We have introduced a new ultrasonic-based localization method that requires only one ultrasonic receiver to locate transmitters. In our previous reports [1],[2], we conducted several fundamental experiments, and proved the feasibility and accuracy of our system. However the performance in a more realistic environment has not yet been evaluated. In this paper, we have extended our localization system into a robot tracking system, and conducted experiments where the system tracked a moving robot. Localization was executed both by our proposed method and by the conventional TOA method. The experiment was repeated with different density of receivers. Thus we were able to compare the accuracy and the scalability between our proposed method and the conventional method. As a result 90-percentile of the position error was from 6.2 cm to 14.6 cm for the proposed method, from 4.0 cm to 6.1 cm for the conventional method. However our proposed method succeeded in calculating the position of the transmitter in 95% out of total attempts of localization with sparse receivers (4 receivers in about 5 m 5 m area), whereas the success rate was only 31% for the conventional method. From the result we concluded that although the proposed method is less accurate it can cover a wider area with sparse receivers than the conventional method. In addition to the dynamic tracking experiments, we also conducted some localization experiments where the robot stood still. This was because we wanted to investigate the reason why the localization accuracy degraded in the dynamic tracking. According to the result, the degradation of accuracy might be due to the systematic error in localization which is dependent on the geometric relationship between the transmitter and the receiver.

This paper presents and evaluates a new acoustic imaging system that uses multicarrier signals for correlation division in synthetic transmit aperture (CD-STA). CD-STA is a method that transmits uncorrelated signals from different transducers simultaneously to achieve high-speed and high-resolution acoustic imaging. In CD-STA, autocorrelations and cross-correlations in transmitted signals must be suppressed because they cause artifacts in the resulting images, which narrow the dynamic range as a consequence. To suppress the correlation noise, we had proposed to use multicarrier signals optimized by a genetic algorithm. Because the evaluation of our proposed method was very limited in the previous reports, we analyzed it more deeply in this paper. We optimized three pairs of multicarrier waveforms of various lengths, which correspond to 5th-, 6th- and 7th-order M-sequence signals, respectively. We built a CD-STA imaging system that operates in air. Using the system, we conducted imaging experiments to evaluate the image quality and resolution of the multicarrier signals. We also investigated the ability of the proposed method to resolve both positions and velocities of target scatterers. For that purpose, we carried out an experiment, in which both moving and fixed targets were visualized by our system. As a result of the experiments, we confirmed that the multicarrier signals have lower artifact levels, better axial resolution, and greater tolerance to velocity mismatch than M-sequence signals, particularly for short signals.

We describe SyncSync, a time-of-arrival (ToA)-based localization method for smartphones. In general, ToA measurements show better precision than time-difference-of-arrival (TDoA) measurements, although ToA systems require a synchronization mechanism between anchor and mobile nodes. For this synchronization, we employ modulated LED light with an acoustic wave for time-of-flight distance measurements. These are detected by the smartphone's video camera and microphone. The time resolution in consumer video cameras is typically only a few tenths of a second, but by utilizing a CMOS image sensor's rolling shutter effect we obtain synchronization resolutions of a few microseconds, which is sufficient for precise acoustic ToA measurements. We conducted experiments to confirm operation of the system, and obtained ToA localization errors within 10mm. The characteristics of the error distributions for both TDoA and ToA measurements were explained by dilution of precision.

Mobile devices have acceleratedly penetrated into our daily lives. Though they were originally designed as a communication tool or for personal use, and due to the rapid availability of wireless network technologies, people have begun to use mobile devices for supporting collaborative work and learning. There is, however, a serious problem in mobile devices related to their user interfaces. In this paper, we try to alleviate the problem and propose intuitive techniques for information transfer, which is one of the typical usages of mutually-connected computers. Our system, Toss-It, enables a user to send information from the user's PDA to other electronic devices with a "toss" or "swing" action, like a user would toss a ball or deal cards to others. The implementation of Toss-It consists of three principle parts - gesture recognition, location recognition, and file transfer. We especially describe the details of gesture recognition and location recognition. We then evaluate the practicability and usability of Toss-It through the experiments. We also discuss user scenarios describing how Toss-It can support users' collaborative activities.