{"id":2678,"date":"2008-07-04T13:20:24","date_gmt":"2008-07-04T13:20:24","guid":{"rendered":"http:\/\/blog.nus.edu.sg\/biomm\/?p=56"},"modified":"2008-07-04T13:20:24","modified_gmt":"2008-07-04T13:20:24","slug":"automated-tracking-of-pallets-in-warehouses-based-on-asymmetric-ultrasound-observation-models","status":"publish","type":"post","link":"http:\/\/www.labren.org\/mm\/projects\/automated-tracking-of-pallets-in-warehouses-based-on-asymmetric-ultrasound-observation-models\/","title":{"rendered":"Automated tracking of pallets in warehouses based on asymmetric ultrasound observation models"},"content":{"rendered":"<p>We consider the use of wireless sensor networks to automatically track &#8220;perceptive pallets&#8221; of materials in ware-houses for the purpose of monitoring volumetric and spatial constraints. A combination of radio frequency and ultrasound chirping produces position estimates that are noisy and prone to error. To address this, we measure and characterize the ultrasound response from standard &#8220;Cricket&#8221; wireless sensor motes and beacons. We develop a non-parametric particle filtering approach to estimate trajectories of moving motes and introduce two asymmetric observation models that incorporate measured cardioid-shaped response patterns of ultrasound.<br \/>\n<a href=\"http:\/\/bioeng.nus.edu.sg\/mm\/wp-content\/uploads\/2007\/07\/case07UStracking.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-2361\" src=\"http:\/\/bioeng.nus.edu.sg\/mm\/wp-content\/uploads\/2007\/07\/case07UStracking-300x147.jpg\" alt=\"\" width=\"300\" height=\"147\" srcset=\"http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2007\/07\/case07UStracking-300x147.jpg 300w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2007\/07\/case07UStracking-768x376.jpg 768w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2007\/07\/case07UStracking-715x350.jpg 715w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2007\/07\/case07UStracking-150x73.jpg 150w, http:\/\/www.labren.org\/mm\/wp-content\/uploads\/2007\/07\/case07UStracking.jpg 791w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><br \/>\nCollaborator: <a href=\"http:\/\/automation.berkeley.edu\/\">Automation Lab<\/a> of <a href=\"http:\/\/goldberg.berkeley.edu\/\">Professor Ken Goldberg<\/a>, EECS UC Berkeley<\/p>\n","protected":false},"excerpt":{"rendered":"<p>We consider the use of wireless sensor networks to automatically track &#8220;perceptive pallets&#8221; of materials in ware-houses for the purpose of monitoring volumetric and spatial constraints. A combination of radio frequency and ultrasound chirping produces position estimates that are noisy and prone to error. To address this, we measure and\u2026 <a class=\"continue-reading-link\" href=\"http:\/\/www.labren.org\/mm\/projects\/automated-tracking-of-pallets-in-warehouses-based-on-asymmetric-ultrasound-observation-models\/\">Continue reading<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"ngg_post_thumbnail":0,"footnotes":""},"categories":[46,9],"tags":[84,86,100,102],"class_list":["post-2678","post","type-post","status-publish","format-standard","hentry","category-positioning","category-projects","tag-positioning","tag-sensor-netwok","tag-tracking","tag-ultrasound"],"_links":{"self":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/2678","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/comments?post=2678"}],"version-history":[{"count":0,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/2678\/revisions"}],"wp:attachment":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/media?parent=2678"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/categories?post=2678"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/tags?post=2678"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}