
252 Cyber-Physical Systems: From Theory to Practice
that, using the same value on segerr and maxerr, the PLA-SegmentBound problem has a tighter error
bound than the PLA-PointBound problem.
9.7.7 EXPERIMENTAL RESULTS OF MULTIDIMENSIONAL PLA PROBLEMS
The performance of the multidimensional PLA problems is tested on a 3D accelerometer data from a
Sony ERS-210 AIBO Robot, as shown in Figure 9.22. The Sony Aibo is a small, quadruped robot that
comes equipped with a triaxial accelerometer. This accelerometer returns data at a rate of 125 Hz.
The algorithm is tested on Aibo data set obtained from the UCR time series collection. This data set
consists of