The recent advances in sensing and display technologies have been transforming our living environments drastically. In this paper, a new technique is introduced to accurately reconstruct indoor environments in three-d...The recent advances in sensing and display technologies have been transforming our living environments drastically. In this paper, a new technique is introduced to accurately reconstruct indoor environments in three-dimensions using a mobile platform. The system incorporates 4 ultrasonic sensors scanner system, an HD web camera as well as an inertial measurement unit (IMU). The whole platform is mountable on mobile facilities, such as a wheelchair. The proposed mapping approach took advantage of the precision of the 3D point clouds produced by the ultrasonic sensors system despite their scarcity to help build a more definite 3D scene. Using a robust iterative algorithm, it combined the structure from motion generated 3D point clouds with the ultrasonic sensors and IMU generated 3D point clouds to derive a much more precise point cloud using the depth measurements from the ultrasonic sensors. Because of their ability to recognize features of objects in the targeted scene, the ultrasonic generated point clouds performed feature extraction on the consecutive point cloud to ensure a perfect alignment. The range measured by ultrasonic sensors contributed to the depth correction of the generated 3D images (the 3D scenes). Experiments revealed that the system generated not only dense but precise 3D maps of the environments. The results showed that the designed 3D modeling platform is able to help in assistive living environment for self-navigation, obstacle alert, and other driving assisting tasks.展开更多
背景:足踝本体感觉的研究对于慢性踝关节不稳、老年疾病的康复治疗以及身体姿势控制、运动表现的提高至关重要。前期的相关研究经常把足部和踝关节的感觉评价分开研究,对全面且综合地了解其感觉功能存在一定的局限。目的:足踝复合体是...背景:足踝本体感觉的研究对于慢性踝关节不稳、老年疾病的康复治疗以及身体姿势控制、运动表现的提高至关重要。前期的相关研究经常把足部和踝关节的感觉评价分开研究,对全面且综合地了解其感觉功能存在一定的局限。目的:足踝复合体是唯一与支撑面直接接触的部位,在收集体感反馈和调节平衡控制中起重要作用。文章通过汇总现有关于足部和踝关节本体感觉的调查研究,梳理足踝复合体感觉的测量与评价方法,以期为日后的相关研究做出铺垫并提供理论依据。方法:中文检索词为“(足OR足踝关节OR踝关节)AND(感觉OR本体感觉)”、英文检索词为“(foot OR ankle)AND(feel OR proprioception)”,在Web of Science、PubMed和中国知网数据库检索相关文献,了解关于足踝基本概念、研究现状与范畴,总结并评价足踝的本体感觉评价方法,最终纳入57篇文献进行综述分析。结果与结论:①足踝复合体感觉的评价主要分为对足部的感觉评价和踝关节的本体感觉评价。②足部的感觉评价主要描述其皮肤的感觉以及干预条件下的感觉反馈,方法主要包括:压力感觉阈值测试、足(底侧和跖侧)两点辨别能力测试、皮肤振动感觉持续时间测试。③踝关节本体感觉评价着重描述关节位置、运动范围、力值及功能表现,方法主要分为静态的关节角度重置测试、运动最小阈值测试、力觉重现测试以及动静态的平衡、速度及行走能力的测试。④对量化结果的报道一般以“误差”来表示,根据报道的需要一般分为:绝对误差、相对误差和恒定误差等。⑤结果证实,足踝复合体具备特殊的感觉能力,包括足部感觉和踝关节的本体感觉,影响人类的生活质量以及运动表现;足部感觉与踝关节本体感觉的弱化均与人体平衡能力下降相关,二者联合测量可以全面有效地评价足踝功能;根据不同的研究需求,�展开更多
Single frequency GNSS receivers are the most widely used tools for tracking, navigation and geo-referencing around the world. It is estimated that over 75% of all GNSS receivers used globally are single frequency rece...Single frequency GNSS receivers are the most widely used tools for tracking, navigation and geo-referencing around the world. It is estimated that over 75% of all GNSS receivers used globally are single frequency receivers and users experience positioning error due to the ionosphere. To enable GNSS Single Frequency Precise Point Positioning (SFPPP), accurate a-prior information about the ionosphere is needed. The variation of the ionosphere is larger around the magnetic equator and therefore depends on latitude. It will be expected that SFPPP works better on latitude further from the magnetic equator. This present study aims to investigate the accuracy of some ionospheric error mitigation approaches used in single frequency precise point positioning (SFPPP) at several GNSS station in the new Nigerian GNSS Network (NIGNet) and two IGS sites in the low equatorial African region. This study covers two epochs of observation. The first consists of observation from three consecutive days (GPS week 1638;days 0, 1 and 2) that belongs to a period of low solar activities. The second epoch consists of observation from three consecutive days (GPS week 1647;days 2, 3 and 4) that belongs to a high solar activity and intense geomagnetic conditions. The estimated position for the GNSS stations from dual frequency measurement and their known ITRF solutions were used as a benchmark to assess the accuracy of SFPPP under four conditions i.e., SFPPP without ionospheric correction, SFPPP using final GIM models from the Centre for Orbit Determination in Europe( CODE), SFPPP with Klobuchar model, and SFPPP with a computed (local) model at each station. All computation was done using Leica Geo-office software. The result of the study clearly demonstrates the significance of removing or correcting for the effect of the ionosphere, which can result in up to 7 m displacement. It was recommended that GIMs from different organization should be investigated and also efforts should be towards improvement in algorithms and clock error modeling.展开更多
文摘The recent advances in sensing and display technologies have been transforming our living environments drastically. In this paper, a new technique is introduced to accurately reconstruct indoor environments in three-dimensions using a mobile platform. The system incorporates 4 ultrasonic sensors scanner system, an HD web camera as well as an inertial measurement unit (IMU). The whole platform is mountable on mobile facilities, such as a wheelchair. The proposed mapping approach took advantage of the precision of the 3D point clouds produced by the ultrasonic sensors system despite their scarcity to help build a more definite 3D scene. Using a robust iterative algorithm, it combined the structure from motion generated 3D point clouds with the ultrasonic sensors and IMU generated 3D point clouds to derive a much more precise point cloud using the depth measurements from the ultrasonic sensors. Because of their ability to recognize features of objects in the targeted scene, the ultrasonic generated point clouds performed feature extraction on the consecutive point cloud to ensure a perfect alignment. The range measured by ultrasonic sensors contributed to the depth correction of the generated 3D images (the 3D scenes). Experiments revealed that the system generated not only dense but precise 3D maps of the environments. The results showed that the designed 3D modeling platform is able to help in assistive living environment for self-navigation, obstacle alert, and other driving assisting tasks.
文摘背景:足踝本体感觉的研究对于慢性踝关节不稳、老年疾病的康复治疗以及身体姿势控制、运动表现的提高至关重要。前期的相关研究经常把足部和踝关节的感觉评价分开研究,对全面且综合地了解其感觉功能存在一定的局限。目的:足踝复合体是唯一与支撑面直接接触的部位,在收集体感反馈和调节平衡控制中起重要作用。文章通过汇总现有关于足部和踝关节本体感觉的调查研究,梳理足踝复合体感觉的测量与评价方法,以期为日后的相关研究做出铺垫并提供理论依据。方法:中文检索词为“(足OR足踝关节OR踝关节)AND(感觉OR本体感觉)”、英文检索词为“(foot OR ankle)AND(feel OR proprioception)”,在Web of Science、PubMed和中国知网数据库检索相关文献,了解关于足踝基本概念、研究现状与范畴,总结并评价足踝的本体感觉评价方法,最终纳入57篇文献进行综述分析。结果与结论:①足踝复合体感觉的评价主要分为对足部的感觉评价和踝关节的本体感觉评价。②足部的感觉评价主要描述其皮肤的感觉以及干预条件下的感觉反馈,方法主要包括:压力感觉阈值测试、足(底侧和跖侧)两点辨别能力测试、皮肤振动感觉持续时间测试。③踝关节本体感觉评价着重描述关节位置、运动范围、力值及功能表现,方法主要分为静态的关节角度重置测试、运动最小阈值测试、力觉重现测试以及动静态的平衡、速度及行走能力的测试。④对量化结果的报道一般以“误差”来表示,根据报道的需要一般分为:绝对误差、相对误差和恒定误差等。⑤结果证实,足踝复合体具备特殊的感觉能力,包括足部感觉和踝关节的本体感觉,影响人类的生活质量以及运动表现;足部感觉与踝关节本体感觉的弱化均与人体平衡能力下降相关,二者联合测量可以全面有效地评价足踝功能;根据不同的研究需求,�
文摘Single frequency GNSS receivers are the most widely used tools for tracking, navigation and geo-referencing around the world. It is estimated that over 75% of all GNSS receivers used globally are single frequency receivers and users experience positioning error due to the ionosphere. To enable GNSS Single Frequency Precise Point Positioning (SFPPP), accurate a-prior information about the ionosphere is needed. The variation of the ionosphere is larger around the magnetic equator and therefore depends on latitude. It will be expected that SFPPP works better on latitude further from the magnetic equator. This present study aims to investigate the accuracy of some ionospheric error mitigation approaches used in single frequency precise point positioning (SFPPP) at several GNSS station in the new Nigerian GNSS Network (NIGNet) and two IGS sites in the low equatorial African region. This study covers two epochs of observation. The first consists of observation from three consecutive days (GPS week 1638;days 0, 1 and 2) that belongs to a period of low solar activities. The second epoch consists of observation from three consecutive days (GPS week 1647;days 2, 3 and 4) that belongs to a high solar activity and intense geomagnetic conditions. The estimated position for the GNSS stations from dual frequency measurement and their known ITRF solutions were used as a benchmark to assess the accuracy of SFPPP under four conditions i.e., SFPPP without ionospheric correction, SFPPP using final GIM models from the Centre for Orbit Determination in Europe( CODE), SFPPP with Klobuchar model, and SFPPP with a computed (local) model at each station. All computation was done using Leica Geo-office software. The result of the study clearly demonstrates the significance of removing or correcting for the effect of the ionosphere, which can result in up to 7 m displacement. It was recommended that GIMs from different organization should be investigated and also efforts should be towards improvement in algorithms and clock error modeling.
