Thesis director) / Aberle, James (Committee member) / Barrett, The Honors College (Contributor) / School of Electrical, Computer, and Energy Engineering (Contributor)
Created2015-05
Description
A hybrid PV/T module was built, consisting of a thermal liquid heating system and a photovoltaic module system that combine in a hybrid format. This report will discuss the work on the project from Fall 2012 to Spring 2013 and the extended section on the economics for the Honors Thesis. Three stages of experiments were completed. Stage 1 showed our project was functional as we were able to verify our panel produced electricity and increased the temperature of water flowing in the system by 0.65°C. Stage 2 testing included “gluing” the flow system to the back of the panel resulting in an average increase of 4.76°C in the temperature of the water in the system. Stage 3 testing included adding insulating foam to the module which resulted in increasing the average temperature of the water in our flow system by 6.95°C. The economic calculations show the expected energy cost savings for Arizona residents.
ContributorsHaines, Brent Robert (Author) / Roedel, Ronald (Thesis director) / Aberle, James (Committee member) / Rauch, Dawson (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2013-05
Description
A hybrid PV/T module was built, consisting of a thermal liquid heating system and a photovoltaic module system that combine in a hybrid format. This report will discuss the work on the project from Fall 2012 to Spring 2013. Three stages of experiments were completed. Stage 1 showed our project was functional as we were able to verify our panel produced electricity and increased the temperature of water flowing in the system by 0.65°C. Stage 2 testing included “gluing” the flow system to the back of the panel resulting in an average increase of 4.76°C in the temperature of the water in the system. Stage 3 testing included adding insulating foam to the module which resulted in increasing the average temperature of the water in our flow system by 6.95°C.
ContributorsDenke, Steven Michael (Author) / Roedel, Ron (Thesis director) / Aberle, James (Committee member) / Rauch, Dawson (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2013-05
Description
In modern remote sensing, arrays of sensors, such as antennas in radio frequency (RF) systems and microphones in acoustic systems, provide a basis for estimating the direction of arrival of a narrow-band signal at the sensor array. A Uniform linear array (ULA) is the most well-studied array geometry in that its performance characteristics and limitations are well known, especially for signals originating in the far field. In some instances, the geometry of an array may be perturbed by an environmental disturbance that actually changes its nominal geometry; such as, towing an array behind a moving vehicle. Additionally, sparse arrays have become of interest again due to recent work in co-prime arrays. These sparse arrays contain fewer elements than a ULA but maintain the array length. The effects of these alterations to a ULA are of interest. Given this motivation, theoretical and experimental (i.e. via computer simulation) processes are used to determine quantitative and qualitative effects of perturbation and sparsification on standard metrics of array performance. These metrics include: main lobe gain, main lobe width and main lobe to side lobe ratio. Furthermore, in order to ascertain results/conclusions, these effects are juxtaposed with the performance of a ULA. Through the perturbation of each element following the first element drawn from a uniform distribution centered around the nominal position, it was found that both the theoretical mean and sample mean are relatively similar to the beam pattern of the full array. Meanwhile, by using a sparsification method of maintaining all the lags, it was found that this particular method was unnecessary. Simply taking out any three elements while maintaining the length of the array will produce similar results. Some configurations of elements give a better performance based on the metrics of interest in comparison to the ULA. These results demonstrate that a sparsified, perturbed or sparsified and perturbed array can be used in place of a Uniform Linear Array depending on the application.
ContributorsSilbernagel, Drake Oliver (Author) / Cochran, Douglas (Thesis director) / Aberle, James (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05
Description
Remotely controlled flying vehicles such as UAVs are becoming more common due to decreases in material costs and increases in performance of components. Radio control link options, however, have not improved at the same rate as airframes, motors, flight controllers, etc [HobbyKing]. Most UAVs require a radio link, often at 2.4 GHz, for flight control, and a second link at 915 MHz for telemetry data transmission [HobbyKing]. Occasionally there is also a video link at either 2.4 GHz or 5.8 GHz. Having multiple transmitters increase power usage from the limited battery reserve that the UAV carries. It also increases weight and space used on the airframe. In addition, the 2.4 GHz band is often congested [ISM Congestion] and does not provide as great a range for a given transmission power as lower frequencies do [Wu]. Attempting to reduce space and weight, power consumption, and simplify design, while increasing control and telemetry range requires the design, testing, and implementation of a radio link that handles both real-time flight control and telemetry with the same transceiver. Only the flight control and telemetry will be addressed in this project. Merging and/or improving the video link will not be tackled at this time in order to simplify project goals to fit inside time constraints. The new radio link system will be verified for functionality then power and range test data will be gathered to determine how effective it is.
ContributorsPortillo-Wightman, Gabrielle Raquel (Author) / Goryll, Michael (Thesis director) / Aberle, James (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-12
Description
The purpose of the Very Long Instruction Word (VLIW) Remotely Reconfigurable DSP Element is to use VLIW as a design process and to design hardware components of a reconfigurable DSP Element and ascertaining the overall length of the Very Long Instruction Word. This project is focused solely on hardware components being designed by hand with regards to certain specifications deemed by General Dynamics Mission Systems, and using the designs, finding the overall length of the VLIW for use in future work. To design each of the elements, General Dynamics had specified several requirements. Each element was then designed individually according to the requirements. After the initial design, each was sent back for a design review from General Dynamics, and after revision, all parts were linked together for an overall calculation on the length of the VLIW. VLIW Reconfigurable DSP Elements is not a new concept, but has yet to have a proof of concept published. Future work includes a proof of concept with software (done by the ASU Capstone team), then future development by General Dynamics. Should they choose to continue with this project, they will continue testing on FPGA boards, and perhaps future development into an ASIC. Overall the purpose of General Dynamics for proposing this project is for deep space payloads, for which this project has the most applications.
ContributorsYiin, Nathan Kehan (Author) / Clark, Lawrence (Thesis director) / Aberle, James (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12