From ee578b1defc31eed95f6615dbf639fb706f295b5 Mon Sep 17 00:00:00 2001
From: Martina Maggio <maggio.martina@gmail.com>
Date: Tue, 16 Oct 2018 16:53:51 +0200
Subject: [PATCH] 10 pages despite acknowledgements
---
paper/data/exp_sc1.csv | 60 +++++++++++++++++------------------
paper/data/exp_sc2.csv | 60 +++++++++++++++++------------------
paper/data/exp_sc3.csv | 60 +++++++++++++++++------------------
paper/data/exp_sc4.csv | 60 +++++++++++++++++------------------
paper/data/exp_sc5.csv | 60 +++++++++++++++++------------------
paper/data/exp_sc6.csv | 60 +++++++++++++++++------------------
paper/main.bib | 54 +++++++++++++++----------------
paper/main.tex | 4 +++
paper/sections/04-fusion.tex | 8 ++---
paper/sections/06-results.tex | 20 ++++++------
10 files changed, 226 insertions(+), 220 deletions(-)
diff --git a/paper/data/exp_sc1.csv b/paper/data/exp_sc1.csv
index a8d6672..b4cddbe 100644
--- a/paper/data/exp_sc1.csv
+++ b/paper/data/exp_sc1.csv
@@ -1,30 +1,30 @@
-54352,0.10888
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-70072,16.771
-54776,0
+54352,2.6867
+57672,2.7019
+64156,55.459
+57588,2.668
+66588,137.52
+82760,67.647
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+57120,2.6567
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+64400,78.196
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+57476,2.6413
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+71240,7.7559
+55844,2.6336
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+54492,2.6481
+70072,19.349
+54776,2.5778
diff --git a/paper/data/exp_sc2.csv b/paper/data/exp_sc2.csv
index 2719578..b8a9ebf 100644
--- a/paper/data/exp_sc2.csv
+++ b/paper/data/exp_sc2.csv
@@ -1,30 +1,30 @@
-55436,30.787
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+55600,32.181
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+53744,139.52
+40524,3.1006
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diff --git a/paper/data/exp_sc3.csv b/paper/data/exp_sc3.csv
index e86c00d..492f7fe 100644
--- a/paper/data/exp_sc3.csv
+++ b/paper/data/exp_sc3.csv
@@ -1,30 +1,30 @@
-43732,64.501
-30124,0.9841
-41100,10.203
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-49792,5.4974
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-32832,0.91026
-45852,80.299
-30836,0.84724
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-31216,1.047
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-55964,44.965
-32860,1.0017
-30336,0.96355
-66036,55.875
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-41060,7.4939
-31224,0.98668
-59488,75.152
-64756,149.84
+43732,67.078
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+32308,3.4796
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+31536,3.4775
+41060,10.072
+31224,3.5645
+59488,77.73
+64756,152.42
diff --git a/paper/data/exp_sc4.csv b/paper/data/exp_sc4.csv
index a56bdb0..93329e9 100644
--- a/paper/data/exp_sc4.csv
+++ b/paper/data/exp_sc4.csv
@@ -1,30 +1,30 @@
-22240,1.9647
-21080,1.8755
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diff --git a/paper/data/exp_sc5.csv b/paper/data/exp_sc5.csv
index 80676fd..b387341 100644
--- a/paper/data/exp_sc5.csv
+++ b/paper/data/exp_sc5.csv
@@ -1,30 +1,30 @@
-30328,35.909
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-17020,2.76
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-33800,31.759
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diff --git a/paper/data/exp_sc6.csv b/paper/data/exp_sc6.csv
index 784d0b2..a173a61 100644
--- a/paper/data/exp_sc6.csv
+++ b/paper/data/exp_sc6.csv
@@ -1,30 +1,30 @@
-14812,4.1445
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+16388,7.248
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+26812,18.67
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diff --git a/paper/main.bib b/paper/main.bib
index 98decf9..358e5a8 100644
--- a/paper/main.bib
+++ b/paper/main.bib
@@ -25,8 +25,8 @@ month={March},}
title = {Multisensor Data Fusion},
year = {2008},
isbn = {9781420053067},
- edition = {2nd},
- publisher = {CRC Press, Inc.},
+ removed_edition= {2nd},
+ removed_publisher= {CRC Press, Inc.},
removed_address= {Boca Raton, FL, USA},
}
@@ -44,17 +44,17 @@ month={March},}
author={Kaplan, E.D.},
isbn={9780890067932},
lccn={95049984},
- series={Artech House telecommunications library},
+ removed_series={Artech House telecommunications library},
mask_url={https://books.google.it/books?id=5OYInwEACAAJ},
year={1996},
- publisher={Artech House}
+ removed_publisher={Artech House}
}
%lavoro di microsoft in cui discutono la possibilità di usare i dati precedenti di fase e frequenza per velocizzzare il fetching
@inproceedings{bib:microsoft-leap,
author = {Ramos, Heitor S. and Zhang, Tao and Liu, Jie and Priyantha, Nissanka B. and Kansal, Aman},
title = {LEAP: A Low Energy Assisted GPS for Trajectory-based Services},
booktitle = {Proceedings of the 13th International Conference on Ubiquitous Computing},
- series = {UbiComp '11},
+ removed_series= {UbiComp '11},
year = {2011},
isbn = {978-1-4503-0630-0},
location = {Beijing, China},
@@ -63,7 +63,7 @@ month={March},}
mask_url= {http://doi.acm.org/10.1145/2030112.2030158},
mask_doi= {10.1145/2030112.2030158},
acmid = {2030158},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {gps, low energy, mobile location},
}
@@ -87,7 +87,7 @@ month={Jan},}
author = {Zhuang, Zhenyun and Kim, Kyu-Han and Singh, Jatinder Pal},
title = {Improving Energy Efficiency of Location Sensing on Smartphones},
booktitle = {Proceedings of the 8th International Conference on Mobile Systems, Applications, and Services},
- series = {MobiSys '10},
+ removed_series= {MobiSys '10},
year = {2010},
isbn = {978-1-60558-985-5},
location = {San Francisco, California, USA},
@@ -96,7 +96,7 @@ month={Jan},}
mask_url= {http://doi.acm.org/10.1145/1814433.1814464},
mask_doi= {10.1145/1814433.1814464},
acmid = {1814464},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {energy efficiency, location sensing, location-based applications, smartphone},
}
@@ -107,7 +107,7 @@ month={Jan},}
author = {Lin, Kaisen and Kansal, Aman and Lymberopoulos, Dimitrios and Zhao, Feng},
title = {Energy-accuracy Trade-off for Continuous Mobile Device Location},
booktitle = {Proceedings of the 8th International Conference on Mobile Systems, Applications, and Services},
- series = {MobiSys '10},
+ removed_series= {MobiSys '10},
year = {2010},
isbn = {978-1-60558-985-5},
location = {San Francisco, California, USA},
@@ -116,7 +116,7 @@ month={Jan},}
mask_url= {http://doi.acm.org/10.1145/1814433.1814462},
mask_doi= {10.1145/1814433.1814462},
acmid = {1814462},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {GPS energy, continuous location, location-based applications},
}
@@ -126,7 +126,7 @@ month={Jan},}
author = {Thiagarajan, Arvind and Ravindranath, Lenin and LaCurts, Katrina and Madden, Samuel and Balakrishnan, Hari and Toledo, Sivan and Eriksson, Jakob},
title = {VTrack: Accurate, Energy-aware Road Traffic Delay Estimation Using Mobile Phones},
booktitle = {Proceedings of the 7th ACM Conference on Embedded Networked Sensor Systems},
- series = {SenSys '09},
+ removed_series= {SenSys '09},
year = {2009},
isbn = {978-1-60558-519-2},
location = {Berkeley, California},
@@ -135,7 +135,7 @@ month={Jan},}
mask_url= {http://doi.acm.org/10.1145/1644038.1644048},
mask_doi= {10.1145/1644038.1644048},
acmid = {1644048},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {GPS, car, congestion, energy, localization, location, mobile, phone, sensor, traffic, transportation},
}
@@ -145,7 +145,7 @@ month={Jan},}
author = {Kj{\ae}rgaard, Mikkel Baun and Langdal, Jakob and Godsk, Torben and Toftkj{\ae}r, Thomas},
title = {EnTracked: Energy-efficient Robust Position Tracking for Mobile Devices},
booktitle = {Proceedings of the 7th International Conference on Mobile Systems, Applications, and Services},
- series = {MobiSys '09},
+ removed_series= {MobiSys '09},
year = {2009},
isbn = {978-1-60558-566-6},
location = {Krak\&\#243;w, Poland},
@@ -154,7 +154,7 @@ month={Jan},}
mask_url= {http://doi.acm.org/10.1145/1555816.1555839},
mask_doi= {10.1145/1555816.1555839},
acmid = {1555839},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {energy-efficient, gps, positioning, tracking},
}
@@ -164,7 +164,7 @@ month={Jan},}
author = {Wang, Yi and Lin, Jialiu and Annavaram, Murali and Jacobson, Quinn A. and Hong, Jason and Krishnamachari, Bhaskar and Sadeh, Norman},
title = {A Framework of Energy Efficient Mobile Sensing for Automatic User State Recognition},
booktitle = {Proceedings of the 7th International Conference on Mobile Systems, Applications, and Services},
- series = {MobiSys '09},
+ removed_series= {MobiSys '09},
year = {2009},
isbn = {978-1-60558-566-6},
location = {Krak\&\#243;w, Poland},
@@ -173,7 +173,7 @@ month={Jan},}
mask_url= {http://doi.acm.org/10.1145/1555816.1555835},
mask_doi= {10.1145/1555816.1555835},
acmid = {1555835},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {eemss, energy efficiency, human state recognition, mobile sensing},
}
@@ -188,7 +188,7 @@ and Narasimhan, Priya",
title="Optimizing Mobile Application Performance with Model--Driven Engineering",
booktitle="Software Technologies for Embedded and Ubiquitous Systems",
year="2009",
-publisher="Springer Berlin Heidelberg",
+removed_publisher="Springer Berlin Heidelberg",
removed_address="Berlin, Heidelberg",
removed_pages="36--46",
abstract="Future embedded and ubiquitous computing systems will operate continuously on mobile devices, such as smartphones, with limited processing capabilities, memory, and power. A critical aspect of developing future applications for mobile devices will be ensuring that the application provides sufficient performance while maximizing battery life. Determining how a software architecture will affect power consumption is hard because the impact of software design on power consumption is not well understood. Typically, the power consumption of a mobile software architecture can only be determined after the architecture is implemented, which is late in the development cycle when design changes are costly.",
@@ -222,7 +222,7 @@ month={April},}
author = {Thokala, Sravan Kumar and Koundinyaa, Pranav and Mishra, Shivakant and Shi, Larry},
title = {Virtual GPS: A Middleware for Power Efficient Localization of Smartphones Using Cross Layer Approach},
booktitle = {Proceedings of the Middleware Industry Track},
- series = {Industry papers},
+ removed_series= {Industry papers},
year = {2014},
isbn = {978-1-4503-3219-4},
location = {Bordeaux, France},
@@ -232,7 +232,7 @@ month={April},}
mask_url= {http://doi.acm.org/10.1145/2676727.2676729},
mask_doi= {10.1145/2676727.2676729},
acmid = {2676729},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {GPS abstraction, location based services, power efficient localization, virtual GPS},
}
@@ -242,7 +242,7 @@ month={April},}
author = {Ben Abdesslem, Fehmi and Phillips, Andrew and Henderson, Tristan},
title = {Less is More: Energy-efficient Mobile Sensing with Senseless},
booktitle = {Proceedings of the 1st ACM Workshop on Networking, Systems, and Applications for Mobile Handhelds},
- series = {MobiHeld '09},
+ removed_series= {MobiHeld '09},
year = {2009},
isbn = {978-1-60558-444-7},
location = {Barcelona, Spain},
@@ -251,7 +251,7 @@ month={April},}
mask_url= {http://doi.acm.org/10.1145/1592606.1592621},
mask_doi= {10.1145/1592606.1592621},
acmid = {1592621},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {energy, sensing, wireless},
}
@@ -275,7 +275,7 @@ month={April},}
author = {Hassanieh, Haitham and Adib, Fadel and Katabi, Dina and Indyk, Piotr},
title = {Faster GPS via the Sparse Fourier Transform},
booktitle = {Proceedings of the 18th Annual International Conference on Mobile Computing and Networking},
- series = {Mobicom '12},
+ removed_series= {Mobicom '12},
year = {2012},
isbn = {978-1-4503-1159-5},
location = {Istanbul, Turkey},
@@ -284,7 +284,7 @@ month={April},}
mask_url= {http://doi.acm.org/10.1145/2348543.2348587},
mask_doi= {10.1145/2348543.2348587},
acmid = {2348587},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {GPS, sparse fourier transform, synchronization},
}
@@ -294,7 +294,7 @@ month={April},}
author = {Windihastuty, Wiwin and Irsan, Muhammad},
title = {Explorers Zoo: An Application Model of Global Positioning System A Case Study in Ragunan Zoo},
booktitle = {Proceedings of the 5th International Conference on Information and Education Technology},
- series = {ICIET '17},
+ removed_series= {ICIET '17},
year = {2017},
isbn = {978-1-4503-4803-4},
location = {Tokyo, Japan},
@@ -303,7 +303,7 @@ month={April},}
mask_url= {http://doi.acm.org/10.1145/3029387.3029408},
mask_doi= {10.1145/3029387.3029408},
acmid = {3029408},
- publisher = {ACM},
+ removed_publisher= {ACM},
removed_address= {New York, NY, USA},
keywords = {Android, GPS, Google Maps, Zoo},
}
@@ -337,7 +337,7 @@ month={Sept},}
title = {Global Positioning Systems, Inertial Navigation, and Integration},
year = {2007},
isbn = {0470041900},
- publisher = {Wiley-Interscience},
+ removed_publisher= {Wiley-Interscience},
removed_address= {New York, NY, USA},
}
@@ -347,7 +347,7 @@ month={Sept},}
booktitle={Springer Handbook of Robotics},
removed_pages={737--752},
year={2016},
- publisher={Springer}
+ removed_publisher={Springer}
}
@inproceedings{bib:B,
diff --git a/paper/main.tex b/paper/main.tex
index 0d8c9c9..cb4d14f 100644
--- a/paper/main.tex
+++ b/paper/main.tex
@@ -158,6 +158,10 @@ Politecnico di Milano, Italy}
\label{sec:concl}
\input{sections/07-concl}
+\vspace{2mm}
+\noindent\textbf{Acknowledgements}:\\
+We would like to thank Isaac Skog (Link{\"o}ping University) that allowed us to reuse and build on his code for the Matlab model. This work was supported by the ELLIIT Strategic Research Area. This work was partially supported by the Wallenberg Artificial Intelligence, Autonomous Systems and Software Program (WASP) funded by Knut and Alice Wallenberg Foundation.
+
\bibliographystyle{ACM-Reference-Format}
\bibliography{main}
diff --git a/paper/sections/04-fusion.tex b/paper/sections/04-fusion.tex
index c17d5ef..567c870 100644
--- a/paper/sections/04-fusion.tex
+++ b/paper/sections/04-fusion.tex
@@ -54,7 +54,7 @@ at time $k$ and measure it in meters with respect to a reference
point, i.e., $p(k) \in \mathbb{R}^3 [m]$. We use $v(k)$ to indicate
the velocity at time $k$ measuring it in meters per seconds, i.e.,
$v(k) \in \mathbb{R}^3 [m/s]$. Finally, we denote with $q(k)$ the
-attitude at time $k$, using its (adimensional) quaternion
+attitude at time $k$, using its (dimensionless) quaternion
representation, i.e., $q(k)\in \mathbb{R}^4 [-]$.
The IMU provides the following measurements at time $k$: the
@@ -176,9 +176,9 @@ v(k)-\hat{v}(k) \\
\epsilon (k)
\end{bmatrix}.
\end{equation}
-Here, the attitude error vector $\epsilon(k)$ is defined as the the
-small (Euler) angle sequence that rotates the attitude vector
-$\hat{q}(k)$ into
+Here, the attitude error vector $\epsilon(k) \in \mathbb{R}^3$ is
+defined as the the small (Euler) angle sequence that rotates the
+attitude vector $\hat{q}(k)$ into
$q(k)$\footnote{$q(k) = \Gamma(\hat{q}(k), \epsilon(k))$, where
$\Gamma(\hat{q}(k),\epsilon (k)) \triangleq \{ q \in \mathbb{S}^3 |
R_b^n (q(k)) = (I_3 - \left[\epsilon(k)\right]_{\times}) R_b^n
diff --git a/paper/sections/06-results.tex b/paper/sections/06-results.tex
index 2302ce9..55f085a 100644
--- a/paper/sections/06-results.tex
+++ b/paper/sections/06-results.tex
@@ -201,6 +201,7 @@ independently capture the tracking of individual satellites.
\label{sec:res:accuracy}
\begin{figure*}[t]
+\centering
\begin{minipage}{0.95\columnwidth}
\begin{tikzpicture}
\begin{axis}[%
@@ -279,6 +280,7 @@ independently capture the tracking of individual satellites.
\end{minipage}
\end{figure*}
\begin{figure*}
+\centering
\hspace{2mm} \vspace{0.1cm}
\begin{minipage}{0.95\columnwidth}
\begin{tikzpicture}
@@ -427,9 +429,11 @@ the simulations), to highlight the trade-off.
scaled y ticks = false,
y tick label style={/pgf/number format/fixed},
xlabel = {Energy [mJ]},
- ylabel = {Normalized Error},
+ ylabel = {Error},
legend style={at={(1.3,1.1)},anchor=south},
legend columns=3,
+ ytick = {0, 0.01, 0.02, 0.03},
+ yticklabels = {45493.25, 45493.26, 45493.27, 45493.28},
]
\pgfkeys{/pgf/number format/.cd,1000 sep={}}
\addplot[thick, only marks, mark=*, blue]
@@ -458,8 +462,7 @@ the simulations), to highlight the trade-off.
\addlegendentry{Sensor Fusion $th=12$}
\end{axis}
\end{tikzpicture}
-\caption{Trade-Off between Energy and Error when cycling. The error
-is normalized subtracting its minimum value.}
+\caption{Trade-Off between Energy and Error when cycling.}
\label{fig:bike-tradeoff}
\end{minipage}
\hfill
@@ -474,7 +477,7 @@ is normalized subtracting its minimum value.}
scaled x ticks = false,
scaled y ticks = false,
xlabel = {Energy [mJ]},
- ylabel = {Normalized Error},
+ ylabel = {Error},
]
\pgfkeys{/pgf/number format/.cd,1000 sep={}}
\addplot[thick, only marks, mark=*, blue]
@@ -498,8 +501,7 @@ is normalized subtracting its minimum value.}
\end{axis}
\end{tikzpicture}
\caption{Trade-Off between Energy and Error when driving
-(with signal loss). The error is normalized subtracting its minimum
-value.}
+(with signal loss).}
\label{fig:car-tradeoff}
\end{minipage}
\end{figure*}
@@ -519,9 +521,9 @@ Second, higher triggering values instead (purple, yellow, and orange
points) the opposite behavior is experienced. The variance in terms
of energy consumption is smaller, since the antenna is turned on less
frequently (implying that there will be less uncertainty on the time
-spent fetching satellites' signals). The error here becomes lager and
-with higher variance, due to the need to exploit more often (less
-reliable) IMU data.
+spent fetching signals). The error here becomes lager and with higher
+variance, due to the need to exploit more often (less reliable) IMU
+data.
Finally, Figure~\ref{fig:car-tradeoff} shows the simulations
performed using the car data. Given the introduction of a varying
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