This paper investigates the problem of estimation of the wheelchair position in indoor environments with noisy mea- surements. The measuring system is based on two odometers placed on the axis of the wheels combined w...This paper investigates the problem of estimation of the wheelchair position in indoor environments with noisy mea- surements. The measuring system is based on two odometers placed on the axis of the wheels combined with a magnetic compass to determine the position and orientation. Determination of displacements is implemented by an accelerometer. Data coming from sensors are combined and used as inputs to unscented Kalman filter （UKF）. Two data fusion architectures： measurement fusion （MF） and state vector fusion （SVF） are proposed to merge the available measurements. Comparative studies of these two architectures show that the MF architecture provides states estimation with relatively less uncertainty compared to SVF. However, odometers measurements determine the position with relatively high uncertainty followed by the accelerometer measurements. Therefore, fusion in the navigation system is needed. The obtained simulation results show the effectiveness of proposed architectures.展开更多
The construction of a barrier-free environment is an important measure that guarantees the safety,right-of-way,and interests of the disabled,the elderly,and other mobility disadvantaged groups.It is also an indispensa...The construction of a barrier-free environment is an important measure that guarantees the safety,right-of-way,and interests of the disabled,the elderly,and other mobility disadvantaged groups.It is also an indispensable part of the low-carbon urban transportation and a necessary way to protect the rights of mobility disadvantaged groups in green travel.In this paper,the researchers conducted life log surveys on the travels of 10 wheelchair users residing in Beijing with IoT Inspector,a self-developed,wheelchairmountable intelligent sensing device.Wheelchair users’travel preferences and reasons were then analyzed using the image and textual data from the surveys.Combined with a mapping workshop,a comparative analysis was performed on the bumpiness of sidewalk paving materials.The study found that wheelchair travelers’preferred non-motor lanes over sidewalks;substandard curb ramps,unleveled tree pools,limited access widths,and bumpy pavement were the main problems faced by wheelchair users in sidewalk accessibility.In addition,the study explores the inclusive needs and challenges of non-motorized right-of-way for new transportation means at urban planning and traffic management levels.Based on multi-sourced data,this paper discusses the possibility of assessing urban barrier-free environment and representing a narrative of the needs of mobility disadvantaged groups,so as to provide practical experience and technical support to the improvement strategies of adaptive roads.展开更多
A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities ...A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel- track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles, centroid projection method is applied to analyze the static stability, stability margin is proposed to provide the stability under some dynamic forces, and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally, the dynamic model of the wheelchair robot based on Lagrange equation is established, which can be a theoretical foundation for the wheelchair control system design.展开更多
文摘This paper investigates the problem of estimation of the wheelchair position in indoor environments with noisy mea- surements. The measuring system is based on two odometers placed on the axis of the wheels combined with a magnetic compass to determine the position and orientation. Determination of displacements is implemented by an accelerometer. Data coming from sensors are combined and used as inputs to unscented Kalman filter （UKF）. Two data fusion architectures： measurement fusion （MF） and state vector fusion （SVF） are proposed to merge the available measurements. Comparative studies of these two architectures show that the MF architecture provides states estimation with relatively less uncertainty compared to SVF. However, odometers measurements determine the position with relatively high uncertainty followed by the accelerometer measurements. Therefore, fusion in the navigation system is needed. The obtained simulation results show the effectiveness of proposed architectures.
文摘The construction of a barrier-free environment is an important measure that guarantees the safety,right-of-way,and interests of the disabled,the elderly,and other mobility disadvantaged groups.It is also an indispensable part of the low-carbon urban transportation and a necessary way to protect the rights of mobility disadvantaged groups in green travel.In this paper,the researchers conducted life log surveys on the travels of 10 wheelchair users residing in Beijing with IoT Inspector,a self-developed,wheelchairmountable intelligent sensing device.Wheelchair users’travel preferences and reasons were then analyzed using the image and textual data from the surveys.Combined with a mapping workshop,a comparative analysis was performed on the bumpiness of sidewalk paving materials.The study found that wheelchair travelers’preferred non-motor lanes over sidewalks;substandard curb ramps,unleveled tree pools,limited access widths,and bumpy pavement were the main problems faced by wheelchair users in sidewalk accessibility.In addition,the study explores the inclusive needs and challenges of non-motorized right-of-way for new transportation means at urban planning and traffic management levels.Based on multi-sourced data,this paper discusses the possibility of assessing urban barrier-free environment and representing a narrative of the needs of mobility disadvantaged groups,so as to provide practical experience and technical support to the improvement strategies of adaptive roads.
基金Supported by State Key Laboratory of Robotics and Systems(HIT)(SKLRS-2010-ZD-04)Capital Medical Development Scientific Research Fund(20092098)
文摘A barrier-free wheelchair robot with a mechanism coupled by wheel and track is presen- ted in this paper. Using the wheelchair, the lower limb disabled persons could be more relaxed to take part in outdoor activities whether on flat ground or stairs and obstacles in the city. The wheel- track coupling mechanism is designed and the stability of the bodywork of the wheelchair robot on the stairs is analyzed. In order to obtain the stability of wheelchair robot when it climbs obstacles, centroid projection method is applied to analyze the static stability, stability margin is proposed to provide the stability under some dynamic forces, and the push rod rotation angle in terms of the guaranteed stability margin is given. Finally, the dynamic model of the wheelchair robot based on Lagrange equation is established, which can be a theoretical foundation for the wheelchair control system design.
