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A MN receiving packets from a CN—Mobile IP  

A MN receiving packets from a CN—Mobile IP  

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Fig.3 Handoff process  
Fig.4 Mobile IP
Fig.6 A MN receiving packets from a CN—Mobile IP  
Fig.6 illustrates the handoff delay for Mobile IP from the perspective...
+1 Fig.7 illustrates the handoff delay of the Mobile IP with Fast-handover...
IP mobility issues for a mobile tele-robotic system—NEPWAK
Article
Full-text available
  • Oct 2004
The network-centric applied research team (N-CART) is continuing its work on an ambitious project known as the network-enabled powered wheelchair adaptor kit (NEPWAK). It introduces techniques for modifying and using powered wheelchairs as mobile platforms enabling communication and remote control. The wheelchair is equipped with a laptop computer,...
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... Defects of the previous methods are of large cost in addition to being dependent to being not effective in closed places and other places with internet access. In the network-centric applied research team (N-CART), within the NEPWAK project, Ferworn et al. [11] introduced techniques for modifying and using power wheelchairs as mobile platforms, enabling communication and remote control, and extended the mobility range of Ferworn NEPWAK beyond a local area. Whereas in [12], the authors described the development of a navigation system to give a semi-autonomous operation of wheelchairs where they make extensive use of freely available open source software. ...
Multi-sensor Data Fusion for Wheelchair Position Estimation with Unscented Kalman Filter
Article
  • Apr 2017
  • Int J Autom Comput
This paper investigates the problem of estimation of the wheelchair position in indoor environments with noisy measurements. 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.
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