dc.contributor.advisor | Fadel Adib. | en_US |
dc.contributor.author | Luo, Zhihong | en_US |
dc.contributor.other | Program in Media Arts and Sciences (Massachusetts Institute of Technology) | en_US |
dc.date.accessioned | 2020-01-23T17:02:15Z | |
dc.date.available | 2020-01-23T17:02:15Z | |
dc.date.copyright | 2019 | en_US |
dc.date.issued | 2019 | en_US |
dc.identifier.uri | https://hdl.handle.net/1721.1/123642 | |
dc.description | Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2019 | en_US |
dc.description | Cataloged from PDF version of thesis. | en_US |
dc.description | Includes bibliographical references (pages 65-71). | en_US |
dc.description.abstract | 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. | en_US |
dc.description.statementofresponsibility | by Zhihong Luo. | en_US |
dc.format.extent | 71 pages | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Massachusetts Institute of Technology | en_US |
dc.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. | en_US |
dc.rights.uri | http://dspace.mit.edu/handle/1721.1/7582 | en_US |
dc.subject | Program in Media Arts and Sciences | en_US |
dc.title | 3D backscatter localization for fine-grained robotics | en_US |
dc.title.alternative | Three dimensional backscatter localization for fine-grained robotics | en_US |
dc.type | Thesis | en_US |
dc.description.degree | S.M. | en_US |
dc.contributor.department | Program in Media Arts and Sciences (Massachusetts Institute of Technology) | en_US |
dc.identifier.oclc | 1136611155 | en_US |
dc.description.collection | S.M. Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences | en_US |
dspace.imported | 2020-01-23T17:02:14Z | en_US |
mit.thesis.degree | Master | en_US |
mit.thesis.department | Media | en_US |