Henrik Blunck

Energy-efficient trajectory tracking for mobile devices

Emergent location-aware applications often require tracking trajectories of mobile devices over a long period of time. To be useful, the tracking has to be energy-efficient to avoid having a major impact on the battery life of the mobile device. Furthermore, when trajectory information needs to be sent to a remote server, on-device simplification of the trajectories is needed to reduce the amount of data transmission. While there has recently been a lot of work on energy-efficient position tracking, the energy-efficient tracking of trajectories has not been addressed in previous work. In this paper we propose a novel on-device sensor management strategy and a set of trajectory updating protocols which intelligently determine when to sample different sensors (accelerometer, compass and GPS) and when data should be simplified and sent to a remote server. The system is configurable with regards to accuracy requirements and provides a unified framework for both position and trajectory tracking. We demonstrate the effectiveness of our approach by emulation experiments on real world data sets collected from different modes of transportation (walking, running, biking and commuting by car) as well as by validating with a real-world deployment. The results demonstrate that our approach is able to provide considerable savings in the battery consumption compared to a state-of-the-art position tracking system while at the same time maintaining the accuracy of the resulting trajectory, i.e., support of specific accuracy requirements and different types of applications can be ensured.

Indoor positioning using GPS revisited

It has been considered a fact that GPS performs too poorly inside buildings to provide usable indoor positioning. We analyze results of a measurement campaign to improve on the understanding of indoor GPS reception characteristics. The results show that using state-of-the-art receivers GPS availability is good in many buildings with standard material walls and roofs. The measured root mean squared 2D positioning error was below five meters in wooden buildings and below ten meters in most of the investigated brick and concrete buildings. Lower accuracies, where observed, can be linked to either low signal-to-noise ratios, multipath phenomena or bad satellite constellation geometry. We have also measured the indoor performance of embedded GPS receivers in mobile phones which provided lower availability and accuracy than state-of-the-art ones. Finally, we consider how the GPS performance within a given building is dependent on local properties like close-by building elements and materials, number of walls, number of overlaying stories and surrounding buildings.

Analysis methods for extracting knowledge from large-scale WiFi monitoring to inform building facility planning

The optimization of logistics in large building complexes with many resources, such as hospitals, require realistic facility management and planning. Current planning practices rely foremost on manual observations or coarse unverified assumptions and therefore do not properly scale or provide realistic data to inform facility planning. In this paper, we propose analysis methods to extract knowledge from large sets of network collected WiFi traces to better inform facility management and planning in large building complexes. The analysis methods, which build on a rich set of temporal and spatial features, include methods for noise removal, e.g., labeling of beyond building-perimeter devices, and methods for quantification of area densities and flows, e.g., building enter and exit events, and for classifying the behavior of people, e.g., into user roles such as visitor, hospitalized or employee. Spatio-temporal visualization tools built on top of these methods enable planners to inspect and explore extracted information to inform facility-planning activities. To evaluate the methods, we present results for a large hospital complex covering more than 10 hectares. The evaluation is based on WiFi traces collected in the hospitals WiFi infrastructure over two weeks observing around 18000 different devices recording more than a billion individual WiFi measurements. For the presented analysis methods we present quantitative performance results, e.g., demonstrating over 95% accuracy for correct noise removal of beyond building perimeter devices. We furthermore present detailed statistics from our analysis regarding peoples presence, movement and roles, and example types of visualizations that both highlight their potential as inspection tools for planners and provide interesting insights into the test-bed hospital.

Unsupervised Power Profiling for Mobile Devices

Today, power consumption is a main limitation for mobile phones. To minimize the power consumption of popular and traditionally power-hungry location-based services requires knowledge of how individual phone features consume power, so that those features can be utilized intelligently for optimal power savings while at the same time maintaining good quality of service. This paper proposes an unsupervised API-level method for power profiling mobile phones based on genetic algorithms. The method enables accurate profiling of the power consumption of devices and thereby provides the information needed by methods that aim to minimize the power consumption of location-based and other services.

Robust and Energy-Efficient Trajectory Tracking for Mobile Devices

Many mobile location-aware applications require the sampling of trajectory data accurately over an extended period of time. However, continuous trajectory tracking poses new challenges to the overall battery life of the device, and thus novel energy-efficient sensor management strategies are necessary for improving the lifetime of such applications. Additionally, such sensor management strategies are required to provide a high and application-adjustable level of robustness regardless of the users transportation mode. In this article, we extend and further analyze the sensor management strategies of the EnTrackedT system that intelligently determines when to sample different on-device sensors (e.g., accelerometer, compass and GPS) for trajectory tracking. Specifically, we propose the concept of situational bounding to improve and parameterize the robustness of sensor management strategies for trajectory tracking. We demonstrate the effectiveness of our proposed approach by performing a series of emulation experiments on real world data sets collected from different modes of transportation (including walking, running, biking and commuting by car) on mobile devices from two different platforms. Thorough experimental analyses indicate that our system can save significant amounts of battery power compared to the state-of-the-art position tracking systems, while simultaneously maintaining robustness and accuracy bounds as required by diverse location-aware applications.

Time-lag method for detecting following and leadership behavior of pedestrians from mobile sensing data

The vast availability of mobile phones with built-in movement and location sensors enable the collection of detailed information about human movement even indoors. As mobility is a key element of many processes and activities, an interesting class of information to extract is movement patterns that quantify how humans move, interact and group. In this paper we propose methods for detecting two common pedestrian movement patterns, namely individual following relations and group leadership. The proposed methods for identifying following patterns employ machine learning on features derived using similarity analysis on time lagged sequences of WiFi measurements containing either raw signal strength values or derived locations. To detect leadership we combine the individual following relations into directed graphs and detect leadership within groups by graph link analysis. Methods for detecting these movement patterns open up new possibilities in - amongst others - computational social science, reality mining, marketing research and location-based gaming. We provide evaluation results that show error rates down to 7%, improving over state of the art methods with up to eleven percentage points for following patterns and up to twenty percentage points for leadership patterns. Our method is, contrary to state of the art, also applicable in challenging indoor environments, e.g., multi-story buildings. This implies that even quite small samples allow us to detect information such as how events and campaigns in multistory shopping malls may trigger following in small groups, or which group members typically take the lead when triggered by e.g. commercials, or how rescue or police forces act during training exercises.

On heterogeneity in mobile sensing applications aiming at representative data collection

Gathering representative data using mobile sensing to answer research questions is becoming increasingly popular, driven by growing ubiquity and sensing capabilities of mobile devices. However, there are pitfalls along this path, which introduce heterogeneity in the gathered data, and which are rooted in the diversity of the involved device platforms, hardware, software versions and participants. Thus, we, as a research community, need to establish good practices and methodologies for addressing this issue in order to help ensure that, e.g., scientific results and policy changes based on collective, mobile sensed data are valid. In this paper, we aim to inform researchers and developers about mobile sensing data heterogeneity and ways to combat it. We do so via distilling a vocabulary of underlying causes, and via describing their effects on mobile sensing---building on experiences from three projects within citizen science, crowd awareness and trajectory tracking.

Sensing and classifying impairments of GPS reception on mobile devices

Positioning using GPS receivers is a primary sensing modality in many areas of pervasive computing. However, previous work has not considered how peoples body impacts the availability and accuracy of GPS positioning and for means to sense such impacts. We present results that the GPS performance degradation on modern smart phones for different hand grip styles and body placements can cause signal strength drops as high as 10-16 dB and double the positioning error. Furthermore, existing phone applications designed to help users identify sources of GPS performance impairment are restricted to show raw signal statistics. To help both users as well as application systems in understanding and mitigating body and environment-induced effects, we propose a method for sensing the current sources of GPS reception impairment in terms of body, urban and indoor conditions. We present results that show that the proposed autonomous method can identify and differentiate such sources, and thus also user environments and phone postures, with reasonable accuracy, while relying solely on GPS receiver data as it is available on most modern smart phones.

In-Place Algorithms for Computing (Layers of) Maxima

AbstractWe describe space-efficient algorithms for solving problems related to finding maxima among points in two and three dimensions. Our algorithms run in optimal

Computational environmental ethnography: combining collective sensing and ethnographic inquiries to advance means for reducing environmental footprints

\mathcal{O}(n\log n)