Grand Valley State University. His expertise is in the design of electrical control systems and s... more Grand Valley State University. His expertise is in the design of electrical control systems and sensor data fusion. As an instructor, he specializes in teaching first-year courses, probability and signal modeling, and control systems. He has also been active in ASEE, serving on the board of the North Central Section, and publishing papers on a variety of topics which include ABET accreditation and first-year course design.
ABSTRACT In this paper, a genetic algorithm is used to optimize the input and output fuzzy sets o... more ABSTRACT In this paper, a genetic algorithm is used to optimize the input and output fuzzy sets of a proportional-plus-derivative fuzzy logic controller (PDFLC). The center points of these sets are organized into "chromosomes," and then bred and mutated in a genetic algorithm to produce a population of offspring. The offspring are then put through a fitness algorithm to determine which of them survive to breed the next generation. This iterative process results in a solution optimized toward the definition of a "fit" design. This design method is illustrated with a numerical example.
ABSTRACT The objective of this paper is to develop the theory for integrating magnetometer measur... more ABSTRACT The objective of this paper is to develop the theory for integrating magnetometer measurements with an existing inertial navigation system (INS) aided by an acoustic wireless sensor network. The system without magnetometer measurements provides position information reliably. However, in the absence of dynamic motion the orientation errors are not observable using the sensor network, which only provides position information. The magnetometer provides consistent observability of the orientation. The measurement model needed to estimate the orientation errors using the magnetometer is derived in this paper. This measurement model is integrated with measurements from the acoustic sensor network into a complimentary Kalman filter that is used to estimate the error states of an INS.
This paper develops a non-precision geolocation algorithm for airborne vehicles that can serve as... more This paper develops a non-precision geolocation algorithm for airborne vehicles that can serve as a redundant navigation system for use during locally limited GNSS availability, can be used to validate on-board satellite navigation systems to detect local spoofing attempts, and can be used to validate Automatic Dependent Surveillance - Broadcast (ADS-B) position reports. The algorithm utilizes the proliferation of ADS-B equipped aircraft as airborne navigation aids in an RF angle of-arrival (AOA) and angle-of-elevation (AOE) based geodetic positioning algorithm. With multiple GNSS quality navigation aids available, mean horizontal position errors are observed to be less than 500 meters and the mean vertical position error is less than 10 meters. However, as expected, the quality of the navigation aids has an effect on the accuracy of the algorithm. As the quality and number of navigation aids decrease, so too does the accuracy of the algorithm. However, even under a worst-case scenario, the algorithm provides reasonable estimates that can provide a lateral position estimate within 3.7NM and an altitude estimate within 497 meters (95% containment). Perhaps more significantly, the improved algorithm is also capable of validating reported ADS-B altitude of equipped aircraft and is a perfect candidate for coupling with an INS or simply adding a barometric altimeter measurement to aid the vertical position estimate. This work presents a non-precision means of determining an airborne vehicle's geodetic position, even in the absence of GNSS. In addition, this algorithm can be used to validate GNSS position reports in a GNSS spoofed environment and can serve as a means to validate ADS-B position reports from suitably equipped aircraft operating in proximity to the host vehicle.
ABSTRACT Indoor localization with sensing capabilities is the missing link for a Geospatial Infor... more ABSTRACT Indoor localization with sensing capabilities is the missing link for a Geospatial Information System and sensor web. The sensor network is capable of environmental monitoring and geo-tagging sensor data. This paper presents a unique algorithm which uses fusion of Radio Signal Strength Indicator and Time Difference of Arrival for centimeter level accurate indoor localization using wireless sensor network motes. The paper also proposes the integration of various environmental sensors with wireless sensor network. The acquired sensor data can be geo-tagged with the translated global coordinates and additional sensory metadata. With the use of semantic sensor web, this sensor information can be utilized in various decision making scenarios for critical situations. The main goal of the paper is to use indoor localization assisted by sensor fusion and semantic web for first responders in emergency scenarios.
Grand Valley State University. His expertise is in the design of electrical control systems and s... more Grand Valley State University. His expertise is in the design of electrical control systems and sensor data fusion. As an instructor, he specializes in teaching freshman courses as well as control systems and design of digital and embedded systems. While at Wright State University, he was part of the group which developed a new model to teach mathematics to engineering students. As a faculty member at Grand Valley State University, he is working to develop and improve the freshman engineering curriculum.
Due to the nature of the battery chemistry, most automotive Li-ion battery packs will need to be ... more Due to the nature of the battery chemistry, most automotive Li-ion battery packs will need to be replaced after approximately 10 years of service. After that time, they are no longer suitable for their original application, but most will have approximately 80% of their energy storage capacity remaining. Based on sales over the last few years (and future projections), battery packs will start coming out of vehicles in large quantities around 2020. These cells are suitable for repurposing applications. To demonstrate the effectiveness of repurposing automotive Li-ion cells, a small stationary energy storage system was constructed that could easily have more cells added to power essential appliances in a small home. Data collection capabilities of the system enable it to be used for testing of multiple types of cells or modules. Such information is crucial for the development of a cell repurposing program. The constructed energy storage system was used to demonstrate grouped cell characteristics, as well as Battery Management System functionality. The basis of this work can be expanded and used for different Li-Ion cells, white providing a stepping stone towards the construction of a larger system for a stationary energy storage application. Adequate monitoring and battery management can be obtained through the implementation of an off-the-shelf system, or with the original manufacturer's monitoring system if it is thoroughly understood.
(Caltrans), and by private grants and donations. The Institute receives oversight from an interna... more (Caltrans), and by private grants and donations. The Institute receives oversight from an internationally respected Board of Trustees whose members represent all major surface transportation modes. MTI's focus on policy and management resulted from a Board assessment of the industry's unmet needs and led directly to the choice of the San José State University College of Business as the Institute's home. The Board provides policy direction, assists with needs assessment, and connects the Institute and its programs with the international transportation community. MTI's transportation policy work is centered on three primary responsibilities: MINETA TRANSPORTATION INSTITUTE LEAD UNIVERSITY OF MNTRC Research MTI works to provide policy-oriented research for all levels of government and the private sector to foster the development of optimum surface transportation systems. Research areas include: transportation security; planning and policy development; interrelationships among transportation, land use, and the environment; transportation finance; and collaborative labormanagement relations. Certified Research Associates conduct the research. Certification requires an advanced degree, generally a Ph.D., a record of academic publications, and professional references. Research projects culminate in a peer-reviewed publication, available both in hardcopy and on TransWeb, the MTI website (http://transweb.sjsu.edu). Education The educational goal of the Institute is to provide graduate-level education to students seeking a career in the development and operation of surface transportation programs. MTI, through San José State University, offers an AACSB-accredited Master of Science in Transportation Management and a graduate Certificate in Transportation Management that serve to prepare the nation's transportation managers for the 21st century. The master's degree is the highest conferred by the California State University system. With the active assistance of the California Department of Transportation, MTI delivers its classes over a state-of-the-art videoconference network throughout the state of California and via webcasting beyond, allowing working transportation professionals to pursue an advanced degree regardless of their location. To meet the needs of employers seeking a diverse workforce, MTI's education program promotes enrollment to under-represented groups. Information and Technology Transfer MTI promotes the availability of completed research to professional organizations and journals and works to integrate the research findings into the graduate education program. In addition to publishing the studies, the Institute also sponsors symposia to disseminate research results to transportation professionals and encourages Research Associates to present their findings at conferences. The World in Motion, MTI's quarterly newsletter, covers innovation in the Institute's research and education programs. MTI's extensive collection of transportation-related publications is integrated into San José State University's world-class Martin Luther King, Jr. Library. The contents of this report reflect the views of the authors, who are responsible for the facts and accuracy of the information presented herein. This document is disseminated under the sponsorship of the
Proceedings of the 23rd International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2010), Sep 24, 2010
... Related research. Bias and Speed of Sound Estimation in a Tightly Coupled Wireless Acoustic S... more ... Related research. Bias and Speed of Sound Estimation in a Tightly Coupled Wireless Acoustic Sensor Network Aided Inertial Navigation System. Nicholas Baine, Pratikkumar Desai, Kuldip S Rattan in International Technical Meeting of The Institute of Navigation (2011). ...
This paper introduces a new test statistic that can detect systematic errors in vision systems. T... more This paper introduces a new test statistic that can detect systematic errors in vision systems. This can be used for integrity monitoring of vision navigation systems. Current integrity monitoring methods look for agreement among the measurements from a camera. This method looks for agreement between separate cameras. If the measurements do not agree then a parameter of one of the
In aviation applications, navigation integrity is paramount. Integrity of GPS systems is well est... more In aviation applications, navigation integrity is paramount. Integrity of GPS systems is well established with set standards. Vision-based navigation systems have been found to be an adequate substitute for GPS when it is unavailable but are unlikely to be utilized until there is a measure for system integrity. Work has been done to detect the effect of a single measurement pair being corrupted with a bias; however, the measurement geometry varies greatly with the environment. The environment could be sparse in visual features to track, or the environment could be rich with features. With more features, there is a greater probability of having multiple corrupted measurements. It is essential that multiple corrupt measurements are detected and excluded to assure the integrity and reliability of the system. In addition, misalignment errors in the camera system results in systematic errors that are undetectable by current methods. This dissertation focuses on understanding the existing integrity monitoring methods and using them for the detection of multiple errors in vision-based navigation systems, as well as, developing a technique for detecting systematic errors due to camera misalignment and scaling. These methods are developed analytically and verified by using simulations. These simulations serve to demonstrate the usefulness of these methods in achieving the goal of this research to further the area of integrity monitoring for vision systems, so it could eventually be used as a trusted system and as a backup for GPS navigation.
In aviation applications, navigation integrity is paramount. Integrity of GPS systems is well est... more In aviation applications, navigation integrity is paramount. Integrity of GPS systems is well established with set standards. Vision based navigation systems have been found to be an adequate substitute for GPS, when it is unavailable but are unlikely to be utilized until there is a measure for system integrity. Work has been done to detect the effect of a single measurement pair being corrupted with a bias; however, the measurement geometry varies greatly with the environment. The environment could be sparse in visual features to track, or the environment could be rich with features. With more features, there is a greater probability of having multiple corrupted measurements. It is essential that multiple corrupt measurements are detected and excluded to assure the integrity and reliability of the system. This thesis focuses on understanding the existing integrity monitoring methods and using them for the detection of multiple errors in vision-based navigation systems. The current techniques are found to have the ability to detect single and multiple errors, but they cannot isolate them. This thesis develops an algorithm with the ability to isolate multiple erroneous measurements adding to the capabilities of existing integrity monitoring fault detection and isolation techniques.
ABSTRACT This paper proposes an algorithm that fuses Time Difference of Arrival (TDoA) and Receiv... more ABSTRACT This paper proposes an algorithm that fuses Time Difference of Arrival (TDoA) and Received Signal Strength Indication (RSSI) measurements. The fusion is performed in a centralized scheme, which uses mesh topology for the propagation of RSSI measurements. The wireless acoustic sensor network is equipped with RF transceivers that can measure signal strength. Adding RSSI measurements to the localization algorithm has no effect on the hardware complexity. Through the use of training,RSSI measurements are transformed into distances. The algorithm is then able to use RSSI measurements in place of any missing TDoA measurement. The algorithm is tested by experimental setup. The experiment shows that the proposed algorithm increases performance of distance estimation and localization compared to techniques, which relies solely on RSSI or TDoA measurements.
Grand Valley State University. His expertise is in the design of electrical control systems and s... more Grand Valley State University. His expertise is in the design of electrical control systems and sensor data fusion. As an instructor, he specializes in teaching first-year courses, probability and signal modeling, and control systems. He has also been active in ASEE, serving on the board of the North Central Section, and publishing papers on a variety of topics which include ABET accreditation and first-year course design.
ABSTRACT In this paper, a genetic algorithm is used to optimize the input and output fuzzy sets o... more ABSTRACT In this paper, a genetic algorithm is used to optimize the input and output fuzzy sets of a proportional-plus-derivative fuzzy logic controller (PDFLC). The center points of these sets are organized into "chromosomes," and then bred and mutated in a genetic algorithm to produce a population of offspring. The offspring are then put through a fitness algorithm to determine which of them survive to breed the next generation. This iterative process results in a solution optimized toward the definition of a "fit" design. This design method is illustrated with a numerical example.
ABSTRACT The objective of this paper is to develop the theory for integrating magnetometer measur... more ABSTRACT The objective of this paper is to develop the theory for integrating magnetometer measurements with an existing inertial navigation system (INS) aided by an acoustic wireless sensor network. The system without magnetometer measurements provides position information reliably. However, in the absence of dynamic motion the orientation errors are not observable using the sensor network, which only provides position information. The magnetometer provides consistent observability of the orientation. The measurement model needed to estimate the orientation errors using the magnetometer is derived in this paper. This measurement model is integrated with measurements from the acoustic sensor network into a complimentary Kalman filter that is used to estimate the error states of an INS.
This paper develops a non-precision geolocation algorithm for airborne vehicles that can serve as... more This paper develops a non-precision geolocation algorithm for airborne vehicles that can serve as a redundant navigation system for use during locally limited GNSS availability, can be used to validate on-board satellite navigation systems to detect local spoofing attempts, and can be used to validate Automatic Dependent Surveillance - Broadcast (ADS-B) position reports. The algorithm utilizes the proliferation of ADS-B equipped aircraft as airborne navigation aids in an RF angle of-arrival (AOA) and angle-of-elevation (AOE) based geodetic positioning algorithm. With multiple GNSS quality navigation aids available, mean horizontal position errors are observed to be less than 500 meters and the mean vertical position error is less than 10 meters. However, as expected, the quality of the navigation aids has an effect on the accuracy of the algorithm. As the quality and number of navigation aids decrease, so too does the accuracy of the algorithm. However, even under a worst-case scenario, the algorithm provides reasonable estimates that can provide a lateral position estimate within 3.7NM and an altitude estimate within 497 meters (95% containment). Perhaps more significantly, the improved algorithm is also capable of validating reported ADS-B altitude of equipped aircraft and is a perfect candidate for coupling with an INS or simply adding a barometric altimeter measurement to aid the vertical position estimate. This work presents a non-precision means of determining an airborne vehicle's geodetic position, even in the absence of GNSS. In addition, this algorithm can be used to validate GNSS position reports in a GNSS spoofed environment and can serve as a means to validate ADS-B position reports from suitably equipped aircraft operating in proximity to the host vehicle.
ABSTRACT Indoor localization with sensing capabilities is the missing link for a Geospatial Infor... more ABSTRACT Indoor localization with sensing capabilities is the missing link for a Geospatial Information System and sensor web. The sensor network is capable of environmental monitoring and geo-tagging sensor data. This paper presents a unique algorithm which uses fusion of Radio Signal Strength Indicator and Time Difference of Arrival for centimeter level accurate indoor localization using wireless sensor network motes. The paper also proposes the integration of various environmental sensors with wireless sensor network. The acquired sensor data can be geo-tagged with the translated global coordinates and additional sensory metadata. With the use of semantic sensor web, this sensor information can be utilized in various decision making scenarios for critical situations. The main goal of the paper is to use indoor localization assisted by sensor fusion and semantic web for first responders in emergency scenarios.
Grand Valley State University. His expertise is in the design of electrical control systems and s... more Grand Valley State University. His expertise is in the design of electrical control systems and sensor data fusion. As an instructor, he specializes in teaching freshman courses as well as control systems and design of digital and embedded systems. While at Wright State University, he was part of the group which developed a new model to teach mathematics to engineering students. As a faculty member at Grand Valley State University, he is working to develop and improve the freshman engineering curriculum.
Due to the nature of the battery chemistry, most automotive Li-ion battery packs will need to be ... more Due to the nature of the battery chemistry, most automotive Li-ion battery packs will need to be replaced after approximately 10 years of service. After that time, they are no longer suitable for their original application, but most will have approximately 80% of their energy storage capacity remaining. Based on sales over the last few years (and future projections), battery packs will start coming out of vehicles in large quantities around 2020. These cells are suitable for repurposing applications. To demonstrate the effectiveness of repurposing automotive Li-ion cells, a small stationary energy storage system was constructed that could easily have more cells added to power essential appliances in a small home. Data collection capabilities of the system enable it to be used for testing of multiple types of cells or modules. Such information is crucial for the development of a cell repurposing program. The constructed energy storage system was used to demonstrate grouped cell characteristics, as well as Battery Management System functionality. The basis of this work can be expanded and used for different Li-Ion cells, white providing a stepping stone towards the construction of a larger system for a stationary energy storage application. Adequate monitoring and battery management can be obtained through the implementation of an off-the-shelf system, or with the original manufacturer's monitoring system if it is thoroughly understood.
(Caltrans), and by private grants and donations. The Institute receives oversight from an interna... more (Caltrans), and by private grants and donations. The Institute receives oversight from an internationally respected Board of Trustees whose members represent all major surface transportation modes. MTI's focus on policy and management resulted from a Board assessment of the industry's unmet needs and led directly to the choice of the San José State University College of Business as the Institute's home. The Board provides policy direction, assists with needs assessment, and connects the Institute and its programs with the international transportation community. MTI's transportation policy work is centered on three primary responsibilities: MINETA TRANSPORTATION INSTITUTE LEAD UNIVERSITY OF MNTRC Research MTI works to provide policy-oriented research for all levels of government and the private sector to foster the development of optimum surface transportation systems. Research areas include: transportation security; planning and policy development; interrelationships among transportation, land use, and the environment; transportation finance; and collaborative labormanagement relations. Certified Research Associates conduct the research. Certification requires an advanced degree, generally a Ph.D., a record of academic publications, and professional references. Research projects culminate in a peer-reviewed publication, available both in hardcopy and on TransWeb, the MTI website (http://transweb.sjsu.edu). Education The educational goal of the Institute is to provide graduate-level education to students seeking a career in the development and operation of surface transportation programs. MTI, through San José State University, offers an AACSB-accredited Master of Science in Transportation Management and a graduate Certificate in Transportation Management that serve to prepare the nation's transportation managers for the 21st century. The master's degree is the highest conferred by the California State University system. With the active assistance of the California Department of Transportation, MTI delivers its classes over a state-of-the-art videoconference network throughout the state of California and via webcasting beyond, allowing working transportation professionals to pursue an advanced degree regardless of their location. To meet the needs of employers seeking a diverse workforce, MTI's education program promotes enrollment to under-represented groups. Information and Technology Transfer MTI promotes the availability of completed research to professional organizations and journals and works to integrate the research findings into the graduate education program. In addition to publishing the studies, the Institute also sponsors symposia to disseminate research results to transportation professionals and encourages Research Associates to present their findings at conferences. The World in Motion, MTI's quarterly newsletter, covers innovation in the Institute's research and education programs. MTI's extensive collection of transportation-related publications is integrated into San José State University's world-class Martin Luther King, Jr. Library. The contents of this report reflect the views of the authors, who are responsible for the facts and accuracy of the information presented herein. This document is disseminated under the sponsorship of the
Proceedings of the 23rd International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS 2010), Sep 24, 2010
... Related research. Bias and Speed of Sound Estimation in a Tightly Coupled Wireless Acoustic S... more ... Related research. Bias and Speed of Sound Estimation in a Tightly Coupled Wireless Acoustic Sensor Network Aided Inertial Navigation System. Nicholas Baine, Pratikkumar Desai, Kuldip S Rattan in International Technical Meeting of The Institute of Navigation (2011). ...
This paper introduces a new test statistic that can detect systematic errors in vision systems. T... more This paper introduces a new test statistic that can detect systematic errors in vision systems. This can be used for integrity monitoring of vision navigation systems. Current integrity monitoring methods look for agreement among the measurements from a camera. This method looks for agreement between separate cameras. If the measurements do not agree then a parameter of one of the
In aviation applications, navigation integrity is paramount. Integrity of GPS systems is well est... more In aviation applications, navigation integrity is paramount. Integrity of GPS systems is well established with set standards. Vision-based navigation systems have been found to be an adequate substitute for GPS when it is unavailable but are unlikely to be utilized until there is a measure for system integrity. Work has been done to detect the effect of a single measurement pair being corrupted with a bias; however, the measurement geometry varies greatly with the environment. The environment could be sparse in visual features to track, or the environment could be rich with features. With more features, there is a greater probability of having multiple corrupted measurements. It is essential that multiple corrupt measurements are detected and excluded to assure the integrity and reliability of the system. In addition, misalignment errors in the camera system results in systematic errors that are undetectable by current methods. This dissertation focuses on understanding the existing integrity monitoring methods and using them for the detection of multiple errors in vision-based navigation systems, as well as, developing a technique for detecting systematic errors due to camera misalignment and scaling. These methods are developed analytically and verified by using simulations. These simulations serve to demonstrate the usefulness of these methods in achieving the goal of this research to further the area of integrity monitoring for vision systems, so it could eventually be used as a trusted system and as a backup for GPS navigation.
In aviation applications, navigation integrity is paramount. Integrity of GPS systems is well est... more In aviation applications, navigation integrity is paramount. Integrity of GPS systems is well established with set standards. Vision based navigation systems have been found to be an adequate substitute for GPS, when it is unavailable but are unlikely to be utilized until there is a measure for system integrity. Work has been done to detect the effect of a single measurement pair being corrupted with a bias; however, the measurement geometry varies greatly with the environment. The environment could be sparse in visual features to track, or the environment could be rich with features. With more features, there is a greater probability of having multiple corrupted measurements. It is essential that multiple corrupt measurements are detected and excluded to assure the integrity and reliability of the system. This thesis focuses on understanding the existing integrity monitoring methods and using them for the detection of multiple errors in vision-based navigation systems. The current techniques are found to have the ability to detect single and multiple errors, but they cannot isolate them. This thesis develops an algorithm with the ability to isolate multiple erroneous measurements adding to the capabilities of existing integrity monitoring fault detection and isolation techniques.
ABSTRACT This paper proposes an algorithm that fuses Time Difference of Arrival (TDoA) and Receiv... more ABSTRACT This paper proposes an algorithm that fuses Time Difference of Arrival (TDoA) and Received Signal Strength Indication (RSSI) measurements. The fusion is performed in a centralized scheme, which uses mesh topology for the propagation of RSSI measurements. The wireless acoustic sensor network is equipped with RF transceivers that can measure signal strength. Adding RSSI measurements to the localization algorithm has no effect on the hardware complexity. Through the use of training,RSSI measurements are transformed into distances. The algorithm is then able to use RSSI measurements in place of any missing TDoA measurement. The algorithm is tested by experimental setup. The experiment shows that the proposed algorithm increases performance of distance estimation and localization compared to techniques, which relies solely on RSSI or TDoA measurements.
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Papers by Nicholas Baine