Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2019 / Cataloged from PDF version of thesis. / Includes bibliographical references (pages 65-71). / This thesis presents the design and implementation of TurboTrack, a 3D localization system for fine-grained robotic tasks. TurboTrack's unique capability is that it can localize backscatter nodes with sub-centimeter accuracy without any constraints on their locations or mobility. TurboTrack makes two key technical contributions. First, it presents a pipelined architecture that can extract a sensing bandwidth from every single backscatter packet that is three orders of magnitude larger than the backscatter communication bandwidth. Second, it introduces a Bayesian space-time superresolution algorithm that combines time series of the sensed bandwidth across multiple antennas to enable accurate positioning. Our experiments show that TurboTrack simultaneously achieves a median accuracy of sub-centimeter in each of the x/y/z dimensions and a 99th percentile latency less than 7.5 milliseconds in 3D localization. This enables TurboTrack's real-time prototype to achieve fine-grained positioning for agile robotic tasks, as we demonstrate in multiple collaborative applications with robotic arms and nanodrones including indoor tracking, packaging and assembly, and handover. / by Zhihong Luo. / S.M. / S.M. Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/123642 |
| Date | January 2019 |
| Creators | Luo, Zhihong |
| Contributors | Fadel Adib., Program in Media Arts and Sciences (Massachusetts Institute of Technology), Program in Media Arts and Sciences (Massachusetts Institute of Technology) |
| Publisher | Massachusetts Institute of Technology |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | 71 pages, application/pdf |
| Rights | MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission., http://dspace.mit.edu/handle/1721.1/7582 |
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