This paper presents a novel, wearable navigation system for visually impaired and blind pedestrians that combines a global positioning system (GPS) for user outdoor localization and tactile-foot stimulation for information presentation. Real-time GPS data provided by a smartphone are processed by dedicated navigation software to determine the directions to a destination. Navigational directions are then encoded as vibrations and conveyed to the user via a tactile display that inserts into the shoe. The experimental results showed that users were capable of recognizing with high accuracy the tactile feedback provided to their feet. The preliminary tests conducted in outdoor locations involved two blind users who were guided along 380-420 m predetermined pathways, while sharing the space with other pedestrians and facing typical urban obstacles. The subjects successfully reached the target destinations. The results suggest that the proposed system enhances independent, safe navigation of blind pedestrians and show the potential of tactile-foot stimulation in assistive devices.
In this paper, the authors present a new strategy for accurately reconstructing an L-shaped obstacle such as some wooden panels opportunely connected so as to form a right angle. The mechatronics scanning system consists of four inexpensive ultrasonic sensors moved in three-dimensional (3-D) space by means of a digital motor. The motor rotation is controlled in order to point the sensor array at the target and to obtain distance measurements for each shaft position. Ultrasonic distance sensors propagate large beams and feel the significant effect of multiple reflections. For the sake of excluding all misrepresented distance values at the intersection of the planes, the proposed approach uses powerful mathematical tools together with a physical indicator based on the reflected signal energy. The Fuzzy C-Means (FCM) classification allows partitioning a data set, and the introduced physical indicator is able to select the specific cluster corresponding to the spurious distances. Each remaining cluster permits to calculate the equation of a plane because it is referred to the distance values deriving from a direct reflection. These distances are then transformed considering the sensors directivity and the direction of reflection so as to obtain two sets of 3-D points. Finally, the reconstruction of each plane is achieved by the RANdom SAmple Consensus (RANSAC) in such a way as to better fit these points. The details of this strategy and the experimental tests are shown, demonstrating the applicability and the good results.
The continuous evolution of the Internet of Things (IoT) makes it possible to connect everyday objects to networks in order to monitor physical and environmental conditions, which is made possible due to wireless sensor networks (WSN) that enable the transfer of data. However, it has also brought about many challenges that need to be addressed, such as excess energy consumption. Accordingly, this paper presents and analyzes wireless network energy models using five different communication protocols: Ad Hoc On-Demand Distance Vector (AODV), Multi-Parent Hierarchical (MPH), Dynamic Source Routing (DSR), Low Energy Adaptive Clustering Hierarchy (LEACH) and Zigbee Tree Routing (ZTR). First, a series of metrics are defined to establish a comparison and determine which protocol exhibits the best energy consumption performance. Then, simulations are performed and the results are compared with real scenarios. The energy analysis is conducted with three proposed sleeping algorithms: Modified Sleeping Crown (MSC), Timer Sleeping Algorithm (TSA), and Local Energy Information (LEI). Thereafter, the proposed algorithms are compared by virtue of two widely used wireless technologies, namely Zigbee and WiFi. Indeed, the results suggest that Zigbee has a better energy performance than WiFi, but less redundancy in the topology links, and this study favors the analysis with the simulation of protocols with different nature. The tested scenario is implemented into a university campus to show a real network running.
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