Information Potential Fields Navigation in Wireless Ad-Hoc Sensor Networks
Directory of Open Access Journals (Sweden)
Yong Qi
2011-05-01
Full Text Available As wireless sensor networks (WSNs are increasingly being deployed in some important applications, it becomes imperative that we consider application requirements in in-network processes. We intend to use a WSN to aid information querying and navigation within a dynamic and real-time environment. We propose a novel method that relies on the heat diffusion equation to finish the navigation process conveniently and easily. From the perspective of theoretical analysis, our proposed work holds the lower constraint condition. We use multiple scales to reach the goal of accurate navigation. We present a multi-scale gradient descent method to satisfy users’ requirements in WSNs. Formula derivations and simulations show that the method is accurately and efficiently able to solve typical sensor network configuration information navigation problems. Simultaneously, the structure of heat diffusion equation allows more flexibility and adaptability in searching algorithm designs.
Intelligent navigation and accurate positioning of an assist robot in indoor environments
Hua, Bin; Rama, Endri; Capi, Genci; Jindai, Mitsuru; Tsuri, Yosuke
2017-12-01
Intact robot's navigation and accurate positioning in indoor environments are still challenging tasks. Especially in robot applications, assisting disabled and/or elderly people in museums/art gallery environments. In this paper, we present a human-like navigation method, where the neural networks control the wheelchair robot to reach the goal location safely, by imitating the supervisor's motions, and positioning in the intended location. In a museum similar environment, the mobile robot starts navigation from various positions, and uses a low-cost camera to track the target picture, and a laser range finder to make a safe navigation. Results show that the neural controller with the Conjugate Gradient Backpropagation training algorithm gives a robust response to guide the mobile robot accurately to the goal position.
Sub-micron accurate track navigation method ''Navi'' for the analysis of Nuclear Emulsion
International Nuclear Information System (INIS)
Yoshioka, T; Yoshida, J; Kodama, K
2011-01-01
Sub-micron accurate track navigation in Nuclear Emulsion is realized by using low energy signals detected by automated Nuclear Emulsion read-out systems. Using those much dense ''noise'', about 10 4 times larger than the real tracks, the accuracy of the track position navigation reaches to be sub micron only by using the information of a microscope field of view, 200 micron times 200 micron. This method is applied to OPERA analysis in Japan, i.e. support of human eye checks of the candidate tracks, confirmation of neutrino interaction vertexes and to embed missing track segments to the track data read-out by automated systems.
Sub-micron accurate track navigation method ``Navi'' for the analysis of Nuclear Emulsion
Yoshioka, T.; Yoshida, J.; Kodama, K.
2011-03-01
Sub-micron accurate track navigation in Nuclear Emulsion is realized by using low energy signals detected by automated Nuclear Emulsion read-out systems. Using those much dense ``noise'', about 104 times larger than the real tracks, the accuracy of the track position navigation reaches to be sub micron only by using the information of a microscope field of view, 200 micron times 200 micron. This method is applied to OPERA analysis in Japan, i.e. support of human eye checks of the candidate tracks, confirmation of neutrino interaction vertexes and to embed missing track segments to the track data read-out by automated systems.
Absolute Navigation Information Estimation for Micro Planetary Rovers
Directory of Open Access Journals (Sweden)
Muhammad Ilyas
2016-03-01
Full Text Available This paper provides algorithms to estimate absolute navigation information, e.g., absolute attitude and position, by using low power, weight and volume Microelectromechanical Systems-type (MEMS sensors that are suitable for micro planetary rovers. Planetary rovers appear to be easily navigable robots due to their extreme slow speed and rotation but, unfortunately, the sensor suites available for terrestrial robots are not always available for planetary rover navigation. This makes them difficult to navigate in a completely unexplored, harsh and complex environment. Whereas the relative attitude and position can be tracked in a similar way as for ground robots, absolute navigation information, unlike in terrestrial applications, is difficult to obtain for a remote celestial body, such as Mars or the Moon. In this paper, an algorithm called the EASI algorithm (Estimation of Attitude using Sun sensor and Inclinometer is presented to estimate the absolute attitude using a MEMS-type sun sensor and inclinometer, only. Moreover, the output of the EASI algorithm is fused with MEMS gyros to produce more accurate and reliable attitude estimates. An absolute position estimation algorithm has also been presented based on these on-board sensors. Experimental results demonstrate the viability of the proposed algorithms and the sensor suite for low-cost and low-weight micro planetary rovers.
Radar and electronic navigation
Sonnenberg, G J
2013-01-01
Radar and Electronic Navigation, Sixth Edition discusses radar in marine navigation, underwater navigational aids, direction finding, the Decca navigator system, and the Omega system. The book also describes the Loran system for position fixing, the navy navigation satellite system, and the global positioning system (GPS). It reviews the principles, operation, presentations, specifications, and uses of radar. It also describes GPS, a real time position-fixing system in three dimensions (longitude, latitude, altitude), plus velocity information with Universal Time Coordinated (UTC). It is accur
Directory of Open Access Journals (Sweden)
Wei Wei
2013-01-01
Full Text Available Since Wireless sensor networks (WSNs are dramatically being arranged in mission-critical applications,it changes into necessary that we consider application requirements in Internet of Things. We try to use WSNs to assist information query and navigation within a practical parking spaces environment. Integrated with high-performance OFDM by piece-wise polynomial approximation, we present a new method that is based on a diffusion equation and a position equation to accomplish the navigation process conveniently and efficiently. From the point of view of theoretical analysis, our jobs hold the lower constraint condition and several inappropriate navigation can be amended. Information diffusion and potential field are introduced to reach the goal of accurate navigation and gradient descent method is applied in the algorithm. Formula derivations and simulations manifest that the method facilitates the solution of typical sensor network configuration information navigation. Concurrently, we also treat channel estimation and ICI mitigation for very high mobility OFDM systems, and the communication is between a BS and mobile target at a terrible scenario. The scheme proposed here combines the piece-wise polynomial expansion to approximate timevariations of multipath channels. Two near symbols are applied to estimate the first-and second-order parameters. So as to improve the estimation accuracy and mitigate the ICI caused by pilot-aided estimation, the multipath channel parameters were reestimated in timedomain employing the decided OFDM symbol. Simulation results show that this method would improve system performance in a complex environment.
Energy Technology Data Exchange (ETDEWEB)
Luo, Xiongbiao, E-mail: xiongbiao.luo@gmail.com [Robarts Research Institute, Western University, London, Ontario N6A 5K8 (Canada)
2014-06-15
electromagnetically navigated bronchoscopy system was constructed with accurate registration of an electromagnetic tracker and the CT volume on the basis of an improved marker-free registration approach that uses the bronchial centerlines and bronchoscope tip center information. The fiducial and target registration errors of our electromagnetic navigation system were about 6.6 and 4.5 mm in dynamic bronchial phantom validation.
International Nuclear Information System (INIS)
Luo, Xiongbiao
2014-01-01
electromagnetically navigated bronchoscopy system was constructed with accurate registration of an electromagnetic tracker and the CT volume on the basis of an improved marker-free registration approach that uses the bronchial centerlines and bronchoscope tip center information. The fiducial and target registration errors of our electromagnetic navigation system were about 6.6 and 4.5 mm in dynamic bronchial phantom validation
A Modified Proportional Navigation Guidance for Accurate Target Hitting
Directory of Open Access Journals (Sweden)
A. Moharampour
2010-03-01
First, the pure proportional navigation guidance (PPNG in 3-dimensional state is explained in a new point of view. The main idea is based on the distinction between angular rate vector and rotation vector conceptions. The current innovation is based on selection of line of sight (LOS coordinates. A comparison between two available choices for LOS coordinates system is proposed. An improvement is made by adding two additional terms. First term includes a cross range compensator which is used to provide and enhance path observability, and obtain convergent estimates of state variables. The second term is new concept lead bias term, which has been calculated by assuming an equivalent acceleration along the target longitudinal axis. Simulation results indicate that the lead bias term properly provides terminal conditions for accurate target interception.
Visual Navigation of Complex Information Spaces
Directory of Open Access Journals (Sweden)
Sarah North
1995-11-01
Full Text Available The authors lay the foundation for the introduction of visual navigation aid to assist computer users in direct manipulation of the complex information spaces. By exploring present research on scientific data visualisation and creating a case for improved information visualisation tools, they introduce the design of an improved information visualisation interface utilizing dynamic slider, called Visual-X, incorporating icons with bindable attributes (glyphs. Exploring the improvement that these data visualisations, make to a computing environment, the authors conduct an experiment to compare the performance of subjects who use traditional interfaces and Visual-X. Methodology is presented and conclusions reveal that the use of Visual-X appears to be a promising approach in providing users with a navigation tool that does not overload their cognitive processes.
Optical surgical navigation system causes pulse oximeter malfunction.
Satoh, Masaaki; Hara, Tetsuhito; Tamai, Kenji; Shiba, Juntaro; Hotta, Kunihisa; Takeuchi, Mamoru; Watanabe, Eiju
2015-01-01
An optical surgical navigation system is used as a navigator to facilitate surgical approaches, and pulse oximeters provide valuable information for anesthetic management. However, saw-tooth waves on the monitor of a pulse oximeter and the inability of the pulse oximeter to accurately record the saturation of a percutaneous artery were observed when a surgeon started an optical navigation system. The current case is thought to be the first report of this navigation system interfering with pulse oximetry. The causes of pulse jamming and how to manage an optical navigation system are discussed.
Low Cost Integrated Navigation System for Unmanned Vessel
Directory of Open Access Journals (Sweden)
Yang Changsong
2017-11-01
Full Text Available Large errors of low-cost MEMS inertial measurement unit (MIMU lead to huge navigation errors, even wrong navigation information. An integrated navigation system for unmanned vessel is proposed. It consists of a low-cost MIMU and Doppler velocity sonar (DVS. This paper presents an integrated navigation method, to improve the performance of navigation system. The integrated navigation system is tested using simulation and semi-physical simulation experiments, whose results show that attitude, velocity and position accuracy has improved awfully, giving exactly accurate navigation results. By means of the combination of low-cost MIMU and DVS, the proposed system is able to overcome fast drift problems of the low cost IMU.
Information content in reflected global navigation satellite system signals
DEFF Research Database (Denmark)
Høeg, Per; Carlstrom, Anders
2011-01-01
The direct signals from satellites in global satellite navigation satellites systems (GNSS) as, GPS, GLONASS and GALILEO, constitute the primary source for positioning, navigation and timing from space. But also the reflected GNSS signals contain an important information content of signal travel...
Liu, Yahui; Fan, Xiaoqian; Lv, Chen; Wu, Jian; Li, Liang; Ding, Dawei
2018-02-01
Information fusion method of INS/GPS navigation system based on filtering technology is a research focus at present. In order to improve the precision of navigation information, a navigation technology based on Adaptive Kalman Filter with attenuation factor is proposed to restrain noise in this paper. The algorithm continuously updates the measurement noise variance and processes noise variance of the system by collecting the estimated and measured values, and this method can suppress white noise. Because a measured value closer to the current time would more accurately reflect the characteristics of the noise, an attenuation factor is introduced to increase the weight of the current value, in order to deal with the noise variance caused by environment disturbance. To validate the effectiveness of the proposed algorithm, a series of road tests are carried out in urban environment. The GPS and IMU data of the experiments were collected and processed by dSPACE and MATLAB/Simulink. Based on the test results, the accuracy of the proposed algorithm is 20% higher than that of a traditional Adaptive Kalman Filter. It also shows that the precision of the integrated navigation can be improved due to the reduction of the influence of environment noise.
Issues in symbol design for electronic displays of navigation information
2004-10-24
An increasing number of electronic displays, ranging from small hand-held displays for general aviation to installed displays for air transport, are showing navigation information, such as symbols representing navigational aids. The wide range of dis...
McGarraugh, Geoffrey V; Clarke, William L; Kovatchev, Boris P
2010-05-01
The purpose of the analysis was to compare the clinical utility of data from traditional self-monitoring of blood glucose (SMBG) to that of continuous glucose monitoring (CGM). A clinical study of the clinical accuracy of the FreeStyle Navigator CGM System (Abbott Diabetes Care, Alameda, CA), which includes SMBG capabilities, was conducted by comparison to the YSI blood glucose analyzer (YSI Inc., Yellow Springs, OH) using 58 subjects with type 1 diabetes. The Continuous Glucose-Error Grid Analysis (CG-EGA) was used as the analytical tool. Using CG-EGA, the "clinically accurate," "benign errors," and "clinical errors" were 86.8%, 8.7%, and 4.5% for SMBG and 92.7%, 3.7%, and 3.6% for CGM, respectively. If blood glucose is viewed as a process in time, SMBG would provide accurate information about this process 86.8% of the time, whereas CGM would provide accurate information about this process 92.7% of the time (P glucose values than CGM, control of blood glucose involves a system in flux, and CGM provides more detailed insight into the dynamics of that system. In the normal and elevated glucose ranges, the additional information about the direction and rate of glucose change provided by the FreeStyle Navigator CGM System increases the ability to make correct clinical decisions when compared to episodic SMBG tests.
Fusion of navigational data in River Information Services
Kazimierski, W.
2009-04-01
. Their main advantage over AIS is total independence from tracked target's facilities. For example, wrong indications of ship's GPS would affect AIS accuracy, but wouldn't have any impact on values estimated by radar. In addition to this in many times update rate for AIS data is longer than for radar. Thus, it can be noticed, that efficient tracking system introduced in RIS shall use both AIS receivers (based on satellite derived positions), and independent radar and camera sensors. This will however cause determining at least two different set of information about positions and movement parameters of targets. Doubled or multiplied vectors for single target are unacceptable, due to safety of navigation and traffic management. Hence the need of data fusion in RIS is obvious. The main goal is to develop unambiguous, clear and reliable information about ships' position and movement for all users in the system. Data fusion itself is not a new problem in maritime navigation. There are systems of Integrated Bridge on sea-going ships, which use information coming out from different sources. However the possibilities of integration of navigational information in the aspect of inland navigation, especially in River Information Services, still needs to be thoroughly surveyed. It is quite useful for simplifying the deduction, to introduce two data fusion levels. First of them is being done on board of the vessel. Its aim is to integrate all information coming from different sensors in the so called Integrated Navigational System. The other task of this fusion is to estimate reliable information about other objects based on AIS and radar. The second level is the integration of AIS, radar and closed-circuit television (CCTV) carried out in coastal station in order to determine Tactical and Strategic Traffic Image. The navigational information in RIS itself can be divided into two main groups. The first one is called static data and contains al basic information related to ship itself
Navigation and Alignment Aids Concept of Operations and Supplemental Design Information. Revision A
Kelly, Sean M.; Cryan, Scott P.
2016-01-01
The IDSS Navigation and Alignment Aids Concept of Operations and Supplemental Design Information document provides supplemental information to the IDSS IDD. The guide provides insight into the navigation and alignment aids design, and how those aids can be utilized by incoming vehicles for proximity operations and docking. The navigation aids are paramount to successful docking.
Yong-Jin Yoon; King Ho Holden Li; Jiahe Steven Lee; Woo-Tae Park
2015-01-01
Global Positioning System and Inertial Navigation System can be used to determine position and velocity. A Global Positioning System module is able to accurately determine position without sensor drift, but its usage is limited in heavily urbanized environments and heavy vegetation. While high-cost tactical-grade Inertial Navigation System can determine position accurately, low-cost micro-electro-mechanical system Inertial Navigation System sensors are plagued by significant errors. Global Po...
Street navigation using visual information on mobile phones
DEFF Research Database (Denmark)
Nguyen, Phuong Giang; Andersen, Hans Jørgen; Høilund, Carsten
2010-01-01
Applications with street navigation have been recently introduced on mobile phone devices. A major part of existing systems use integrated GPS as input for indicating the location. However, these systems often fail or make abrupt shifts in urban environment due to occlusion of satellites....... Furthermore, they only give the position of a person and not the object of his attention, which is just as important for localization based services. In this paper we introduce a system using mobile phones built-in cameras for navigation and localization using visual information in accordance with the way we...
Lee, Kenneth; Hoti, Kreshnik; Hughes, Jeffery David; Emmerton, Lynne M
2015-12-29
The Internet provides a platform to access health information and support self-management by consumers with chronic health conditions. Despite recognized barriers to accessing Web-based health information, there is a lack of research quantitatively exploring whether consumers report difficulty finding desired health information on the Internet and whether these consumers would like assistance (ie, navigational needs). Understanding navigational needs can provide a basis for interventions guiding consumers to quality Web-based health resources. We aimed to (1) estimate the proportion of consumers with navigational needs among seekers of Web-based health information with chronic health conditions, (2) describe Web-based health information-seeking behaviors, level of patient activation, and level of eHealth literacy among consumers with navigational needs, and (3) explore variables predicting navigational needs. A questionnaire was developed based on findings from a qualitative study on Web-based health information-seeking behaviors and navigational needs. This questionnaire also incorporated the eHealth Literacy Scale (eHEALS; a measure of self-perceived eHealth literacy) and PAM-13 (a measure of patient activation). The target population was consumers of Web-based health information with chronic health conditions. We surveyed a sample of 400 Australian adults, with recruitment coordinated by Qualtrics. This sample size was required to estimate the proportion of consumers identified with navigational needs with a precision of 4.9% either side of the true population value, with 95% confidence. A subsample was invited to retake the survey after 2 weeks to assess the test-retest reliability of the eHEALS and PAM-13. Of 514 individuals who met our eligibility criteria, 400 (77.8%) completed the questionnaire and 43 participants completed the retest. Approximately half (51.3%; 95% CI 46.4-56.2) of the population was identified with navigational needs. Participants with
Directory of Open Access Journals (Sweden)
Trevor Murray
Full Text Available Panoramic views of natural environments provide visually navigating animals with two kinds of information: they define locations because image differences increase smoothly with distance from a reference location and they provide compass information, because image differences increase smoothly with rotation away from a reference orientation. The range over which a given reference image can provide navigational guidance (its 'catchment area' has to date been quantified from the perspective of walking animals by determining how image differences develop across the ground plane of natural habitats. However, to understand the information available to flying animals there is a need to characterize the 'catchment volumes' within which panoramic snapshots can provide navigational guidance. We used recently developed camera-based methods for constructing 3D models of natural environments and rendered panoramic views at defined locations within these models with the aim of mapping navigational information in three dimensions. We find that in relatively open woodland habitats, catchment volumes are surprisingly large extending for metres depending on the sensitivity of the viewer to image differences. The size and the shape of catchment volumes depend on the distance of visual features in the environment. Catchment volumes are smaller for reference images close to the ground and become larger for reference images at some distance from the ground and in more open environments. Interestingly, catchment volumes become smaller when only above horizon views are used and also when views include a 1 km distant panorama. We discuss the current limitations of mapping navigational information in natural environments and the relevance of our findings for our understanding of visual navigation in animals and autonomous robots.
Murray, Trevor; Zeil, Jochen
2017-01-01
Panoramic views of natural environments provide visually navigating animals with two kinds of information: they define locations because image differences increase smoothly with distance from a reference location and they provide compass information, because image differences increase smoothly with rotation away from a reference orientation. The range over which a given reference image can provide navigational guidance (its 'catchment area') has to date been quantified from the perspective of walking animals by determining how image differences develop across the ground plane of natural habitats. However, to understand the information available to flying animals there is a need to characterize the 'catchment volumes' within which panoramic snapshots can provide navigational guidance. We used recently developed camera-based methods for constructing 3D models of natural environments and rendered panoramic views at defined locations within these models with the aim of mapping navigational information in three dimensions. We find that in relatively open woodland habitats, catchment volumes are surprisingly large extending for metres depending on the sensitivity of the viewer to image differences. The size and the shape of catchment volumes depend on the distance of visual features in the environment. Catchment volumes are smaller for reference images close to the ground and become larger for reference images at some distance from the ground and in more open environments. Interestingly, catchment volumes become smaller when only above horizon views are used and also when views include a 1 km distant panorama. We discuss the current limitations of mapping navigational information in natural environments and the relevance of our findings for our understanding of visual navigation in animals and autonomous robots.
Lost in transportation: Information measures and cognitive limits in multilayer navigation.
Gallotti, Riccardo; Porter, Mason A; Barthelemy, Marc
2016-02-01
Cities and their transportation systems become increasingly complex and multimodal as they grow, and it is natural to wonder whether it is possible to quantitatively characterize our difficulty navigating in them and whether such navigation exceeds our cognitive limits. A transition between different search strategies for navigating in metropolitan maps has been observed for large, complex metropolitan networks. This evidence suggests the existence of a limit associated with cognitive overload and caused by a large amount of information that needs to be processed. In this light, we analyzed the world's 15 largest metropolitan networks and estimated the information limit for determining a trip in a transportation system to be on the order of 8 bits. Similar to the "Dunbar number," which represents a limit to the size of an individual's friendship circle, our cognitive limit suggests that maps should not consist of more than 250 connection points to be easily readable. We also show that including connections with other transportation modes dramatically increases the information needed to navigate in multilayer transportation networks. In large cities such as New York, Paris, and Tokyo, more than 80% of the trips are above the 8-bit limit. Multimodal transportation systems in large cities have thus already exceeded human cognitive limits and, consequently, the traditional view of navigation in cities has to be revised substantially.
Image matching navigation based on fuzzy information
Institute of Scientific and Technical Information of China (English)
田玉龙; 吴伟仁; 田金文; 柳健
2003-01-01
In conventional image matching methods, the image matching process is mostly based on image statistic information. One aspect neglected by all these methods is that there is much fuzzy information contained in these images. A new fuzzy matching algorithm based on fuzzy similarity for navigation is presented in this paper. Because the fuzzy theory is of the ability of making good description of the fuzzy information contained in images, the image matching method based on fuzzy similarity would look forward to producing good performance results. Experimental results using matching algorithm based on fuzzy information also demonstrate its reliability and practicability.
International Nuclear Information System (INIS)
Lee, J. K.; Choi, I. K.; Jun, S. H.; Park, K. O.; Seo, Y. S.; Seo, S. M.; Koo, I. S.; Jang, M. H.
2001-01-01
Visualization techniques can be used to support operator's information navigation tasks on the system especially consisting of an enormous volume of information, such as operating information display system and computerized operating procedure system in advanced control room of nuclear power plants. By offering an easy understanding environment of hierarchially structured information, these techniques can reduce the operator's supplementary navigation task load. As a result of that, operators can pay more attention on the primary tasks and ultimately improve the cognitive task performance, in this thesis, an interface was designed and implemented using hyperbolic visualization technique, which is expected to be applied as a means of optimizing operator's information navigation tasks
VISION-AIDED CONTEXT-AWARE FRAMEWORK FOR PERSONAL NAVIGATION SERVICES
Directory of Open Access Journals (Sweden)
S. Saeedi
2012-07-01
Full Text Available The ubiquity of mobile devices (such as smartphones and tablet-PCs has encouraged the use of location-based services (LBS that are relevant to the current location and context of a mobile user. The main challenge of LBS is to find a pervasive and accurate personal navigation system (PNS in different situations of a mobile user. In this paper, we propose a method of personal navigation for pedestrians that allows a user to freely move in outdoor environments. This system aims at detection of the context information which is useful for improving personal navigation. The context information for a PNS consists of user activity modes (e.g. walking, stationary, driving, and etc. and the mobile device orientation and placement with respect to the user. After detecting the context information, a low-cost integrated positioning algorithm has been employed to estimate pedestrian navigation parameters. The method is based on the integration of the relative user’s motion (changes of velocity and heading angle estimation based on the video image matching and absolute position information provided by GPS. A Kalman filter (KF has been used to improve the navigation solution when the user is walking and the phone is in his/her hand. The Experimental results demonstrate the capabilities of this method for outdoor personal navigation systems.
INFORMATION AS AN ELEMENT OF THE NAVIGATION DECISIONMAKING PROCESS
Directory of Open Access Journals (Sweden)
Andrzej BANACHOWICZ
2016-09-01
Full Text Available The operation of vehicles (watercraft, aircraft, land-based, spacecraft, unmanned requires the use of navigation systems for their control. These systems can be characterized by varying degrees of complexity and technological advancement. However, each system has sources of information about the state (position of the navigating object, state of the environment in which the object is moving and the task to be accomplished. These components are integrated by the decision-maker (human or automated, who/which makes and implements decisions adjusted to current conditions
Li, Qingquan; Fang, Zhixiang; Li, Hanwu; Xiao, Hui
2005-10-01
The global positioning system (GPS) has become the most extensively used positioning and navigation tool in the world. Applications of GPS abound in surveying, mapping, transportation, agriculture, military planning, GIS, and the geosciences. However, the positional and elevation accuracy of any given GPS location is prone to error, due to a number of factors. The applications of Global Positioning System (GPS) positioning is more and more popular, especially the intelligent navigation system which relies on GPS and Dead Reckoning technology is developing quickly for future huge market in China. In this paper a practical combined positioning model of GPS/DR/MM is put forward, which integrates GPS, Gyro, Vehicle Speed Sensor (VSS) and digital navigation maps to provide accurate and real-time position for intelligent navigation system. This model is designed for automotive navigation system making use of Kalman filter to improve position and map matching veracity by means of filtering raw GPS and DR signals, and then map-matching technology is used to provide map coordinates for map displaying. In practical examples, for illustrating the validity of the model, several experiments and their results of integrated GPS/DR positioning in intelligent navigation system will be shown for the conclusion that Kalman Filter based GPS/DR integrating position approach is necessary, feasible and efficient for intelligent navigation application. Certainly, this combined positioning model, similar to other model, can not resolve all situation issues. Finally, some suggestions are given for further improving integrated GPS/DR/MM application.
Motion-guided attention promotes adaptive communications during social navigation.
Lemasson, B H; Anderson, J J; Goodwin, R A
2013-03-07
Animals are capable of enhanced decision making through cooperation, whereby accurate decisions can occur quickly through decentralized consensus. These interactions often depend upon reliable social cues, which can result in highly coordinated activities in uncertain environments. Yet information within a crowd may be lost in translation, generating confusion and enhancing individual risk. As quantitative data detailing animal social interactions accumulate, the mechanisms enabling individuals to rapidly and accurately process competing social cues remain unresolved. Here, we model how motion-guided attention influences the exchange of visual information during social navigation. We also compare the performance of this mechanism to the hypothesis that robust social coordination requires individuals to numerically limit their attention to a set of n-nearest neighbours. While we find that such numerically limited attention does not generate robust social navigation across ecological contexts, several notable qualities arise from selective attention to motion cues. First, individuals can instantly become a local information hub when startled into action, without requiring changes in neighbour attention level. Second, individuals can circumvent speed-accuracy trade-offs by tuning their motion thresholds. In turn, these properties enable groups to collectively dampen or amplify social information. Lastly, the minority required to sway a group's short-term directional decisions can change substantially with social context. Our findings suggest that motion-guided attention is a fundamental and efficient mechanism underlying collaborative decision making during social navigation.
Visual navigation in insects: coupling of egocentric and geocentric information
Wehner; Michel; Antonsen
1996-01-01
Social hymenopterans such as bees and ants are central-place foragers; they regularly depart from and return to fixed positions in their environment. In returning to the starting point of their foraging excursion or to any other point, they could resort to two fundamentally different ways of navigation by using either egocentric or geocentric systems of reference. In the first case, they would rely on information continuously collected en route (path integration, dead reckoning), i.e. integrate all angles steered and all distances covered into a mean home vector. In the second case, they are expected, at least by some authors, to use a map-based system of navigation, i.e. to obtain positional information by virtue of the spatial position they occupy within a larger environmental framework. In bees and ants, path integration employing a skylight compass is the predominant mechanism of navigation, but geocentred landmark-based information is used as well. This information is obtained while the animal is dead-reckoning and, hence, added to the vector course. For example, the image of the horizon skyline surrounding the nest entrance is retinotopically stored while the animal approaches the goal along its vector course. As shown in desert ants (genus Cataglyphis), there is neither interocular nor intraocular transfer of landmark information. Furthermore, this retinotopically fixed, and hence egocentred, neural snapshot is linked to an external (geocentred) system of reference. In this way, geocentred information might more and more complement and potentially even supersede the egocentred information provided by the path-integration system. In competition experiments, however, Cataglyphis never frees itself of its homeward-bound vector - its safety-line, so to speak - by which it is always linked to home. Vector information can also be transferred to a longer-lasting (higher-order) memory. There is no need to invoke the concept of the mental analogue of a topographic
Chen, Xuanhuang; Yu, Zhengxi; Wu, Changfu; Li, Xing; Chen, Xu; Zhang, Guodong; Zheng, Zugao; Lin, Haibin
2017-02-01
To explore the feasibility and the effectiveness of the accurate placement of lumbar pedicle screws using three-dimensional (3D) printing navigational templates in Quadrant minimally invasive system. The L 1-5 spines of 12 adult cadavers were scanned using CT. The 3D models of the lumbar spines were established. The screw trajectory was designed to pass through the central axis of the pedicle by using Mimics software. The navigational template was designed and 3D-printed according to the bony surface where the soft tissues could be removed. The placed screws were scanned using CT to create the 3D model again after operation. The 3D models of the designed trajectory and the placed screws were registered to evaluate the placed screws coincidence rate. Between November 2014 and November 2015, 31 patients with lumbar instability accepted surgery assisted with 3D-printing navigation module under Quadrant minimally invasive system. There were 14 males and 17 females, aged from 42 to 60 years, with an average of 45.2 years. The disease duration was 6-13 months (mean, 8.8 months). Single segment was involved in 15 cases, two segments in 13 cases, and three segments in 3 cases. Preoperative visual analogue scale (VAS) was 7.59±1.04; Oswestry disability index (ODI) was 76.21±5.82; and the Japanese Orthopaedic Association (JOA) score was 9.21±1.64. A total of 120 screws were placed in 12 cadavers specimens. The coincidence rate of placed screw was 100%. A total of 162 screws were implanted in 31 patients. The operation time was 65-147 minutes (mean, 102.23 minutes); the intraoperative blood loss was 50-116 mL (mean, 78.20 mL); and the intraoperative radiation exposure time was 8-54 seconds (mean, 42 seconds). At 3-7 days after operation, CT showed that the coincidence rate of the placed screws was 98.15% (159/162). At 4 weeks after operation, VAS, ODI, and JOA score were 2.24±0.80, 29.17±2.50, and 23.43±1.14 respectively, showing significant differences when compared
Directory of Open Access Journals (Sweden)
Tianhong Yan
2011-11-01
Full Text Available This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM, and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China. Weak links in the information matrix in an extended information filter (EIF can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM. All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.
He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong
2011-01-01
This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.
Zhao, Xiao-mei; Xie, Dong-fan; Li, Qi
2015-02-01
With the development of intelligent transport system, advanced information feedback strategies have been developed to reduce traffic congestion and enhance the capacity. However, previous strategies provide accurate information to travelers and our simulation results show that accurate information brings negative effects, especially in delay case. Because travelers prefer to the best condition route with accurate information, and delayed information cannot reflect current traffic condition but past. Then travelers make wrong routing decisions, causing the decrease of the capacity and the increase of oscillations and the system deviating from the equilibrium. To avoid the negative effect, bounded rationality is taken into account by introducing a boundedly rational threshold BR. When difference between two routes is less than the BR, routes have equal probability to be chosen. The bounded rationality is helpful to improve the efficiency in terms of capacity, oscillation and the gap deviating from the system equilibrium.
Sharma, Greeshma; Gramann, Klaus; Chandra, Sushil; Singh, Vijander; Mittal, Alok Prakash
2017-09-01
Emerging evidence suggests that the variations in the ability to navigate through any real or virtual environment are accompanied by distinct underlying cortical activations in multiple regions of the brain. These activations may appear due to the use of different frame of reference (FOR) for representing an environment. The present study investigated the brain dynamics in the good and bad navigators using Graph Theoretical analysis applied to low-density electroencephalography (EEG) data. Individual navigation skills were rated according to the performance in a virtual reality (VR)-based navigation task and the effect of navigator's proclivity towards a particular FOR on the navigation performance was explored. Participants were introduced to a novel virtual environment that they learned from a first-person or an aerial perspective and were subsequently assessed on the basis of efficiency with which they learnt and recalled. The graph theoretical parameters, path length (PL), global efficiency (GE), and clustering coefficient (CC) were computed for the functional connectivity network in the theta and alpha frequency bands. During acquisition of the spatial information, good navigators were distinguished by a lower degree of dispersion in the functional connectivity compared to the bad navigators. Within the groups of good and bad navigators, better performers were characterised by the formation of multiple hubs at various sites and the percentage of connectivity or small world index. The proclivity towards a specific FOR during exploration of a new environment was not found to have any bearing on the spatial learning. These findings may have wider implications for how the functional connectivity in the good and bad navigators differs during spatial information acquisition and retrieval in the domains of rescue operations and defence systems.
Social networks improve leaderless group navigation by facilitating long-distance communication
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Nikolai W. F. BODE, A. Jamie WOOD, Daniel W. FRANKS
2012-04-01
Full Text Available Group navigation is of great importance for many animals, such as migrating flocks of birds or shoals of fish. One theory states that group membership can improve navigational accuracy compared to limited or less accurate individual navigational ability in groups without leaders (“Many-wrongs principle”. Here, we simulate leaderless group navigation that includes social connections as preferential interactions between individuals. Our results suggest that underlying social networks can reduce navigational errors of groups and increase group cohesion. We use network summary statistics, in particular network motifs, to study which characteristics of networks lead to these improvements. It is networks in which preferences between individuals are not clustered, but spread evenly across the group that are advantageous in group navigation by effectively enhancing long-distance information exchange within groups. We suggest that our work predicts a base-line for the type of social structure we might expect to find in group-living animals that navigate without leaders [Current Zoology 58 (2: 329-341, 2012].
Vision/INS Integrated Navigation System for Poor Vision Navigation Environments
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Youngsun Kim
2016-10-01
Full Text Available In order to improve the performance of an inertial navigation system, many aiding sensors can be used. Among these aiding sensors, a vision sensor is of particular note due to its benefits in terms of weight, cost, and power consumption. This paper proposes an inertial and vision integrated navigation method for poor vision navigation environments. The proposed method uses focal plane measurements of landmarks in order to provide position, velocity and attitude outputs even when the number of landmarks on the focal plane is not enough for navigation. In order to verify the proposed method, computer simulations and van tests are carried out. The results show that the proposed method gives accurate and reliable position, velocity and attitude outputs when the number of landmarks is insufficient.
Solar-based navigation for robotic explorers
Shillcutt, Kimberly Jo
2000-12-01
This thesis introduces the application of solar position and shadowing information to robotic exploration. Power is a critical resource for robots with remote, long-term missions, so this research focuses on the power generation capabilities of robotic explorers during navigational tasks, in addition to power consumption. Solar power is primarily considered, with the possibility of wind power also contemplated. Information about the environment, including the solar ephemeris, terrain features, time of day, and surface location, is incorporated into a planning structure, allowing robots to accurately predict shadowing and thus potential costs and gains during navigational tasks. By evaluating its potential to generate and expend power, a robot can extend its lifetime and accomplishments. The primary tasks studied are coverage patterns, with a variety of plans developed for this research. The use of sun, terrain and temporal information also enables new capabilities of identifying and following sun-synchronous and sun-seeking paths. Digital elevation maps are combined with an ephemeris algorithm to calculate the altitude and azimuth of the sun from surface locations, and to identify and map shadows. Solar navigation path simulators use this information to perform searches through two-dimensional space, while considering temporal changes. Step by step simulations of coverage patterns also incorporate time in addition to location. Evaluations of solar and wind power generation, power consumption, area coverage, area overlap, and time are generated for sets of coverage patterns, with on-board environmental information linked to the simulations. This research is implemented on the Nomad robot for the Robotic Antarctic Meteorite Search. Simulators have been developed for coverage pattern tests, as well as for sun-synchronous and sun-seeking path searches. Results of field work and simulations are reported and analyzed, with demonstrated improvements in efficiency
Navigating on handheld displays: Dynamic versus Static Keyhole Navigation
Mehra, S.; Werkhoven, P.; Worring, M.
2006-01-01
Handheld displays leave little space for the visualization and navigation of spatial layouts representing rich information spaces. The most common navigation method for handheld displays is static peephole navigation: The peephole is static and we move the spatial layout behind it (scrolling). A
Directory of Open Access Journals (Sweden)
Alex Kreilinger
Full Text Available This study's purpose was to analyze and quantify the impact of auditory information loss versus information gain provided by electronic travel aids (ETAs on navigation performance in people with low vision. Navigation performance of ten subjects (age: 54.9±11.2 years with visual acuities >1.0 LogMAR was assessed via the Graz Mobility Test (GMT. Subjects passed through a maze in three different modalities: 'Normal' with visual and auditory information available, 'Auditory Information Loss' with artificially reduced hearing (leaving only visual information, and 'ETA' with a vibrating ETA based on ultrasonic waves, thereby facilitating visual, auditory, and tactile information. Main performance measures comprised passage time and number of contacts. Additionally, head tracking was used to relate head movements to motion direction. When comparing 'Auditory Information Loss' to 'Normal', subjects needed significantly more time (p<0.001, made more contacts (p<0.001, had higher relative viewing angles (p = 0.002, and a higher percentage of orientation losses (p = 0.011. The only significant difference when comparing 'ETA' to 'Normal' was a reduced number of contacts (p<0.001. Our study provides objective, quantifiable measures of the impact of reduced hearing on the navigation performance in low vision subjects. Significant effects of 'Auditory Information Loss' were found for all measures; for example, passage time increased by 17.4%. These findings show that low vision subjects rely on auditory information for navigation. In contrast, the impact of the ETA was not significant but further analysis of head movements revealed two different coping strategies: half of the subjects used the ETA to increase speed, whereas the other half aimed at avoiding contacts.
Cloud Absorption Radiometer Autonomous Navigation System - CANS
Kahle, Duncan; Gatebe, Charles; McCune, Bill; Hellwig, Dustan
2013-01-01
CAR (cloud absorption radiometer) acquires spatial reference data from host aircraft navigation systems. This poses various problems during CAR data reduction, including navigation data format, accuracy of position data, accuracy of airframe inertial data, and navigation data rate. Incorporating its own navigation system, which included GPS (Global Positioning System), roll axis inertia and rates, and three axis acceleration, CANS expedites data reduction and increases the accuracy of the CAR end data product. CANS provides a self-contained navigation system for the CAR, using inertial reference and GPS positional information. The intent of the software application was to correct the sensor with respect to aircraft roll in real time based upon inputs from a precision navigation sensor. In addition, the navigation information (including GPS position), attitude data, and sensor position details are all streamed to a remote system for recording and later analysis. CANS comprises a commercially available inertial navigation system with integral GPS capability (Attitude Heading Reference System AHRS) integrated into the CAR support structure and data system. The unit is attached to the bottom of the tripod support structure. The related GPS antenna is located on the P-3 radome immediately above the CAR. The AHRS unit provides a RS-232 data stream containing global position and inertial attitude and velocity data to the CAR, which is recorded concurrently with the CAR data. This independence from aircraft navigation input provides for position and inertial state data that accounts for very small changes in aircraft attitude and position, sensed at the CAR location as opposed to aircraft state sensors typically installed close to the aircraft center of gravity. More accurate positional data enables quicker CAR data reduction with better resolution. The CANS software operates in two modes: initialization/calibration and operational. In the initialization/calibration mode
Hall, Justin R.; Hastrup, Rolf C.
1990-10-01
The principal challenges in providing effective deep space navigation, telecommunications, and information management architectures and designs for Mars exploration support are presented. The fundamental objectives are to provide the mission with the means to monitor and control mission elements, obtain science, navigation, and engineering data, compute state vectors and navigate, and to move these data efficiently and automatically between mission nodes for timely analysis and decision making. New requirements are summarized, and related issues and challenges including the robust connectivity for manned and robotic links, are identified. Enabling strategies are discussed, and candidate architectures and driving technologies are described.
PERFORMANCE CHARACTERISTIC MEMS-BASED IMUs FOR UAVs NAVIGATION
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H. A. Mohamed
2015-08-01
Full Text Available Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK, and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS signal outage.
Performance Characteristic Mems-Based IMUs for UAVs Navigation
Mohamed, H. A.; Hansen, J. M.; Elhabiby, M. M.; El-Sheimy, N.; Sesay, A. B.
2015-08-01
Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs) are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS) or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK), and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS) signal outage.
Cui, Licong; Carter, Rebecca; Zhang, Guo-Qiang
2014-02-10
Numerous consumer health information websites have been developed to provide consumers access to health information. However, lookup search is insufficient for consumers to take full advantage of these rich public information resources. Exploratory search is considered a promising complementary mechanism, but its efficacy has never before been rigorously evaluated for consumer health information retrieval interfaces. This study aims to (1) introduce a novel Conjunctive Exploratory Navigation Interface (CENI) for supporting effective consumer health information retrieval and navigation, and (2) evaluate the effectiveness of CENI through a search-interface comparative evaluation using crowdsourcing with Amazon Mechanical Turk (AMT). We collected over 60,000 consumer health questions from NetWellness, one of the first consumer health websites to provide high-quality health information. We designed and developed a novel conjunctive exploratory navigation interface to explore NetWellness health questions with health topics as dynamic and searchable menus. To investigate the effectiveness of CENI, we developed a second interface with keyword-based search only. A crowdsourcing comparative study was carefully designed to compare three search modes of interest: (A) the topic-navigation-based CENI, (B) the keyword-based lookup interface, and (C) either the most commonly available lookup search interface with Google, or the resident advanced search offered by NetWellness. To compare the effectiveness of the three search modes, 9 search tasks were designed with relevant health questions from NetWellness. Each task included a rating of difficulty level and questions for validating the quality of answers. Ninety anonymous and unique AMT workers were recruited as participants. Repeated-measures ANOVA analysis of the data showed the search modes A, B, and C had statistically significant differences among their levels of difficulty (Pconsumer health information retrieval and
Dual-EKF-Based Real-Time Celestial Navigation for Lunar Rover
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Li Xie
2012-01-01
Full Text Available A key requirement of lunar rover autonomous navigation is to acquire state information accurately in real-time during its motion and set up a gradual parameter-based nonlinear kinematics model for the rover. In this paper, we propose a dual-extended-Kalman-filter- (dual-EKF- based real-time celestial navigation (RCN method. The proposed method considers the rover position and velocity on the lunar surface as the system parameters and establishes a constant velocity (CV model. In addition, the attitude quaternion is considered as the system state, and the quaternion differential equation is established as the state equation, which incorporates the output of angular rate gyroscope. Therefore, the measurement equation can be established with sun direction vector from the sun sensor and speed observation from the speedometer. The gyro continuous output ensures the algorithm real-time operation. Finally, we use the dual-EKF method to solve the system equations. Simulation results show that the proposed method can acquire the rover position and heading information in real time and greatly improve the navigation accuracy. Our method overcomes the disadvantage of the cumulative error in inertial navigation.
Wei He; Xiumin Chu
2014-01-01
This study focuses on the construction of a new navigation information management system for food maritime logistics. With the vigorous development of Internet technology, the Internet of things technology has been introduced into the food maritime logistics to enhance the efficiency of food production transportation. However, the navigation information management system for food maritime logistics is still a big challenge and very limited work has been done to address safe and effective navi...
Celestial Navigation on the Surface of Mars
Malay, Benjamin P.
2001-05-01
A simple, accurate, and autonomous method of finding position on the surface of Mars currently does not exist. The goal of this project is to develop a celestial navigation process that will fix a position on Mars with 100-meter accuracy. This method requires knowing the position of the stars and planets referenced to the Martian surface with one arcsecond accuracy. This information is contained in an ephemeris known as the Aeronautical Almanac (from Ares, the god of war) . Naval Observatory Vector Astrometry Subroutines (NOVAS) form the basis of the code used to generate the almanac. Planetary position data come the JPL DE405 Planetary Ephemeris. The theoretical accuracy of the almanac is determined mathematically and compared with the Ephemeris for Physical Observations of Mars contained in the Astronautical Almanac. A preliminary design of an autonomous celestial navigation system is presented. Recommendations of how to integrate celestial navigation into NASA=s current Mars exploration program are also discussed. This project is a useful and much-needed first step towards establishing celestial navigation as a practical way to find position on the surface of Mars.
Hall, Justin R.; Hastrup, Rolf C.
The United States Space Exploration Initiative (SEI) calls for the charting of a new and evolving manned course to the Moon, Mars, and beyond. This paper discusses key challenges in providing effective deep space telecommunications, navigation, and information management (TNIM) architectures and designs for Mars exploration support. The fundamental objectives are to provide the mission with means to monitor and control mission elements, acquire engineering, science, and navigation data, compute state vectors and navigate, and move these data efficiently and automatically between mission nodes for timely analysis and decision-making. Although these objectives do not depart, fundamentally, from those evolved over the past 30 years in supporting deep space robotic exploration, there are several new issues. This paper focuses on summarizing new requirements, identifying related issues and challenges, responding with concepts and strategies which are enabling, and, finally, describing candidate architectures, and driving technologies. The design challenges include the attainment of: 1) manageable interfaces in a large distributed system, 2) highly unattended operations for in-situ Mars telecommunications and navigation functions, 3) robust connectivity for manned and robotic links, 4) information management for efficient and reliable interchange of data between mission nodes, and 5) an adequate Mars-Earth data rate.
Correction of Navigational Information Supplied to Biomimetic Autonomous Underwater Vehicle
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Praczyk Tomasz
2018-03-01
Full Text Available In order to autonomously transfer from one point of the environment to the other, Autonomous Underwater Vehicles (AUV need a navigational system. While navigating underwater the vehicles usually use a dead reckoning method which calculates vehicle movement on the basis of the information about velocity (sometimes also acceleration and course (heading provided by on-board devicesl ike Doppler Velocity Logs and Fibre Optical Gyroscopes. Due to inaccuracies of the devices and the influence of environmental forces, the position generated by the dead reckoning navigational system (DRNS is not free from errors, moreover the errors grow exponentially in time. The problem becomes even more serious when we deal with small AUVs which do not have any speedometer on board and whose course measurement device is inaccurate. To improve indications of the DRNS the vehicle can emerge onto the surface from time to time, record its GPS position, and measure position error which can be further used to estimate environmental influence and inaccuracies caused by mechanisms of the vehicle. This paper reports simulation tests which were performed to determine the most effective method for correction of DRNS designed for a real Biomimetic AUV.
A 3D Model Based Imdoor Navigation System for Hubei Provincial Museum
Xu, W.; Kruminaite, M.; Onrust, B.; Liu, H.; Xiong, Q.; Zlatanova, S.
2013-11-01
3D models are more powerful than 2D maps for indoor navigation in a complicate space like Hubei Provincial Museum because they can provide accurate descriptions of locations of indoor objects (e.g., doors, windows, tables) and context information of these objects. In addition, the 3D model is the preferred navigation environment by the user according to the survey. Therefore a 3D model based indoor navigation system is developed for Hubei Provincial Museum to guide the visitors of museum. The system consists of three layers: application, web service and navigation, which is built to support localization, navigation and visualization functions of the system. There are three main strengths of this system: it stores all data needed in one database and processes most calculations on the webserver which make the mobile client very lightweight, the network used for navigation is extracted semi-automatically and renewable, the graphic user interface (GUI), which is based on a game engine, has high performance of visualizing 3D model on a mobile display.
International Nuclear Information System (INIS)
Schnurr, C.; Nessler, J.; Koenig, D.P.; Meyer, C.; Schild, H.H.; Koebke, J.
2009-01-01
The existing studies concerning image-free navigated implantation of hip resurfacing arthroplasty are based on analysis of the accuracy of conventional biplane radiography. Studies have shown that these measurements in biplane radiography are imprecise and that precision is improved by use of three-dimensional (3D) computer tomography (CT) scans. To date, the accuracy of image-free navigation devices for hip resurfacing has not been investigated using CT scans, and anteversion accuracy has not been assessed at all. Furthermore, no study has tested the reliability of the navigation software concerning the automatically calculated implant position. The purpose of our study was to analyze the accuracy of varus-valgus and anteversion using an image-free hip resurfacing navigation device. The reliability of the software-calculated implant position was also determined. A total of 32 femoral hip resurfacing components were implanted on embalmed human femurs using an image-free navigation device. In all, 16 prostheses were implanted with the proposed position generated by the navigation software; the 16 prostheses were inserted in an optimized valgus position. A 3D CT scan was undertaken before and after operation. The difference between the measured and planned varus-valgus angle averaged 1 deg (mean±standard deviation (SD): group I, 1 deg±2 deg; group II, 1 deg±1 deg). The mean±SD difference between femoral neck anteversion and anteversion of the implant was 4 deg (group I, 4 deg±4 deg; group II, 4 deg±3 deg). The software-calculated implant position differed 7 deg±8 deg from the measured neck-shaft angle. These measured accuracies did not differ significantly between the two groups. Our study proved the high accuracy of the navigation device concerning the most important biomechanical factor: the varus-valgus angle. The software calculation of the proposed implant position has been shown to be inaccurate and needs improvement. Hence, manual adjustment of the
Huang, Haoqian; Chen, Xiyuan; Zhang, Bo; Wang, Jian
2017-01-01
The underwater navigation system, mainly consisting of MEMS inertial sensors, is a key technology for the wide application of underwater gliders and plays an important role in achieving high accuracy navigation and positioning for a long time of period. However, the navigation errors will accumulate over time because of the inherent errors of inertial sensors, especially for MEMS grade IMU (Inertial Measurement Unit) generally used in gliders. The dead reckoning module is added to compensate the errors. In the complicated underwater environment, the performance of MEMS sensors is degraded sharply and the errors will become much larger. It is difficult to establish the accurate and fixed error model for the inertial sensor. Therefore, it is very hard to improve the accuracy of navigation information calculated by sensors. In order to solve the problem mentioned, the more suitable filter which integrates the multi-model method with an EKF approach can be designed according to different error models to give the optimal estimation for the state. The key parameters of error models can be used to determine the corresponding filter. The Adams explicit formula which has an advantage of high precision prediction is simultaneously fused into the above filter to achieve the much more improvement in attitudes estimation accuracy. The proposed algorithm has been proved through theory analyses and has been tested by both vehicle experiments and lake trials. Results show that the proposed method has better accuracy and effectiveness in terms of attitudes estimation compared with other methods mentioned in the paper for inertial navigation applied to underwater gliders. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Ali MJ
2016-11-01
Full Text Available Mohammad Javed Ali,1 Swati Singh,1 Milind N Naik,1 Swathi Kaliki,2 Tarjani Vivek Dave1 1The Institute of Dacryology, 2The Operation Eyesight Universal Institute for Eye Cancer, L.V. Prasad Eye Institute, Hyderabad, India Purpose: The aims of this study were to report the preliminary experience of using telescopes, which were enabled for navigation guidance, and their utility in complex endoscopic lacrimal surgeries. Methods: Navigation enabling of the telescope was achieved by using the AxiEM™ malleable neuronavigation shunt stylet. Image-guided dacryolocalization was performed in five patients using the intraoperative image-guided StealthStation™ system in the electromagnetic mode. The “look ahead” protocol software was used to assist the surgeon in assessing the intraoperative geometric location of the endoscope and what lies ahead in real time. All patients underwent navigation-guided powered endoscopic dacryocystorhinostomy. The utility of uninterrupted navigation guidance throughout the surgery with the endoscope as the navigating tool was noted. Results: Intraoperative geometric localization of the lacrimal sac and the nasolacrimal duct could be easily deciphered. Constant orientation of the lacrimal drainage system and the peri-lacrimal anatomy was possible without the need for repeated point localizations throughout the surgery. The “look ahead” features could accurately alert the surgeon of anatomical structures that exists at 5, 10 and 15 mm in front of the endoscope. Good securing of the shunt stylet with the telescope was found to be essential for constant and accurate navigation. Conclusion: Navigation-enabled endoscopes provide the surgeon with the advantage of sustained stereotactic anatomical awareness at all times during the surgery. Keywords: telescope, endoscope, image guidance, navigation, lacrimal surgery, powered endoscopic DCR
Compression-Based Tools for Navigation with an Image Database
Directory of Open Access Journals (Sweden)
Giovanni Motta
2012-01-01
Full Text Available We present tools that can be used within a larger system referred to as a passive assistant. The system receives information from a mobile device, as well as information from an image database such as Google Street View, and employs image processing to provide useful information about a local urban environment to a user who is visually impaired. The first stage acquires and computes accurate location information, the second stage performs texture and color analysis of a scene, and the third stage provides specific object recognition and navigation information. These second and third stages rely on compression-based tools (dimensionality reduction, vector quantization, and coding that are enhanced by knowledge of (approximate location of objects.
A New Algorithm for ABS/GPS Integration Based on Fuzzy-Logic in Vehicle Navigation System
Directory of Open Access Journals (Sweden)
Ali Amin Zadeh
2011-10-01
Full Text Available GPS based vehicle navigation systems have difficulties in tracking vehicles in urban canyons due to poor satellite availability. ABS (Antilock Brake System Navigation System consists of self-contained optical encoders mounted on vehicle wheels that can continuously provide accurate short-term positioning information. In this paper, a new concept regarding GPS/ABS integration, based on Fuzzy Logic is presented. The proposed algorithm is used to identify GPS position accuracy based on environment and vehicle dynamic knowledge. The GPS is used as reference during the time it is in a good condition and replaced by ABS positioning system when GPS information is unreliable. We compare our proposed algorithm with other common algorithm in real environment. Our results show that the proposed algorithm can significantly improve the stability and reliability of ABS/GPS navigation system.
An adaptive deep-coupled GNSS/INS navigation system with hybrid pre-filter processing
Wu, Mouyan; Ding, Jicheng; Zhao, Lin; Kang, Yingyao; Luo, Zhibin
2018-02-01
The deep-coupling of a global navigation satellite system (GNSS) with an inertial navigation system (INS) can provide accurate and reliable navigation information. There are several kinds of deeply-coupled structures. These can be divided mainly into coherent and non-coherent pre-filter based structures, which have their own strong advantages and disadvantages, especially in accuracy and robustness. In this paper, the existing pre-filters of the deeply-coupled structures are analyzed and modified to improve them firstly. Then, an adaptive GNSS/INS deeply-coupled algorithm with hybrid pre-filters processing is proposed to combine the advantages of coherent and non-coherent structures. An adaptive hysteresis controller is designed to implement the hybrid pre-filters processing strategy. The simulation and vehicle test results show that the adaptive deeply-coupled algorithm with hybrid pre-filters processing can effectively improve navigation accuracy and robustness, especially in a GNSS-challenged environment.
Xian, Zhiwen; Hu, Xiaoping; Lian, Junxiang; Zhang, Lilian; Cao, Juliang; Wang, Yujie; Ma, Tao
2014-09-15
Navigation plays a vital role in our daily life. As traditional and commonly used navigation technologies, Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) can provide accurate location information, but suffer from the accumulative error of inertial sensors and cannot be used in a satellite denied environment. The remarkable navigation ability of animals shows that the pattern of the polarization sky can be used for navigation. A bio-inspired POLarization Navigation Sensor (POLNS) is constructed to detect the polarization of skylight. Contrary to the previous approach, we utilize all the outputs of POLNS to compute input polarization angle, based on Least Squares, which provides optimal angle estimation. In addition, a new sensor calibration algorithm is presented, in which the installation angle errors and sensor biases are taken into consideration. Derivation and implementation of our calibration algorithm are discussed in detail. To evaluate the performance of our algorithms, simulation and real data test are done to compare our algorithms with several exiting algorithms. Comparison results indicate that our algorithms are superior to the others and are more feasible and effective in practice.
Ilyas, Muhammad; Hong, Beomjin; Cho, Kuk; Baeg, Seung-Ho; Park, Sangdeok
2016-01-01
This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level. PMID:27223293
International Nuclear Information System (INIS)
Lockwood, R.E.; Blankinship, D.R.
1994-01-01
Environmental monitoring programs often require accurate determination of sampling site locations in aquatic environments. This is especially true when a open-quotes pictureclose quotes of high resolution is needed for observing a changing variable in a given area and location is assumed to be important to the distribution of that variable. Sample site location can be difficult if few visible land marks are available for reference on a large body of water. The use of navigational systems such as Global Positioning System (GPS) and its predecessor, Loran-C, provide an excellent method for sample site location. McFarland (1992) discusses the practicality of GPS for location determination. This article discusses the use of Loran-C in a sampling scheme implemented at the South Texas Project Electrical Generating Station (STPEGS), Wadsworth, Texas
Information Display: Considerations for Designing Modern Computer-Based Display Systems
International Nuclear Information System (INIS)
O'Hara, J.; Pirus, D.; Beltracchi, L.
2003-01-01
OAK- B135 To help nuclear utilities and suppliers design and implement plant information management systems and displays that provide accurate and timely information and require minimal navigation and interface management
Remarks on the observability of single beacon underwater navigation
DEFF Research Database (Denmark)
Jouffroy, Jerome; Ross, Andrew
This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. This analysis should help with the design of small and lightweight underwater vehicles by reducing the amount of instrumentation required for accurate navigation. The concept...
Navigation integrity monitoring and obstacle detection for enhanced-vision systems
Korn, Bernd; Doehler, Hans-Ullrich; Hecker, Peter
2001-08-01
Typically, Enhanced Vision (EV) systems consist of two main parts, sensor vision and synthetic vision. Synthetic vision usually generates a virtual out-the-window view using databases and accurate navigation data, e. g. provided by differential GPS (DGPS). The reliability of the synthetic vision highly depends on both, the accuracy of the used database and the integrity of the navigation data. But especially in GPS based systems, the integrity of the navigation can't be guaranteed. Furthermore, only objects that are stored in the database can be displayed to the pilot. Consequently, unexpected obstacles are invisible and this might cause severe problems. Therefore, additional information has to be extracted from sensor data to overcome these problems. In particular, the sensor data analysis has to identify obstacles and has to monitor the integrity of databases and navigation. Furthermore, if a lack of integrity arises, navigation data, e.g. the relative position of runway and aircraft, has to be extracted directly from the sensor data. The main contribution of this paper is about the realization of these three sensor data analysis tasks within our EV system, which uses the HiVision 35 GHz MMW radar of EADS, Ulm as the primary EV sensor. For the integrity monitoring, objects extracted from radar images are registered with both database objects and objects (e. g. other aircrafts) transmitted via data link. This results in a classification into known and unknown radar image objects and consequently, in a validation of the integrity of database and navigation. Furthermore, special runway structures are searched for in the radar image where they should appear. The outcome of this runway check contributes to the integrity analysis, too. Concurrent to this investigation a radar image based navigation is performed without using neither precision navigation nor detailed database information to determine the aircraft's position relative to the runway. The performance of our
Visual navigation in insects: coupling of egocentric and geocentric information
Wehner, R; Michel, B; Antonsen, P
1996-01-01
Social hymenopterans such as bees and ants are central-place foragers; they regularly depart from and return to fixed positions in their environment. In returning to the starting point of their foraging excursion or to any other point, they could resort to two fundamentally different ways of navigation by using either egocentric or geocentric systems of reference. In the first case, they would rely on information continuously collected en route (path integration, dead reckoning), i.e. integra...
Ehinger, Benedikt V; Fischer, Petra; Gert, Anna L; Kaufhold, Lilli; Weber, Felix; Pipa, Gordon; König, Peter
2014-01-01
In everyday life, spatial navigation involving locomotion provides congruent visual, vestibular, and kinesthetic information that need to be integrated. Yet, previous studies on human brain activity during navigation focus on stationary setups, neglecting vestibular and kinesthetic feedback. The aim of our work is to uncover the influence of those sensory modalities on cortical processing. We developed a fully immersive virtual reality setup combined with high-density mobile electroencephalography (EEG). Participants traversed one leg of a triangle, turned on the spot, continued along the second leg, and finally indicated the location of their starting position. Vestibular and kinesthetic information was provided either in combination, as isolated sources of information, or not at all within a 2 × 2 full factorial intra-subjects design. EEG data were processed by clustering independent components, and time-frequency spectrograms were calculated. In parietal, occipital, and temporal clusters, we detected alpha suppression during the turning movement, which is associated with a heightened demand of visuo-attentional processing and closely resembles results reported in previous stationary studies. This decrease is present in all conditions and therefore seems to generalize to more natural settings. Yet, in incongruent conditions, when different sensory modalities did not match, the decrease is significantly stronger. Additionally, in more anterior areas we found that providing only vestibular but no kinesthetic information results in alpha increase. These observations demonstrate that stationary experiments omit important aspects of sensory feedback. Therefore, it is important to develop more natural experimental settings in order to capture a more complete picture of neural correlates of spatial navigation.
Directory of Open Access Journals (Sweden)
Benedikt Valerian Ehinger
2014-02-01
Full Text Available In everyday life, spatial navigation involving locomotion provides congruent visual, vestibular and kinesthetic information that need to be integrated. Yet, previous studies on human brain activity during navigation focus on stationary setups, neglecting vestibular and kinesthetic feedback. The aim of our work is to uncover the influence of those sensory modalities on cortical processing. We developed a fully immersive virtual reality setup combined with high-density mobile electroencephalography (EEG. Participants traversed one leg of a triangle, turned on the spot, continued along the second leg and finally indicated the location of their starting position. Vestibular and kinesthetic information was provided either in combination, as isolated sources of information or not at all within a 2x2 full factorial intra-subjects design. EEG data were processed by clustering independent components, and time-frequency spectrograms were calculated. In parietal, occipital and temporal clusters, we detected alpha suppression during the turning movement, which is associated with a heightened demand of visuo-attentional processing, and closely resembles results reported in previous stationary studies. This decrease is present in all conditions and therefore seems to generalize to more natural settings. Yet, in incongruent conditions, when different sensory modalities did not match, the decrease is significantly stronger. Additionally, in more anterior areas, we found that providing only vestibular but no kinesthetic information results in alpha increase. These observations demonstrate that stationary experiments omit important aspects of sensory feedback. Therefore, it is important to develop more natural experimental settings in order to capture a more complete picture of neural correlates of spatial navigation.
Matityahu, Amir; Kahler, David; Krettek, Christian; Stöckle, Ulrich; Grutzner, Paul Alfred; Messmer, Peter; Ljungqvist, Jan; Gebhard, Florian
2014-12-01
To evaluate the accuracy of computer-assisted sacral screw fixation compared with conventional techniques in the dysmorphic versus normal sacrum. Review of a previous study database. Database of a multinational study with 9 participating trauma centers. The reviewed group included 130 patients, 72 from the navigated group and 58 from the conventional group. Of these, 109 were in the nondysmorphic group and 21 in the dysmorphic group. Placement of sacroiliac (SI) screws was performed using standard fluoroscopy for the conventional group and BrainLAB navigation software with either 2-dimensional or 3-dimensional (3D) navigation for the navigated group. Accuracy of SI screw placement by 2-dimensional and 3D navigation versus conventional fluoroscopy in dysmorphic and nondysmorphic patients, as evaluated by 6 observers using postoperative computerized tomography imaging at least 1 year after initial surgery. Intraobserver agreement was also evaluated. There were 11.9% (13/109) of patients with misplaced screws in the nondysmorphic group and 28.6% (6/21) of patients with misplaced screws in the dysmorphic group, none of which were in the 3D navigation group. Raw agreement between the 6 observers regarding misplaced screws was 32%. However, the percent overall agreement was 69.0% (kappa = 0.38, P dysmorphic proximal sacral segment. We recommend the use of 3D navigation, where available, for insertion of SI screws in patients with normal and dysmorphic proximal sacral segments. Therapeutic level I.
Integrated navigation method of a marine strapdown inertial navigation system using a star sensor
International Nuclear Information System (INIS)
Wang, Qiuying; Diao, Ming; Gao, Wei; Zhu, Minghong; Xiao, Shu
2015-01-01
This paper presents an integrated navigation method of the strapdown inertial navigation system (SINS) using a star sensor. According to the principle of SINS, its own navigation information contains an error that increases with time. Hence, the inertial attitude matrix from the star sensor is introduced as the reference information to correct the SINS increases error. For the integrated navigation method, the vehicle’s attitude can be obtained in two ways: one is calculated from SINS; the other, which we have called star sensor attitude, is obtained as the product between the SINS position and the inertial attitude matrix from the star sensor. Therefore, the SINS position error is introduced in the star sensor attitude error. Based on the characteristics of star sensor attitude error and the mathematical derivation, the SINS navigation errors can be obtained by the coupling calculation between the SINS attitude and the star sensor attitude. Unlike several current techniques, the navigation process of this method is non-radiating and invulnerable to jamming. The effectiveness of this approach was demonstrated by simulation and experimental study. The results show that this integrated navigation method can estimate the attitude error and the position error of SINS. Therefore, the SINS navigation accuracy is improved. (paper)
SINS/CNS Nonlinear Integrated Navigation Algorithm for Hypersonic Vehicle
Directory of Open Access Journals (Sweden)
Yong-jun Yu
2015-01-01
Full Text Available Celestial Navigation System (CNS has characteristics of accurate orientation and strong autonomy and has been widely used in Hypersonic Vehicle. Since the CNS location and orientation mainly depend upon the inertial reference that contains errors caused by gyro drifts and other error factors, traditional Strap-down Inertial Navigation System (SINS/CNS positioning algorithm setting the position error between SINS and CNS as measurement is not effective. The model of altitude azimuth, platform error angles, and horizontal position is designed, and the SINS/CNS tightly integrated algorithm is designed, in which CNS altitude azimuth is set as measurement information. GPF (Gaussian particle filter is introduced to solve the problem of nonlinear filtering. The results of simulation show that the precision of SINS/CNS algorithm which reaches 130 m using three stars is improved effectively.
Collective navigation of complex networks: Participatory greedy routing.
Kleineberg, Kaj-Kolja; Helbing, Dirk
2017-06-06
Many networks are used to transfer information or goods, in other words, they are navigated. The larger the network, the more difficult it is to navigate efficiently. Indeed, information routing in the Internet faces serious scalability problems due to its rapid growth, recently accelerated by the rise of the Internet of Things. Large networks like the Internet can be navigated efficiently if nodes, or agents, actively forward information based on hidden maps underlying these systems. However, in reality most agents will deny to forward messages, which has a cost, and navigation is impossible. Can we design appropriate incentives that lead to participation and global navigability? Here, we present an evolutionary game where agents share the value generated by successful delivery of information or goods. We show that global navigability can emerge, but its complete breakdown is possible as well. Furthermore, we show that the system tends to self-organize into local clusters of agents who participate in the navigation. This organizational principle can be exploited to favor the emergence of global navigability in the system.
Franck, Linda S; Noble, Genevieve
2007-12-01
Use of the internet to provide health information to young people is a relatively recent development. Few studies have explored young people's views on how they use internet health websites. This study investigated the navigation, design and content preferences of young people using the Children First for Health (CFfH) website. Young people from five secondary schools completed an internet site navigation exercise, website evaluation questionnaire and participated in informal discussions. Of the participants, 45 percent visited the website section aimed at older adolescents within their first two clicks, regardless of their age. There were conflicting preferences for design and strong preference for gender-specific information on topics such as appearance, relationships, fitness and sexual health. The findings indicate the importance of gaining young people's views to ensure that health information websites meet the needs of their intended audience. Cooperation from schools can facilitate the process of gaining young people's views on internet website navigation, design and content.
Kessler, Roman; Bach, Michael; Heinrich, Sven P
2017-03-01
Lacking vision, blind people have to exploit other senses for navigation. Using the tactile rather than the auditory sense avoids masking important environmental information. Directional information is particularly important and traditionally conveyed through an array of tactors, each coding one direction. Here, we present a different approach to represent arbitrary directions with only two tactors. We tested intuitiveness, plasticity, and variability of direction perception in a behavioral experiment in 33 seeing participants.
Performance Evaluation and Requirements Assessment for Gravity Gradient Referenced Navigation
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Jisun Lee
2015-07-01
Full Text Available In this study, simulation tests for gravity gradient referenced navigation (GGRN are conducted to verify the effects of various factors such as database (DB and sensor errors, flight altitude, DB resolution, initial errors, and measurement update rates on the navigation performance. Based on the simulation results, requirements for GGRN are established for position determination with certain target accuracies. It is found that DB and sensor errors and flight altitude have strong effects on the navigation performance. In particular, a DB and sensor with accuracies of 0.1 E and 0.01 E, respectively, are required to determine the position more accurately than or at a level similar to the navigation performance of terrain referenced navigation (TRN. In most cases, the horizontal position error of GGRN is less than 100 m. However, the navigation performance of GGRN is similar to or worse than that of a pure inertial navigation system when the DB and sensor errors are 3 E or 5 E each and the flight altitude is 3000 m. Considering that the accuracy of currently available gradiometers is about 3 E or 5 E, GGRN does not show much advantage over TRN at present. However, GGRN is expected to exhibit much better performance in the near future when accurate DBs and gravity gradiometer are available.
Zahabi, Maryam; Zhang, Wenjuan; Pankok, Carl; Lau, Mei Ying; Shirley, James; Kaber, David
2017-11-01
Many occupations require both physical exertion and cognitive task performance. Knowledge of any interaction between physical demands and modalities of cognitive task information presentation can provide a basis for optimising performance. This study examined the effect of physical exertion and modality of information presentation on pattern recognition and navigation-related information processing. Results indicated males of equivalent high fitness, between the ages of 18 and 34, rely more on visual cues vs auditory or haptic for pattern recognition when exertion level is high. We found that navigation response time was shorter under low and medium exertion levels as compared to high intensity. Navigation accuracy was lower under high level exertion compared to medium and low levels. In general, findings indicated that use of the haptic modality for cognitive task cueing decreased accuracy in pattern recognition responses. Practitioner Summary: An examination was conducted on the effect of physical exertion and information presentation modality in pattern recognition and navigation. In occupations requiring information presentation to workers, who are simultaneously performing a physical task, the visual modality appears most effective under high level exertion while haptic cueing degrades performance.
Park, Young W.; Montez, Moises N.
1994-01-01
A candidate onboard space navigation filter demonstrated excellent performance (less than 8 meter level RMS semi-major axis accuracy) in performing orbit determination of a low-Earth orbit Explorer satellite using single-frequency real GPS data. This performance is significantly better than predicted by other simulation studies using dual-frequency GPS data. The study results revealed the significance of two new modeling approaches evaluated in the work. One approach introduces a single-frequency ionospheric correction through pseudo-range and phase range averaging implementation. The other approach demonstrates a precise axis-dependent characterization of dynamic sample space uncertainty to compute a more accurate Kalman filter gain. Additionally, this navigation filter demonstrates a flexibility to accommodate both perturbational dynamic and observational biases required for multi-flight phase and inhomogeneous application environments. This paper reviews the potential application of these methods and the filter structure to terrestrial vehicle and positioning applications. Both the single-frequency ionospheric correction method and the axis-dependent state noise modeling approach offer valuable contributions in cost and accuracy improvements for terrestrial GPS receivers. With a modular design approach to either 'plug-in' or 'unplug' various force models, this multi-flight phase navigation filter design structure also provides a versatile GPS navigation software engine for both atmospheric and exo-atmospheric navigation or positioning use, thereby streamlining the flight phase or application-dependent software requirements. Thus, a standardized GPS navigation software engine that can reduce the development and maintenance cost of commercial GPS receivers is now possible.
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Andrew eStuntz
2016-04-01
Full Text Available Effective study of ocean processes requires sampling over the duration of long (weeks to months oscillation patterns. Such sampling requires persistent, autonomous underwater vehicles, that have a similarly long deployment duration. The spatiotemporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in coastal regions where the majority of interesting phenomena occur. In this paper, we consider the combination of two methods for reducing navigation and localization error; a predictive approach based on ocean model predictions and a prior information approach derived from terrain-based navigation. The motivation for this work is not only for real-time state estimation, but also for accurately reconstructing the actual path that the vehicle traversed to contextualize the gathered data, with respect to the science question at hand. We present an application for the practical use of priors and predictions for large-scale ocean sampling. This combined approach builds upon previous works by the authors, and accurately localizes the traversed path of an underwater glider over long-duration, ocean deployments. The proposed method takes advantage of the reliable, short-term predictions of an ocean model, and the utility of priors used in terrain-based navigation over areas of significant bathymetric relief to bound uncertainty error in dead-reckoning navigation. This method improves upon our previously published works by 1 demonstrating the utility of our terrain-based navigation method with multiple field trials, and 2 presenting a hybrid algorithm that combines both approaches to bound navigational error and uncertainty for long-term deployments of underwater vehicles. We demonstrate the approach by examining data from actual field trials with autonomous underwater gliders, and demonstrate an ability to estimate geographical location of an underwater glider to 2
Indoor navigation by people with visual impairment using a digital sign system.
Directory of Open Access Journals (Sweden)
Gordon E Legge
Full Text Available There is a need for adaptive technology to enhance indoor wayfinding by visually-impaired people. To address this need, we have developed and tested a Digital Sign System. The hardware and software consist of digitally-encoded signs widely distributed throughout a building, a handheld sign-reader based on an infrared camera, image-processing software, and a talking digital map running on a mobile device. Four groups of subjects-blind, low vision, blindfolded sighted, and normally sighted controls-were evaluated on three navigation tasks. The results demonstrate that the technology can be used reliably in retrieving information from the signs during active mobility, in finding nearby points of interest, and following routes in a building from a starting location to a destination. The visually impaired subjects accurately and independently completed the navigation tasks, but took substantially longer than normally sighted controls. This fully functional prototype system demonstrates the feasibility of technology enabling independent indoor navigation by people with visual impairment.
Indoor navigation by people with visual impairment using a digital sign system.
Legge, Gordon E; Beckmann, Paul J; Tjan, Bosco S; Havey, Gary; Kramer, Kevin; Rolkosky, David; Gage, Rachel; Chen, Muzi; Puchakayala, Sravan; Rangarajan, Aravindhan
2013-01-01
There is a need for adaptive technology to enhance indoor wayfinding by visually-impaired people. To address this need, we have developed and tested a Digital Sign System. The hardware and software consist of digitally-encoded signs widely distributed throughout a building, a handheld sign-reader based on an infrared camera, image-processing software, and a talking digital map running on a mobile device. Four groups of subjects-blind, low vision, blindfolded sighted, and normally sighted controls-were evaluated on three navigation tasks. The results demonstrate that the technology can be used reliably in retrieving information from the signs during active mobility, in finding nearby points of interest, and following routes in a building from a starting location to a destination. The visually impaired subjects accurately and independently completed the navigation tasks, but took substantially longer than normally sighted controls. This fully functional prototype system demonstrates the feasibility of technology enabling independent indoor navigation by people with visual impairment.
Directory of Open Access Journals (Sweden)
Amedeo Rodi Vetrella
2016-12-01
Full Text Available Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS receivers and Micro-Electro-Mechanical Systems (MEMS-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information.
Hybrid Map-Based Navigation Method for Unmanned Ground Vehicle in Urban Scenario
Directory of Open Access Journals (Sweden)
Huiyan Chen
2013-07-01
Full Text Available To reduce the data size of metric map and map matching computational cost in unmanned ground vehicle self-driving navigation in urban scenarios, a metric-topological hybrid map navigation system is proposed in this paper. According to the different positioning accuracy requirements, urban areas are divided into strong constraint (SC areas, such as roads with lanes, and loose constraint (LC areas, such as intersections and open areas. As direction of the self-driving vehicle is provided by traffic lanes and global waypoints in the road network, a simple topological map is fit for the navigation in the SC areas. While in the LC areas, the navigation of the self-driving vehicle mainly relies on the positioning information. Simultaneous localization and mapping technology is used to provide a detailed metric map in the LC areas, and a window constraint Markov localization algorithm is introduced to achieve accurate position using laser scanner. Furthermore, the real-time performance of the Markov algorithm is enhanced by using a constraint window to restrict the size of the state space. By registering the metric maps into the road network, a hybrid map of the urban scenario can be constructed. Real unmanned vehicle mapping and navigation tests demonstrated the capabilities of the proposed method.
Nagler, Rebekah H; Romantan, Anca; Kelly, Bridget J; Stevens, Robin S; Gray, Stacy W; Hull, Shawnika J; Ramirez, A Susana; Hornik, Robert C
2010-09-01
Little is known about how patients move among information sources to fulfill unmet needs. We interviewed 43 breast, prostate, and colorectal cancer patients. Using a grounded theory approach, we identified patterns and motivations for movement among information sources. Overall, patients reported using one source (e.g., newspaper) followed by the use of another source (e.g., Internet), and five key motivations for such cross-source movement emerged. Patients' social networks often played a central role in this movement. Understanding how patients navigate an increasingly complex information environment may help clinicians and educators to guide patients to appropriate, high-quality sources.
Connors, Erin C; Chrastil, Elizabeth R; Sánchez, Jaime; Merabet, Lotfi B
2014-01-01
For individuals who are blind, navigating independently in an unfamiliar environment represents a considerable challenge. Inspired by the rising popularity of video games, we have developed a novel approach to train navigation and spatial cognition skills in adolescents who are blind. Audio-based Environment Simulator (AbES) is a software application that allows for the virtual exploration of an existing building set in an action video game metaphor. Using this ludic-based approach to learning, we investigated the ability and efficacy of adolescents with early onset blindness to acquire spatial information gained from the exploration of a target virtual indoor environment. Following game play, participants were assessed on their ability to transfer and mentally manipulate acquired spatial information on a set of navigation tasks carried out in the real environment. Success in transfer of navigation skill performance was markedly high suggesting that interacting with AbES leads to the generation of an accurate spatial mental representation. Furthermore, there was a positive correlation between success in game play and navigation task performance. The role of virtual environments and gaming in the development of mental spatial representations is also discussed. We conclude that this game based learning approach can facilitate the transfer of spatial knowledge and further, can be used by individuals who are blind for the purposes of navigation in real-world environments.
Ego-motion based on EM for bionic navigation
Yue, Xiaofeng; Wang, L. J.; Liu, J. G.
2015-12-01
Researches have proved that flying insects such as bees can achieve efficient and robust flight control, and biologists have explored some biomimetic principles regarding how they control flight. Based on those basic studies and principles acquired from the flying insects, this paper proposes a different solution of recovering ego-motion for low level navigation. Firstly, a new type of entropy flow is provided to calculate the motion parameters. Secondly, EKF, which has been used for navigation for some years to correct accumulated error, and estimation-Maximization, which is always used to estimate parameters, are put together to determine the ego-motion estimation of aerial vehicles. Numerical simulation on MATLAB has proved that this navigation system provides more accurate position and smaller mean absolute error than pure optical flow navigation. This paper has done pioneering work in bionic mechanism to space navigation.
Multi-rover navigation on the lunar surface
Dabrowski, Borys; Banaszkiewicz, Marek
2008-07-01
The paper presents a method of determination an accurate position of a target (rover, immobile sensor, astronaut) on surface of the Moon or other celestial body devoid of navigation infrastructure (like Global Positioning System), by using a group of self-calibrating rovers, which serves as mobile reference points. The rovers are equipped with low-precision clocks synchronized by external broadcasting signal, to measure the moments of receiving radio signals sent by localized target. Based on the registered times, distances between transmitter and receivers installed on beacons are calculated. Each rover determines and corrects its own absolute position and orientation by using odometry navigation and measurements of relative distances and angles to other mobile reference points. Accuracy of navigation has been improved by the use of a calibration algorithm based on the extended Kalman filter, which uses internal encoder readings as inputs and relative measurements of distances and orientations between beacons as feedback information. The key idea in obtaining reliable values of absolute position and orientation of beacons is to first calibrate one of the rovers, using the remaining ones as reference points and then allow the whole group to move together and calibrate all the rovers in-motion. We consider a number of cases, in which basic modeling parameters such as terrain roughness, formation size and shape as well as availability of distance and angle measurements are varied.
Wystrach, Antoine; Dewar, Alex; Philippides, Andrew; Graham, Paul
2016-02-01
The visual systems of animals have to provide information to guide behaviour and the informational requirements of an animal's behavioural repertoire are often reflected in its sensory system. For insects, this is often evident in the optical array of the compound eye. One behaviour that insects share with many animals is the use of learnt visual information for navigation. As ants are expert visual navigators it may be that their vision is optimised for navigation. Here we take a computational approach in asking how the details of the optical array influence the informational content of scenes used in simple view matching strategies for orientation. We find that robust orientation is best achieved with low-resolution visual information and a large field of view, similar to the optical properties seen for many ant species. A lower resolution allows for a trade-off between specificity and generalisation for stored views. Additionally, our simulations show that orientation performance increases if different portions of the visual field are considered as discrete visual sensors, each giving an independent directional estimate. This suggests that ants might benefit by processing information from their two eyes independently.
Fault-tolerant Sensor Fusion for Marine Navigation
DEFF Research Database (Denmark)
Blanke, Mogens
2006-01-01
Reliability of navigation data are critical for steering and manoeuvring control, and in particular so at high speed or in critical phases of a mission. Should faults occur, faulty instruments need be autonomously isolated and faulty information discarded. This paper designs a navigation solution...... where essential navigation information is provided even with multiple faults in instrumentation. The paper proposes a provable correct implementation through auto-generated state-event logics in a supervisory part of the algorithms. Test results from naval vessels document the performance and shows...... events where the fault-tolerant sensor fusion provided uninterrupted navigation data despite temporal instrument defects...
Cui, Licong; Xu, Rong; Luo, Zhihui; Wentz, Susan; Scarberry, Kyle; Zhang, Guo-Qiang
2014-08-03
Finding quality consumer health information online can effectively bring important public health benefits to the general population. It can empower people with timely and current knowledge for managing their health and promoting wellbeing. Despite a popular belief that search engines such as Google can solve all information access problems, recent studies show that using search engines and simple search terms is not sufficient. Our objective is to provide an approach to organizing consumer health information for navigational exploration, complementing keyword-based direct search. Multi-topic assignment to health information, such as online questions, is a fundamental step for navigational exploration. We introduce a new multi-topic assignment method combining semantic annotation using UMLS concepts (CUIs) and Formal Concept Analysis (FCA). Each question was tagged with CUIs identified by MetaMap. The CUIs were filtered with term-frequency and a new term-strength index to construct a CUI-question context. The CUI-question context and a topic-subject context were used for multi-topic assignment, resulting in a topic-question context. The topic-question context was then directly used for constructing a prototype navigational exploration interface. Experimental evaluation was performed on the task of automatic multi-topic assignment of 99 predefined topics for about 60,000 consumer health questions from NetWellness. Using example-based metrics, suitable for multi-topic assignment problems, our method achieved a precision of 0.849, recall of 0.774, and F₁ measure of 0.782, using a reference standard of 278 questions with manually assigned topics. Compared to NetWellness' original topic assignment, a 36.5% increase in recall is achieved with virtually no sacrifice in precision. Enhancing the recall of multi-topic assignment without sacrificing precision is a prerequisite for achieving the benefits of navigational exploration. Our new multi-topic assignment method
Stinchcombe, Arne; Gagnon, Sylvain; Kateb, Matthew; Curtis, Meredith; Porter, Michelle M; Polgar, Jan; Bédard, Michel
2017-09-01
In-vehicle navigation systems have the potential to simplify the driving task by reducing the drivers' need to engage in wayfinding, especially in unfamiliar environments. This study sought to characterize older drivers' overall assessment of using in-vehicle GPS technology as part of a research study and to explore whether the use of this technology has an impact on participants' driving behaviour. Forty-seven older drivers completed an on-road evaluation where directions were provided by an in-vehicle GPS navigation system and their behaviour was recorded using video technology. They later completed a questionnaire to assess their perception of the navigation system. After the study, participants were grouped based on whether they were able to accurately follow the instructions provided by the navigation system. The results indicated that most drivers were satisfied with the navigation technology and found the directions it provided to be clear. There were no statistically significant differences in the number of on-road errors committed by drivers who did not follow the directions from the navigation system in comparison to drivers who did follow the directions. Copyright © 2016 Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Erin eConnors
2014-03-01
Full Text Available For individuals who are blind, navigating independently in an unfamiliar environment represents a considerable challenge. Inspired from recent developments in accessible technology and the rising popularity of video games, we have developed a novel approach to train navigation and spatial cognition skills in adolescents who are blind. Audio-based Environment Simulator (AbES is a software application that allows for the virtual exploration of an existing building set in an action video game metaphor. We investigated the ability and efficacy of adolescents with early onset blindness to acquire spatial information gained from the exploration of a virtual indoor environment using this ludic approach to learning. Following game play, participants were then assessed on their ability to transfer and mentally manipulate acquired spatial information in a set of navigation tasks carried out in the real environment represented in the game. The transfer of navigation skill performance was markedly high suggesting that interacting with AbES leads to the generation of an accurate spatial mental representation. Furthermore, there was a positive correlation between success in game play and navigation task performance. The role of virtual environments and gaming in the development of mental spatial representations is also discussed. We conclude that this novel software and learning by a gaming approach can facilitate the transfer of spatial knowledge and can be used by individuals who are blind for the purposes of navigation in real-world environments.
Advanced Navigation Aids System based on Augmented Reality
Directory of Open Access Journals (Sweden)
Jaeyong OH
2016-12-01
Full Text Available Many maritime accidents have been caused by human-error including such things as inadequate watch keeping and/or mistakes in ship handling. Also, new navigational equipment has been developed using Information Technology (IT technology to provide various kinds of information for safe navigation. Despite these efforts, the reduction of maritime accidents has not occurred to the degree expected because, navigational equipment provides too much information, and this information is not well organized, such that users feel it to be complicated rather than helpful. In this point of view, the method of representation of navigational information is more important than the quantity of that information and research is required on the representation of information to make that information more easily understood and to allow decisions to be made correctly and promptly. In this paper, we adopt Augmented Reality (AR technologies for the representation of information. AR is a 3D computer graphics technology that blends virtual reality and the real world. Recently, this technology has been widely applied in our daily lives because it can provide information more effectively to users. Therefore, we propose a new concept, a navigational system based on AR technology; we review experimental results from a ship-handling simulator and from an open sea test to verify the efficiency of the proposed system.
2005-09-30
There is currently no common symbology standard for the electronic display of navigation information. The wide range of display technology and the different functions these displays support makes it difficult to design symbols that are easily recogni...
Growing Homophilic Networks Are Natural Navigable Small Worlds.
Malkov, Yury A; Ponomarenko, Alexander
2016-01-01
Navigability, an ability to find a logarithmically short path between elements using only local information, is one of the most fascinating properties of real-life networks. However, the exact mechanism responsible for the formation of navigation properties remained unknown. We show that navigability can be achieved by using only two ingredients present in the majority of networks: network growth and local homophily, giving a persuasive answer how the navigation appears in real-life networks. A very simple algorithm produces hierarchical self-similar optimally wired navigable small world networks with exponential degree distribution by using only local information. Adding preferential attachment produces a scale-free network which has shorter greedy paths, but worse (power law) scaling of the information extraction locality (algorithmic complexity of a search). Introducing saturation of the preferential attachment leads to truncated scale-free degree distribution that offers a good tradeoff between these parameters and can be useful for practical applications. Several features of the model are observed in real-life networks, in particular in the brain neural networks, supporting the earlier suggestions that they are navigable.
Growing Homophilic Networks Are Natural Navigable Small Worlds.
Directory of Open Access Journals (Sweden)
Yury A Malkov
Full Text Available Navigability, an ability to find a logarithmically short path between elements using only local information, is one of the most fascinating properties of real-life networks. However, the exact mechanism responsible for the formation of navigation properties remained unknown. We show that navigability can be achieved by using only two ingredients present in the majority of networks: network growth and local homophily, giving a persuasive answer how the navigation appears in real-life networks. A very simple algorithm produces hierarchical self-similar optimally wired navigable small world networks with exponential degree distribution by using only local information. Adding preferential attachment produces a scale-free network which has shorter greedy paths, but worse (power law scaling of the information extraction locality (algorithmic complexity of a search. Introducing saturation of the preferential attachment leads to truncated scale-free degree distribution that offers a good tradeoff between these parameters and can be useful for practical applications. Several features of the model are observed in real-life networks, in particular in the brain neural networks, supporting the earlier suggestions that they are navigable.
Indoor navigation by image recognition
Choi, Io Teng; Leong, Chi Chong; Hong, Ka Wo; Pun, Chi-Man
2017-07-01
With the progress of smartphones hardware, it is simple on smartphone using image recognition technique such as face detection. In addition, indoor navigation system development is much slower than outdoor navigation system. Hence, this research proves a usage of image recognition technique for navigation in indoor environment. In this paper, we introduced an indoor navigation application that uses the indoor environment features to locate user's location and a route calculating algorithm to generate an appropriate path for user. The application is implemented on Android smartphone rather than iPhone. Yet, the application design can also be applied on iOS because the design is implemented without using special features only for Android. We found that digital navigation system provides better and clearer location information than paper map. Also, the indoor environment is ideal for Image recognition processing. Hence, the results motivate us to design an indoor navigation system using image recognition.
Paediatric patient navigation models of care in Canada: An environmental scan.
Luke, Alison; Doucet, Shelley; Azar, Rima
2018-05-01
(1) To provide other organizations with useful information when implementing paediatric navigation programs and (2) to inform the implementation of a navigation care centre in New Brunswick for children with complex health conditions. This environmental scan consisted of a literature review of published and grey literature for paediatric patient navigation programs across Canada. Additional programs were found following discussions with program coordinators and navigators. Interviews were conducted with key staff from each program and included questions related to patient condition; target population and location; method delivery; navigator background; and navigator roles. Data analysis included analysis of interviews and identification of common themes across the different programs. We interviewed staff from 19 paediatric navigation programs across Canada. Programs varied across a number of different themes, including: condition and disease type, program location (e.g., hospital or clinic), navigator background (e.g., registered nurse or peer/lay navigator) and method of delivery (e.g., phone or face-to-face). Overall, navigator roles are similar across all programs, including advocacy, education, support and assistance in accessing resources from both within and outside the health care system. This scan offers a road map of Canadian paediatric navigation programs. Knowledge learned from this scan will inform stakeholders who are either involved in the delivery of paediatric patient navigation programs or planning to implement such a program. Specifically, our scan informed the development of a navigation centre for children with complex health conditions in New Brunswick.
Compact autonomous navigation system (CANS)
Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.
2017-11-01
Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].
76 FR 58105 - Regulated Navigation Area; Saugus River, Lynn, MA
2011-09-20
... final rule. SUMMARY: The Coast Guard is establishing a Regulated Navigation Area (RNA) on the navigable... INFORMATION: Regulatory Information The Coast Guard is issuing this temporary rule without prior notice and... Pipeline bridge poses to the navigational channel necessitates that all mariners comply with this RNA...
SLS Model Based Design: A Navigation Perspective
Oliver, T. Emerson; Anzalone, Evan; Park, Thomas; Geohagan, Kevin
2018-01-01
The SLS Program has implemented a Model-based Design (MBD) and Model-based Requirements approach for managing component design information and system requirements. This approach differs from previous large-scale design efforts at Marshall Space Flight Center where design documentation alone conveyed information required for vehicle design and analysis and where extensive requirements sets were used to scope and constrain the design. The SLS Navigation Team is responsible for the Program-controlled Design Math Models (DMMs) which describe and represent the performance of the Inertial Navigation System (INS) and the Rate Gyro Assemblies (RGAs) used by Guidance, Navigation, and Controls (GN&C). The SLS Navigation Team is also responsible for navigation algorithms. The navigation algorithms are delivered for implementation on the flight hardware as a DMM. For the SLS Block 1B design, the additional GPS Receiver hardware model is managed as a DMM at the vehicle design level. This paper describes the models, and discusses the processes and methods used to engineer, design, and coordinate engineering trades and performance assessments using SLS practices as applied to the GN&C system, with a particular focus on the navigation components.
Hartendorp, Mijk; Braad, Eelco; Van Sloten, Janke; Steyvers, Frank; Pinkster, Christiaan
2017-01-01
More and more people suffer from age-related eye conditions, e.g. Macular Degeneration. One of the problems experienced by these people is navigation. A strategy shown by many juvenile visually impaired persons (VIPs) is using auditory information for navigation. Therefore, it is important to train
IMPROVING CAR NAVIGATION WITH A VISION-BASED SYSTEM
Directory of Open Access Journals (Sweden)
H. Kim
2015-08-01
Full Text Available The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the position and attitude of the camera and thus those of the car. This image georeferencing results are combined with other sensory data under the sensor fusion framework for more accurate estimation of the positions using an extended Kalman filter. The proposed system estimated the positions with an accuracy of 15 m although GPS signals are not available at all during the entire test drive of 15 minutes. The proposed vision based system can be effectively utilized for the low-cost but high-accurate and reliable navigation systems required for intelligent or autonomous vehicles.
Improving Car Navigation with a Vision-Based System
Kim, H.; Choi, K.; Lee, I.
2015-08-01
The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the position and attitude of the camera and thus those of the car. This image georeferencing results are combined with other sensory data under the sensor fusion framework for more accurate estimation of the positions using an extended Kalman filter. The proposed system estimated the positions with an accuracy of 15 m although GPS signals are not available at all during the entire test drive of 15 minutes. The proposed vision based system can be effectively utilized for the low-cost but high-accurate and reliable navigation systems required for intelligent or autonomous vehicles.
Real-time Pedestrian Crossing Recognition for Assistive Outdoor Navigation.
Fontanesi, Simone; Frigerio, Alessandro; Fanucci, Luca; Li, William
2015-01-01
Navigation in urban environments can be difficult for people who are blind or visually impaired. In this project, we present a system and algorithms for recognizing pedestrian crossings in outdoor environments. Our goal is to provide navigation cues for crossing the street and reaching an island or sidewalk safely. Using a state-of-the-art Multisense S7S sensor, we collected 3D pointcloud data for real-time detection of pedestrian crossing and generation of directional guidance. We demonstrate improvements to a baseline, monocular-camera-based system by integrating 3D spatial prior information extracted from the pointcloud. Our system's parameters can be set to the actual dimensions of real-world settings, which enables robustness of occlusion and perspective transformation. The system works especially well in non-occlusion situations, and is reasonably accurate under different kind of conditions. As well, our large dataset of pedestrian crossings, organized by different types and situations of pedestrian crossings in order to reflect real-word environments, is publicly available in a commonly used format (ROS bagfiles) for further research.
Száz, Dénes; Farkas, Alexandra; Barta, András; Kretzer, Balázs; Blahó, Miklós; Egri, Ádám; Szabó, Gyula; Horváth, Gábor
2017-09-01
According to Thorkild Ramskou's theory proposed in 1967, under overcast and foggy skies, Viking seafarers might have used skylight polarization analysed with special crystals called sunstones to determine the position of the invisible Sun. After finding the occluded Sun with sunstones, its elevation angle had to be measured and its shadow had to be projected onto the horizontal surface of a sun compass. According to Ramskou's theory, these sunstones might have been birefringent calcite or dichroic cordierite or tourmaline crystals working as polarizers. It has frequently been claimed that this method might have been suitable for navigation even in cloudy weather. This hypothesis has been accepted and frequently cited for decades without any experimental support. In this work, we determined the accuracy of this hypothetical sky-polarimetric Viking navigation for 1080 different sky situations characterized by solar elevation θ and cloudiness ρ, the sky polarization patterns of which were measured by full-sky imaging polarimetry. We used the earlier measured uncertainty functions of the navigation steps 1, 2 and 3 for calcite, cordierite and tourmaline sunstone crystals, respectively, and the newly measured uncertainty function of step 4 presented here. As a result, we revealed the meteorological conditions under which Vikings could have used this hypothetical navigation method. We determined the solar elevations at which the navigation uncertainties are minimal at summer solstice and spring equinox for all three sunstone types. On average, calcite sunstone ensures a more accurate sky-polarimetric navigation than tourmaline and cordierite. However, in some special cases (generally at 35° ≤ θ ≤ 40°, 1 okta ≤ ρ ≤ 6 oktas for summer solstice, and at 20° ≤ θ ≤ 25°, 0 okta ≤ ρ ≤ 4 oktas for spring equinox), the use of tourmaline and cordierite results in smaller navigation uncertainties than that of calcite. Generally, under clear or less cloudy
Ultrasound-based tumor movement compensation during navigated laparoscopic liver interventions.
Shahin, Osama; Beširević, Armin; Kleemann, Markus; Schlaefer, Alexander
2014-05-01
Image-guided navigation aims to provide better orientation and accuracy in laparoscopic interventions. However, the ability of the navigation system to reflect anatomical changes and maintain high accuracy during the procedure is crucial. This is particularly challenging in soft organs such as the liver, where surgical manipulation causes significant tumor movements. We propose a fast approach to obtain an accurate estimation of the tumor position throughout the procedure. Initially, a three-dimensional (3D) ultrasound image is reconstructed and the tumor is segmented. During surgery, the position of the tumor is updated based on newly acquired tracked ultrasound images. The initial segmentation of the tumor is used to automatically detect the tumor and update its position in the navigation system. Two experiments were conducted. First, a controlled phantom motion using a robot was performed to validate the tracking accuracy. Second, a needle navigation scenario based on pseudotumors injected into ex vivo porcine liver was studied. In the robot-based evaluation, the approach estimated the target location with an accuracy of 0.4 ± 0.3 mm. The mean navigation error in the needle experiment was 1.2 ± 0.6 mm, and the algorithm compensated for tumor shifts up to 38 mm in an average time of 1 s. We demonstrated a navigation approach based on tracked laparoscopic ultrasound (LUS), and focused on the neighborhood of the tumor. Our experimental results indicate that this approach can be used to quickly and accurately compensate for tumor movements caused by surgical manipulation during laparoscopic interventions. The proposed approach has the advantage of being based on the routinely used LUS; however, it upgrades its functionality to estimate the tumor position in 3D. Hence, the approach is repeatable throughout surgery, and enables high navigation accuracy to be maintained.
Toward perception-based navigation using EgoSphere
Kawamura, Kazuhiko; Peters, R. Alan; Wilkes, Don M.; Koku, Ahmet B.; Sekman, Ali
2002-02-01
A method for perception-based egocentric navigation of mobile robots is described. Each robot has a local short-term memory structure called the Sensory EgoSphere (SES), which is indexed by azimuth, elevation, and time. Directional sensory processing modules write information on the SES at the location corresponding to the source direction. Each robot has a partial map of its operational area that it has received a priori. The map is populated with landmarks and is not necessarily metrically accurate. Each robot is given a goal location and a route plan. The route plan is a set of via-points that are not used directly. Instead, a robot uses each point to construct a Landmark EgoSphere (LES) a circular projection of the landmarks from the map onto an EgoSphere centered at the via-point. Under normal circumstances, the LES will be mostly unaffected by slight variations in the via-point location. Thus, the route plan is transformed into a set of via-regions each described by an LES. A robot navigates by comparing the next LES in its route plan to the current contents of its SES. It heads toward the indicated landmarks until its SES matches the LES sufficiently to indicate that the robot is near the suggested via-point. The proposed method is particularly useful for enabling the exchange of robust route informa-tion between robots under low data rate communications constraints. An example of such an exchange is given.
Ahmad Fuad, Ahmad Nazmi Bin; Deep, Kamal; Yao, Wei
2018-02-01
This paper presents a novel multi-modality tracking and navigation system that provides a unique capability to guild a flexible drill tip inside the bone with accurate curved tunnelling. As the flexible drill tip cannot be tracked optically inside the bone, this research focuses on developing a hybrid tracking and navigation system for tracking a flexible drill tip by using both optical and kinematic tracking. The tracking information is used to guide the THA (total hip arthroplasty) procedure, providing a real-time virtual model of the flexible drill. The flexible and steerable drill tip system is then tested on total hip arthroplasty followed by evaluation of the positioning and orientation of femoral stem placement by femoral milling. Based on this study, we conclude that the tracking and navigation system is able to guide the flexible drill to mill inside femoral canal. Copyright © 2017 John Wiley & Sons, Ltd.
Novel Navigation Algorithm for Wireless Sensor Networks without Information of Locations
Guo, Peng; Jiang, Tao; Yi, Youwen; Zhang, Qian; Zhang, Kui
2011-01-01
In this paper, we propose a novel algorithm of distributed navigation for people to escape from critical event region in wireless sensor networks (WSNs). Unlike existing works, the scenario discussed in the paper has no goal or exit as guidance, leading to a big challenge for the navigation problem.
Navigating nuclear science: Enhancing analysis through visualization
Energy Technology Data Exchange (ETDEWEB)
Irwin, N.H.; Berkel, J. van; Johnson, D.K.; Wylie, B.N.
1997-09-01
Data visualization is an emerging technology with high potential for addressing the information overload problem. This project extends the data visualization work of the Navigating Science project by coupling it with more traditional information retrieval methods. A citation-derived landscape was augmented with documents using a text-based similarity measure to show viability of extension into datasets where citation lists do not exist. Landscapes, showing hills where clusters of similar documents occur, can be navigated, manipulated and queried in this environment. The capabilities of this tool provide users with an intuitive explore-by-navigation method not currently available in today`s retrieval systems.
A clinical study of navigation accuracy during surgery
International Nuclear Information System (INIS)
Hirabayashi, Hidehiro; Uchiyama, Yoshitomo; Hoshida, Toru; Nakase, Hiroyuki; Morimoto, Tetsuya; Sakaki, Toshisuke
2000-01-01
It is essential to implement image-guided surgery or neuronavigation technologies that can be applied during functional surgery to localize targets accurately in the surgical field. Various navigation systems have been developed, such as the optical system and mechanical-arm-based system, to localize targets in the operative field. However, either the reference system, in optical systems, or the arm joint, in mechanical-arm-based systems, can sometimes interfere with surgical maneuvers. Therefore, we used the magnetic-force-based Computed Assisted Neurosurgery system (CANS system, Shimadzu, Co. Ltd., Kyoto, Japan) for neuronavigation. The purpose of this study was to evaluate the accuracy of the CANS navigation system. Ten patients with medically refractory epilepsy underwent implantation of subdural electrode grids to detect the epilepsy focus, and then lobectomy or multiple subpial transection was performed after informed consent was obtained. The male/female ratio was 6:4 and the mean age was 30.7 years. The CANS navigator system consists mainly of a magnetic source, a localizer probe with magnetic sensor, a three-dimensional locating measuring instrument (digitizer), an image scanner, and a personal computer. To determine the localization accuracy, the probe was moved on the subdural electrode grid which typically consists of 64 or 16 platinum-iridium electrode contacts (3 mm in the diameter) embedded in a Silastic sheet. The array of electrodes was 8 x 8 cm or 2 x 8 cm and the center-to-center inter-electrode distance was 10 mm. We evaluated the inter-electrode distances and spatial relationships among the electrodes to quantitate the precision of the probe tip localization and assumed the nasion origin reference system to assess the distribution of target coordinates. The measurement errors of each component derived from different planes for the same targets were evaluated in ten patients. The error in X-dimension ranged from 0.38 mm to 7.8 mm, the error in Y
Directory of Open Access Journals (Sweden)
M. O. Kostishin
2014-01-01
Full Text Available The paper deals with the issue of accuracy estimating for the object location display in the geographic information systems and display systems of manned aircrafts navigation complexes. Application features of liquid crystal screens with a different number of vertical and horizontal pixels are considered at displaying of geographic information data on different scales. Estimation display of navigation parameters values on board the aircraft is done in two ways: a numeric value is directly displayed on the screen of multi-color indicator, and a silhouette of the object is formed on the screen on a substrate background, which is a graphical representation of area map in the flight zone. Various scales of area digital map display currently used in the aviation industry have been considered. Calculation results of one pixel scale interval, depending on the specifications of liquid crystal screen and zoom of the map display area on the multifunction digital display, are given. The paper contains experimental results of the accuracy evaluation for area position display of the aircraft based on the data from the satellite navigation system and inertial navigation system, obtained during the flight program run of the real object. On the basis of these calculations a family of graphs was created for precision error display of the object reference point position using the onboard indicators with liquid crystal screen with different screen resolutions (6 "×8", 7.2 "×9.6", 9"×12" for two map display scales (1:0 , 25 km, 1-2 km. These dependency graphs can be used both to assess the error value of object area position display in existing navigation systems and to calculate the error value in upgrading facilities.
A Self-Tuning Kalman Filter for Autonomous Navigation using the Global Positioning System (GPS)
Truong, S. H.
1999-01-01
Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman filter and GPS data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. These systems, however, still rely on manual tuning from analysts. A sophisticated neuro-fuzzy component fully integrated with the flight navigation system can perform the self-tuning capability for the Kalman filter and help the navigation system recover from estimation errors in real time.
Orion Optical Navigation Progress Toward Exploration: Mission 1
Holt, Greg N.; D'Souza, Christopher N.; Saley, David
2018-01-01
Optical navigation of human spacecraft was proposed on Gemini and implemented successfully on Apollo as a means of autonomously operating the vehicle in the event of lost communication with controllers on Earth. It shares a history with the "method of lunar distances" that was used in the 18th century and gained some notoriety after its use by Captain James Cook during his 1768 Pacific voyage of the HMS Endeavor. The Orion emergency return system utilizing optical navigation has matured in design over the last several years, and is currently undergoing the final implementation and test phase in preparation for Exploration Mission 1 (EM-1) in 2019. The software development is being worked as a Government Furnished Equipment (GFE) project delivered as an application within the Core Flight Software of the Orion camera controller module. The mathematical formulation behind the initial ellipse fit in the image processing is detailed in Christian. The non-linear least squares refinement then follows the technique of Mortari as an estimation process of the planetary limb using the sigmoid function. The Orion optical navigation system uses a body fixed camera, a decision that was driven by mass and mechanism constraints. The general concept of operations involves a 2-hour pass once every 24 hours, with passes specifically placed before all maneuvers to supply accurate navigation information to guidance and targeting. The pass lengths are limited by thermal constraints on the vehicle since the OpNav attitude generally deviates from the thermally stable tail-to-sun attitude maintained during the rest of the orbit coast phase. Calibration is scheduled prior to every pass due to the unknown nature of thermal effects on the lens distortion and the mounting platform deformations between the camera and star trackers. The calibration technique is described in detail by Christian, et al. and simultaneously estimates the Brown-Conrady coefficients and the Star Tracker
Casey, Victoria; Crooks, Valorie A; Snyder, Jeremy; Turner, Leigh
2013-12-01
Many studies examining the phenomena of medical tourism have identified health equity issues associated with this global health services practice. However, there is a notable lack of attention in this existing research to the informal care provided by the friends and family members who typically accompany medical tourists abroad. To date, researchers have not examined the care roles filled by informal caregivers travelling with medical tourists. In this article, we fill this gap by examining these informal caregivers and the roles they take on towards supporting medical tourists' health and wellbeing. We conducted 21 interviews with International Patient Coordinators (IPCs) working at medical tourism hospitals across ten countries. IPCs work closely with informal caregivers as providers of non-medical personal assistance, and can therefore offer broad insight on caregiver roles. The interviews were coded and analyzed thematically. Three roles emerged: knowledge broker, companion, and navigator. As knowledge brokers, caregivers facilitate the transfer of information between the medical tourist and formal health care providers as well as other staff members at medical tourism facilities. The companion role involves providing medical tourists with physical and emotional care. Meanwhile, responsibilities associated with handling documents and coordinating often complex journeys are part of the navigation role. This is the first study to examine informal caregiving roles in medical tourism. Many of the roles identified are similar to those of conventional informal caregivers while others are specific to the transnational context. We conclude that these roles make informal caregivers an integral part of the larger phenomenon of medical tourism. We further contend that examining the roles taken on by a heretofore-unconsidered medical tourism stakeholder group sheds valuable insight into how this industry operates and that such knowledge is necessary in order to respond to
Navigation Aiding by a Hybrid Laser-Camera Motion Estimator for Micro Aerial Vehicles
Directory of Open Access Journals (Sweden)
Jamal Atman
2016-09-01
Full Text Available Micro Air Vehicles (MAVs equipped with various sensors are able to carry out autonomous flights. However, the self-localization of autonomous agents is mostly dependent on Global Navigation Satellite Systems (GNSS. In order to provide an accurate navigation solution in absence of GNSS signals, this article presents a hybrid sensor. The hybrid sensor is a deep integration of a monocular camera and a 2D laser rangefinder so that the motion of the MAV is estimated. This realization is expected to be more flexible in terms of environments compared to laser-scan-matching approaches. The estimated ego-motion is then integrated in the MAV’s navigation system. However, first, the knowledge about the pose between both sensors is obtained by proposing an improved calibration method. For both calibration and ego-motion estimation, 3D-to-2D correspondences are used and the Perspective-3-Point (P3P problem is solved. Moreover, the covariance estimation of the relative motion is presented. The experiments show very accurate calibration and navigation results.
Navigation Aiding by a Hybrid Laser-Camera Motion Estimator for Micro Aerial Vehicles.
Atman, Jamal; Popp, Manuel; Ruppelt, Jan; Trommer, Gert F
2016-09-16
Micro Air Vehicles (MAVs) equipped with various sensors are able to carry out autonomous flights. However, the self-localization of autonomous agents is mostly dependent on Global Navigation Satellite Systems (GNSS). In order to provide an accurate navigation solution in absence of GNSS signals, this article presents a hybrid sensor. The hybrid sensor is a deep integration of a monocular camera and a 2D laser rangefinder so that the motion of the MAV is estimated. This realization is expected to be more flexible in terms of environments compared to laser-scan-matching approaches. The estimated ego-motion is then integrated in the MAV's navigation system. However, first, the knowledge about the pose between both sensors is obtained by proposing an improved calibration method. For both calibration and ego-motion estimation, 3D-to-2D correspondences are used and the Perspective-3-Point (P3P) problem is solved. Moreover, the covariance estimation of the relative motion is presented. The experiments show very accurate calibration and navigation results.
DEFF Research Database (Denmark)
Zhao, Bo; Blanke, Mogens; Skjetne, Roger
2012-01-01
This paper presents a fault tolerant navigation system for a remotely operated vehicle (ROV). The navigation system uses hydro-acoustic position reference (HPR) and Doppler velocity log (DVL) measurements to achieve an integrated navigation. The fault tolerant functionality is based on a modied...... particle lter. This particle lter is able to run in an asynchronous manner to accommodate the measurement drop out problem, and it overcomes the measurement outliers by switching observation models. Simulations with experimental data show that this fault tolerant navigation system can accurately estimate...
Benefits of multisensory presentation on perception, memory and navigation
Philippi, T.G.|info:eu-repo/dai/nl/313711577
2012-01-01
Navigation is the process of planning and following routes to travel from the current location to a target location. In comparison with real world navigation, we have considerable difficulty with navigation in virtual environments. An important cause is that less information is presented in a
Lee, Kenneth; Hoti, Kreshnik; Hughes, Jeffery David; Emmerton, Lynne
2014-12-02
The abundance of health information available online provides consumers with greater access to information pertinent to the management of health conditions. This is particularly important given an increasing drive for consumer-focused health care models globally, especially in the management of chronic health conditions, and in recognition of challenges faced by lay consumers with finding, understanding, and acting on health information sourced online. There is a paucity of literature exploring the navigational needs of consumers with regards to accessing online health information. Further, existing interventions appear to be didactic in nature, and it is unclear whether such interventions appeal to consumers' needs. Our goal was to explore the navigational needs of consumers with chronic health conditions in finding online health information within the broader context of consumers' online health information-seeking behaviors. Potential barriers to online navigation were also identified. Semistructured interviews were conducted with adult consumers who reported using the Internet for health information and had at least one chronic health condition. Participants were recruited from nine metropolitan community pharmacies within Western Australia, as well as through various media channels. Interviews were audio-recorded, transcribed verbatim, and then imported into QSR NVivo 10. Two established approaches to thematic analysis were adopted. First, a data-driven approach was used to minimize potential bias in analysis and improve construct and criterion validity. A theory-driven approach was subsequently used to confirm themes identified by the former approach and to ensure identified themes were relevant to the objectives. Two levels of analysis were conducted for both data-driven and theory-driven approaches: manifest-level analysis, whereby face-value themes were identified, and latent-level analysis, whereby underlying concepts were identified. We conducted 17
Validation of Navigation Ultrasound for Clavicular Length Measurement
DEFF Research Database (Denmark)
Høj, Anders Thorsmark; Villa, Chiara; Christensen, Ole M.
2017-01-01
interval): approximately ± 7.5 mm, Pearson's correlation R: 0.948-0.974). Navigation ultrasound can measure clavicular length with an intra-rater reliability matching that of 3-D rendered computed tomography scans and with high validity. Its use could spread to other fields requiring accurate...... of 52.5 (range: 21-78 y) were included. Navigation ultrasound exhibited high reliability (intra-class correlation coefficient: 0.942-0.997, standard error of the mean: 0.7-2.9 mm, minimal detectable change: 2.3-8.1 mm) and validity (measurement error: 1.3%-1.8%, limits of agreement (95% confidence...
Construction Method of the Topographical Features Model for Underwater Terrain Navigation
Directory of Open Access Journals (Sweden)
Wang Lihui
2015-09-01
Full Text Available Terrain database is the reference basic for autonomous underwater vehicle (AUV to implement underwater terrain navigation (UTN functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method for terrain navigation information, and constructing an underwater navigation information analysis model, which is associated with topographic features. Simulation results show that the underwater terrain features, are associated with UTN information directly or indirectly, also affect the terrain matching capture probability and the positioning accuracy directly.
Clinical applications of virtual navigation bronchial intervention.
Kajiwara, Naohiro; Maehara, Sachio; Maeda, Junichi; Hagiwara, Masaru; Okano, Tetsuya; Kakihana, Masatoshi; Ohira, Tatsuo; Kawate, Norihiko; Ikeda, Norihiko
2018-01-01
In patients with bronchial tumors, we frequently consider endoscopic treatment as the first treatment of choice. All computed tomography (CT) must satisfy several conditions necessary to analyze images by Synapse Vincent. To select safer and more precise approaches for patients with bronchial tumors, we determined the indications and efficacy of virtual navigation intervention for the treatment of bronchial tumors. We examined the efficacy of virtual navigation bronchial intervention for the treatment of bronchial tumors located at a variety of sites in the tracheobronchial tree using a high-speed 3-dimensional (3D) image analysis system, Synapse Vincent. Constructed images can be utilized to decide on the simulation and interventional strategy as well as for navigation during interventional manipulation in two cases. Synapse Vincent was used to determine the optimal planning of virtual navigation bronchial intervention. Moreover, this system can detect tumor location and alsodepict surrounding tissues, quickly, accurately, and safely. The feasibility and safety of Synapse Vincent in performing useful preoperative simulation and navigation of surgical procedures can lead to safer, more precise, and less invasion for the patient, and makes it easy to construct an image, depending on the purpose, in 5-10 minutes using Synapse Vincent. Moreover, if the lesion is in the parenchyma or sub-bronchial lumen, it helps to perform simulation with virtual skeletal subtraction to estimate potential lesion movement. By using virtual navigation system for simulation, bronchial intervention was performed with no complications safely and precisely. Preoperative simulation using virtual navigation bronchial intervention reduces the surgeon's stress levels, particularly when highly skilled techniques are needed to operate on lesions. This task, including both preoperative simulation and intraoperative navigation, leads to greater safety and precision. These technological instruments
Design Issues for MEMS-Based Pedestrian Inertial Navigation Systems
Directory of Open Access Journals (Sweden)
P. S. Marinushkin
2015-01-01
Full Text Available The paper describes design issues for MEMS-based pedestrian inertial navigation systems. By now the algorithms to estimate navigation parameters for strap-down inertial navigation systems on the basis of plural observations have been already well developed. At the same time mathematical and software processing of information in the case of pedestrian inertial navigation systems has its specificity, due to the peculiarities of their functioning and exploitation. Therefore, there is an urgent task to enhance existing fusion algorithms for use in pedestrian navigation systems. For this purpose the article analyzes the characteristics of the hardware composition and configuration of existing systems of this class. The paper shows advantages of various technical solutions. Relying on their main features it justifies a choice of the navigation system architecture and hardware composition enabling improvement of the estimation accuracy of user position as compared to the systems using only inertial sensors. The next point concerns the development of algorithms for complex processing of heterogeneous information. To increase an accuracy of the free running pedestrian inertial navigation system we propose an adaptive algorithm for joint processing of heterogeneous information based on the fusion of inertial info rmation with magnetometer measurements using EKF approach. Modeling of the algorithm was carried out using a specially developed functional prototype of pedestrian inertial navigation system, implemented as a hardware/software complex in Matlab environment. The functional prototype tests of the developed system demonstrated an improvement of the navigation parameters estimation compared to the systems based on inertial sensors only. It enables to draw a conclusion that the synthesized algorithm provides satisfactory accuracy for calculating the trajectory of motion even when using low-grade inertial MEMS sensors. The developed algorithm can be
Modeling 3D Objects for Navigation Purposes Using Laser Scanning
Directory of Open Access Journals (Sweden)
Cezary Specht
2016-07-01
Full Text Available The paper discusses the creation of 3d models and their applications in navigation. It contains a review of available methods and geometric data sources, focusing mostly on terrestrial laser scanning. It presents detailed description, from field survey to numerical elaboration, how to construct accurate model of a typical few storey building as a hypothetical reference in complex building navigation. Hence, the paper presents fields where 3d models are being used and their potential new applications.
Ultra-accurate collaborative information filtering via directed user similarity
Guo, Q.; Song, W.-J.; Liu, J.-G.
2014-07-01
A key challenge of the collaborative filtering (CF) information filtering is how to obtain the reliable and accurate results with the help of peers' recommendation. Since the similarities from small-degree users to large-degree users would be larger than the ones in opposite direction, the large-degree users' selections are recommended extensively by the traditional second-order CF algorithms. By considering the users' similarity direction and the second-order correlations to depress the influence of mainstream preferences, we present the directed second-order CF (HDCF) algorithm specifically to address the challenge of accuracy and diversity of the CF algorithm. The numerical results for two benchmark data sets, MovieLens and Netflix, show that the accuracy of the new algorithm outperforms the state-of-the-art CF algorithms. Comparing with the CF algorithm based on random walks proposed by Liu et al. (Int. J. Mod. Phys. C, 20 (2009) 285) the average ranking score could reach 0.0767 and 0.0402, which is enhanced by 27.3% and 19.1% for MovieLens and Netflix, respectively. In addition, the diversity, precision and recall are also enhanced greatly. Without relying on any context-specific information, tuning the similarity direction of CF algorithms could obtain accurate and diverse recommendations. This work suggests that the user similarity direction is an important factor to improve the personalized recommendation performance.
Directory of Open Access Journals (Sweden)
Siavash Hosseinyalamdary
2015-07-01
Full Text Available Monitoring vehicular road traffic is a key component of any autonomous driving platform. Detecting moving objects, and tracking them, is crucial to navigating around objects and predicting their locations and trajectories. Laser sensors provide an excellent observation of the area around vehicles, but the point cloud of objects may be noisy, occluded, and prone to different errors. Consequently, object tracking is an open problem, especially for low-quality point clouds. This paper describes a pipeline to integrate various sensor data and prior information, such as a Geospatial Information System (GIS map, to segment and track moving objects in a scene. We show that even a low-quality GIS map, such as OpenStreetMap (OSM, can improve the tracking accuracy, as well as decrease processing time. A bank of Kalman filters is used to track moving objects in a scene. In addition, we apply non-holonomic constraint to provide a better orientation estimation of moving objects. The results show that moving objects can be correctly detected, and accurately tracked, over time, based on modest quality Light Detection And Ranging (LiDAR data, a coarse GIS map, and a fairly accurate Global Positioning System (GPS and Inertial Measurement Unit (IMU navigation solution.
Huang, Weiquan; Fang, Tao; Luo, Li; Zhao, Lin; Che, Fengzhu
2017-07-03
The grid strapdown inertial navigation system (SINS) used in polar navigation also includes three kinds of periodic oscillation errors as common SINS are based on a geographic coordinate system. Aiming ships which have the external information to conduct a system reset regularly, suppressing the Schuler periodic oscillation is an effective way to enhance navigation accuracy. The Kalman filter based on the grid SINS error model which applies to the ship is established in this paper. The errors of grid-level attitude angles can be accurately estimated when the external velocity contains constant error, and then correcting the errors of the grid-level attitude angles through feedback correction can effectively dampen the Schuler periodic oscillation. The simulation results show that with the aid of external reference velocity, the proposed external level damping algorithm based on the Kalman filter can suppress the Schuler periodic oscillation effectively. Compared with the traditional external level damping algorithm based on the damping network, the algorithm proposed in this paper can reduce the overshoot errors when the state of grid SINS is switched from the non-damping state to the damping state, and this effectively improves the navigation accuracy of the system.
Development of portal web site for fostering of risk literacy 'risk information navigator'
International Nuclear Information System (INIS)
Shobu, Nobuhiro; Mitsui, Seiichiro; Nakamura, Hirofumi
2004-01-01
Risk communication activities are important for promoting mutual understanding between local communities and Japan Nuclear Cycle Development Institutes (JNC). In addition to conventional public relation activities, the risk communication study team of JNC Tokai Works has started practical studies to promote further mutual understanding with its local communities. This paper reports the design and concept of a web site for the fostering of risk literacy, the 'Risk Information Navigator', that was developed as one of the risk communication methods, and surveys the web site from the user's perspective. (author)
Environmental layout complexity affects neural activity during navigation in humans.
Slone, Edward; Burles, Ford; Iaria, Giuseppe
2016-05-01
Navigating large-scale surroundings is a fundamental ability. In humans, it is commonly assumed that navigational performance is affected by individual differences, such as age, sex, and cognitive strategies adopted for orientation. We recently showed that the layout of the environment itself also influences how well people are able to find their way within it, yet it remains unclear whether differences in environmental complexity are associated with changes in brain activity during navigation. We used functional magnetic resonance imaging to investigate how the brain responds to a change in environmental complexity by asking participants to perform a navigation task in two large-scale virtual environments that differed solely in interconnection density, a measure of complexity defined as the average number of directional choices at decision points. The results showed that navigation in the simpler, less interconnected environment was faster and more accurate relative to the complex environment, and such performance was associated with increased activity in a number of brain areas (i.e. precuneus, retrosplenial cortex, and hippocampus) known to be involved in mental imagery, navigation, and memory. These findings provide novel evidence that environmental complexity not only affects navigational behaviour, but also modulates activity in brain regions that are important for successful orientation and navigation. © 2016 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.
Száz, Dénes; Farkas, Alexandra; Barta, András; Kretzer, Balázs; Blahó, Miklós; Egri, Ádám; Szabó, Gyula; Horváth, Gábor
2017-09-01
According to Thorkild Ramskou's theory proposed in 1967, under overcast and foggy skies, Viking seafarers might have used skylight polarization analysed with special crystals called sunstones to determine the position of the invisible Sun. After finding the occluded Sun with sunstones, its elevation angle had to be measured and its shadow had to be projected onto the horizontal surface of a sun compass. According to Ramskou's theory, these sunstones might have been birefringent calcite or dichroic cordierite or tourmaline crystals working as polarizers. It has frequently been claimed that this method might have been suitable for navigation even in cloudy weather. This hypothesis has been accepted and frequently cited for decades without any experimental support. In this work, we determined the accuracy of this hypothetical sky-polarimetric Viking navigation for 1080 different sky situations characterized by solar elevation θ and cloudiness ρ , the sky polarization patterns of which were measured by full-sky imaging polarimetry. We used the earlier measured uncertainty functions of the navigation steps 1, 2 and 3 for calcite, cordierite and tourmaline sunstone crystals, respectively, and the newly measured uncertainty function of step 4 presented here. As a result, we revealed the meteorological conditions under which Vikings could have used this hypothetical navigation method. We determined the solar elevations at which the navigation uncertainties are minimal at summer solstice and spring equinox for all three sunstone types. On average, calcite sunstone ensures a more accurate sky-polarimetric navigation than tourmaline and cordierite. However, in some special cases (generally at 35° ≤ θ ≤ 40°, 1 okta ≤ ρ ≤ 6 oktas for summer solstice, and at 20° ≤ θ ≤ 25°, 0 okta ≤ ρ ≤ 4 oktas for spring equinox), the use of tourmaline and cordierite results in smaller navigation uncertainties than that of calcite
HyMoTrack: A Mobile AR Navigation System for Complex Indoor Environments.
Gerstweiler, Georg; Vonach, Emanuel; Kaufmann, Hannes
2015-12-24
Navigating in unknown big indoor environments with static 2D maps is a challenge, especially when time is a critical factor. In order to provide a mobile assistant, capable of supporting people while navigating in indoor locations, an accurate and reliable localization system is required in almost every corner of the building. We present a solution to this problem through a hybrid tracking system specifically designed for complex indoor spaces, which runs on mobile devices like smartphones or tablets. The developed algorithm only uses the available sensors built into standard mobile devices, especially the inertial sensors and the RGB camera. The combination of multiple optical tracking technologies, such as 2D natural features and features of more complex three-dimensional structures guarantees the robustness of the system. All processing is done locally and no network connection is needed. State-of-the-art indoor tracking approaches use mainly radio-frequency signals like Wi-Fi or Bluetooth for localizing a user. In contrast to these approaches, the main advantage of the developed system is the capability of delivering a continuous 3D position and orientation of the mobile device with centimeter accuracy. This makes it usable for localization and 3D augmentation purposes, e.g. navigation tasks or location-based information visualization.
HyMoTrack: A Mobile AR Navigation System for Complex Indoor Environments
Directory of Open Access Journals (Sweden)
Georg Gerstweiler
2015-12-01
Full Text Available Navigating in unknown big indoor environments with static 2D maps is a challenge, especially when time is a critical factor. In order to provide a mobile assistant, capable of supporting people while navigating in indoor locations, an accurate and reliable localization system is required in almost every corner of the building. We present a solution to this problem through a hybrid tracking system specifically designed for complex indoor spaces, which runs on mobile devices like smartphones or tablets. The developed algorithm only uses the available sensors built into standard mobile devices, especially the inertial sensors and the RGB camera. The combination of multiple optical tracking technologies, such as 2D natural features and features of more complex three-dimensional structures guarantees the robustness of the system. All processing is done locally and no network connection is needed. State-of-the-art indoor tracking approaches use mainly radio-frequency signals like Wi-Fi or Bluetooth for localizing a user. In contrast to these approaches, the main advantage of the developed system is the capability of delivering a continuous 3D position and orientation of the mobile device with centimeter accuracy. This makes it usable for localization and 3D augmentation purposes, e.g. navigation tasks or location-based information visualization.
Park, Seoung Hoon; Kim, Seonjin; Kwon, MinHyuk; Christou, Evangelos A
2016-03-01
Vision and auditory information are critical for perception and to enhance the ability of an individual to respond accurately to a stimulus. However, it is unknown whether visual and auditory information contribute differentially to identify the direction and rotational motion of the stimulus. The purpose of this study was to determine the ability of an individual to accurately predict the direction and rotational motion of the stimulus based on visual and auditory information. In this study, we recruited 9 expert table-tennis players and used table-tennis service as our experimental model. Participants watched recorded services with different levels of visual and auditory information. The goal was to anticipate the direction of the service (left or right) and the rotational motion of service (topspin, sidespin, or cut). We recorded their responses and quantified the following outcomes: (i) directional accuracy and (ii) rotational motion accuracy. The response accuracy was the accurate predictions relative to the total number of trials. The ability of the participants to predict the direction of the service accurately increased with additional visual information but not with auditory information. In contrast, the ability of the participants to predict the rotational motion of the service accurately increased with the addition of auditory information to visual information but not with additional visual information alone. In conclusion, this finding demonstrates that visual information enhances the ability of an individual to accurately predict the direction of the stimulus, whereas additional auditory information enhances the ability of an individual to accurately predict the rotational motion of stimulus.
Awake craniotomy using electromagnetic navigation technology without rigid pin fixation.
Morsy, Ahmed A; Ng, Wai Hoe
2015-11-01
We report our institutional experience using an electromagnetic navigation system, without rigid head fixation, for awake craniotomy patients. The StealthStation® S7 AxiEM™ navigation system (Medtronic, Inc.) was used for this technique. Detailed preoperative clinical and neuropsychological evaluations, patient education and contrast-enhanced MRI (thickness 1.5mm) were performed for each patient. The AxiEM Mobile Emitter was typically placed in a holder, which was mounted to the operating room table, and a non-invasive patient tracker was used as the patient reference device. A monitored conscious sedation technique was used in all awake craniotomy patients, and the AxiEM Navigation Pointer was used for navigation during the procedure. This offers the same accuracy as optical navigation, but without head pin fixation or interference with intraoperative neurophysiological techniques and surgical instruments. The application of the electromagnetic neuronavigation technology without rigid head fixation during an awake craniotomy is accurate, and offers superior patient comfort. It is recommended as an effective adjunctive technique for the conduct of awake surgery. Copyright © 2015 Elsevier Ltd. All rights reserved.
Visual map and instruction-based bicycle navigation: a comparison of effects on behaviour.
de Waard, Dick; Westerhuis, Frank; Joling, Danielle; Weiland, Stella; Stadtbäumer, Ronja; Kaltofen, Leonie
2017-09-01
Cycling with a classic paper map was compared with navigating with a moving map displayed on a smartphone, and with auditory, and visual turn-by-turn route guidance. Spatial skills were found to be related to navigation performance, however only when navigating from a paper or electronic map, not with turn-by-turn (instruction based) navigation. While navigating, 25% of the time cyclists fixated at the devices that present visual information. Navigating from a paper map required most mental effort and both young and older cyclists preferred electronic over paper map navigation. In particular a turn-by-turn dedicated guidance device was favoured. Visual maps are in particular useful for cyclists with higher spatial skills. Turn-by-turn information is used by all cyclists, and it is useful to make these directions available in all devices. Practitioner Summary: Electronic navigation devices are preferred over a paper map. People with lower spatial skills benefit most from turn-by-turn guidance information, presented either auditory or on a dedicated device. People with higher spatial skills perform well with all devices. It is advised to keep in mind that all users benefit from turn-by-turn information when developing a navigation device for cyclists.
Towards Safe Navigation by Formalizing Navigation Rules
Directory of Open Access Journals (Sweden)
Arne Kreutzmann
2013-06-01
Full Text Available One crucial aspect of safe navigation is to obey all navigation regulations applicable, in particular the collision regulations issued by the International Maritime Organization (IMO Colregs. Therefore, decision support systems for navigation need to respect Colregs and this feature should be verifiably correct. We tackle compliancy of navigation regulations from a perspective of software verification. One common approach is to use formal logic, but it requires to bridge a wide gap between navigation concepts and simple logic. We introduce a novel domain specification language based on a spatio-temporal logic that allows us to overcome this gap. We are able to capture complex navigation concepts in an easily comprehensible representation that can direcly be utilized by various bridge systems and that allows for software verification.
Development of field navigation system; Field navigation system no kaihatsu
Energy Technology Data Exchange (ETDEWEB)
Ibara, S; Minode, M; Nishioka, K [Daihatsu Motor Co. Ltd., Osaka (Japan)
1995-04-20
This paper describes the following matters on a field navigation system developed for the purpose of covering a field of several kilometer square. This system consists of a center system and a vehicle system, and the center system comprises a map information computer and a communication data controlling computer; since the accuracy for a vehicle position detected by a GPS is not sufficient, an attempt of increasing the accuracy of vehicle position detection is made by means of a hybrid system; the hybrid system uses a satellite navigation method of differential system in which the error components in the GPS are transmitted from the center, and also uses a self-contained navigation method which performs an auxiliary function when the accuracy in the GPS has dropped; corrected GPS values, emergency messages to all of the vehicles and data of each vehicle position are communicated by wireless transmission in two ways between the center and vehicles; and accommodation of the map data adopted a system that can respond quickly to any change in roads and facilities. 3 refs., 13 figs., 1 tab.
Accurate protein structure modeling using sparse NMR data and homologous structure information.
Thompson, James M; Sgourakis, Nikolaos G; Liu, Gaohua; Rossi, Paolo; Tang, Yuefeng; Mills, Jeffrey L; Szyperski, Thomas; Montelione, Gaetano T; Baker, David
2012-06-19
While information from homologous structures plays a central role in X-ray structure determination by molecular replacement, such information is rarely used in NMR structure determination because it can be incorrect, both locally and globally, when evolutionary relationships are inferred incorrectly or there has been considerable evolutionary structural divergence. Here we describe a method that allows robust modeling of protein structures of up to 225 residues by combining (1)H(N), (13)C, and (15)N backbone and (13)Cβ chemical shift data, distance restraints derived from homologous structures, and a physically realistic all-atom energy function. Accurate models are distinguished from inaccurate models generated using incorrect sequence alignments by requiring that (i) the all-atom energies of models generated using the restraints are lower than models generated in unrestrained calculations and (ii) the low-energy structures converge to within 2.0 Å backbone rmsd over 75% of the protein. Benchmark calculations on known structures and blind targets show that the method can accurately model protein structures, even with very remote homology information, to a backbone rmsd of 1.2-1.9 Å relative to the conventional determined NMR ensembles and of 0.9-1.6 Å relative to X-ray structures for well-defined regions of the protein structures. This approach facilitates the accurate modeling of protein structures using backbone chemical shift data without need for side-chain resonance assignments and extensive analysis of NOESY cross-peak assignments.
Otolithic information is required for homing in the mouse.
Yoder, Ryan M; Goebel, Elizabeth A; Köppen, Jenny R; Blankenship, Philip A; Blackwell, Ashley A; Wallace, Douglas G
2015-08-01
Navigation and the underlying brain signals are influenced by various allothetic and idiothetic cues, depending on environmental conditions and task demands. Visual landmarks typically control navigation in familiar environments but, in the absence of landmarks, self-movement cues are able to guide navigation relatively accurately. These self-movement cues include signals from the vestibular system, and may originate in the semicircular canals or otolith organs. Here, we tested the otolithic contribution to navigation on a food-hoarding task in darkness and in light. The dark test prevented the use of visual cues and thus favored the use of self-movement information, whereas the light test allowed the use of both visual and non-visual cues. In darkness, tilted mice made shorter-duration stops during the outward journey, and made more circuitous homeward journeys than control mice; heading error, trip duration, and peak error were greater for tilted mice than for controls. In light, tilted mice also showed more circuitous homeward trips, but appeared to correct for errors during the journey; heading error, trip duration, and peak error were similar between groups. These results suggest that signals from the otolith organs are necessary for accurate homing performance in mice, with the greatest contribution in non-visual environments. © 2015 Wiley Periodicals, Inc.
Almeida, Eduardo DeBrito
2012-01-01
This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.
Navigated Waterways of Louisiana, Geographic NAD83, LOSCO (1999) [navigated_waterways_LOSCO_1999
Louisiana Geographic Information Center — This is a line dataset of navigated waterways fitting the LOSCO definition: it has been traveled by vessels transporting 10,000 gallons of oil or fuel as determined...
WIKIPEDIA ENTRIES AS A SOURCE OF CAR NAVIGATION LANDMARKS
Directory of Open Access Journals (Sweden)
N. Binski
2016-06-01
Full Text Available Car navigation system devices provide today with an easy and simple solution to the basic concept of reaching a destination. Although these systems usually achieve this goal, they still deliver a limited and poor sequence of instructions that do not consider the human nature of using landmarks during wayfinding. This research paper addresses the concept of enriching navigation route instructions by adding supplementary route information in the form of landmarks. We aim at using a contributed source of landmarks information, which is easy to access, available, show high update rate, and have a large scale of information. For this, Wikipedia was chosen, since it represents the world’s largest free encyclopaedia that includes information about many spatial entities. A survey and classification of available landmarks is implemented, coupled with ranking algorithms based on the entries’ categories and attributes. These are aimed at retrieving the most relevant landmark information required that are valuable for the enrichment of a specific navigation route. The paper will present this methodology, together with examples and results, showing the feasibility of using this concept and its potential of enriching navigation processes.
Philippides, Andrew; Graham, Paul; Baddeley, Bart; Husbands, Philip
2015-01-01
To behave in a robust and adaptive way, animals must extract task-relevant sensory information efficiently. One way to understand how they achieve this is to explore regularities within the information animals perceive during natural behavior. In this chapter, we describe how we have used artificial neural networks (ANNs) to explore efficiencies in vision and memory that might underpin visually guided route navigation in complex worlds. Specifically, we use three types of neural network to learn the regularities within a series of views encountered during a single route traversal (the training route), in such a way that the networks output the familiarity of novel views presented to them. The problem of navigation is then reframed in terms of a search for familiar views, that is, views similar to those associated with the route. This approach has two major benefits. First, the ANN provides a compact holistic representation of the data and is thus an efficient way to encode a large set of views. Second, as we do not store the training views, we are not limited in the number of training views we use and the agent does not need to decide which views to learn.
Two-dimensional small-world networks: Navigation with local information
International Nuclear Information System (INIS)
Chen Jianzhen; Liu Wei; Zhu Jianyang
2006-01-01
A navigation process is studied on a variant of the Watts-Strogatz small-world network model embedded on a square lattice. With probability p, each vertex sends out a long-range link, and the probability of the other end of this link falling on a vertex at lattice distance r away decays as r -α . Vertices on the network have knowledge of only their nearest neighbors. In a navigation process, messages are forwarded to a designated target. For α 1, a dynamic small world effect is observed, and the behavior of the scaling function at large enough pL is obtained. At α=2 and 3, this kind of scaling breaks down, and different functions of the average actual path length are obtained. For α>3, the average actual path length is nearly linear with network size
Model-base visual navigation of a mobile robot
International Nuclear Information System (INIS)
Roening, J.
1992-08-01
The thesis considers the problems of visual guidance of a mobile robot. A visual navigation system is formalized consisting of four basic components: world modelling, navigation sensing, navigation and action. According to this formalization an experimental system is designed and realized enabling real-world navigation experiments. A priori knowledge of the world is used for global path finding, aiding scene analysis and providing feedback information to the close the control loop between planned and actual movements. Two world models were developed. The first approach was a map-based model especially designed for low-level description of indoor environments. The other was a higher level and more symbolic representation of the surroundings utilizing the spatial graph concept. Two passive vision approaches were developed to extract navigation information. With passive three- camera stereovision a sparse depth map of the scene was produced. Another approach employed a fish-eye lens to map the entire scene of the surroundings without camera scanning. The local path planning of the system is supported by three-dimensional scene interpreter providing a partial understanding of scene contents. The interpreter consists of data-driven low-level stages and a model-driven high-level stage. Experiments were carried out in a simulator and test vehicle constructed in the laboratory. The test vehicle successfully navigated indoors
Image-based path planning for automated virtual colonoscopy navigation
Hong, Wei
2008-03-01
Virtual colonoscopy (VC) is a noninvasive method for colonic polyp screening, by reconstructing three-dimensional models of the colon using computerized tomography (CT). In virtual colonoscopy fly-through navigation, it is crucial to generate an optimal camera path for efficient clinical examination. In conventional methods, the centerline of the colon lumen is usually used as the camera path. In order to extract colon centerline, some time consuming pre-processing algorithms must be performed before the fly-through navigation, such as colon segmentation, distance transformation, or topological thinning. In this paper, we present an efficient image-based path planning algorithm for automated virtual colonoscopy fly-through navigation without the requirement of any pre-processing. Our algorithm only needs the physician to provide a seed point as the starting camera position using 2D axial CT images. A wide angle fisheye camera model is used to generate a depth image from the current camera position. Two types of navigational landmarks, safe regions and target regions are extracted from the depth images. Camera position and its corresponding view direction are then determined using these landmarks. The experimental results show that the generated paths are accurate and increase the user comfort during the fly-through navigation. Moreover, because of the efficiency of our path planning algorithm and rendering algorithm, our VC fly-through navigation system can still guarantee 30 FPS.
Minimally invasive surgery under fluoro-navigation for anterior pelvic ring fractures
Directory of Open Access Journals (Sweden)
Kai-Hua Zhou
2016-01-01
Conclusions: Fluoro-navigation technique could become a safe, accurate, and fairly quick method for the treatment of anterior pelvic ring fractures. Standardization of the operative procedure and training are mandatory for the success of this procedure.
Parsimonious Ways to Use Vision for Navigation
Directory of Open Access Journals (Sweden)
Paul Graham
2012-05-01
Full Text Available The use of visual information for navigation appears to be a universal strategy for sighted animals, amongst which, one particular group of expert navigators are the ants. The broad interest in studies of ant navigation is in part due to their small brains, thus biomimetic engineers expect to be impressed by elegant control solutions, and psychologists might hope for a description of the minimal cognitive requirements for complex spatial behaviours. In this spirit, we have been taking an interdisciplinary approach to the visual guided navigation of ants in their natural habitat. Behavioural experiments and natural image statistics show that visual navigation need not depend on the remembering or recognition of objects. Further modelling work suggests how simple behavioural routines might enable navigation using familiarity detection rather than explicit recall, and we present a proof of concept that visual navigation using familiarity can be achieved without specifying when or what to learn, nor separating routes into sequences of waypoints. We suggest that our current model represents the only detailed and complete model of insect route guidance to date. What's more, we believe the suggested mechanisms represent useful parsimonious hypotheses for the visually guided navigation in larger-brain animals.
Directory of Open Access Journals (Sweden)
Vesna Kumbaroska
2017-04-01
Full Text Available Revealing an endless array of user behaviors in an online environment is a very good indicator of the user’s interests either in the process of browsing or in purchasing. One such behavior is the navigation behavior, so detected user navigation patterns are able to be used for practical purposes such as: improving user engagement, turning most browsers into buyers, personalize content or interface, etc. In this regard, our research represents a connection between navigation modelling and user engagement. A usage of the Generalized Stochastic Petri Nets concept for stochastic behavioral-based modelling of the navigation process is proposed for measuring user engagement components. Different types of users are automatically identified and clustered according to their navigation behaviors, thus the developed model gives great insight into the navigation process. As part of this study, Peterson’s model for measuring the user engagement is explored and a direct calculation of its components is illustrated. At the same time, asssuming that several user sessions/visits are initialized in a certain time frame, following the Petri Nets dynamics is indicating that the proposed behavioral – based model could be used for user engagement metrics calculation, thus some basic ideas are discussed, and initial directions are given.
Sarkaer, M.; San Segundo Bello, D.; Van Hoof, C.; Theuwissen, A.
2010-01-01
The navigational strategies of insects using skylight polarization are interesting for applications in autonomous agent navigation because they rely on very little information for navigation. A polarization navigation sensor using the Stokes parameters to determine the orientation is presented. The
Lu, Shan; Zhang, Hanmo
2016-01-01
To meet the requirement of autonomous orbit determination, this paper proposes a fast curve fitting method based on earth ultraviolet features to obtain accurate earth vector direction, in order to achieve the high precision autonomous navigation. Firstly, combining the stable characters of earth ultraviolet radiance and the use of transmission model software of atmospheric radiation, the paper simulates earth ultraviolet radiation model on different time and chooses the proper observation band. Then the fast improved edge extracting method combined Sobel operator and local binary pattern (LBP) is utilized, which can both eliminate noises efficiently and extract earth ultraviolet limb features accurately. And earth's centroid locations on simulated images are estimated via the least square fitting method using part of the limb edges. Taken advantage of the estimated earth vector direction and earth distance, Extended Kalman Filter (EKF) is applied to realize the autonomous navigation finally. Experiment results indicate the proposed method can achieve a sub-pixel earth centroid location estimation and extremely enhance autonomous celestial navigation precision.
On-the-fly Locata/inertial navigation system integration for precise maritime application
Jiang, Wei; Li, Yong; Rizos, Chris
2013-10-01
The application of Global Navigation Satellite System (GNSS) technology has meant that marine navigators have greater access to a more consistent and accurate positioning capability than ever before. However, GNSS may not be able to meet all emerging navigation performance requirements for maritime applications with respect to service robustness, accuracy, integrity and availability. In particular, applications in port areas (for example automated docking) and in constricted waterways, have very stringent performance requirements. Even when an integrated inertial navigation system (INS)/GNSS device is used there may still be performance gaps. GNSS signals are easily blocked or interfered with, and sometimes the satellite geometry may not be good enough for high accuracy and high reliability applications. Furthermore, the INS accuracy degrades rapidly during GNSS outages. This paper investigates the use of a portable ground-based positioning system, known as ‘Locata’, which was integrated with an INS, to provide accurate navigation in a marine environment without reliance on GNSS signals. An ‘on-the-fly’ Locata resolution algorithm that takes advantage of geometry change via an extended Kalman filter is proposed in this paper. Single-differenced Locata carrier phase measurements are utilized to achieve accurate and reliable solutions. A ‘loosely coupled’ decentralized Locata/INS integration architecture based on the Kalman filter is used for data processing. In order to evaluate the system performance, a field trial was conducted on Sydney Harbour. A Locata network consisting of eight Locata transmitters was set up near the Sydney Harbour Bridge. The experiment demonstrated that the Locata on-the-fly (OTF) algorithm is effective and can improve the system accuracy in comparison with the conventional ‘known point initialization’ (KPI) method. After the OTF and KPI comparison, the OTF Locata/INS integration is then assessed further and its performance
On-the-fly Locata/inertial navigation system integration for precise maritime application
International Nuclear Information System (INIS)
Jiang, Wei; Li, Yong; Rizos, Chris
2013-01-01
The application of Global Navigation Satellite System (GNSS) technology has meant that marine navigators have greater access to a more consistent and accurate positioning capability than ever before. However, GNSS may not be able to meet all emerging navigation performance requirements for maritime applications with respect to service robustness, accuracy, integrity and availability. In particular, applications in port areas (for example automated docking) and in constricted waterways, have very stringent performance requirements. Even when an integrated inertial navigation system (INS)/GNSS device is used there may still be performance gaps. GNSS signals are easily blocked or interfered with, and sometimes the satellite geometry may not be good enough for high accuracy and high reliability applications. Furthermore, the INS accuracy degrades rapidly during GNSS outages. This paper investigates the use of a portable ground-based positioning system, known as ‘Locata’, which was integrated with an INS, to provide accurate navigation in a marine environment without reliance on GNSS signals. An ‘on-the-fly’ Locata resolution algorithm that takes advantage of geometry change via an extended Kalman filter is proposed in this paper. Single-differenced Locata carrier phase measurements are utilized to achieve accurate and reliable solutions. A ‘loosely coupled’ decentralized Locata/INS integration architecture based on the Kalman filter is used for data processing. In order to evaluate the system performance, a field trial was conducted on Sydney Harbour. A Locata network consisting of eight Locata transmitters was set up near the Sydney Harbour Bridge. The experiment demonstrated that the Locata on-the-fly (OTF) algorithm is effective and can improve the system accuracy in comparison with the conventional ‘known point initialization’ (KPI) method. After the OTF and KPI comparison, the OTF Locata/INS integration is then assessed further and its performance
Neural-network-based depth computation for blind navigation
Wong, Farrah; Nagarajan, Ramachandran R.; Yaacob, Sazali
2004-12-01
A research undertaken to help blind people to navigate autonomously or with minimum assistance is termed as "Blind Navigation". In this research, an aid that could help blind people in their navigation is proposed. Distance serves as an important clue during our navigation. A stereovision navigation aid implemented with two digital video cameras that are spaced apart and fixed on a headgear to obtain the distance information is presented. In this paper, a neural network methodology is used to obtain the required parameters of the camera which is known as camera calibration. These parameters are not known but obtained by adjusting the weights in the network. The inputs to the network consist of the matching features in the stereo pair images. A back propagation network with 16-input neurons, 3 hidden neurons and 1 output neuron, which gives depth, is created. The distance information is incorporated into the final processed image as four gray levels such as white, light gray, dark gray and black. Preliminary results have shown that the percentage errors fall below 10%. It is envisaged that the distance provided by neural network shall enable blind individuals to go near and pick up an object of interest.
Celestial Navigation in the USA, Fiji, and Tunisia
Holbrook, Jarita C.
2015-05-01
Today there are many coastal communities that are home to navigators who use stars for position finding at night; I was, however, unaware of this fact when I began researching celestial navigation practices in 1997. My project focused on three communities: the Moce Islanders of Fiji, the Kerkennah Islanders in Tunisia, and the U.S. Navy officers and students at the United States Naval Academy, Annapolis, Maryland. My goal was to answer the question of why people continue to navigate by the stars, but also to understand the role of technology in their navigation practices. Using anthropology techniques of ethnography including participant observation, formal and informal interviews, audio and videotaping, I gathered data over five years at the three communities. I began by learning the details of how they use the stars for navigation. Next, I learned about who did the navigation and where they learned to navigate. I gathered opinions on various navigation aids and instruments, and opinions about the future of using the stars for navigation. I listened to the stories that they told about navigating. In the United States I worked in English, in Fiji, in Fijian and English, and in Tunisia, French and English. For the formal interviews I worked with translators. The navigators use stars for navigating today but the future of their techniques is not certain. Though practiced today, these celestial navigation traditions have undergone and continue to undergo changes. New navigational technologies are part of the stimulation for change, thus 'a meeting of different worlds' is symbolized by peoples encounters with these technologies.
International Nuclear Information System (INIS)
Hope, Thomas A.; Verdin, Emily F.; Bergsland, Emily K.; Ohliger, Michael A.; Corvera, Carlos University; Nakakura, Eric K.
2015-01-01
The purpose of this study was to evaluate the utility of bellows-based respiratory compensation and navigated hepatobiliary phase imaging to correct for respiratory motion in the setting of dedicated liver PET/MRI. Institutional review board approval and informed consent were obtained. Six patients with metastatic neuroendocrine tumor were imaged using Ga-68 DOTA-TOC PET/MRI. Whole body imaging and a dedicated 15-min liver PET acquisition was performed, in addition to navigated and breath-held hepatobiliary phase (HBP) MRI. Liver PET data was reconstructed three ways: the entire data set (liver PET), gated using respiratory bellows (RC-liver PET), and a non-gated data set reconstructed using the same amount of data used in the RC-liver PET (shortened liver PET). Liver lesions were evaluated using SUV max , SUV peak , SUV mean , and Vol isocontour . Additionally, the displacement of each lesion between the RC-liver PET images and the navigated and breath-held HBP images was calculated. Respiratory compensation resulted in a 43 % increase in SUVs compared to ungated data (liver vs RC-liver PET SUV max 26.0 vs 37.3, p < 0.001) and a 25 % increase compared to a non-gated reconstruction using the same amount of data (RC-liver vs shortened liver PET SUV max 26.0 vs 32.6, p < 0.001). Lesion displacement was minimized using navigated HBP MRI (1.3 ± 1.0 mm) compared to breath-held HBP MRI (23.3 ± 1.0 mm). Respiratory bellows can provide accurate respiratory compensation when imaging liver lesions using PET/MRI, and results in increased SUVs due to a combination of increased image noise and reduced respiratory blurring. Additionally, navigated HBP MRI accurately aligns with respiratory compensated PET data.
Energy Technology Data Exchange (ETDEWEB)
Hope, Thomas A. [Department of Radiology and Biomedical Imaging, University of California, San Francisco, San Francisco, CA (United States); Department of Radiology, San Francisco VA Medical Center, San Francisco, CA (United States); Verdin, Emily F. [Department of Radiology and Biomedical Imaging, University of California, San Francisco, San Francisco, CA (United States); Bergsland, Emily K. [Division of Hematology/Oncology, Department of Medicine, University of California, San Francisco, San Francisco, CA (United States); Ohliger, Michael A. [Department of Radiology and Biomedical Imaging, University of California, San Francisco, San Francisco, CA (United States); Department of Radiology, San Francisco General Hospital, San Francisco, CA (United States); Corvera, Carlos University; Nakakura, Eric K. [Division of Surgical Oncology, Department of Surgery, University of California, San Francisco, San Francisco, CA (United States)
2015-09-18
The purpose of this study was to evaluate the utility of bellows-based respiratory compensation and navigated hepatobiliary phase imaging to correct for respiratory motion in the setting of dedicated liver PET/MRI. Institutional review board approval and informed consent were obtained. Six patients with metastatic neuroendocrine tumor were imaged using Ga-68 DOTA-TOC PET/MRI. Whole body imaging and a dedicated 15-min liver PET acquisition was performed, in addition to navigated and breath-held hepatobiliary phase (HBP) MRI. Liver PET data was reconstructed three ways: the entire data set (liver PET), gated using respiratory bellows (RC-liver PET), and a non-gated data set reconstructed using the same amount of data used in the RC-liver PET (shortened liver PET). Liver lesions were evaluated using SUV{sub max}, SUV{sub peak}, SUV{sub mean}, and Vol{sub isocontour}. Additionally, the displacement of each lesion between the RC-liver PET images and the navigated and breath-held HBP images was calculated. Respiratory compensation resulted in a 43 % increase in SUVs compared to ungated data (liver vs RC-liver PET SUV{sub max} 26.0 vs 37.3, p < 0.001) and a 25 % increase compared to a non-gated reconstruction using the same amount of data (RC-liver vs shortened liver PET SUV{sub max} 26.0 vs 32.6, p < 0.001). Lesion displacement was minimized using navigated HBP MRI (1.3 ± 1.0 mm) compared to breath-held HBP MRI (23.3 ± 1.0 mm). Respiratory bellows can provide accurate respiratory compensation when imaging liver lesions using PET/MRI, and results in increased SUVs due to a combination of increased image noise and reduced respiratory blurring. Additionally, navigated HBP MRI accurately aligns with respiratory compensated PET data.
Moafipoor, Shahram
Personal navigators (PN) have been studied for about a decade in different fields and applications, such as safety and rescue operations, security and emergency services, and police and military applications. The common goal of all these applications is to provide precise and reliable position, velocity, and heading information of each individual in various environments. In the PN system developed in this dissertation, the underlying assumption is that the system does not require pre-existing infrastructure to enable pedestrian navigation. To facilitate this capability, a multisensor system concept, based on the Global Positioning System (GPS), inertial navigation, barometer, magnetometer, and a human pedometry model has been developed. An important aspect of this design is to use the human body as navigation sensor to facilitate Dead Reckoning (DR) navigation in GPS-challenged environments. The system is designed predominantly for outdoor environments, where occasional loss of GPS lock may happen; however, testing and performance demonstration have been extended to indoor environments. DR navigation is based on a relative-measurement approach, with the key idea of integrating the incremental motion information in the form of step direction (SD) and step length (SL) over time. The foundation of the intelligent navigation system concept proposed here rests in exploiting the human locomotion pattern, as well as change of locomotion in varying environments. In this context, the term intelligent navigation represents the transition from the conventional point-to-point DR to dynamic navigation using the knowledge about the mechanism of the moving person. This approach increasingly relies on integrating knowledge-based systems (KBS) and artificial intelligence (AI) methodologies, including artificial neural networks (ANN) and fuzzy logic (FL). In addition, a general framework of the quality control for the real-time validation of the DR processing is proposed, based on a
GPS Navigation and Tracking Device
Directory of Open Access Journals (Sweden)
Yahya Salameh Khraisat
2011-10-01
Full Text Available Since the introduction of GPS Navigation systems in the marketplace, consumers and businesses have been coming up with innovative ways to use the technology in their everyday life. GPS Navigation and Tracking systems keep us from getting lost when we are in strange locations, they monitor children when they are away from home, keep track of business vehicles and can even let us know where a philandering partner is at all times. Because of this we attend to build a GPS tracking device to solve the mentioned problems. Our work consists of the GPS module that collects data from satellites and calculates the position information before transmitting them to the user’s PC (of Navigation system or observers (of Tracking System using wireless technology (GSM.
Waran, V; Pancharatnam, Devaraj; Thambinayagam, Hari Chandran; Raman, Rajagopal; Rathinam, Alwin Kumar; Balakrishnan, Yuwaraj Kumar; Tung, Tan Su; Rahman, Z A
2014-01-01
Navigation in neurosurgery has expanded rapidly; however, suitable models to train end users to use the myriad software and hardware that come with these systems are lacking. Utilizing three-dimensional (3D) industrial rapid prototyping processes, we have been able to create models using actual computed tomography (CT) data from patients with pathology and use these models to simulate a variety of commonly performed neurosurgical procedures with navigation systems. To assess the possibility of utilizing models created from CT scan dataset obtained from patients with cranial pathology to simulate common neurosurgical procedures using navigation systems. Three patients with pathology were selected (hydrocephalus, right frontal cortical lesion, and midline clival meningioma). CT scan data following an image-guidance surgery protocol in DIACOM format and a Rapid Prototyping Machine were taken to create the necessary printed model with the corresponding pathology embedded. The ability in registration, planning, and navigation of two navigation systems using a variety of software and hardware provided by these platforms was assessed. We were able to register all models accurately using both navigation systems and perform the necessary simulations as planned. Models with pathology utilizing 3D rapid prototyping techniques accurately reflect data of actual patients and can be used in the simulation of neurosurgical operations using navigation systems. Georg Thieme Verlag KG Stuttgart · New York.
Directory of Open Access Journals (Sweden)
Li N.
2017-01-01
Full Text Available Affected by the unstable pulse radiation and the pulsar directional errors, the statistical characteristics of the pulsar measurement noise may vary with time slowly and cannot be accurately determined, which cause the filtering accuracy of the extended Kalman filter(EKF in pulsar navigation positioning system decline sharply or even diverge. To solve this problem, an adaptive extended Kalman filtering algorithm based on the empirical mode decomposition(EMD is proposed. In this method, the high frequency noise is separated from measurement information of pulsar by the method of EMD, and the noise variance can be estimated to update the parameters of EKF. The simulation results demonstrate that compared with conventional EKF, the proposed method can adaptively track the change of the measurement noise, and still keeps high estimation accuracy with unknown measurement noise, the positioning accuracy of the pulsar navigation is improved simultaneously.
Topological mapping and navigation in indoor environment with invisible barcode
International Nuclear Information System (INIS)
Huh, Jin Wook; Chung, Woong Sik; Chung, Wan Kyun
2006-01-01
This paper addresses the localization and navigation problem using invisible two dimensional barcodes on the floor. Compared with other methods using natural/artificial landmark, the proposed localization method has great advantages in cost and appearance, since the location of the robot is perfectly known using the barcode information after the mapping is finished. We also propose a navigation algorithm which uses the topological structure. For the topological information, we define nodes and edges which are suitable for indoor navigation, especially for large area having multiple rooms, many walls and many static obstacles. The proposed algorithm also has an advantage that errors occurred in each node are mutually independent and can be compensated exactly after some navigation using barcode. Simulation and experimental results were performed to verify the algorithm in the barcode environment, and the result showed an excellent performance. After mapping, it is also possible to solve the kidnapped case and generate paths using topological information
Perez, Susan L; Paterniti, Debora A; Wilson, Machelle; Bell, Robert A; Chan, Man Shan; Villareal, Chloe C; Nguyen, Hien Huy; Kravitz, Richard L
2015-07-20
Little is known about the processes people use to find health-related information on the Internet or the individual characteristics that shape selection of information-seeking approaches. Our aim was to describe the processes by which users navigate the Internet for information about a hypothetical acute illness and to identify individual characteristics predictive of their information-seeking strategies. Study participants were recruited from public settings and agencies. Interested individuals were screened for eligibility using an online questionnaire. Participants listened to one of two clinical scenarios—consistent with influenza or bacterial meningitis—and then conducted an Internet search. Screen-capture video software captured Internet search mouse clicks and keystrokes. Each step of the search was coded as hypothesis testing (etiology), evidence gathering (symptoms), or action/treatment seeking (behavior). The coded steps were used to form a step-by-step pattern of each participant's information-seeking process. A total of 78 Internet health information seekers ranging from 21-35 years of age and who experienced barriers to accessing health care services participated. We identified 27 unique patterns of information seeking, which were grouped into four overarching classifications based on the number of steps taken during the search, whether a pattern consisted of developing a hypothesis and exploring symptoms before ending the search or searching an action/treatment, and whether a pattern ended with action/treatment seeking. Applying dual-processing theory, we categorized the four overarching pattern classifications as either System 1 (41%, 32/78), unconscious, rapid, automatic, and high capacity processing; or System 2 (59%, 46/78), conscious, slow, and deliberative processing. Using multivariate regression, we found that System 2 processing was associated with higher education and younger age. We identified and classified two approaches to processing
Songlines and navigation in Wardaman and other Australian Aboriginal cultures
Norris, Ray P.; Harney, Bill Yidumdum
2014-07-01
We discuss the songlines and navigation of the Wardaman people, and place them in context by comparing them with corresponding practices in other Aboriginal Australian language groups, using previously-unpublished information and also information drawn from the literature. Songlines are effectively oral maps of the landscape, enabling the transmission of oral navigational skills in cultures that do not have a written language. In many cases, songlines on the Earth are mirrored by songlines in the sky, enabling the sky to be used as a navigational tool, both by using it as a compass and by using it as a mnemonic.
Neurosurgical simulation and navigation with three-dimensional computer graphics.
Hayashi, N; Endo, S; Shibata, T; Ikeda, H; Takaku, A
1999-01-01
We developed a pre-operative simulation and intra-operative navigation system with three-dimensional computer graphics (3D-CG). Because the 3D-CG created by the present system enables visualization of lesions via semitransparent imaging of the scalp surface and brain, the expected operative field could be visualized on the computer display pre-operatively. We used two different configurative navigators. One is assembled by an arciform arm and a laser pointer. The arciform arm consists of 3 joints mounted with rotary encoders forming an iso-center system. The distal end of the arm has a laser pointer, which has a CCD for measurement of the distance between the outlet of the laser beam, and the position illuminated by the laser pointer. Using this navigator, surgeons could accurately estimate the trajectory to the target lesion, and the boundaries of the lesion. Because the other navigator has six degrees of freedom and an interchangeable probe shaped like a bayonet on its tip, it can be used in deep structures through narrow openings. Our system proved efficient and yielded an unobstructed view of deep structures during microscopic neurosurgical procedures.
Time and Motion Study of a Community Patient Navigator
Directory of Open Access Journals (Sweden)
Sara S. Phillips
2014-04-01
Full Text Available Research on patient navigation has focused on validating the utility of navigators by defining their roles and analyzing their effects on patient outcomes, patient satisfaction, and cost effectiveness. Patient navigators are increasingly used outside the research context, and their roles without research responsibilities may look very different. This pilot study captured the activities of a community patient navigator for uninsured women with a positive screening test for breast cancer, using a time and motion approach over a period of three days. We followed the actions of this navigator minute by minute to assess the relative ratios of actions performed and to identify areas for time efficiency improvement to increase direct time with patients. This novel approach depicts the duties of a community patient navigator no longer fettered by navigation logs, research team meetings, surveys, and the consent process. We found that the community patient navigator was able to spend more time with patients in the clinical context relative to performing paperwork or logging communication with patients as a result of her lack of research responsibilities. By illuminating how community patient navigation functions as separate from the research setting, our results will inform future hiring and training of community patient navigators, system design and operations for improving the efficiency and efficacy of navigators, and our understanding of what community patient navigators do in the absence of research responsibilities.
Navigational efficiency of nocturnal Myrmecia ants suffers at low light levels.
Directory of Open Access Journals (Sweden)
Ajay Narendra
Full Text Available Insects face the challenge of navigating to specific goals in both bright sun-lit and dim-lit environments. Both diurnal and nocturnal insects use quite similar navigation strategies. This is despite the signal-to-noise ratio of the navigational cues being poor at low light conditions. To better understand the evolution of nocturnal life, we investigated the navigational efficiency of a nocturnal ant, Myrmecia pyriformis, at different light levels. Workers of M. pyriformis leave the nest individually in a narrow light-window in the evening twilight to forage on nest-specific Eucalyptus trees. The majority of foragers return to the nest in the morning twilight, while few attempt to return to the nest throughout the night. We found that as light levels dropped, ants paused for longer, walked more slowly, the success in finding the nest reduced and their paths became less straight. We found that in both bright and dark conditions ants relied predominantly on visual landmark information for navigation and that landmark guidance became less reliable at low light conditions. It is perhaps due to the poor navigational efficiency at low light levels that the majority of foragers restrict navigational tasks to the twilight periods, where sufficient navigational information is still available.
Mitsuhashi, Shota; Akamatsu, Yasushi; Kobayashi, Hideo; Kusayama, Yoshihiro; Kumagai, Ken; Saito, Tomoyuki
2018-02-01
Rotational malpositioning of the tibial component can lead to poor functional outcome in TKA. Although various surgical techniques have been proposed, precise rotational placement of the tibial component was difficult to accomplish even with the use of a navigation system. The purpose of this study is to assess whether combined CT-based and image-free navigation systems replicate accurately the rotational alignment of tibial component that was preoperatively planned on CT, compared with the conventional method. We compared the number of outliers for rotational alignment of the tibial component using combined CT-based and image-free navigation systems (navigated group) with those of conventional method (conventional group). Seventy-two TKAs were performed between May 2012 and December 2014. In the navigated group, the anteroposterior axis was prepared using CT-based navigation system and the tibial component was positioned under control of the navigation. In the conventional group, the tibial component was placed with reference to the Akagi line that was determined visually. Fisher's exact probability test was performed to evaluate the results. There was a significant difference between the two groups with regard to the number of outliers: 3 outliers in the navigated group compared with 12 outliers in the conventional group (P image-free navigation systems decreased the number of rotational outliers of tibial component, and was helpful for the replication of the accurate rotational alignment of the tibial component that was preoperatively planned.
Navigated versus conventional total knee arthroplasty: A prospective study at three years follow-up.
Martín-Hernández, C; Sanz-Sainz, M; Revenga-Giertych, C; Hernández-Vaquero, D; Fernández-Carreira, J M; Albareda-Albareda, J; Castillo-Palacios, A; Ranera-Garcia, M
2018-03-28
Computer-assisted surgery application in total knee arthroplasty (TKA) has shown more accurate implant alignment compared with conventional instrumentation and is associated with more homogeneous alignment results. Although longer implant survival and superior clinical outcomes should be expected from navigated TKA, currently available evidence does not support this hypothesis. The aim of this study was to compare navigated TKA with conventional TKA regarding clinical and radiological outcomes after a 3-year follow-up under the hypothesis that navigated TKA would provide better outcomes than conventional TKA. In a prospective multicentre study, 119 patients underwent navigated TKA and 80 patients received conventional instrumentation. Patients were evaluated at the baseline and at postoperative months 3, 12, 24, and 36. Analysis included the American Knee Society Score (KSS), Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC), Short Form-12 (SF12) Health Survey, and radiographic assessment. All clinical scores improved significantly for all patients during the follow-up but were significantly better in the navigation group. The percentage of patients showing a mechanical axis between 3° of varus and 3° of valgus was significantly higher in the ATR group (93%) than in the conventional TKA group (71%) (P<.01). The use of computer-assisted surgery in TKA provides more accurate mechanical alignment and superior short-term functional outcomes compared to conventional TKA. Copyright © 2018 SECOT. Publicado por Elsevier España, S.L.U. All rights reserved.
Cancer Patient Navigator Tasks across the Cancer Care Continuum
Braun, Kathryn L.; Kagawa-Singer, Marjorie; Holden, Alan E. C.; Burhansstipanov, Linda; Tran, Jacqueline H.; Seals, Brenda F.; Corbie-Smith, Giselle; Tsark, JoAnn U.; Harjo, Lisa; Foo, Mary Anne; Ramirez, Amelie G.
2011-01-01
Cancer patient navigation (PN) programs have been shown to increase access to and utilization of cancer care for poor and underserved individuals. Despite mounting evidence of its value, cancer patient navigation is not universally understood or provided. We describe five PN programs and the range of tasks their navigators provide across the cancer care continuum (education and outreach, screening, diagnosis and staging, treatment, survivorship, and end-of-life). Tasks are organized by their potential to make cancer services understandable, available, accessible, affordable, appropriate, and accountable. Although navigators perform similar tasks across the five programs, their specific approaches reflect differences in community culture, context, program setting, and funding. Task lists can inform the development of programs, job descriptions, training, and evaluation. They also may be useful in the move to certify navigators and establish mechanisms for reimbursement for navigation services. PMID:22423178
The Application of Surgical Navigation in the Treatment of Temporomandibular Joint Ankylosis.
Sun, Guowen; Lu, Mingxing; Hu, Qingang
2015-11-01
The purpose of this study was to assess the safety and the accuracy of surgical navigation technology in the resection of severe ankylosis of the mandibular condyle with the middle cranial fossa. The computed tomography scan data were transferred to a Windows-based computer workstation, and the patient's individual anatomy was assessed in multiplanar views at the workstation. In the operation, the patient and the virtual image were matched by individual registration with the reference points which were set on the skull bone surface and the teeth. Then, the real-time navigation can be performed. The acquisition of the data sets was uncomplicated, and image quality was sufficient to assess the operative result in 2 cases. Both of the operations were performed successfully with the guidance of real-time navigation. The application of surgical navigation has enhanced the safety and the accuracy of the surgery for bony ankylosis of temporomandibular joint. The use of surgical navigation resulted in the promotion of accurate and safe surgical excision of the ankylosed skull base tissue.
Accurate estimation of indoor travel times
DEFF Research Database (Denmark)
Prentow, Thor Siiger; Blunck, Henrik; Stisen, Allan
2014-01-01
The ability to accurately estimate indoor travel times is crucial for enabling improvements within application areas such as indoor navigation, logistics for mobile workers, and facility management. In this paper, we study the challenges inherent in indoor travel time estimation, and we propose...... the InTraTime method for accurately estimating indoor travel times via mining of historical and real-time indoor position traces. The method learns during operation both travel routes, travel times and their respective likelihood---both for routes traveled as well as for sub-routes thereof. InTraTime...... allows to specify temporal and other query parameters, such as time-of-day, day-of-week or the identity of the traveling individual. As input the method is designed to take generic position traces and is thus interoperable with a variety of indoor positioning systems. The method's advantages include...
Directory of Open Access Journals (Sweden)
Y. C. Lai
2015-05-01
Full Text Available This paper presents a pedestrian indoor navigation system based on the multi-sensor fusion and fuzzy logic estimation algorithms. The proposed navigation system is a self-contained dead reckoning navigation that means no other outside signal is demanded. In order to achieve the self-contained capability, a portable and wearable inertial measure unit (IMU has been developed. Its adopted sensors are the low-cost inertial sensors, accelerometer and gyroscope, based on the micro electro-mechanical system (MEMS. There are two types of the IMU modules, handheld and waist-mounted. The low-cost MEMS sensors suffer from various errors due to the results of manufacturing imperfections and other effects. Therefore, a sensor calibration procedure based on the scalar calibration and the least squares methods has been induced in this study to improve the accuracy of the inertial sensors. With the calibrated data acquired from the inertial sensors, the step length and strength of the pedestrian are estimated by multi-sensor fusion and fuzzy logic estimation algorithms. The developed multi-sensor fusion algorithm provides the amount of the walking steps and the strength of each steps in real-time. Consequently, the estimated walking amount and strength per step are taken into the proposed fuzzy logic estimation algorithm to estimates the step lengths of the user. Since the walking length and direction are both the required information of the dead reckoning navigation, the walking direction is calculated by integrating the angular rate acquired by the gyroscope of the developed IMU module. Both the walking length and direction are calculated on the IMU module and transmit to a smartphone with Bluetooth to perform the dead reckoning navigation which is run on a self-developed APP. Due to the error accumulating of dead reckoning navigation, a particle filter and a pre-loaded map of indoor environment have been applied to the APP of the proposed navigation system
Lai, Y. C.; Chang, C. C.; Tsai, C. M.; Lin, S. Y.; Huang, S. C.
2015-05-01
This paper presents a pedestrian indoor navigation system based on the multi-sensor fusion and fuzzy logic estimation algorithms. The proposed navigation system is a self-contained dead reckoning navigation that means no other outside signal is demanded. In order to achieve the self-contained capability, a portable and wearable inertial measure unit (IMU) has been developed. Its adopted sensors are the low-cost inertial sensors, accelerometer and gyroscope, based on the micro electro-mechanical system (MEMS). There are two types of the IMU modules, handheld and waist-mounted. The low-cost MEMS sensors suffer from various errors due to the results of manufacturing imperfections and other effects. Therefore, a sensor calibration procedure based on the scalar calibration and the least squares methods has been induced in this study to improve the accuracy of the inertial sensors. With the calibrated data acquired from the inertial sensors, the step length and strength of the pedestrian are estimated by multi-sensor fusion and fuzzy logic estimation algorithms. The developed multi-sensor fusion algorithm provides the amount of the walking steps and the strength of each steps in real-time. Consequently, the estimated walking amount and strength per step are taken into the proposed fuzzy logic estimation algorithm to estimates the step lengths of the user. Since the walking length and direction are both the required information of the dead reckoning navigation, the walking direction is calculated by integrating the angular rate acquired by the gyroscope of the developed IMU module. Both the walking length and direction are calculated on the IMU module and transmit to a smartphone with Bluetooth to perform the dead reckoning navigation which is run on a self-developed APP. Due to the error accumulating of dead reckoning navigation, a particle filter and a pre-loaded map of indoor environment have been applied to the APP of the proposed navigation system to extend its
Cao, Xiaofang; Rong, Chunying; Zhong, Aiguo; Lu, Tian; Liu, Shubin
2018-01-15
Molecular acidity is one of the important physiochemical properties of a molecular system, yet its accurate calculation and prediction are still an unresolved problem in the literature. In this work, we propose to make use of the quantities from the information-theoretic (IT) approach in density functional reactivity theory and provide an accurate description of molecular acidity from a completely new perspective. To illustrate our point, five different categories of acidic series, singly and doubly substituted benzoic acids, singly substituted benzenesulfinic acids, benzeneseleninic acids, phenols, and alkyl carboxylic acids, have been thoroughly examined. We show that using IT quantities such as Shannon entropy, Fisher information, Ghosh-Berkowitz-Parr entropy, information gain, Onicescu information energy, and relative Rényi entropy, one is able to simultaneously predict experimental pKa values of these different categories of compounds. Because of the universality of the quantities employed in this work, which are all density dependent, our approach should be general and be applicable to other systems as well. © 2017 Wiley Periodicals, Inc. © 2017 Wiley Periodicals, Inc.
Navigating a 2D Virtual World using Direct Brain Stimulation
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Darby M. Losey
2016-11-01
Full Text Available Can the human brain learn to interpret inputs from a virtual world delivered directly through brain stimulation? We answer this question by describing the first demonstration of humans playing a computer game utilizing only direct brain stimulation and no other sensory inputs. The demonstration also provides the first instance of artificial sensory information, in this case depth, being delivered directly to the human brain through noninvasive methods. Our approach utilizes transcranial magnetic stimulation (TMS of the human visual cortex to convey binary information about obstacles in a virtual maze. At certain intensities, TMS elicits visual percepts known as phosphenes, which transmits information to the subject about their current location within the maze. Using this computer-brain interface (CBI, five subjects successfully navigated an average of 92% of all the steps in a variety of virtual maze worlds. They also became more accurate in solving the task over time. These results suggest that humans can learn to utilize information delivered directly and noninvasively to their brains to solve tasks that cannot be solved using their natural senses, opening the door to human sensory augmentation and novel modes of human-computer interaction.
Lin, Chin-Teng; Chiu, Te-Cheng; Wang, Yu-Kai; Chuang, Chun-Hsiang; Gramann, Klaus
2018-01-15
Studies on spatial navigation demonstrate a significant role of the retrosplenial complex (RSC) in the transformation of egocentric and allocentric information into complementary spatial reference frames (SRFs). The tight anatomical connections of the RSC with a wide range of other cortical regions processing spatial information support its vital role within the human navigation network. To better understand how different areas of the navigational network interact, we investigated the dynamic causal interactions of brain regions involved in solving a virtual navigation task. EEG signals were decomposed by independent component analysis (ICA) and subsequently examined for information flow between clusters of independent components (ICs) using direct short-time directed transfer function (sdDTF). The results revealed information flow between the anterior cingulate cortex and the left prefrontal cortex in the theta (4-7 Hz) frequency band and between the prefrontal, motor, parietal, and occipital cortices as well as the RSC in the alpha (8-13 Hz) frequency band. When participants prefered to use distinct reference frames (egocentric vs. allocentric) during navigation was considered, a dominant occipito-parieto-RSC network was identified in allocentric navigators. These results are in line with the assumption that the RSC, parietal, and occipital cortices are involved in transforming egocentric visual-spatial information into an allocentric reference frame. Moreover, the RSC demonstrated the strongest causal flow during changes in orientation, suggesting that this structure directly provides information on heading changes in humans. Copyright © 2017 Elsevier B.V. All rights reserved.
Improving Canada's Marine Navigation System through e-Navigation
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Daniel Breton
2016-06-01
The conclusion proposed is that on-going work with key partners and stakeholders can be used as the primary mechanism to identify e-Navigation related innovation and needs, and to prioritize next steps. Moving forward in Canada, implementation of new e-navigation services will continue to be stakeholder driven, and used to drive improvements to Canada's marine navigation system.
AUTOMATIC RECOGNITION OF INDOOR NAVIGATION ELEMENTS FROM KINECT POINT CLOUDS
Directory of Open Access Journals (Sweden)
L. Zeng
2017-09-01
Full Text Available This paper realizes automatically the navigating elements defined by indoorGML data standard – door, stairway and wall. The data used is indoor 3D point cloud collected by Kinect v2 launched in 2011 through the means of ORB-SLAM. By contrast, it is cheaper and more convenient than lidar, but the point clouds also have the problem of noise, registration error and large data volume. Hence, we adopt a shape descriptor – histogram of distances between two randomly chosen points, proposed by Osada and merges with other descriptor – in conjunction with random forest classifier to recognize the navigation elements (door, stairway and wall from Kinect point clouds. This research acquires navigation elements and their 3-d location information from each single data frame through segmentation of point clouds, boundary extraction, feature calculation and classification. Finally, this paper utilizes the acquired navigation elements and their information to generate the state data of the indoor navigation module automatically. The experimental results demonstrate a high recognition accuracy of the proposed method.
Automatic Recognition of Indoor Navigation Elements from Kinect Point Clouds
Zeng, L.; Kang, Z.
2017-09-01
This paper realizes automatically the navigating elements defined by indoorGML data standard - door, stairway and wall. The data used is indoor 3D point cloud collected by Kinect v2 launched in 2011 through the means of ORB-SLAM. By contrast, it is cheaper and more convenient than lidar, but the point clouds also have the problem of noise, registration error and large data volume. Hence, we adopt a shape descriptor - histogram of distances between two randomly chosen points, proposed by Osada and merges with other descriptor - in conjunction with random forest classifier to recognize the navigation elements (door, stairway and wall) from Kinect point clouds. This research acquires navigation elements and their 3-d location information from each single data frame through segmentation of point clouds, boundary extraction, feature calculation and classification. Finally, this paper utilizes the acquired navigation elements and their information to generate the state data of the indoor navigation module automatically. The experimental results demonstrate a high recognition accuracy of the proposed method.
Doppler lidar sensor for precision navigation in GPS-deprived environment
Amzajerdian, F.; Pierrottet, D. F.; Hines, G. D.; Petway, L. B.; Barnes, B. W.
2013-05-01
Landing mission concepts that are being developed for exploration of solar system bodies are increasingly ambitious in their implementations and objectives. Most of these missions require accurate position and velocity data during their descent phase in order to ensure safe, soft landing at the pre-designated sites. Data from the vehicle's Inertial Measurement Unit will not be sufficient due to significant drift error after extended travel time in space. Therefore, an onboard sensor is required to provide the necessary data for landing in the GPS-deprived environment of space. For this reason, NASA Langley Research Center has been developing an advanced Doppler lidar sensor capable of providing accurate and reliable data suitable for operation in the highly constrained environment of space. The Doppler lidar transmits three laser beams in different directions toward the ground. The signal from each beam provides the platform velocity and range to the ground along the laser line-of-sight (LOS). The six LOS measurements are then combined in order to determine the three components of the vehicle velocity vector, and to accurately measure altitude and attitude angles relative to the local ground. These measurements are used by an autonomous Guidance, Navigation, and Control system to accurately navigate the vehicle from a few kilometers above the ground to the designated location and to execute a gentle touchdown. A prototype version of our lidar sensor has been completed for a closed-loop demonstration onboard a rocket-powered terrestrial free-flyer vehicle.
Examining care navigation: librarian participation in a teambased approach?
Directory of Open Access Journals (Sweden)
A. Tyler Nix, MSLS
2016-11-01
Full Text Available Objective: This study investigated responsibilities, skill sets, degrees, and certifications required of health care navigators in order to identify areas of potential overlap with health sciences librarianship. Method: The authors conducted a content analysis of health care navigator position announcements and developed and assigned forty-eight category terms to represent the sample’s responsibilities and skill sets. Results: Coordination of patient care and a bachelor’s degree were the most common responsibility and degree requirements, respectively. Results also suggest that managing and providing health information resources is an area of overlap between health care navigators and health sciences librarians, and that librarians are well suited to serve on navigation teams. Conclusion: Such overlap may provide an avenue for collaboration between navigators and health sciences librarians.
Examining care navigation: librarian participation in a team-based approach?
Nix, A Tyler; Huber, Jeffrey T; Shapiro, Robert M; Pfeifle, Andrea
2016-04-01
This study investigated responsibilities, skill sets, degrees, and certifications required of health care navigators in order to identify areas of potential overlap with health sciences librarianship. The authors conducted a content analysis of health care navigator position announcements and developed and assigned forty-eight category terms to represent the sample's responsibilities and skill sets. Coordination of patient care and a bachelor's degree were the most common responsibility and degree requirements, respectively. Results also suggest that managing and providing health information resources is an area of overlap between health care navigators and health sciences librarians, and that librarians are well suited to serve on navigation teams. Such overlap may provide an avenue for collaboration between navigators and health sciences librarians.
An Integrated GNSS/INS/LiDAR-SLAM Positioning Method for Highly Accurate Forest Stem Mapping
Directory of Open Access Journals (Sweden)
Chuang Qian
2016-12-01
Full Text Available Forest mapping, one of the main components of performing a forest inventory, is an important driving force in the development of laser scanning. Mobile laser scanning (MLS, in which laser scanners are installed on moving platforms, has been studied as a convenient measurement method for forest mapping in the past several years. Positioning and attitude accuracies are important for forest mapping using MLS systems. Inertial Navigation Systems (INSs and Global Navigation Satellite Systems (GNSSs are typical and popular positioning and attitude sensors used in MLS systems. In forest environments, because of the loss of signal due to occlusion and severe multipath effects, the positioning accuracy of GNSS is severely degraded, and even that of GNSS/INS decreases considerably. Light Detection and Ranging (LiDAR-based Simultaneous Localization and Mapping (SLAM can achieve higher positioning accuracy in environments containing many features and is commonly implemented in GNSS-denied indoor environments. Forests are different from an indoor environment in that the GNSS signal is available to some extent in a forest. Although the positioning accuracy of GNSS/INS is reduced, estimates of heading angle and velocity can maintain high accurate even with fewer satellites. GNSS/INS and the LiDAR-based SLAM technique can be effectively integrated to form a sustainable, highly accurate positioning and mapping solution for use in forests without additional hardware costs. In this study, information such as heading angles and velocities extracted from a GNSS/INS is utilized to improve the positioning accuracy of the SLAM solution, and two information-aided SLAM methods are proposed. First, a heading angle-aided SLAM (H-aided SLAM method is proposed that supplies the heading angle from GNSS/INS to SLAM. Field test results show that the horizontal positioning accuracy of an entire trajectory of 800 m is 0.13 m and is significantly improved (by 70% compared to that
Gender differences in navigational memory: pilots vs. nonpilots.
Verde, Paola; Piccardi, Laura; Bianchini, Filippo; Guariglia, Cecilia; Carrozzo, Paolo; Morgagni, Fabio; Boccia, Maddalena; Di Fiore, Giacomo; Tomao, Enrico
2015-02-01
The coding of space as near and far is not only determined by arm-reaching distance, but is also dependent on how the brain represents the extension of the body space. Recent reports suggest that the dissociation between reaching and navigational space is not limited to perception and action but also involves memory systems. It has been reported that gender differences emerged only in adverse learning conditions that required strong spatial ability. In this study we investigated navigational versus reaching memory in air force pilots and a control group without flight experience. We took into account temporal duration (working memory and long-term memory) and focused on working memory, which is considered critical in the gender differences literature. We found no gender effects or flight hour effects in pilots but observed gender effects in working memory (but not in learning and delayed recall) in the nonpilot population (Women's mean = 5.33; SD= 0.90; Men's mean = 5.54; SD= 0.90). We also observed a difference between pilots and nonpilots in the maintenance of on-line reaching information: pilots (mean = 5.85; SD=0.76) were more efficient than nonpilots (mean = 5.21; SD=0.83) and managed this type of information similarly to that concerning navigational space. In the navigational learning phase they also showed better navigational memory (mean = 137.83; SD=5.81) than nonpilots (mean = 126.96; SD=15.81) and were significantly more proficient than the latter group. There is no gender difference in a population of pilots in terms of navigational abilities, while it emerges in a control group without flight experience. We found also that pilots performed better than nonpilots. This study suggests that once selected, male and female pilots do not differ from each other in visuo-spatial abilities and spatial navigation.
Testing Two Tools for Multimodal Navigation
Directory of Open Access Journals (Sweden)
Mats Liljedahl
2012-01-01
Full Text Available The latest smartphones with GPS, electronic compasses, directional audio, touch screens, and so forth, hold a potential for location-based services that are easier to use and that let users focus on their activities and the environment around them. Rather than interpreting maps, users can search for information by pointing in a direction and database queries can be created from GPS location and compass data. Users can also get guidance to locations through point and sweep gestures, spatial sound, and simple graphics. This paper describes two studies testing two applications with multimodal user interfaces for navigation and information retrieval. The applications allow users to search for information and get navigation support using combinations of point and sweep gestures, nonspeech audio, graphics, and text. Tests show that users appreciated both applications for their ease of use and for allowing users to interact directly with the surrounding environment.
Laser-based Relative Navigation Using GPS Measurements for Spacecraft Formation Flying
Lee, Kwangwon; Oh, Hyungjik; Park, Han-Earl; Park, Sang-Young; Park, Chandeok
2015-12-01
This study presents a precise relative navigation algorithm using both laser and Global Positioning System (GPS) measurements in real time. The measurement model of the navigation algorithm between two spacecraft is comprised of relative distances measured by laser instruments and single differences of GPS pseudo-range measurements in spherical coordinates. Based on the measurement model, the Extended Kalman Filter (EKF) is applied to smooth the pseudo-range measurements and to obtain the relative navigation solution. While the navigation algorithm using only laser measurements might become inaccurate because of the limited accuracy of spacecraft attitude estimation when the distance between spacecraft is rather large, the proposed approach is able to provide an accurate solution even in such cases by employing the smoothed GPS pseudo-range measurements. Numerical simulations demonstrate that the errors of the proposed algorithm are reduced by more than about 12% compared to those of an algorithm using only laser measurements, as the accuracy of angular measurements is greater than 0.001° at relative distances greater than 30 km.
Bridging IMO e-Navigation Policy and Offshore Oil and Gas Operations through Geospatial Standards
Directory of Open Access Journals (Sweden)
Filipe Modesto Da Rocha
2016-04-01
Full Text Available In offshore industry activities, the suitable onboard provision of assets location and geospatial marine information during operations is essential. Currently, most companies use its own data structures, resulting in incompatibility between processes. In order to promote the data exchange, oil and gas industry associations have pursued initiatives to standardize spatial information. In turn, the IMO - International Maritime Organization - started the implementation of e-Navigation policy, which is the standardization of technologies and protocols applied to maritime information and navigation. This paper shows relationship and integration points between maritime activities of oil and gas industry and e-Navigation technologies and processes, highlighting geospatial information. This paper also preludes out an initiative for a suitable product specification for the offshore oil and gas industry, compliant with e-Navigation and IHO S-100 international standards.
Guadagnolo, B Ashleigh; Dohan, Daniel; Raich, Peter
2011-08-01
Racial and ethnic minorities as well as other vulnerable populations experience disparate cancer-related health outcomes. Patient navigation is an emerging health care delivery innovation that offers promise in improving quality of cancer care delivery to these patients who experience unique health-access barriers. Metrics are needed to evaluate whether patient navigation can improve quality of care delivery, health outcomes, and overall value in health care during diagnosis and treatment of cancer. Information regarding the current state of the science examining patient navigation interventions was gathered via search of the published scientific literature. A focus group of providers, patient navigators, and health-policy experts was convened as part of the Patient Navigation Leadership Summit sponsored by the American Cancer Society. Key metrics were identified for assessing the efficacy of patient navigation in cancer diagnosis and treatment. Patient navigation data exist for all stages of cancer care; however, the literature is more robust for its implementation during prevention, screening, and early diagnostic workup of cancer. Relatively fewer data are reported for outcomes and efficacy of patient navigation during cancer treatment. Metrics are proposed for a policy-relevant research agenda to evaluate the efficacy of patient navigation in cancer diagnosis and treatment. Patient navigation is understudied with respect to its use in cancer diagnosis and treatment. Core metrics are defined to evaluate its efficacy in improving outcomes and mitigating health-access barriers. Copyright © 2011 American Cancer Society.
Theoretical Limits of Lunar Vision Aided Navigation with Inertial Navigation System
2015-03-26
THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH INERTIAL NAVIGATION SYSTEM THESIS David W. Jones, Capt, USAF AFIT-ENG-MS-15-M-020 DEPARTMENT...Government and is not subject to copyright protection in the United States. AFIT-ENG-MS-15-M-020 THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH...DISTRIBUTION UNLIMITED. AFIT-ENG-MS-15-M-020 THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH INERTIAL NAVIGATION SYSTEM THESIS David W. Jones
A full 3D-navigation system in a suitcase.
Freysinger, W; Truppe, M J; Gunkel, A R; Thumfart, W F
2001-01-01
To reduce the impact of contemporary 3D-navigation systems on the environment of typical otorhinolaryngologic operating rooms, we demonstrate that a transfer of navigation software to modern high-power notebook computers is feasible and results in a practicable way to provide positional information to a surgeon intraoperatively. The ARTMA Virtual Patient System has been implemented on a Macintosh PowerBook G3 and, in connection with the Polhemus FASTRAK digitizer, provides intraoperative positional information during endoscopic endonasal surgery. Satisfactory intraoperative navigation has been realized in two- and three-dimensional medical image data sets (i.e., X-ray, ultrasound images, CT, and MR) and live video. This proof-of-concept study demonstrates that acceptable ergonomics and excellent performance of the system can be achieved with contemporary high-end notebook computers. Copyright 2001 Wiley-Liss, Inc.
Practical indoor mobile robot navigation using hybrid maps
DEFF Research Database (Denmark)
Özkil, Ali Gürcan; Fan, Zhun; Xiao, Jizhong
2011-01-01
This paper presents a practical navigation scheme for indoor mobile robots using hybrid maps. The method makes use of metric maps for local navigation and a topological map for global path planning. Metric maps are generated as 2D occupancy grids by a range sensor to represent local information...... about partial areas. The global topological map is used to indicate the connectivity of the 'places-of-interests' in the environment and the interconnectivity of the local maps. Visual tags on the ceiling to be detected by the robot provide valuable information and contribute to reliable localization...... robot and evaluated in a hospital environment....
Highly accurate fluorogenic DNA sequencing with information theory-based error correction.
Chen, Zitian; Zhou, Wenxiong; Qiao, Shuo; Kang, Li; Duan, Haifeng; Xie, X Sunney; Huang, Yanyi
2017-12-01
Eliminating errors in next-generation DNA sequencing has proved challenging. Here we present error-correction code (ECC) sequencing, a method to greatly improve sequencing accuracy by combining fluorogenic sequencing-by-synthesis (SBS) with an information theory-based error-correction algorithm. ECC embeds redundancy in sequencing reads by creating three orthogonal degenerate sequences, generated by alternate dual-base reactions. This is similar to encoding and decoding strategies that have proved effective in detecting and correcting errors in information communication and storage. We show that, when combined with a fluorogenic SBS chemistry with raw accuracy of 98.1%, ECC sequencing provides single-end, error-free sequences up to 200 bp. ECC approaches should enable accurate identification of extremely rare genomic variations in various applications in biology and medicine.
Jig-Time and Navigational Support in the Control of Road Transport
Directory of Open Access Journals (Sweden)
Nataliya Grigorievna Kuftinova
2015-05-01
Full Text Available In this article the question of the direction of use of jig-time and navigation providing the motor transport in the field of steering of transportation process is considered. The solution of transport tasks demand existence of jig-time and navigation providing (JTNP based on use of the global navigation satellite systems (GNSS, geographical information systems (GIS, means and technologies of telematics.
Autonomous GPS/INS navigation experiment for Space Transfer Vehicle
Upadhyay, Triveni N.; Cotterill, Stephen; Deaton, A. W.
1993-01-01
An experiment to validate the concept of developing an autonomous integrated spacecraft navigation system using on board Global Positioning System (GPS) and Inertial Navigation System (INS) measurements is described. The feasibility of integrating GPS measurements with INS measurements to provide a total improvement in spacecraft navigation performance, i.e. improvement in position, velocity and attitude information, was previously demonstrated. An important aspect of this research is the automatic real time reconfiguration capability of the system designed to respond to changes in a spacecraft mission under the control of an expert system.
Using electronic health records and Internet search information for accurate influenza forecasting.
Yang, Shihao; Santillana, Mauricio; Brownstein, John S; Gray, Josh; Richardson, Stewart; Kou, S C
2017-05-08
Accurate influenza activity forecasting helps public health officials prepare and allocate resources for unusual influenza activity. Traditional flu surveillance systems, such as the Centers for Disease Control and Prevention's (CDC) influenza-like illnesses reports, lag behind real-time by one to 2 weeks, whereas information contained in cloud-based electronic health records (EHR) and in Internet users' search activity is typically available in near real-time. We present a method that combines the information from these two data sources with historical flu activity to produce national flu forecasts for the United States up to 4 weeks ahead of the publication of CDC's flu reports. We extend a method originally designed to track flu using Google searches, named ARGO, to combine information from EHR and Internet searches with historical flu activities. Our regularized multivariate regression model dynamically selects the most appropriate variables for flu prediction every week. The model is assessed for the flu seasons within the time period 2013-2016 using multiple metrics including root mean squared error (RMSE). Our method reduces the RMSE of the publicly available alternative (Healthmap flutrends) method by 33, 20, 17 and 21%, for the four time horizons: real-time, one, two, and 3 weeks ahead, respectively. Such accuracy improvements are statistically significant at the 5% level. Our real-time estimates correctly identified the peak timing and magnitude of the studied flu seasons. Our method significantly reduces the prediction error when compared to historical publicly available Internet-based prediction systems, demonstrating that: (1) the method to combine data sources is as important as data quality; (2) effectively extracting information from a cloud-based EHR and Internet search activity leads to accurate forecast of flu.
Kim, Bong Jun; Lee, Sungsoo
2018-04-01
The huge improvements in the speed of data transmission and the increasing amount of data available as the Internet has expanded have made it easy to obtain information about any disease. Since pneumothorax frequently occurs in young adolescents, patients often search the Internet for information on pneumothorax. This study analyzed an Internet community for exchanging information on pneumothorax, with an emphasis on the importance of accurate information and doctors' role in providing such information. This study assessed 599,178 visitors to the Internet community from June 2008 to April 2017. There was an average of 190 visitors, 2.2 posts, and 4.5 replies per day. A total of 6,513 posts were made, and 63.3% of them included questions about the disease. The visitors mostly searched for terms such as 'pneumothorax,' 'recurrent pneumothorax,' 'pneumothorax operation,' and 'obtaining a medical certification of having been diagnosed with pneumothorax.' However, 22% of the pneumothorax-related posts by visitors contained inaccurate information. Internet communities can be an important source of information. However, incorrect information about a disease can be harmful for patients. We, as doctors, should try to provide more in-depth information about diseases to patients and to disseminate accurate information about diseases in Internet communities.
From Resource-Adaptive Navigation Assistance to Augmented Cognition
Zimmer, Hubert D.; Münzer, Stefan; Baus, Jörg
In an assistance scenario, a computer provides purposive information supporting a human user in an everyday situation. Wayfinding with navigation assistance is a prototypical assistance scenario. The present chapter analyzes the interplay of the resources of the assistance system and the resources of the user. The navigation assistance system provides geographic knowledge, positioning information, route planning, spatial overview information, and route commands at decision points. The user's resources encompass spatial knowledge, spatial abilities and visuo-spatial working memory, orientation strategies, and cultural habit. Flexible adaptations of the assistance system to available resources of the user are described, taking different wayfinding goals, situational constraints, and individual differences into account. Throughout the chapter, the idea is pursued that the available resources of the user should be kept active.
An Indoor Navigation System for the Visually Impaired
Directory of Open Access Journals (Sweden)
Luis A. Guerrero
2012-06-01
Full Text Available Navigation in indoor environments is highly challenging for the severely visually impaired, particularly in spaces visited for the first time. Several solutions have been proposed to deal with this challenge. Although some of them have shown to be useful in real scenarios, they involve an important deployment effort or use artifacts that are not natural for blind users. This paper presents an indoor navigation system that was designed taking into consideration usability as the quality requirement to be maximized. This solution enables one to identify the position of a person and calculates the velocity and direction of his movements. Using this information, the system determines the user’s trajectory, locates possible obstacles in that route, and offers navigation information to the user. The solution has been evaluated using two experimental scenarios. Although the results are still not enough to provide strong conclusions, they indicate that the system is suitable to guide visually impaired people through an unknown built environment.
An indoor navigation system for the visually impaired.
Guerrero, Luis A; Vasquez, Francisco; Ochoa, Sergio F
2012-01-01
Navigation in indoor environments is highly challenging for the severely visually impaired, particularly in spaces visited for the first time. Several solutions have been proposed to deal with this challenge. Although some of them have shown to be useful in real scenarios, they involve an important deployment effort or use artifacts that are not natural for blind users. This paper presents an indoor navigation system that was designed taking into consideration usability as the quality requirement to be maximized. This solution enables one to identify the position of a person and calculates the velocity and direction of his movements. Using this information, the system determines the user's trajectory, locates possible obstacles in that route, and offers navigation information to the user. The solution has been evaluated using two experimental scenarios. Although the results are still not enough to provide strong conclusions, they indicate that the system is suitable to guide visually impaired people through an unknown built environment.
Image navigation as a means to expand the boundaries of fluorescence-guided surgery.
Brouwer, Oscar R; Buckle, Tessa; Bunschoten, Anton; Kuil, Joeri; Vahrmeijer, Alexander L; Wendler, Thomas; Valdés-Olmos, Renato A; van der Poel, Henk G; van Leeuwen, Fijs W B
2012-05-21
Hybrid tracers that are both radioactive and fluorescent help extend the use of fluorescence-guided surgery to deeper structures. Such hybrid tracers facilitate preoperative surgical planning using (3D) scintigraphic images and enable synchronous intraoperative radio- and fluorescence guidance. Nevertheless, we previously found that improved orientation during laparoscopic surgery remains desirable. Here we illustrate how intraoperative navigation based on optical tracking of a fluorescence endoscope may help further improve the accuracy of hybrid surgical guidance. After feeding SPECT/CT images with an optical fiducial as a reference target to the navigation system, optical tracking could be used to position the tip of the fluorescence endoscope relative to the preoperative 3D imaging data. This hybrid navigation approach allowed us to accurately identify marker seeds in a phantom setup. The multispectral nature of the fluorescence endoscope enabled stepwise visualization of the two clinically approved fluorescent dyes, fluorescein and indocyanine green. In addition, the approach was used to navigate toward the prostate in a patient undergoing robot-assisted prostatectomy. Navigation of the tracked fluorescence endoscope toward the target identified on SPECT/CT resulted in real-time gradual visualization of the fluorescent signal in the prostate, thus providing an intraoperative confirmation of the navigation accuracy.
Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair.
Hansen, J D; Barrett, S F; Wright, C H G; Wilcox, M
2008-01-01
Three different positioning techniques were investigated to create an autonomous vehicle that could accurately navigate towards a goal: Global Positioning System (GPS), compass dead reckoning, and Ackerman steering. Each technique utilized a fuzzy logic controller that maneuvered a four-wheel car towards a target. The reliability and the accuracy of the navigation methods were investigated by modeling the algorithms in software and implementing them in hardware. To implement the techniques in hardware, positioning sensors were interfaced to a remote control car and a microprocessor. The microprocessor utilized the sensor measurements to orient the car with respect to the target. Next, a fuzzy logic control algorithm adjusted the front wheel steering angle to minimize the difference between the heading and bearing. After minimizing the heading error, the car maintained a straight steering angle along its path to the final destination. The results of this research can be used to develop applications that require precise navigation. The design techniques can also be implemented on alternate platforms such as a wheelchair to assist with autonomous navigation.
Research on robot navigation vision sensor based on grating projection stereo vision
Zhang, Xiaoling; Luo, Yinsheng; Lin, Yuchi; Zhu, Lei
2016-10-01
A novel visual navigation method based on grating projection stereo vision for mobile robot in dark environment is proposed. This method is combining with grating projection profilometry of plane structured light and stereo vision technology. It can be employed to realize obstacle detection, SLAM (Simultaneous Localization and Mapping) and vision odometry for mobile robot navigation in dark environment without the image match in stereo vision technology and without phase unwrapping in the grating projection profilometry. First, we research the new vision sensor theoretical, and build geometric and mathematical model of the grating projection stereo vision system. Second, the computational method of 3D coordinates of space obstacle in the robot's visual field is studied, and then the obstacles in the field is located accurately. The result of simulation experiment and analysis shows that this research is useful to break the current autonomous navigation problem of mobile robot in dark environment, and to provide the theoretical basis and exploration direction for further study on navigation of space exploring robot in the dark and without GPS environment.
Blind MuseumTourer: A System for Self-Guided Tours in Museums and Blind Indoor Navigation
Directory of Open Access Journals (Sweden)
Apostolos Meliones
2018-01-01
Full Text Available Notably valuable efforts have focused on helping people with special needs. In this work, we build upon the experience from the BlindHelper smartphone outdoor pedestrian navigation app and present Blind MuseumTourer, a system for indoor interactive autonomous navigation for blind and visually impaired persons and groups (e.g., pupils, which has primarily addressed blind or visually impaired (BVI accessibility and self-guided tours in museums. A pilot prototype has been developed and is currently under evaluation at the Tactual Museum with the collaboration of the Lighthouse for the Blind of Greece. This paper describes the functionality of the application and evaluates candidate indoor location determination technologies, such as wireless local area network (WLAN and surface-mounted assistive tactile route indications combined with Bluetooth low energy (BLE beacons and inertial dead-reckoning functionality, to come up with a reliable and highly accurate indoor positioning system adopting the latter solution. The developed concepts, including map matching, a key concept for indoor navigation, apply in a similar way to other indoor guidance use cases involving complex indoor places, such as in hospitals, shopping malls, airports, train stations, public and municipality buildings, office buildings, university buildings, hotel resorts, passenger ships, etc. The presented Android application is effectively a Blind IndoorGuide system for accurate and reliable blind indoor navigation.
14 CFR 91.511 - Communication and navigation equipment for overwater operations.
2010-01-01
... electronic navigation units capable of providing the pilot with the information necessary to navigate the..., the Caribbean Sea, and the Atlantic Ocean west of a line which extends from 44°47′00″ N / 67°00′00″ W...
True navigation and magnetic maps in spiny lobsters.
Boles, Larry C; Lohmann, Kenneth J
2003-01-02
Animals are capable of true navigation if, after displacement to a location where they have never been, they can determine their position relative to a goal without relying on familiar surroundings, cues that emanate from the destination, or information collected during the outward journey. So far, only a few animals, all vertebrates, have been shown to possess true navigation. Those few invertebrates that have been carefully studied return to target areas using path integration, landmark recognition, compass orientation and other mechanisms that cannot compensate for displacements into unfamiliar territory. Here we report, however, that the spiny lobster Panulirus argus oriented reliably towards a capture site when displaced 12-37 km to unfamiliar locations, even when deprived of all known orientation cues en route. Little is known about how lobsters and other animals determine position during true navigation. To test the hypothesis that lobsters derive positional information from the Earth's magnetic field, lobsters were exposed to fields replicating those that exist at specific locations in their environment. Lobsters tested in a field north of the capture site oriented themselves southwards, whereas those tested in a field south of the capture site oriented themselves northwards. These results imply that true navigation in spiny lobsters, and perhaps in other animals, is based on a magnetic map sense.
New national emission inventory for navigation in Denmark
Winther, Morten
standards for navigation, in order to gain emission improvements in line with those achieved for other mobile sources. The new fuel consumption estimates for national sea transport are regarded as much more accurate than the DEA fuel sales data used previously, and the recommendation for DEA is to replace their current fuel sales figures by the new estimates calculated in this project. Such updated fuel consumption time series for national sea transport will lead, in turn, to changes in the energy statistics for fisheries (gas oil) and industry (heavy fuel oil), so the national energy balance can remain unchanged. For international transport, fuel sales data as such are regarded as highly accurate for Denmark, since they are compiled from audited information from the Danish oil suppliers, and the inventory approach follows good practice for the United Nations Framework Convention of Climate Changes (UNFCCC) and United Nations Economic Commission for Europe (UNECE) convention, when fleet activity data are missing. However, in order to make inventory upgrades and to support Danish policymakers in bunker emissions allocation, fleet activity-based estimates calculated in a further project would be useful.
Navigable windows of the Northwest Passage
Liu, Xing-he; Ma, Long; Wang, Jia-yue; Wang, Ye; Wang, Li-na
2017-09-01
Artic sea ice loss trends support a greater potential for Arctic shipping. The information of sea ice conditions is important for utilizing Arctic passages. Based on the shipping routes given by ;Arctic Marine Shipping Assessment 2009 Report;, the navigable windows of these routes and the constituent legs were calculated by using sea ice concentration product data from 2006 to 2015, by which a comprehensive knowledge of the sea ice condition of the Northwest Passage was achieved. The results showed that Route 4 (Lancaster Sound - Barrow Strait - Prince Regent Inlet and Bellot Strait - Franklin Strait - Larsen Sound - Victoria Strait - Queen Maud Gulf - Dease Strait - Coronation Gulf - Dolphin and Union Strait - Amundsen Gulf) had the best navigable expectation, Route 2 (Parry Channel - M'Clure Strait) had the worst, and the critical legs affecting the navigation of Northwest Passage were Viscount Melville Sound, Franklin Strait, Victoria Strait, Bellot Strait, M'Clure Strait and Prince of Wales Strait. The shortest navigable period of the routes of Northwest Passage was up to 69 days. The methods used and the results of the study can help the selection and evaluation of Arctic commercial routes.
Exploitation of Semantic Building Model in Indoor Navigation Systems
Anjomshoaa, A.; Shayeganfar, F.; Tjoa, A. Min
2009-04-01
There are many types of indoor and outdoor navigation tools and methodologies available. A majority of these solutions are based on Global Positioning Systems (GPS) and instant video and image processing. These approaches are ideal for open world environments where very few information about the target location is available, but for large scale building environments such as hospitals, governmental offices, etc the end-user will need more detailed information about the surrounding context which is especially important in case of people with special needs. This paper presents a smart indoor navigation solution that is based on Semantic Web technologies and Building Information Model (BIM). The proposed solution is also aligned with Google Android's concepts to enlighten the realization of results. Keywords: IAI IFCXML, Building Information Model, Indoor Navigation, Semantic Web, Google Android, People with Special Needs 1 Introduction Built environment is a central factor in our daily life and a big portion of human life is spent inside buildings. Traditionally the buildings are documented using building maps and plans by utilization of IT tools such as computer-aided design (CAD) applications. Documenting the maps in an electronic way is already pervasive but CAD drawings do not suffice the requirements regarding effective building models that can be shared with other building-related applications such as indoor navigation systems. The navigation in built environment is not a new issue, however with the advances in emerging technologies like GPS, mobile and networked environments, and Semantic Web new solutions have been suggested to enrich the traditional building maps and convert them to smart information resources that can be reused in other applications and improve the interpretability with building inhabitants and building visitors. Other important issues that should be addressed in building navigation scenarios are location tagging and end-user communication
Ballistic Aspects of Feasibility for Prospective Satellite Navigation Technologies
Directory of Open Access Journals (Sweden)
L. N. Lysenko
2015-01-01
consumers of the satellite navigation information.
Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation.
Nitti, Davide O; Bovenga, Fabio; Chiaradia, Maria T; Greco, Mario; Pinelli, Gianpaolo
2015-07-28
This study explores the potential of Synthetic Aperture Radar (SAR) to aid Unmanned Aerial Vehicle (UAV) navigation when Inertial Navigation System (INS) measurements are not accurate enough to eliminate drifts from a planned trajectory. This problem can affect medium-altitude long-endurance (MALE) UAV class, which permits heavy and wide payloads (as required by SAR) and flights for thousands of kilometres accumulating large drifts. The basic idea is to infer position and attitude of an aerial platform by inspecting both amplitude and phase of SAR images acquired onboard. For the amplitude-based approach, the system navigation corrections are obtained by matching the actual coordinates of ground landmarks with those automatically extracted from the SAR image. When the use of SAR amplitude is unfeasible, the phase content can be exploited through SAR interferometry by using a reference Digital Terrain Model (DTM). A feasibility analysis was carried out to derive system requirements by exploring both radiometric and geometric parameters of the acquisition setting. We showed that MALE UAV, specific commercial navigation sensors and SAR systems, typical landmark position accuracy and classes, and available DTMs lead to estimated UAV coordinates with errors bounded within ±12 m, thus making feasible the proposed SAR-based backup system.
Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation
Directory of Open Access Journals (Sweden)
Davide O. Nitti
2015-07-01
Full Text Available This study explores the potential of Synthetic Aperture Radar (SAR to aid Unmanned Aerial Vehicle (UAV navigation when Inertial Navigation System (INS measurements are not accurate enough to eliminate drifts from a planned trajectory. This problem can affect medium-altitude long-endurance (MALE UAV class, which permits heavy and wide payloads (as required by SAR and flights for thousands of kilometres accumulating large drifts. The basic idea is to infer position and attitude of an aerial platform by inspecting both amplitude and phase of SAR images acquired onboard. For the amplitude-based approach, the system navigation corrections are obtained by matching the actual coordinates of ground landmarks with those automatically extracted from the SAR image. When the use of SAR amplitude is unfeasible, the phase content can be exploited through SAR interferometry by using a reference Digital Terrain Model (DTM. A feasibility analysis was carried out to derive system requirements by exploring both radiometric and geometric parameters of the acquisition setting. We showed that MALE UAV, specific commercial navigation sensors and SAR systems, typical landmark position accuracy and classes, and available DTMs lead to estimated UAV coordinates with errors bounded within ±12 m, thus making feasible the proposed SAR-based backup system.
33 CFR 2.36 - Navigable waters of the United States, navigable waters, and territorial waters.
2010-07-01
... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Navigable waters of the United States, navigable waters, and territorial waters. 2.36 Section 2.36 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY GENERAL JURISDICTION Jurisdictional Terms § 2.36 Navigable waters...
Dimopoulos, Kostas; Asimakopoulos, Apostolos
2010-01-01
This study aims to explore navigation patterns and preferred pages' characteristics of ten secondary school students searching the web for information about cloning. The students navigated the Web for as long as they wished in a context of minimum support of teaching staff. Their navigation patterns were analyzed using audit trail data software.…
A new systematic calibration method of ring laser gyroscope inertial navigation system
Wei, Guo; Gao, Chunfeng; Wang, Qi; Wang, Qun; Xiong, Zhenyu; Long, Xingwu
2016-10-01
Inertial navigation system has been the core component of both military and civil navigation systems. Before the INS is put into application, it is supposed to be calibrated in the laboratory in order to compensate repeatability error caused by manufacturing. Discrete calibration method cannot fulfill requirements of high-accurate calibration of the mechanically dithered ring laser gyroscope navigation system with shock absorbers. This paper has analyzed theories of error inspiration and separation in detail and presented a new systematic calibration method for ring laser gyroscope inertial navigation system. Error models and equations of calibrated Inertial Measurement Unit are given. Then proper rotation arrangement orders are depicted in order to establish the linear relationships between the change of velocity errors and calibrated parameter errors. Experiments have been set up to compare the systematic errors calculated by filtering calibration result with those obtained by discrete calibration result. The largest position error and velocity error of filtering calibration result are only 0.18 miles and 0.26m/s compared with 2 miles and 1.46m/s of discrete calibration result. These results have validated the new systematic calibration method and proved its importance for optimal design and accuracy improvement of calibration of mechanically dithered ring laser gyroscope inertial navigation system.
SLS Navigation Model-Based Design Approach
Oliver, T. Emerson; Anzalone, Evan; Geohagan, Kevin; Bernard, Bill; Park, Thomas
2018-01-01
The SLS Program chose to implement a Model-based Design and Model-based Requirements approach for managing component design information and system requirements. This approach differs from previous large-scale design efforts at Marshall Space Flight Center where design documentation alone conveyed information required for vehicle design and analysis and where extensive requirements sets were used to scope and constrain the design. The SLS Navigation Team has been responsible for the Program-controlled Design Math Models (DMMs) which describe and represent the performance of the Inertial Navigation System (INS) and the Rate Gyro Assemblies (RGAs) used by Guidance, Navigation, and Controls (GN&C). The SLS Navigation Team is also responsible for the navigation algorithms. The navigation algorithms are delivered for implementation on the flight hardware as a DMM. For the SLS Block 1-B design, the additional GPS Receiver hardware is managed as a DMM at the vehicle design level. This paper provides a discussion of the processes and methods used to engineer, design, and coordinate engineering trades and performance assessments using SLS practices as applied to the GN&C system, with a particular focus on the Navigation components. These include composing system requirements, requirements verification, model development, model verification and validation, and modeling and analysis approaches. The Model-based Design and Requirements approach does not reduce the effort associated with the design process versus previous processes used at Marshall Space Flight Center. Instead, the approach takes advantage of overlap between the requirements development and management process, and the design and analysis process by efficiently combining the control (i.e. the requirement) and the design mechanisms. The design mechanism is the representation of the component behavior and performance in design and analysis tools. The focus in the early design process shifts from the development and
Pilot performance: assessing how scan patterns & navigational assessments vary by flight expertise.
Yang, Ji Hyun; Kennedy, Quinn; Sullivan, Joseph; Fricker, Ronald D
2013-02-01
Helicopter overland navigation is a cognitively complex task that requires continuous monitoring of system and environmental parameters and many hours of training to master. This study investigated the effect of expertise on pilots' gaze measurements, navigation accuracy, and subjective assessment of their navigation accuracy in overland navigation on easy and difficult routes. A simulated overland task was completed by 12 military officers who ranged in flight experience as measured by total flight hours (TFH). They first studied a map of a route that included both easy and difficult route sections, and then had to 'fly' this simulated route in a fixed-base helicopter simulator. They also completed pre-task estimations and post-task assessments of the navigational difficulty of the transit to each waypoint in the route. Their scan pattern was tracked via eye tracking systems, which captured both the subject's out-the-window (OTW) and topographical map scan data. TFH was not associated with navigation accuracy or root mean square (RMS) error for any route section. For the easy routes, experts spent less time scanning out the window (p = 0.61) and had shorter OTW dwell (p = -0.66). For the difficult routes, experts appeared to slow down their scan by spending as much time scanning out the window as the novices while also having fewer Map fixations (p = -0.65) and shorter OTW dwell (p = -0.69). However, TFH was not significantly correlated with more accurate estimates of route difficulty. This study found that TFH did not predict navigation accuracy or subjective assessment, but was correlated with some gaze parameters.
Navigating the MESSENGER Spacecraft through End of Mission
Bryan, C. G.; Williams, B. G.; Williams, K. E.; Taylor, A. H.; Carranza, E.; Page, B. R.; Stanbridge, D. R.; Mazarico, E.; Neumann, G. A.; O'Shaughnessy, D. J.; McAdams, J. V.; Calloway, A. B.
2015-12-01
eventually allowed the navigation team to settle on an approach that gave consistently accurate predictions. Thus, final mission success was truly the result of a collaborative effort between members of the science, mission operations, mission design, and navigation teams.
Xiao, Mengli; Zhang, Yongbo; Fu, Huimin; Wang, Zhihua
2018-05-01
High-precision navigation algorithm is essential for the future Mars pinpoint landing mission. The unknown inputs caused by large uncertainties of atmospheric density and aerodynamic coefficients as well as unknown measurement biases may cause large estimation errors of conventional Kalman filters. This paper proposes a derivative-free version of nonlinear unbiased minimum variance filter for Mars entry navigation. This filter has been designed to solve this problem by estimating the state and unknown measurement biases simultaneously with derivative-free character, leading to a high-precision algorithm for the Mars entry navigation. IMU/radio beacons integrated navigation is introduced in the simulation, and the result shows that with or without radio blackout, our proposed filter could achieve an accurate state estimation, much better than the conventional unscented Kalman filter, showing the ability of high-precision Mars entry navigation algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Autonomous GPS/INS navigation experiment for Space Transfer Vehicle (STV)
Upadhyay, Triveni N.; Cotterill, Stephen; Deaton, A. Wayne
1991-01-01
An experiment to validate the concept of developing an autonomous integrated spacecraft navigation system using on board Global Positioning System (GPS) and Inertial Navigation System (INS) measurements is described. The feasibility of integrating GPS measurements with INS measurements to provide a total improvement in spacecraft navigation performance, i.e. improvement in position, velocity and attitude information, was previously demonstrated. An important aspect of this research is the automatic real time reconfiguration capability of the system designed to respond to changes in a spacecraft mission under the control of an expert system.
BOREAS Level-0 ER-2 Navigation Data
Strub, Richard; Dominguez, Roseanne; Newcomer, Jeffrey A.; Hall, Forrest G. (Editor)
2000-01-01
The BOREAS Staff Science effort covered those activities that were BOREAS community-level activities or required uniform data collection procedures across sites and time. These activities included the acquisition, processing, and archiving of aircraft navigation/attitude data to complement the digital image data. The level-0 ER-2 navigation data files contain aircraft attitude and position information acquired during the digital image and photographic data collection missions. Temporally, the data were acquired from April to September 1994. Data were recorded at intervals of 5 seconds. The data are stored in tabular ASCII files.
Morison, Zachary; Mehra, Akshay; Olsen, Michael; Donnelly, Michael; Schemitsch, Emil
2013-11-01
The use of computer navigation has been shown to improve the accuracy of femoral component placement compared to conventional instrumentation in hip resurfacing. Whether exposure to computer navigation improves accuracy when the procedure is subsequently performed with conventional instrumentation without navigation has not been explored. We examined whether femoral component alignment utilizing a conventional jig improves following experience with the use of imageless computer navigation for hip resurfacing. Between December 2004 and December 2008, 213 consecutive hip resurfacings were performed by a single surgeon. The first 17 (Cohort 1) and the last 9 (Cohort 2) hip resurfacings were performed using a conventional guidewire alignment jig. In 187 cases, the femoral component was implanted using the imageless computer navigation. Cohorts 1 and 2 were compared for femoral component alignment accuracy. All components in Cohort 2 achieved the position determined by the preoperative plan. The mean deviation of the stem-shaft angle (SSA) from the preoperatively planned target position was 2.2° in Cohort 2 and 5.6° in Cohort 1 (P = 0.01). Four implants in Cohort 1 were positioned at least 10° varus compared to the target SSA position and another four were retroverted. Femoral component placement utilizing conventional instrumentation may be more accurate following experience using imageless computer navigation.
2012-07-20
... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Parts 84 and 115 [Docket No. USCG-2012-0306] RIN 1625-AB86 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments...), the Coast Guard published a final rule entitled ``Navigation and Navigable Waters; Technical...
Error Analysis System for Spacecraft Navigation Using the Global Positioning System (GPS)
Truong, S. H.; Hart, R. C.; Hartman, K. R.; Tomcsik, T. L.; Searl, J. E.; Bernstein, A.
1997-01-01
The Flight Dynamics Division (FDD) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing improved space-navigation filtering algorithms to use the Global Positioning System (GPS) for autonomous real-time onboard orbit determination. In connection with a GPS technology demonstration on the Small Satellite Technology Initiative (SSTI)/Lewis spacecraft, FDD analysts and programmers have teamed with the GSFC Guidance, Navigation, and Control Branch to develop the GPS Enhanced Orbit Determination Experiment (GEODE) system. The GEODE system consists of a Kalman filter operating as a navigation tool for estimating the position, velocity, and additional states required to accurately navigate the orbiting Lewis spacecraft by using astrodynamic modeling and GPS measurements from the receiver. A parallel effort at the FDD is the development of a GPS Error Analysis System (GEAS) that will be used to analyze and improve navigation filtering algorithms during development phases and during in-flight calibration. For GEAS, the Kalman filter theory is extended to estimate the errors in position, velocity, and other error states of interest. The estimation of errors in physical variables at regular intervals will allow the time, cause, and effect of navigation system weaknesses to be identified. In addition, by modeling a sufficient set of navigation system errors, a system failure that causes an observed error anomaly can be traced and accounted for. The GEAS software is formulated using Object Oriented Design (OOD) techniques implemented in the C++ programming language on a Sun SPARC workstation. The Phase 1 of this effort is the development of a basic system to be used to evaluate navigation algorithms implemented in the GEODE system. This paper presents the GEAS mathematical methodology, systems and operations concepts, and software design and implementation. Results from the use of the basic system to evaluate
Betz, J
2016-01-01
This book describes the design and performance analysis of satnav systems, signals, and receivers. It also provides succinct descriptions and comparisons of all the world’s satnav systems. Its comprehensive and logical structure addresses all satnav signals and systems in operation and being developed. Engineering Satellite-Based Navigation and Timing: Global Navigation Satellite Systems, Signals, and Receivers provides the technical foundation for designing and analyzing satnav signals, systems, and receivers. Its contents and structure address all satnav systems and signals: legacy, modernized, and new. It combines qualitative information with detailed techniques and analyses, providing a comprehensive set of insights and engineering tools for this complex multidisciplinary field. Part I describes system and signal engineering including orbital mechanics and constellation design, signal design principles and underlying considerations, link budgets, qua tifying receiver performance in interference, and e...
GPS surveying method applied to terminal area navigation flight experiments
Energy Technology Data Exchange (ETDEWEB)
Murata, M; Shingu, H; Satsushima, K; Tsuji, T; Ishikawa, K; Miyazawa, Y; Uchida, T [National Aerospace Laboratory, Tokyo (Japan)
1993-03-01
With an objective of evaluating accuracy of new landing and navigation systems such as microwave landing guidance system and global positioning satellite (GPS) system, flight experiments are being carried out using experimental aircraft. This aircraft mounts a GPS and evaluates its accuracy by comparing the standard orbits spotted by a Kalman filter from the laser tracing data on the aircraft with the navigation results. The GPS outputs position and speed information from an earth-centered-earth-fixed system called the World Geodetic System, 1984 (WGS84). However, in order to compare the navigation results with output from a reference orbit sensor or other navigation sensor, it is necessary to structure a high-precision reference coordinates system based on the WGS84. A method that applies the GPS phase interference measurement for this problem was proposed, and used actually in analyzing a flight experiment data. As referred to a case of the method having been applied to evaluating an independent navigation accuracy, the method was verified sufficiently effective and reliable not only in navigation method analysis, but also in the aspect of navigational operations. 12 refs., 10 figs., 5 tabs.
An intelligent navigation system for an unmanned surface vehicle
Xu , Tao
2007-01-01
Merged with duplicate record 10026.1/2768 on 27.03.2017 by CS (TIS) A multi-disciplinary research project has been carried out at the University of Plymouth to design and develop an Unmanned Surface Vehicle (USV) named ýpringer. The work presented herein relates to formulation of a robust, reliable, accurate and adaptable navigation system to enable opringei to undertake various environmental monitoring tasks. Synergistically, sensor mathematical modelling, fuzzy logic, Multi-S...
Tele-auscultation support system with mixed reality navigation.
Hori, Kenta; Uchida, Yusuke; Kan, Tsukasa; Minami, Maya; Naito, Chisako; Kuroda, Tomohiro; Takahashi, Hideya; Ando, Masahiko; Kawamura, Takashi; Kume, Naoto; Okamoto, Kazuya; Takemura, Tadamasa; Yoshihara, Hiroyuki
2013-01-01
The aim of this research is to develop an information support system for tele-auscultation. In auscultation, a doctor requires to understand condition of applying a stethoscope, in addition to auscultatory sounds. The proposed system includes intuitive navigation system of stethoscope operation, in addition to conventional audio streaming system of auscultatory sounds and conventional video conferencing system for telecommunication. Mixed reality technology is applied for intuitive navigation of the stethoscope. Information, such as position, contact condition and breath, is overlaid on a view of the patient's chest. The contact condition of the stethoscope is measured by e-textile contact sensors. The breath is measured by a band type breath sensor. In a simulated tele-auscultation experiment, the stethoscope with the contact sensors and the breath sensor were evaluated. The results show that the presentation of the contact condition was not understandable enough for navigating the stethoscope handling. The time series of the breath phases was usable for the remote doctor to understand the breath condition of the patient.
Directory of Open Access Journals (Sweden)
Daniel D Wiegmann
2016-03-01
Full Text Available Navigation is an ideal behavioral model for the study of sensory system integration and the neural substrates associated with complex behavior. For this broader purpose, however, it may be profitable to develop new model systems that are both tractable and sufficiently complex to ensure that information derived from a single sensory modality and path integration are inadequate to locate a goal. Here, we discuss some recent discoveries related to navigation by amblypygids, nocturnal arachnids that inhabit the tropics and sub-tropics. Nocturnal displacement experiments under the cover of a tropical rainforest reveal that these animals possess navigational abilities that are reminiscent, albeit on a smaller spatial scale, of true-navigating vertebrates. Specialized legs, called antenniform legs, which possess hundreds of olfactory and tactile sensory hairs, and vision appear to be involved. These animals also have enormous mushroom bodies, higher-order brain regions that, in insects, integrate contextual cues and may be involved in spatial memory. In amblypygids, the complexity of a nocturnal rainforest may impose navigational challenges that favor the integration of information derived from multimodal cues. Moreover, the movement of these animals is easily studied in the laboratory and putative neural integration sites of sensory information can be manipulated. Thus, amblypygids could serve as a model system for the discovery of neural substrates associated with a unique and potentially sophisticated navigational capability. The diversity of habitats in which amblypygids are found also offers an opportunity for comparative studies of sensory integration and ecological selection pressures on navigation mechanisms.
GPM GROUND VALIDATION NASA ER-2 NAVIGATION DATA MC3E V1
National Aeronautics and Space Administration — The GPM Ground Validation NASA ER-2 Navigation Data MC3E dataset contains information recorded by an on board navigation recorder (NavRec). In addition to typical...
International Nuclear Information System (INIS)
Okawa, Masato; Arai, Yuki; Suenaga, Minoru
2005-08-01
Risk communication activities are important for promoting mutual understanding between local communities and the Japan Nuclear Cycle Development Institute (hereinafter referred to as JNC). The Risk Communication Study Team of JNC Tokai Works has started practical studies to promote further mutual understanding with the local communities. Several communication tools such as poster panels, slide materials, videos, website contents and newsletters were developed as part of its risk communication activities. This paper describes the survey of the internet users in prefectures where nuclear power stations are located, for the advertising effectiveness measurement of nuclear risk information provided on the web site 'Risk Information Navigator' (http://ricotti.jnc.go.jp/risknavi/) and the risk message materials jointly produced by Tokai village's people and JNC. (author)
Radio/FADS/IMU integrated navigation for Mars entry
Jiang, Xiuqiang; Li, Shuang; Huang, Xiangyu
2018-03-01
Supposing future orbiting and landing collaborative exploration mission as the potential project background, this paper addresses the issue of Mars entry integrated navigation using radio beacon, flush air data sensing system (FADS), and inertial measurement unit (IMU). The range and Doppler information sensed from an orbiting radio beacon, the dynamic pressure and heating data sensed from flush air data sensing system, and acceleration and attitude angular rate outputs from an inertial measurement unit are integrated in an unscented Kalman filter to perform state estimation and suppress the system and measurement noise. Computer simulations show that the proposed integrated navigation scheme can enhance the navigation accuracy, which enables precise entry guidance for the given Mars orbiting and landing collaborative exploration mission.
Structure and navigation for electronic publishing
Tillinghast, John; Beretta, Giordano B.
1998-01-01
The sudden explosion of the World Wide Web as a new publication medium has given a dramatic boost to the electronic publishing industry, which previously was a limited market centered around CD-ROMs and on-line databases. While the phenomenon has parallels to the advent of the tabloid press in the middle of last century, the electronic nature of the medium brings with it the typical characteristic of 4th wave media, namely the acceleration in its propagation speed and the volume of information. Consequently, e-publications are even flatter than print media; Shakespeare's Romeo and Juliet share the same computer screen with a home-made plagiarized copy of Deep Throat. The most touted tool for locating useful information on the World Wide Web is the search engine. However, due to the medium's flatness, sought information is drowned in a sea of useless information. A better solution is to build tools that allow authors to structure information so that it can easily be navigated. We experimented with the use of ontologies as a tool to formulate structures for information about a specific topic, so that related concepts are placed in adjacent locations and can easily be navigated using simple and ergonomic user models. We describe our effort in building a World Wide Web based photo album that is shared among a small network of people.
Cooperative Navigation for Low-bandwidth Mobile Acoustic Networks
2015-01-01
travel-time TXCO temperature compensated crystal oscillator UKF unscented Kalman filter UMBS University of Michigan Biological Station USBL ultra...access CEKF centralized extended Kalman filter CEIF centralized extended information filter CI covariance intersection CNA cooperative navigation aid DCCL...programming DEIF decentralized extended information filter DVL Doppler velocity log EIF extended information filter EKF extended Kalman filter FDMA
Intelligent navigation to improve obstetrical sonography.
Yeo, Lami; Romero, Roberto
2016-04-01
'Manual navigation' by the operator is the standard method used to obtain information from two-dimensional and volumetric sonography. Two-dimensional sonography is highly operator dependent and requires extensive training and expertise to assess fetal anatomy properly. Most of the sonographic examination time is devoted to acquisition of images, while 'retrieval' and display of diagnostic planes occurs rapidly (essentially instantaneously). In contrast, volumetric sonography has a rapid acquisition phase, but the retrieval and display of relevant diagnostic planes is often time-consuming, tedious and challenging. We propose the term 'intelligent navigation' to refer to a new method of interrogation of a volume dataset whereby identification and selection of key anatomical landmarks allow the system to: 1) generate a geometrical reconstruction of the organ of interest; and 2) automatically navigate, find, extract and display specific diagnostic planes. This is accomplished using operator-independent algorithms that are both predictable and adaptive. Virtual Intelligent Sonographer Assistance (VIS-Assistance®) is a tool that allows operator-independent sonographic navigation and exploration of the surrounding structures in previously identified diagnostic planes. The advantage of intelligent (over manual) navigation in volumetric sonography is the short time required for both acquisition and retrieval and display of diagnostic planes. Intelligent navigation technology automatically realigns the volume, and reorients and standardizes the anatomical position, so that the fetus and the diagnostic planes are consistently displayed in the same manner each time, regardless of the fetal position or the initial orientation. Automatic labeling of anatomical structures, subject orientation and each of the diagnostic planes is also possible. Intelligent navigation technology can operate on conventional computers, and is not dependent on specific ultrasound platforms or on the
Mantel, Bruno; Stoffregen, Thomas A.; Campbell, Alain; Bardy, Benoît G.
2015-01-01
Body movement influences the structure of multiple forms of ambient energy, including optics and gravito-inertial force. Some researchers have argued that egocentric distance is derived from inferential integration of visual and non-visual stimulation. We suggest that accurate information about egocentric distance exists in perceptual stimulation as higher-order patterns that extend across optics and inertia. We formalize a pattern that specifies the egocentric distance of a stationary object across higher-order relations between optics and inertia. This higher-order parameter is created by self-generated movement of the perceiver in inertial space relative to the illuminated environment. For this reason, we placed minimal restrictions on the exploratory movements of our participants. We asked whether humans can detect and use the information available in this higher-order pattern. Participants judged whether a virtual object was within reach. We manipulated relations between body movement and the ambient structure of optics and inertia. Judgments were precise and accurate when the higher-order optical-inertial parameter was available. When only optic flow was available, judgments were poor. Our results reveal that participants perceived egocentric distance from the higher-order, optical-inertial consequences of their own exploratory activity. Analysis of participants’ movement trajectories revealed that self-selected movements were complex, and tended to optimize availability of the optical-inertial pattern that specifies egocentric distance. We argue that accurate information about egocentric distance exists in higher-order patterns of ambient energy, that self-generated movement can generate these higher-order patterns, and that these patterns can be detected and used to support perception of egocentric distance that is precise and accurate. PMID:25856410
Echoic Sensory Substitution Information in a Single Obstacle Circumvention Task.
Kolarik, Andrew J; Scarfe, Amy C; Moore, Brian C J; Pardhan, Shahina
2016-01-01
Accurate motor control is required when walking around obstacles in order to avoid collisions. When vision is unavailable, sensory substitution can be used to improve locomotion through the environment. Tactile sensory substitution devices (SSDs) are electronic travel aids, some of which indicate the distance of an obstacle using the rate of vibration of a transducer on the skin. We investigated how accurately such an SSD guided navigation in an obstacle circumvention task. Using an SSD, 12 blindfolded participants navigated around a single flat 0.6 x 2 m obstacle. A 3-dimensional Vicon motion capture system was used to quantify various kinematic indices of human movement. Navigation performance under full vision was used as a baseline for comparison. The obstacle position was varied from trial to trial relative to the participant, being placed at two distances 25 cm to the left, right or directly ahead. Under SSD guidance, participants navigated without collision in 93% of trials. No collisions occurred under visual guidance. Buffer space (clearance between the obstacle and shoulder) was larger by a factor of 2.1 with SSD guidance than with visual guidance, movement times were longer by a factor of 9.4, and numbers of velocity corrections were larger by a factor of 5 (all p<0.05). Participants passed the obstacle on the side affording the most space in the majority of trials for both SSD and visual guidance conditions. The results are consistent with the idea that SSD information can be used to generate a protective envelope during locomotion in order to avoid collisions when navigating around obstacles, and to pass on the side of the obstacle affording the most space in the majority of trials.
Echoic Sensory Substitution Information in a Single Obstacle Circumvention Task.
Directory of Open Access Journals (Sweden)
Andrew J Kolarik
Full Text Available Accurate motor control is required when walking around obstacles in order to avoid collisions. When vision is unavailable, sensory substitution can be used to improve locomotion through the environment. Tactile sensory substitution devices (SSDs are electronic travel aids, some of which indicate the distance of an obstacle using the rate of vibration of a transducer on the skin. We investigated how accurately such an SSD guided navigation in an obstacle circumvention task. Using an SSD, 12 blindfolded participants navigated around a single flat 0.6 x 2 m obstacle. A 3-dimensional Vicon motion capture system was used to quantify various kinematic indices of human movement. Navigation performance under full vision was used as a baseline for comparison. The obstacle position was varied from trial to trial relative to the participant, being placed at two distances 25 cm to the left, right or directly ahead. Under SSD guidance, participants navigated without collision in 93% of trials. No collisions occurred under visual guidance. Buffer space (clearance between the obstacle and shoulder was larger by a factor of 2.1 with SSD guidance than with visual guidance, movement times were longer by a factor of 9.4, and numbers of velocity corrections were larger by a factor of 5 (all p<0.05. Participants passed the obstacle on the side affording the most space in the majority of trials for both SSD and visual guidance conditions. The results are consistent with the idea that SSD information can be used to generate a protective envelope during locomotion in order to avoid collisions when navigating around obstacles, and to pass on the side of the obstacle affording the most space in the majority of trials.
Satellite Navigation Systems: Policy, Commercial and Technical Interaction.
Rycroft, M.
2003-12-01
This book adopts a broad perspective on positioning and navigation systems which rely on Earth orbiting satellites for their successful operation. The first of such global systems was the US Global Positioning System (GPS), and the next the Russian GLONASS system. Now studies relating to Europe's future Galileo system are gaining momentum and other nations are planning regional augmentation systems. All such systems are discussed here, particularly relating to political, commercial, legal and technical issues. The opportunities - and also the problems - of having three similar systems in operation simultaneously are examined, and several novel applications are proposed. These range from improved vehicular transport by land, sea and air, to more accurate surveying, more efficient agricultural practices and safer operations in mountainous regions. Everyone who is challenged by these topics will find this volume invaluable. ISU WWW Server; http://www.isunet.edu. Further information on ISU Symposia may also be obtained by e-mail from symposium@isu.isunet.edu Link: http://www.wkap.nl/prod/b/1-4020-1678-6
Plenoptic Imager for Automated Surface Navigation, Phase I
National Aeronautics and Space Administration — Autonomous and semi-autonomous robotic systems require information about their surroundings in order to navigate properly. A video camera machine vision system can...
Learning to navigate the healthcare system in a new country: a qualitative study.
Straiton, Melanie L; Myhre, Sonja
2017-12-01
Learning to navigate a healthcare system in a new country is a barrier to health care. Understanding more about the specific navigation challenges immigrants experience may be the first step towards improving health information and thus access to care. This study considers the challenges that Thai and Filipino immigrant women encounter when learning to navigate the Norwegian primary healthcare system and the strategies they use. A qualitative interview study using thematic analysis. Norway. Fifteen Thai and 15 Filipino immigrant women over the age of 18 who had been living in Norway at least one year. The women took time to understand the role of the general practitioner and some were unaware of their right to an interpreter during consultations. In addition to reliance on family members and friends in their social networks, voluntary and cultural organisations provided valuable tips and advice on how to navigate the Norwegian health system. While some women actively engaged in learning more about the system, they noted a lack of information available in multiple languages. Informal sources play an important role in learning about the health care system. Formal information should be available in different languages in order to better empower immigrant women.
Establishment of high-precision navigation system in the Republic of Armenia
Directory of Open Access Journals (Sweden)
Manukyan Larisa Vladimirovna
2015-04-01
Full Text Available Medium-Earth orbit satellite systems make it possible to provide services on time coordination and navigation support for a wide range of consumers. At present, there are global navigation satellite systems GLONASS (Russia and GPS (USA. Users of these systems have an opportunity to determine their location accurately with the given characteristics of their navigation devices. In all developed countries the progress of geodesy and cartography is closely related to the implementation of advanced new technologies in both scientific and industrial areas. The introduction of new technologies and equipment in production is essential for the development of geodesy and cartography, bringing the existing geodetic networks and cartographic materials to modern condition. In the Republic of Armenia there are also plans on introduction of the systems for monitoring and management of vehicles for various purposes, as well as it is proposed to establish and implement an effective satellite navigation system to monitor and control traffic on the basis of advanced satellite technology. The article describes the basic steps to create the network of reference stations, GPS, aerial photography of much of the territory of Armenia, the creation of digital terrain model and the new maps by orthophotoplans. The analysis of the materials were carried out, on the basis of which in the Republic in 2015 a high-precision navigation system will be created. Due to the hard work of surveyors, cartographers and topographers the Republic was brought to European states level.
Inayatillah, F.
2018-01-01
In the era of digital technology, there is abundant information from various sources. This ease of access needs to be accompanied by the ability to engage with the information wisely. Thus, information and media literacy is required. From the results of preliminary observations, it was found that the students of Universitas Negeri Surabaya, whose major is Indonesian Literature, and they take journalistic course lack of the skill of media and information literacy (MIL). Therefore, they need to be equipped with MIL. The method used is descriptive qualitative, which includes data collection, data analysis, and presentation of data analysis. Observation and documentation techniques were used to obtain data of MIL’s impact on journalistic learning for students. This study aims at describing the important role of MIL for students of journalistic and its impact on journalistic learning for students of Indonesian literature batch 2014. The results of this research indicate that journalistic is a science that is essential for students because it affects how a person perceives news report. Through the reinforcement of the course, students can avoid a hoax. MIL-based journalistic learning makes students will be more skillful at absorbing, processing, and presenting information accurately. The subject influences students in engaging with information so that they can report news credibly.
International Nuclear Information System (INIS)
Tomikawa, Morimasa; Konishi, Kozo; Ieiri, Satoshi; Hong, Jaesung; Uemura, Munenori; Hashizume, Makoto; Shiotani, Satoko; Tokunaga, Eriko; Maehara, Yoshihiko
2011-01-01
We report here the early experiences using a real-time three-dimensional (3D) virtual reality navigation system with open magnetic resonance imaging (MRI) for breast-conserving surgery (BCS). Two patients with a non-palpable MRI-detected breast tumor underwent BCS under the guidance of the navigation system. An initial MRI for the breast tumor using skin-affixed markers was performed immediately prior to excision. A percutaneous intramammary dye marker was applied to delineate an excision line, and the computer software '3D Slicer' generated a real-time 3D virtual reality model of the tumor and the puncture needle in the breast. Under guidance by the navigation system, marking procedures were performed without any difficulties. Fiducial registration errors were 3.00 mm for patient no.1, and 4.07 mm for patient no.2. The real-time 3D virtual reality navigation system with open MRI is feasible for safe and accurate excision of non-palpable MRI-detected breast tumors. (author)
Treder, Alfred J.; Meldahl, Keith L.
The recorded histories of Shuttle/Orbiter attitude and Inertial Upper Stage (IUS) attitude have been analyzed for all joint flights of the IUS in the Orbiter. This database was studied to determine the behavior of relative alignment between the IUS and Shuttle navigation systems. It is found that the overall accuracy of physical alignment has a Shuttle Orbiter bias component less than 5 arcmin/axis and a short-term stability upper bound of 0.5 arcmin/axis, both at 1 sigma. Summaries of the experienced physical and inertial alginment offsets are shown in this paper, together with alignment variation data, illustrated with some flight histories. Also included is a table of candidate values for some error source groups in an Orbiter/IUS attitude errror model. Experience indicates that the Shuttle is much more accurate and stable as an orbiting launch platform than has so far been advertised. This information will be valuable for future Shuttle payloads, especially those (such as the Aeroassisted Flight Experiment) which carry their own inertial navigation systems, and which could update or initialize their attitude determination systems using the Shuttle as the reference.
International Nuclear Information System (INIS)
Khasawneh, Mohammed A.; Al-Shboul, Zeina Aman M.; Jaradat, Mohammad A.
2013-01-01
Highlights: ► A new navigation algorithm for radiation evasion around nuclear facilities. ► An optimization criteria minimized under algorithm operation. ► A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. ► Benefits of using localized navigation as opposed to global navigation schemas. ► A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. -- Abstract: In this paper, we introduce a navigation algorithm having general utility for occupational workers at nuclear facilities and places where radiation poses serious health hazards. This novel algorithm leverages the use of localized information for its operation. Therefore, the need for central processing and decision resources is avoided, since information processing and the ensuing decision-making are done aboard a man-borne device. To acquire the information needed for path planning in radiation avoidance, a well-designed and distributed wireless sensory infrastructure is needed. This will automatically benefit from the most recent trends in technology developments in both sensor networks and wireless communication. When used to navigate based on local radiation information, the algorithm will behave more reliably when accidents happen, since no long-haul communication links are required for information exchange. In essence, the proposed algorithm is designed to leverage nearest neighbor information coming in through the sensory network overhead, to compute successful navigational paths from one point to another. The proposed algorithm is tested under the “Radiation Evasion” criterion. It is also tested for the case when more information, beyond nearest neighbors, is made available; here, we test its operation for different numbers of step look-ahead. We verify algorithm performance by means of simulations, whereby navigational paths are calculated for different radiation fields
Energy Technology Data Exchange (ETDEWEB)
Khasawneh, Mohammed A., E-mail: mkha@ieee.org [Department of Electrical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan); Al-Shboul, Zeina Aman M., E-mail: xeinaaman@gmail.com [Department of Electrical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan); Jaradat, Mohammad A., E-mail: majaradat@just.edu.jo [Department of Mechanical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan)
2013-06-15
Highlights: ► A new navigation algorithm for radiation evasion around nuclear facilities. ► An optimization criteria minimized under algorithm operation. ► A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. ► Benefits of using localized navigation as opposed to global navigation schemas. ► A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. -- Abstract: In this paper, we introduce a navigation algorithm having general utility for occupational workers at nuclear facilities and places where radiation poses serious health hazards. This novel algorithm leverages the use of localized information for its operation. Therefore, the need for central processing and decision resources is avoided, since information processing and the ensuing decision-making are done aboard a man-borne device. To acquire the information needed for path planning in radiation avoidance, a well-designed and distributed wireless sensory infrastructure is needed. This will automatically benefit from the most recent trends in technology developments in both sensor networks and wireless communication. When used to navigate based on local radiation information, the algorithm will behave more reliably when accidents happen, since no long-haul communication links are required for information exchange. In essence, the proposed algorithm is designed to leverage nearest neighbor information coming in through the sensory network overhead, to compute successful navigational paths from one point to another. The proposed algorithm is tested under the “Radiation Evasion” criterion. It is also tested for the case when more information, beyond nearest neighbors, is made available; here, we test its operation for different numbers of step look-ahead. We verify algorithm performance by means of simulations, whereby navigational paths are calculated for different radiation fields.
Wirth, Sylvia; Baraduc, Pierre; Planté, Aurélie; Pinède, Serge; Duhamel, Jean-René
2017-01-01
To elucidate how gaze informs the construction of mental space during wayfinding in visual species like primates, we jointly examined navigation behavior, visual exploration, and hippocampal activity as macaque monkeys searched a virtual reality maze for a reward. Cells sensitive to place also responded to one or more variables like head direction, point of gaze, or task context. Many cells fired at the sight (and in anticipation) of a single landmark in a viewpoint- or task-dependent manner, simultaneously encoding the animal’s logical situation within a set of actions leading to the goal. Overall, hippocampal activity was best fit by a fine-grained state space comprising current position, view, and action contexts. Our findings indicate that counterparts of rodent place cells in primates embody multidimensional, task-situated knowledge pertaining to the target of gaze, therein supporting self-awareness in the construction of space. PMID:28241007
IMPLEMENTATION OF INTERTIAL NAVIGATION SYSTEM MODEL DURING AIRCRAFT TESTING
Directory of Open Access Journals (Sweden)
2016-01-01
Full Text Available The flight subset control is required during the aviation equipment test flights. In order to achieve this objective the complex consisting of strap down inertial navigation system (SINS and user equipment of satellite navigation systems (SNS can be used. Such combination needs to be used for error correction in positioning which is accumulated in SINS with time. This article shows the research results of the inertial navigation system (INS model. The results of the position- ing error calculation for various INS classes are given. Each of the examined INS has a different accumulated error for the same time lag. The methods of combining information of INS and SRNS are covered. The results obtained can be applied for upgrading the aircraft flight and navigation complexes. In particular, they can allow to continuously determine speed, coordinates, angular situation and repositioning rate of change of axes of the instrument frame.
Mars Atmospheric Entry Integrated Navigation with Partial Intermittent Measurements
Directory of Open Access Journals (Sweden)
Tai-shan Lou
2017-01-01
Full Text Available Signal degradation suffered by the vehicle is a combination brownout and blackout during Mars atmospheric entry. The communications brownout means that signal fades and blackout means that the signal is lost completely. The communications brownout and blackout periods are analyzed and predicted with an altitude and velocity profiles. In the brownout period, the range measurements between the vehicle and the orbiters are modeled as intermittent measurements with the radio signal arrival probabilities, which are distributed as a Rayleigh distribution of the electron number density around the entry vehicle. A new integrated navigation strategy during the Mars atmospheric entry phase is proposed to consider the probabilities of the radio measurements in the communications brownout and blackout periods under the IMU/beacon scenario based on the information filter with intermittent measurements. Numerical navigation simulations are designed to show the performance of the proposed navigation strategy under the integrated navigation scenario.
An Outdoor Navigation Platform with a 3D Scanner and Gyro-assisted Odometry
Yoshida, Tomoaki; Irie, Kiyoshi; Koyanagi, Eiji; Tomono, Masahiro
This paper proposes a light-weight navigation platform that consists of gyro-assisted odometry, a 3D laser scanner and map-based localization for human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. The map-based localization is robust and computationally inexpensive by utilizing a particle filter on a 2D grid map generated by projecting 3D points on to the ground. The system uses small and low-cost sensors, and can be applied to a variety of mobile robots in human-scale environments. Outdoor navigation experiments were conducted at the Tsukuba Challenge held in 2009 and 2010, which is an open proving ground for human-scale robots. Our robot successfully navigated the assigned 1-km courses in a fully autonomous mode multiple times.
Image processing and applications based on visualizing navigation service
Hwang, Chyi-Wen
2015-07-01
When facing the "overabundant" of semantic web information, in this paper, the researcher proposes the hierarchical classification and visualizing RIA (Rich Internet Application) navigation system: Concept Map (CM) + Semantic Structure (SS) + the Knowledge on Demand (KOD) service. The aim of the Multimedia processing and empirical applications testing, was to investigating the utility and usability of this visualizing navigation strategy in web communication design, into whether it enables the user to retrieve and construct their personal knowledge or not. Furthermore, based on the segment markets theory in the Marketing model, to propose a User Interface (UI) classification strategy and formulate a set of hypermedia design principles for further UI strategy and e-learning resources in semantic web communication. These research findings: (1) Irrespective of whether the simple declarative knowledge or the complex declarative knowledge model is used, the "CM + SS + KOD navigation system" has a better cognition effect than the "Non CM + SS + KOD navigation system". However, for the" No web design experience user", the navigation system does not have an obvious cognition effect. (2) The essential of classification in semantic web communication design: Different groups of user have a diversity of preference needs and different cognitive styles in the CM + SS + KOD navigation system.
Directory of Open Access Journals (Sweden)
Zachary Morison
2013-01-01
Full Text Available Background:The use of computer navigation has been shown to improve the accuracy of femoral component placement compared to conventional instrumentation in hip resurfacing. Whether exposure to computer navigation improves accuracy when the procedure is subsequently performed with conventional instrumentation without navigation has not been explored. We examined whether femoral component alignment utilizing a conventional jig improves following experience with the use of imageless computer navigation for hip resurfacing. Materials and Methods:Between December 2004 and December 2008, 213 consecutive hip resurfacings were performed by a single surgeon. The first 17 (Cohort 1 and the last 9 (Cohort 2 hip resurfacings were performed using a conventional guidewire alignment jig. In 187 cases, the femoral component was implanted using the imageless computer navigation. Cohorts 1 and 2 were compared for femoral component alignment accuracy. Results:All components in Cohort 2 achieved the position determined by the preoperative plan. The mean deviation of the stem-shaft angle (SSA from the preoperatively planned target position was 2.2° in Cohort 2 and 5.6° in Cohort 1 ( P = 0.01. Four implants in Cohort 1 were positioned at least 10° varus compared to the target SSA position and another four were retroverted. Conclusions: Femoral component placement utilizing conventional instrumentation may be more accurate following experience using imageless computer navigation.
78 FR 19277 - Navigation Safety Advisory Council; Meeting
2013-03-29
... regarding multiple risk assessments for U.S. ports and waterways. If you have been adversely affected by the... measures; marine information; diving safety; and aids to navigation systems. This notice corrects the...
Martí, Luis; García, Jesús; Molina, José M.
2014-01-01
Proceedings of: 17th International Conference on Information Fusion (FUSION 2014): Salamanca, Spain 7-10 July 2014. High accuracy navigation usually require expensive sensors and/or its careful integration into a complex and finely tuned system. Smartphones pack a high number of sensors in a portable format, becoming a source of low-quality information with a high heterogeneity and redundancy. This work compares pure GNSS/INS capabilities on both types of platform, and discuss the weakness...
A simultaneous navigation and radiation evasion algorithm (SNARE)
Energy Technology Data Exchange (ETDEWEB)
Khasawneh, Mohammed A., E-mail: mkha@ieee.org [Department of Electrical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan); Jaradat, Mohammad A., E-mail: majaradat@just.edu.jo [Department of Mechanical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan); Al-Shboul, Zeina Aman M., E-mail: xeinaaman@gmail.com [Department of Electrical Engineering, Jordan University of Science and Technology, Irbid 221 10 (Jordan)
2013-12-15
Highlights: • A new navigation algorithm for radiation evasion around nuclear facilities. • An optimization criteria minimized under algorithm operation. • A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. • Benefits of using localized navigation as opposed to global navigation schemas. • A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. - Abstract: In this paper, we address the issue of localization as pertains to indoor navigation under radiation contaminated environments. In this context, navigation, in the absence of any GPS signals, is guided by the location of the sensors that make up the entire wireless sensor network in a given locality within a nuclear facility. It, also, draws on the radiation levels as measured by the sensors around a given locale. Here, localization is inherently embedded into the algorithm presented in (Khasawneh et al., 2011a, 2011b) which was designed to provide navigational guidance to optimize any of two criteria: “Radiation Evasion” and “Nearest Exit”. As such, the algorithm can either be applied to setting a navigational “lowest” radiation exposure path from an initial point A to some other point B; a case typical of occupational workers performing maintenance operations around the facility; or providing a radiation-safe passage from point A to the nearest exit. Algorithm's navigational performance is tested under statistical reference, wherein for a given number of runs (trials) algorithm performance is evaluated as a function of the number of steps of look-ahead it uses to acquire navigational information, and is compared against the performance of the renowned Dijkstra global navigation algorithm. This is done with reference to the amount of (radiation × time) product and that of the time needed to reach an exit point, under the two optimization criteria. To evaluate algorithm
A simultaneous navigation and radiation evasion algorithm (SNARE)
International Nuclear Information System (INIS)
Khasawneh, Mohammed A.; Jaradat, Mohammad A.; Al-Shboul, Zeina Aman M.
2013-01-01
Highlights: • A new navigation algorithm for radiation evasion around nuclear facilities. • An optimization criteria minimized under algorithm operation. • A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. • Benefits of using localized navigation as opposed to global navigation schemas. • A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. - Abstract: In this paper, we address the issue of localization as pertains to indoor navigation under radiation contaminated environments. In this context, navigation, in the absence of any GPS signals, is guided by the location of the sensors that make up the entire wireless sensor network in a given locality within a nuclear facility. It, also, draws on the radiation levels as measured by the sensors around a given locale. Here, localization is inherently embedded into the algorithm presented in (Khasawneh et al., 2011a, 2011b) which was designed to provide navigational guidance to optimize any of two criteria: “Radiation Evasion” and “Nearest Exit”. As such, the algorithm can either be applied to setting a navigational “lowest” radiation exposure path from an initial point A to some other point B; a case typical of occupational workers performing maintenance operations around the facility; or providing a radiation-safe passage from point A to the nearest exit. Algorithm's navigational performance is tested under statistical reference, wherein for a given number of runs (trials) algorithm performance is evaluated as a function of the number of steps of look-ahead it uses to acquire navigational information, and is compared against the performance of the renowned Dijkstra global navigation algorithm. This is done with reference to the amount of (radiation × time) product and that of the time needed to reach an exit point, under the two optimization criteria. To evaluate algorithm
Wang, Yongzhi; Ma, Yuqing; Zhu, A.-xing; Zhao, Hui; Liao, Lixia
2018-05-01
Facade features represent segmentations of building surfaces and can serve as a building framework. Extracting facade features from three-dimensional (3D) point cloud data (3D PCD) is an efficient method for 3D building modeling. By combining the advantages of 3D PCD and two-dimensional optical images, this study describes the creation of a highly accurate building facade feature extraction method from 3D PCD with a focus on structural information. The new extraction method involves three major steps: image feature extraction, exploration of the mapping method between the image features and 3D PCD, and optimization of the initial 3D PCD facade features considering structural information. Results show that the new method can extract the 3D PCD facade features of buildings more accurately and continuously. The new method is validated using a case study. In addition, the effectiveness of the new method is demonstrated by comparing it with the range image-extraction method and the optical image-extraction method in the absence of structural information. The 3D PCD facade features extracted by the new method can be applied in many fields, such as 3D building modeling and building information modeling.
33 CFR 66.05-100 - Designation of navigable waters as State waters for private aids to navigation.
2010-07-01
... as State waters for private aids to navigation. 66.05-100 Section 66.05-100 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION State Aids to Navigation § 66.05-100 Designation of navigable waters as State waters for private aids to...
Satellite Imagery Assisted Road-Based Visual Navigation System
Volkova, A.; Gibbens, P. W.
2016-06-01
There is a growing demand for unmanned aerial systems as autonomous surveillance, exploration and remote sensing solutions. Among the key concerns for robust operation of these systems is the need to reliably navigate the environment without reliance on global navigation satellite system (GNSS). This is of particular concern in Defence circles, but is also a major safety issue for commercial operations. In these circumstances, the aircraft needs to navigate relying only on information from on-board passive sensors such as digital cameras. An autonomous feature-based visual system presented in this work offers a novel integral approach to the modelling and registration of visual features that responds to the specific needs of the navigation system. It detects visual features from Google Earth* build a feature database. The same algorithm then detects features in an on-board cameras video stream. On one level this serves to localise the vehicle relative to the environment using Simultaneous Localisation and Mapping (SLAM). On a second level it correlates them with the database to localise the vehicle with respect to the inertial frame. The performance of the presented visual navigation system was compared using the satellite imagery from different years. Based on comparison results, an analysis of the effects of seasonal, structural and qualitative changes of the imagery source on the performance of the navigation algorithm is presented. * The algorithm is independent of the source of satellite imagery and another provider can be used
Box jellyfish use terrestrial visual cues for navigation
DEFF Research Database (Denmark)
Garm, Anders; Oskarsson, Magnus; Nilsson, Dan-Eric
2011-01-01
been a puzzle why they need such a complex set of eyes. Here we report that medusae of the box jellyfish Tripedalia cystophora are capable of visually guided navigation in mangrove swamps using terrestrial structures seen through the water surface. They detect the mangrove canopy by an eye type...... that is specialized to peer up through the water surface and that is suspended such that it is constantly looking straight up, irrespective of the orientation of the jellyfish. The visual information is used to navigate to the preferred habitat at the edge of mangrove lagoons....
Navigation Problems in Blind-to-Blind Pedestrians Tele-assistance Navigation
Balata , Jan; Mikovec , Zdenek; Maly , Ivo
2015-01-01
International audience; We raise a question whether it is possible to build a large-scale navigation system for blind pedestrians where a blind person navigates another blind person remotely by mobile phone. We have conducted an experiment, in which we observed blind people navigating each other in a city center in 19 sessions. We focused on problems in the navigator’s attempts to direct the traveler to the destination. We observed 96 problems in total, classified them on the basis of the typ...
DNA Compass: a secure, client-side site for navigating personal genetic information.
Curnin, Charles; Gordon, Assaf; Erlich, Yaniv
2017-07-15
Millions of individuals have access to raw genomic data using direct-to-consumer companies. The advent of large-scale sequencing projects, such as the Precision Medicine Initiative, will further increase the number of individuals with access to their own genomic information. However, querying genomic data requires a computer terminal and computational skill to analyze the data-an impediment for the general public. DNA Compass is a website designed to empower the public by enabling simple navigation of personal genomic data. Users can query the status of their genomic variants for over 1658 markers or tens of millions of documented single nucleotide polymorphisms (SNPs). DNA Compass presents the relevant genotypes of the user side-by-side with explanatory scientific resources. The genotype data never leaves the user's computer, a feature that provides improved security and performance. More than 12 000 unique users, mainly from the general genetic genealogy community, have already used DNA Compass, demonstrating its utility. DNA Compass is freely available on https://compass.dna.land . yaniv@cs.columbia.edu. © The Author(s) 2017. Published by Oxford University Press.
Risk Jyouhou Navi (risk information navigator). Web tool for fostering of risk literacy. Set of data
International Nuclear Information System (INIS)
Mitsui, Seiichiro
2003-06-01
In addition to the conventional public understanding activities, Risk communication study team of Japan Nuclear Cycle Development Institutes (JNC) Tokai Works has started practical studies to promote risk communication with its local communities. Since its establishment in 2001, Risk communication study team has conducted analyses of already available results of public attitude surveys, case studies of domestic and overseas risk communication activities, and development of risk communication tools. A web tool for fostering of risk literacy 'Risk Jyouhou Navi (risk information navigator in English)', was developed as a web content for the official home page of Techno Kouryuu Kan Ricotti (Techno Community Square Ricotti in English)'. The objectives of this content are to provide risk information for public and to provide an electronic platform for promoting risk communication with the local community. To develop 'Risk Jyouhou Navi', the following concepts were considered. 1) To create public interest in risks in daily lives and in global risks. 2) To provide risk knowledge and information. 3) To support risk communication activities in Techno community square ricotti. (author)
Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments
Directory of Open Access Journals (Sweden)
Dennis Akos
2012-03-01
Full Text Available Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF. Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations.
Chu, Tianxing; Guo, Ningyan; Backén, Staffan; Akos, Dennis
2012-01-01
Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations.
Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments
Chu, Tianxing; Guo, Ningyan; Backén, Staffan; Akos, Dennis
2012-01-01
Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations. PMID:22736999
Improved artificial bee colony algorithm based gravity matching navigation method.
Gao, Wei; Zhao, Bo; Zhou, Guang Tao; Wang, Qiu Ying; Yu, Chun Yang
2014-07-18
Gravity matching navigation algorithm is one of the key technologies for gravity aided inertial navigation systems. With the development of intelligent algorithms, the powerful search ability of the Artificial Bee Colony (ABC) algorithm makes it possible to be applied to the gravity matching navigation field. However, existing search mechanisms of basic ABC algorithms cannot meet the need for high accuracy in gravity aided navigation. Firstly, proper modifications are proposed to improve the performance of the basic ABC algorithm. Secondly, a new search mechanism is presented in this paper which is based on an improved ABC algorithm using external speed information. At last, modified Hausdorff distance is introduced to screen the possible matching results. Both simulations and ocean experiments verify the feasibility of the method, and results show that the matching rate of the method is high enough to obtain a precise matching position.
Learning to navigate the healthcare system in a new country: a qualitative study
Straiton, Melanie L.; Myhre, Sonja
2017-01-01
Objective Learning to navigate a healthcare system in a new country is a barrier to health care. Understanding more about the specific navigation challenges immigrants experience may be the first step towards improving health information and thus access to care. This study considers the challenges that Thai and Filipino immigrant women encounter when learning to navigate the Norwegian primary healthcare system and the strategies they use. Design A qualitative interview study using thematic analysis. Setting Norway. Participants Fifteen Thai and 15 Filipino immigrant women over the age of 18 who had been living in Norway at least one year. Results The women took time to understand the role of the general practitioner and some were unaware of their right to an interpreter during consultations. In addition to reliance on family members and friends in their social networks, voluntary and cultural organisations provided valuable tips and advice on how to navigate the Norwegian health system. While some women actively engaged in learning more about the system, they noted a lack of information available in multiple languages. Conclusions Informal sources play an important role in learning about the health care system. Formal information should be available in different languages in order to better empower immigrant women. PMID:29087232
DEFF Research Database (Denmark)
Campbell, Duncan J; Nussberger, Juerg; Stowasser, Michael
2009-01-01
into focus the differences in information provided by activity assays and immunoassays for renin and prorenin measurement and has drawn attention to the need for precautions to ensure their accurate measurement. CONTENT: Renin activity assays and immunoassays provide related but different information...... provided by these assays and of the precautions necessary to ensure their accuracy....
Directory of Open Access Journals (Sweden)
Zheping Yan
2018-03-01
Full Text Available To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region.
Empirical evaluation of a practical indoor mobile robot navigation method using hybrid maps
DEFF Research Database (Denmark)
Özkil, Ali Gürcan; Fan, Zhun; Xiao, Jizhong
2010-01-01
This video presents a practical navigation scheme for indoor mobile robots using hybrid maps. The method makes use of metric maps for local navigation and a topological map for global path planning. Metric maps are generated as occupancy grids by a laser range finder to represent local information...... about partial areas. The global topological map is used to indicate the connectivity of the ‘places-of-interests’ in the environment and the interconnectivity of the local maps. Visual tags on the ceiling to be detected by the robot provide valuable information and contribute to reliable localization...... that the method is implemented successfully on physical robot in a hospital environment, which provides a practical solution for indoor navigation....
Distributed Ship Navigation Control System Based on Dual Network
Yao, Ying; Lv, Wu
2017-10-01
Navigation system is very important for ship’s normal running. There are a lot of devices and sensors in the navigation system to guarantee ship’s regular work. In the past, these devices and sensors were usually connected via CAN bus for high performance and reliability. However, as the development of related devices and sensors, the navigation system also needs the ability of high information throughput and remote data sharing. To meet these new requirements, we propose the communication method based on dual network which contains CAN bus and industrial Ethernet. Also, we import multiple distributed control terminals with cooperative strategy based on the idea of synchronizing the status by multicasting UDP message contained operation timestamp to make the system more efficient and reliable.
Navigating the Internet of Things
DEFF Research Database (Denmark)
Rassia, Stamatina; Steiner, Henriette
2017-01-01
Navigating the Internet of Things is an exploration of interconnected objects, functions, and situations in networks created to ease and manage our daily lives. The Internet of Things represents semi-automated interconnections of different objects in a network based on different information...... technologies. Some examples of this are presented here in order to better understand, explain, and discuss the elements that compose the Internet of Things. In this chapter, we provide a theoretical and practical perspective on both the micro- and macro-scales of ‘things’ (objects), small and large (e.......g. computers or interactive maps), that suggest new topographic relationships and challenge our understanding of users’ involvement with a given technology against the semi-automated workings of these systems. We navigate from a philosophical enquiry into the ‘thingness of things’ dating from the 1950s...
Spoofing Detection Using GNSS/INS/Odometer Coupling for Vehicular Navigation.
Broumandan, Ali; Lachapelle, Gérard
2018-04-24
Location information is one of the most vital information required to achieve intelligent and context-aware capability for various applications such as driverless cars. However, related security and privacy threats are a major holdback. With increasing focus on using Global Navigation Satellite Systems (GNSS) for autonomous navigation and related applications, it is important to provide robust navigation solutions, yet signal spoofing for illegal or covert transportation and misleading receiver timing is increasing and now frequent. Hence, detection and mitigation of spoofing attacks has become an important topic. Several contributions on spoofing detection have been made, focusing on different layers of a GNSS receiver. This paper focuses on spoofing detection utilizing self-contained sensors, namely inertial measurement units (IMUs) and vehicle odometer outputs. A spoofing detection approach based on a consistency check between GNSS and IMU/odometer mechanization is proposed. To detect a spoofing attack, the method analyses GNSS and IMU/odometer measurements independently during a pre-selected observation window and cross checks the solutions provided by GNSS and inertial navigation solution (INS)/odometer mechanization. The performance of the proposed method is verified in real vehicular environments. Mean spoofing detection time and detection performance in terms of receiver operation characteristics (ROC) in sub-urban and dense urban environments are evaluated.
Spoofing Detection Using GNSS/INS/Odometer Coupling for Vehicular Navigation
Directory of Open Access Journals (Sweden)
Ali Broumandan
2018-04-01
Full Text Available Location information is one of the most vital information required to achieve intelligent and context-aware capability for various applications such as driverless cars. However, related security and privacy threats are a major holdback. With increasing focus on using Global Navigation Satellite Systems (GNSS for autonomous navigation and related applications, it is important to provide robust navigation solutions, yet signal spoofing for illegal or covert transportation and misleading receiver timing is increasing and now frequent. Hence, detection and mitigation of spoofing attacks has become an important topic. Several contributions on spoofing detection have been made, focusing on different layers of a GNSS receiver. This paper focuses on spoofing detection utilizing self-contained sensors, namely inertial measurement units (IMUs and vehicle odometer outputs. A spoofing detection approach based on a consistency check between GNSS and IMU/odometer mechanization is proposed. To detect a spoofing attack, the method analyses GNSS and IMU/odometer measurements independently during a pre-selected observation window and cross checks the solutions provided by GNSS and inertial navigation solution (INS/odometer mechanization. The performance of the proposed method is verified in real vehicular environments. Mean spoofing detection time and detection performance in terms of receiver operation characteristics (ROC in sub-urban and dense urban environments are evaluated.
The Use of the Lead and Line by Early Navigators in the North Sea?
Directory of Open Access Journals (Sweden)
John Kemp
2014-12-01
Full Text Available This paper draws attention to the lack of information as to how early North Sea sailors navigated, particularly during the one thousand year period that followed Roman times. The lead and line was the only navigational aid available for most of this period, but there is little recorded as to whether it was used simply for ensuring a ship or boat had enough water to proceed or whether, together with the knowledge it provided of the nature of the sea bed, it was used as a more positive position fixing device. The author would appreciate any information relating to navigation techniques used during this period.
Pilot stereotypes for navigation symbols on electronic displays
2006-09-20
There is currently no common symbology standard for the : electronic display of navigation information. The wide : range of display technologies and the different functions : these displays support make it difficult to design symbols : that are easil...
National Aeronautics and Space Administration — Global Navigation Satellite System (GNSS) daily 30-second sampled data available from the Crustal Dynamics Data Information System (CDDIS). Global Navigation...
Tactile-Foot Stimulation Can Assist the Navigation of People with Visual Impairment
Directory of Open Access Journals (Sweden)
Ramiro Velázquez
2015-01-01
Full Text Available Background. Tactile interfaces that stimulate the plantar surface with vibrations could represent a step forward toward the development of wearable, inconspicuous, unobtrusive, and inexpensive assistive devices for people with visual impairments. Objective. To study how people understand information through their feet and to maximize the capabilities of tactile-foot perception for assisting human navigation. Methods. Based on the physiology of the plantar surface, three prototypes of electronic tactile interfaces for the foot have been developed. With important technological improvements between them, all three prototypes essentially consist of a set of vibrating actuators embedded in a foam shoe-insole. Perceptual experiments involving direction recognition and real-time navigation in space were conducted with a total of 60 voluntary subjects. Results. The developed prototypes demonstrated that they are capable of transmitting tactile information that is easy and fast to understand. Average direction recognition rates were 76%, 88.3%, and 94.2% for subjects wearing the first, second, and third prototype, respectively. Exhibiting significant advances in tactile-foot stimulation, the third prototype was evaluated in navigation tasks. Results show that subjects were capable of following directional instructions useful for navigating spaces. Conclusion. Footwear providing tactile stimulation can be considered for assisting the navigation of people with visual impairments.
Towards a Sign-Based Indoor Navigation System for People with Visual Impairments.
Rituerto, Alejandro; Fusco, Giovanni; Coughlan, James M
2016-10-01
Navigation is a challenging task for many travelers with visual impairments. While a variety of GPS-enabled tools can provide wayfinding assistance in outdoor settings, GPS provides no useful localization information indoors. A variety of indoor navigation tools are being developed, but most of them require potentially costly physical infrastructure to be installed and maintained, or else the creation of detailed visual models of the environment. We report development of a new smartphone-based navigation aid, which combines inertial sensing, computer vision and floor plan information to estimate the user's location with no additional physical infrastructure and requiring only the locations of signs relative to the floor plan. A formative study was conducted with three blind volunteer participants demonstrating the feasibility of the approach and highlighting the areas needing improvement.
NAVIGATION IN LARGE-FORMAT BUILDINGS BASED ON RFID SENSORS AND QR AND AR MARKERS
Directory of Open Access Journals (Sweden)
Tomasz Szymczyk
2016-09-01
Full Text Available The authors address the problem of passive navigation in large buildings. Based on the example of several interconnected buildings housing departments of the Lublin University of Technology, as well as the conceptual navigation system, the paper presents one of the possible ways of leading the user from the entrance of the building to a particular room. An analysis of different types of users is made and different (best for them ways of navigating the intricate corridors are proposed. Three ways of user localisation are suggested: RFID, AR and QR markers. A graph of connections between specific rooms was made and weights proposed, representing “the difficulty of covering a given distance”. In the process of navigation Dijkstra’s algorithm was used. The road is indicated as multimedia information: a voice-over or animated arrow showing the direction displayed on the smart phone screen with proprietary software installed. It is also possible to inform the user of the position of the location in which he currently is, based on the static information stored in the QR code.
Indoor Navigation from Point Clouds: 3d Modelling and Obstacle Detection
Díaz-Vilariño, L.; Boguslawski, P.; Khoshelham, K.; Lorenzo, H.; Mahdjoubi, L.
2016-06-01
In the recent years, indoor modelling and navigation has become a research of interest because many stakeholders require navigation assistance in various application scenarios. The navigational assistance for blind or wheelchair people, building crisis management such as fire protection, augmented reality for gaming, tourism or training emergency assistance units are just some of the direct applications of indoor modelling and navigation. Navigational information is traditionally extracted from 2D drawings or layouts. Real state of indoors, including opening position and geometry for both windows and doors, and the presence of obstacles is commonly ignored. In this work, a real indoor-path planning methodology based on 3D point clouds is developed. The value and originality of the approach consist on considering point clouds not only for reconstructing semantically-rich 3D indoor models, but also for detecting potential obstacles in the route planning and using these for readapting the routes according to the real state of the indoor depictured by the laser scanner.
INDOOR NAVIGATION FROM POINT CLOUDS: 3D MODELLING AND OBSTACLE DETECTION
Directory of Open Access Journals (Sweden)
L. Díaz-Vilariño
2016-06-01
Full Text Available In the recent years, indoor modelling and navigation has become a research of interest because many stakeholders require navigation assistance in various application scenarios. The navigational assistance for blind or wheelchair people, building crisis management such as fire protection, augmented reality for gaming, tourism or training emergency assistance units are just some of the direct applications of indoor modelling and navigation. Navigational information is traditionally extracted from 2D drawings or layouts. Real state of indoors, including opening position and geometry for both windows and doors, and the presence of obstacles is commonly ignored. In this work, a real indoor-path planning methodology based on 3D point clouds is developed. The value and originality of the approach consist on considering point clouds not only for reconstructing semantically-rich 3D indoor models, but also for detecting potential obstacles in the route planning and using these for readapting the routes according to the real state of the indoor depictured by the laser scanner.
Integrated navigation of aerial robot for GPS and GPS-denied environment
International Nuclear Information System (INIS)
Suzuki, Satoshi; Min, Hongkyu; Nonami, Kenzo; Wada, Tetsuya
2016-01-01
In this study, novel robust navigation system for aerial robot in GPS and GPS- denied environments is proposed. Generally, the aerial robot uses position and velocity information from Global Positioning System (GPS) for guidance and control. However, GPS could not be used in several environments, for example, GPS has huge error near buildings and trees, indoor, and so on. In such GPS-denied environment, Laser Detection and Ranging (LIDER) sensor based navigation system have generally been used. However, LIDER sensor also has an weakness, and it could not be used in the open outdoor environment where GPS could be used. Therefore, it is desired to develop the integrated navigation system which is seamlessly applied to GPS and GPS-denied environments. In this paper, the integrated navigation system for aerial robot using GPS and LIDER is developed. The navigation system is designed based on Extended Kalman Filter, and the effectiveness of the developed system is verified by numerical simulation and experiment. (paper)
Internet-Based Indoor Navigation Services
Zeinalipour-Yazti, Demetrios; Laoudias, Christos; Georgiou, Kyriakos
2017-01-01
Smartphone advances are leading to a class of Internet-based Indoor Navigation services. IIN services rely on geolocation databases that store indoor models, comprising floor maps and points of interest, along with wireless, light, and magnetic signals for localizing users. Developing IIN services creates new information management challenges - such as crowdsourcing indoor models, acquiring and fusing big data velocity signals, localization algorithms, and custodians' location privacy. Here, ...
Indoor wayfinding and navigation
2015-01-01
Due to the widespread use of navigation systems for wayfinding and navigation in the outdoors, researchers have devoted their efforts in recent years to designing navigation systems that can be used indoors. This book is a comprehensive guide to designing and building indoor wayfinding and navigation systems. It covers all types of feasible sensors (for example, Wi-Fi, A-GPS), discussing the level of accuracy, the types of map data needed, the data sources, and the techniques for providing routes and directions within structures.
Control algorithms for autonomous robot navigation
International Nuclear Information System (INIS)
Jorgensen, C.C.
1985-01-01
This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced
Improved Line Tracking System for Autonomous Navigation of High-Speed Vehicle
Directory of Open Access Journals (Sweden)
Yahya Zare Khafri
2012-07-01
Full Text Available Line tracking navigation is one of the most widely techniques used in the robot navigation. In this paper, a customized line tracking system is proposed for autonomous navigation of high speed vehicles. In the presented system, auxiliary information -in addition to the road path- is added to the tracking lines such as locations of turn and intersections in the real roads. Moreover, the geometric position of line sensors is re-designed enables the high rate sensing with higher reliability. Finally, a light-weight navigation algorithm is proposed allow the high-speed movement using a reasonable processing power. This system is implemented on a MIPS-based embedded processor and experimental results with this embedded system show more than 98% accuracy at 200km/h with a 1GHz processor is viable.
Vinande, Eric T.
This research proposes several means to overcome challenges in the urban environment to ground vehicle global positioning system (GPS) receiver navigation performance through the integration of external sensor information. The effects of narrowband radio frequency interference and signal attenuation, both common in the urban environment, are examined with respect to receiver signal tracking processes. Low-cost microelectromechanical systems (MEMS) inertial sensors, suitable for the consumer market, are the focus of receiver augmentation as they provide an independent measure of motion and are independent of vehicle systems. A method for estimating the mounting angles of an inertial sensor cluster utilizing typical urban driving maneuvers is developed and is able to provide angular measurements within two degrees of truth. The integration of GPS and MEMS inertial sensors is developed utilizing a full state navigation filter. Appropriate statistical methods are developed to evaluate the urban environment navigation improvement due to the addition of MEMS inertial sensors. A receiver evaluation metric that combines accuracy, availability, and maximum error measurements is presented and evaluated over several drive tests. Following a description of proper drive test techniques, record and playback systems are evaluated as the optimal way of testing multiple receivers and/or integrated navigation systems in the urban environment as they simplify vehicle testing requirements.
A Novel Online Data-Driven Algorithm for Detecting UAV Navigation Sensor Faults.
Sun, Rui; Cheng, Qi; Wang, Guanyu; Ochieng, Washington Yotto
2017-09-29
The use of Unmanned Aerial Vehicles (UAVs) has increased significantly in recent years. On-board integrated navigation sensors are a key component of UAVs' flight control systems and are essential for flight safety. In order to ensure flight safety, timely and effective navigation sensor fault detection capability is required. In this paper, a novel data-driven Adaptive Neuron Fuzzy Inference System (ANFIS)-based approach is presented for the detection of on-board navigation sensor faults in UAVs. Contrary to the classic UAV sensor fault detection algorithms, based on predefined or modelled faults, the proposed algorithm combines an online data training mechanism with the ANFIS-based decision system. The main advantages of this algorithm are that it allows real-time model-free residual analysis from Kalman Filter (KF) estimates and the ANFIS to build a reliable fault detection system. In addition, it allows fast and accurate detection of faults, which makes it suitable for real-time applications. Experimental results have demonstrated the effectiveness of the proposed fault detection method in terms of accuracy and misdetection rate.
A Novel Online Data-Driven Algorithm for Detecting UAV Navigation Sensor Faults
Directory of Open Access Journals (Sweden)
Rui Sun
2017-09-01
Full Text Available The use of Unmanned Aerial Vehicles (UAVs has increased significantly in recent years. On-board integrated navigation sensors are a key component of UAVs’ flight control systems and are essential for flight safety. In order to ensure flight safety, timely and effective navigation sensor fault detection capability is required. In this paper, a novel data-driven Adaptive Neuron Fuzzy Inference System (ANFIS-based approach is presented for the detection of on-board navigation sensor faults in UAVs. Contrary to the classic UAV sensor fault detection algorithms, based on predefined or modelled faults, the proposed algorithm combines an online data training mechanism with the ANFIS-based decision system. The main advantages of this algorithm are that it allows real-time model-free residual analysis from Kalman Filter (KF estimates and the ANFIS to build a reliable fault detection system. In addition, it allows fast and accurate detection of faults, which makes it suitable for real-time applications. Experimental results have demonstrated the effectiveness of the proposed fault detection method in terms of accuracy and misdetection rate.
77 FR 62437 - Regulated Navigation Area; Columbus Day Weekend, Biscayne Bay, Miami, FL
2012-10-15
... Acronyms DHS Department of Homeland Security FR Federal Register NPRM Notice of Proposed Rulemaking RNA Regulated Navigation Area I. Regulatory History and Information On July 25, 2012, we published a Notice of... Bay Columbus Day regulated navigation area (RNA), established in 2011 and contained in 33 CFR 165.779...
Human Performance Assessments when Using Augmented Reality for Navigation
National Research Council Canada - National Science Library
Goldiez, Brian F; Saptoka, Nabin; Aedunuthula, Prashanth
2006-01-01
Human performance executing search and rescue type of navigation is one area that can benefit from augmented reality technology when the proper computer generated information is added to a real scene...
Opshaug, Guttorm Ringstad
There are times and places where conventional navigation systems, such as the Global Positioning System (GPS), are unavailable due to anything from temporary signal occultations to lack of navigation system infrastructure altogether. The goal of the Leapfrog Navigation System (LNS) is to provide localized positioning services for such cases. The concept behind leapfrog navigation is to advance a group of navigation units teamwise into an area of interest. In a practical 2-D case, leapfrogging assumes known initial positions of at least two currently stationary navigation units. Two or more mobile units can then start to advance into the area of interest. The positions of the mobiles are constantly being calculated based on cross-range distance measurements to the stationary units, as well as cross-ranges among the mobiles themselves. At some point the mobile units stop, and the stationary units are released to move. This second team of units (now mobile) can then overtake the first team (now stationary) and travel even further towards the common goal of the group. Since there always is one stationary team, the position of any unit can be referenced back to the initial positions. Thus, LNS provides absolute positioning. I developed navigation algorithms needed to solve leapfrog positions based on cross-range measurements. I used statistical tools to predict how position errors would grow as a function of navigation unit geometry, cross-range measurement accuracy and previous position errors. Using this knowledge I predicted that a 4-unit Leapfrog Navigation System using 100 m baselines and 200 m leap distances could travel almost 15 km before accumulating absolute position errors of 10 m (1sigma). Finally, I built a prototype leapfrog navigation system using 4 GPS transceiver ranging units. I placed the 4 units in the vertices a 10m x 10m square, and leapfrogged the group 20 meters forwards, and then back again (40 m total travel). Average horizontal RMS position
Spatial filtering velocimeter for vehicle navigation with extended measurement range
He, Xin; Zhou, Jian; Nie, Xiaoming; Long, Xingwu
2015-05-01
The idea of using spatial filtering velocimeter is proposed to provide accurate velocity information for vehicle autonomous navigation system. The presented spatial filtering velocimeter is based on a CMOS linear image sensor. The limited frame rate restricts high speed measurement of the vehicle. To extend measurement range of the velocimeter, a method of frequency shifting is put forward. Theoretical analysis shows that the frequency of output signal can be reduced and the measurement range can be doubled by this method when the shifting direction is set the same with that of image velocity. The approach of fast Fourier transform (FFT) is employed to obtain the power spectra of the spatially filtered signals. Because of limited frequency resolution of FFT, a frequency spectrum correction algorithm, called energy centrobaric correction, is used to improve the frequency resolution. The correction accuracy energy centrobaric correction is analyzed. Experiments are carried out to measure the moving surface of a conveyor belt. The experimental results show that the maximum measurable velocity is about 800deg/s without frequency shifting, 1600deg/s with frequency shifting, when the frame rate of the image is about 8117 Hz. Therefore, the measurement range is doubled by the method of frequency shifting. Furthermore, experiments were carried out to measure the vehicle velocity simultaneously using both the designed SFV and a laser Doppler velocimeter (LDV). The measurement results of the presented SFV are coincident with that of the LDV, but with bigger fluctuation. Therefore, it has the potential of application to vehicular autonomous navigation.
Harris, Charlie L; Strayhorn, Gregory; Moore, Sandra; Goldman, Brian; Martin, Michelle Y
2016-01-01
Obese African American women under-appraise their body mass index (BMI) classification and report fewer weight loss attempts than women who accurately appraise their weight status. This cross-sectional study examined whether physician-informed weight status could predict weight self-perception and weight self-regulation strategies in obese women. A convenience sample of 118 low-income women completed a survey assessing demographic characteristics, comorbidities, weight self-perception, and weight self-regulation strategies. BMI was calculated during nurse triage. Binary logistic regression models were performed to test hypotheses. The odds of obese accurate appraisers having been informed about their weight status were six times greater than those of under-appraisers. The odds of those using an "approach" self-regulation strategy having been physician-informed were four times greater compared with those using an "avoidance" strategy. Physicians are uniquely positioned to influence accurate weight self-perception and adaptive weight self-regulation strategies in underserved women, reducing their risk for obesity-related morbidity.
Navigation Architecture for a Space Mobile Network
Valdez, Jennifer E.; Ashman, Benjamin; Gramling, Cheryl; Heckler, Gregory W.; Carpenter, Russell
2016-01-01
The Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for Satellites (TASS) is a proposed beacon service to provide a global, space based GPS augmentation service based on the NASA Global Differential GPS (GDGPS) System. The TASS signal will be tied to the GPS time system and usable as an additional ranging and Doppler radiometric source. Additionally, it will provide data vital to autonomous navigation in the near Earth regime, including space weather information, TDRS ephemerides, Earth Orientation Parameters (EOP), and forward commanding capability. TASS benefits include enhancing situational awareness, enabling increased autonomy, and providing near real-time command access for user platforms. As NASA Headquarters' Space Communication and Navigation Office (SCaN) begins to move away from a centralized network architecture and towards a Space Mobile Network (SMN) that allows for user initiated services, autonomous navigation will be a key part of such a system. This paper explores how a TASS beacon service enables the Space Mobile Networking paradigm, what a typical user platform would require, and provides an in-depth analysis of several navigation scenarios and operations concepts. This paper provides an overview of the TASS beacon and its role within the SMN and user community. Supporting navigation analysis is presented for two user mission scenarios: an Earth observing spacecraft in low earth orbit (LEO), and a highly elliptical spacecraft in a lunar resonance orbit. These diverse flight scenarios indicate the breadth of applicability of the TASS beacon for upcoming users within the current network architecture and in the SMN.
Prefrontal-hippocampal interactions for spatial navigation.
Ito, Hiroshi T
2018-04-01
Animals have the ability to navigate to a desired location by making use of information about environmental landmarks and their own movements. While decades of neuroscience research have identified neurons in the hippocampus and parahippocampal structures that represent an animal's position in space, it is still largely unclear how an animal can choose the next movement direction to reach a desired goal. As the goal destination is typically located somewhere outside of the range of sensory perception, the animal is required to rely on the internal metric of space to estimate the direction and distance of the destination to plan a next action. Therefore, the hippocampal spatial map should interact with action-planning systems in other cortical regions. In accordance with this idea, several recent studies have indicated the importance of functional interactions between the hippocampus and the prefrontal cortex for goal-directed navigation. In this paper, I will review these studies and discuss how an animal can estimate its future positions correspond to a next movement. Investigation of the navigation problem may further provide general insights into internal models of the brain for action planning. Copyright © 2017 Elsevier Ireland Ltd and Japan Neuroscience Society. All rights reserved.
Optimal motion planning using navigation measure
Vaidya, Umesh
2018-05-01
We introduce navigation measure as a new tool to solve the motion planning problem in the presence of static obstacles. Existence of navigation measure guarantees collision-free convergence at the final destination set beginning with almost every initial condition with respect to the Lebesgue measure. Navigation measure can be viewed as a dual to the navigation function. While the navigation function has its minimum at the final destination set and peaks at the obstacle set, navigation measure takes the maximum value at the destination set and is zero at the obstacle set. A linear programming formalism is proposed for the construction of navigation measure. Set-oriented numerical methods are utilised to obtain finite dimensional approximation of this navigation measure. Application of the proposed navigation measure-based theoretical and computational framework is demonstrated for a motion planning problem in a complex fluid flow.
Towards accurate emergency response behavior
International Nuclear Information System (INIS)
Sargent, T.O.
1981-01-01
Nuclear reactor operator emergency response behavior has persisted as a training problem through lack of information. The industry needs an accurate definition of operator behavior in adverse stress conditions, and training methods which will produce the desired behavior. Newly assembled information from fifty years of research into human behavior in both high and low stress provides a more accurate definition of appropriate operator response, and supports training methods which will produce the needed control room behavior. The research indicates that operator response in emergencies is divided into two modes, conditioned behavior and knowledge based behavior. Methods which assure accurate conditioned behavior, and provide for the recovery of knowledge based behavior, are described in detail
The usability issues of faceted navigation in digital libraries
Directory of Open Access Journals (Sweden)
Eliane Blumer
2014-05-01
For more than five years, the project ACCEPT, a subproject of a Swiss national project called e-lib.ch, analyzes the usability and usefulness of digital libraries, by using user oriented methods. Experience has shown that filters provided through faceted navigation are considered as positive and very useful by end users. Nevertheless, based on different test results, several returning mistakes have been detected and it turns out that there are some ‘unwritten standards’ concerning e.g. position, labelling or ranking which should be respected to fulfil the aim of a good usability which users do expect of such web services. In this poster we will first give an introduction to faceted navigation, actual design issues and their use in digital libraries and then present testing methods, which can be easily applied in a digital library context. Together with a list of best practices concerning faceted navigation drawn out of different test experiences, the paper should give the reader all important information to evaluate its current faceted navigation and see where improvements could be made.
Wang, Lin; Wu, Wenqi; Wei, Guo; Lian, Junxiang; Yu, Ruihang
2018-05-01
The shipboard redundant rotational inertial navigation system (RINS) configuration, including a dual-axis RINS and a single-axis RINS, can satisfy the demand of marine INSs of especially high reliability as well as achieving trade-off between position accuracy and cost. Generally, the dual-axis RINS is the master INS, and the single-axis RINS is the hot backup INS for high reliability purposes. An integrity monitoring system performs a fault detection function to ensure sailing safety. However, improving the accuracy of the backup INS in case of master INS failure has not been given enough attention. Without the aid of any external information, a systematic bias collaborative measurement method based on an augmented Kalman filter is proposed for the redundant RINSs. Estimates of inertial sensor biases can be used by the built-in integrity monitoring system to monitor the RINS running condition. On the other hand, a position error prediction model is designed for the single-axis RINS to estimate the systematic error caused by its azimuth gyro bias. After position error compensation, the position information provided by the single-axis RINS still remains highly accurate, even if the integrity monitoring system detects a dual-axis RINS fault. Moreover, use of a grid frame as a navigation frame makes the proposed method applicable in any area, including the polar regions. Semi-physical simulation and experiments including sea trials verify the validity of the method.
Patterns of task and network actions performed by navigators to facilitate cancer care.
Clark, Jack A; Parker, Victoria A; Battaglia, Tracy A; Freund, Karen M
2014-01-01
Patient navigation is a widely implemented intervention to facilitate access to care and reduce disparities in cancer care, but the activities of navigators are not well characterized. The aim of this study is to describe what patient navigators actually do and explore patterns of activity that clarify the roles they perform in facilitating cancer care. We conducted field observations of nine patient navigation programs operating in diverse health settings of the national patient navigation research program, including 34 patient navigators, each observed an average of four times. Trained observers used a structured observation protocol to code as they recorded navigator actions and write qualitative field notes capturing all activities in 15-minute intervals during observations ranging from 2 to 7 hours; yielding a total of 133 observations. Rates of coded activity were analyzed using numerical cluster analysis of identified patterns, informed by qualitative analysis of field notes. Six distinct patterns of navigator activity were identified, which differed most relative to how much time navigators spent directly interacting with patients and how much time they spent dealing with medical records and documentation tasks. Navigator actions reveal a complex set of roles in which navigators both provide the direct help to patients denoted by their title and also carry out a variety of actions that function to keep the health system operating smoothly. Working to navigate patients through complex health services entails working to repair the persistent challenges of health services that can render them inhospitable to patients. The organizations that deploy navigators might learn from navigators' efforts and explore alternative approaches, structures, or systems of care in addressing both the barriers patients face and the complex solutions navigators create in helping patients.
2010-07-01
... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Information. 8.7 Section 8.7... GUARD RESERVE § 8.7 Information. (a) Information concerning the Coast Guard Reserve may be obtained from Commandant (CG-13), 2100 2nd St. SW., Stop 7801, Washington, DC 20593-7801. (b) Information and requirements...
Száz, Dénes; Farkas, Alexandra; Barta, András; Kretzer, Balázs; Egri, Ádám; Horváth, Gábor
2016-07-01
The theory of sky-polarimetric Viking navigation has been widely accepted for decades without any information about the accuracy of this method. Previously, we have measured the accuracy of the first and second steps of this navigation method in psychophysical laboratory and planetarium experiments. Now, we have tested the accuracy of the third step in a planetarium experiment, assuming that the first and second steps are errorless. Using the fists of their outstretched arms, 10 test persons had to estimate the elevation angles (measured in numbers of fists and fingers) of black dots (representing the position of the occluded Sun) projected onto the planetarium dome. The test persons performed 2400 elevation estimations, 48% of which were more accurate than ±1°. We selected three test persons with the (i) largest and (ii) smallest elevation errors and (iii) highest standard deviation of the elevation error. From the errors of these three persons, we calculated their error function, from which the North errors (the angles with which they deviated from the geographical North) were determined for summer solstice and spring equinox, two specific dates of the Viking sailing period. The range of possible North errors Δ ω N was the lowest and highest at low and high solar elevations, respectively. At high elevations, the maximal Δ ω N was 35.6° and 73.7° at summer solstice and 23.8° and 43.9° at spring equinox for the best and worst test person (navigator), respectively. Thus, the best navigator was twice as good as the worst one. At solstice and equinox, high elevations occur the most frequently during the day, thus high North errors could occur more frequently than expected before. According to our findings, the ideal periods for sky-polarimetric Viking navigation are immediately after sunrise and before sunset, because the North errors are the lowest at low solar elevations.
Survey of computer vision technology for UVA navigation
Xie, Bo; Fan, Xiang; Li, Sijian
2017-11-01
Navigation based on computer version technology, which has the characteristics of strong independence, high precision and is not susceptible to electrical interference, has attracted more and more attention in the filed of UAV navigation research. Early navigation project based on computer version technology mainly applied to autonomous ground robot. In recent years, the visual navigation system is widely applied to unmanned machine, deep space detector and underwater robot. That further stimulate the research of integrated navigation algorithm based on computer version technology. In China, with many types of UAV development and two lunar exploration, the three phase of the project started, there has been significant progress in the study of visual navigation. The paper expounds the development of navigation based on computer version technology in the filed of UAV navigation research and draw a conclusion that visual navigation is mainly applied to three aspects as follows.(1) Acquisition of UAV navigation parameters. The parameters, including UAV attitude, position and velocity information could be got according to the relationship between the images from sensors and carrier's attitude, the relationship between instant matching images and the reference images and the relationship between carrier's velocity and characteristics of sequential images.(2) Autonomous obstacle avoidance. There are many ways to achieve obstacle avoidance in UAV navigation. The methods based on computer version technology ,including feature matching, template matching, image frames and so on, are mainly introduced. (3) The target tracking, positioning. Using the obtained images, UAV position is calculated by using optical flow method, MeanShift algorithm, CamShift algorithm, Kalman filtering and particle filter algotithm. The paper expounds three kinds of mainstream visual system. (1) High speed visual system. It uses parallel structure, with which image detection and processing are
Continuous real-time water information: an important Kansas resource
Loving, Brian L.; Putnam, James E.; Turk, Donita M.
2014-01-01
Continuous real-time information on streams, lakes, and groundwater is an important Kansas resource that can safeguard lives and property, and ensure adequate water resources for a healthy State economy. The U.S. Geological Survey (USGS) operates approximately 230 water-monitoring stations at Kansas streams, lakes, and groundwater sites. Most of these stations are funded cooperatively in partnerships with local, tribal, State, or other Federal agencies. The USGS real-time water-monitoring network provides long-term, accurate, and objective information that meets the needs of many customers. Whether the customer is a water-management or water-quality agency, an emergency planner, a power or navigational official, a farmer, a canoeist, or a fisherman, all can benefit from the continuous real-time water information gathered by the USGS.
The use of x-ray pulsar-based navigation method for interplanetary flight
Yang, Bo; Guo, Xingcan; Yang, Yong
2009-07-01
As interplanetary missions are increasingly complex, the existing unique mature interplanetary navigation method mainly based on radiometric tracking techniques of Deep Space Network can not meet the rising demands of autonomous real-time navigation. This paper studied the applications for interplanetary flights of a new navigation technology under rapid development-the X-ray pulsar-based navigation for spacecraft (XPNAV), and valued its performance with a computer simulation. The XPNAV is an excellent autonomous real-time navigation method, and can provide comprehensive navigation information, including position, velocity, attitude, attitude rate and time. In the paper the fundamental principles and time transformation of the XPNAV were analyzed, and then the Delta-correction XPNAV blending the vehicles' trajectory dynamics with the pulse time-of-arrival differences at nominal and estimated spacecraft locations within an Unscented Kalman Filter (UKF) was discussed with a background mission of Mars Pathfinder during the heliocentric transferring orbit. The XPNAV has an intractable problem of integer pulse phase cycle ambiguities similar to the GPS carrier phase navigation. This article innovatively proposed the non-ambiguity assumption approach based on an analysis of the search space array method to resolve pulse phase cycle ambiguities between the nominal position and estimated position of the spacecraft. The simulation results show that the search space array method are computationally intensive and require long processing time when the position errors are large, and the non-ambiguity assumption method can solve ambiguity problem quickly and reliably. It is deemed that autonomous real-time integrated navigation system of the XPNAV blending with DSN, celestial navigation, inertial navigation and so on will be the development direction of interplanetary flight navigation system in the future.
Navigation studies based on the ubiquitous positioning technologies
Ye, Lei; Mi, Weijie; Wang, Defeng
2007-11-01
This paper summarized the nowadays positioning technologies, such as absolute positioning methods and relative positioning methods, indoor positioning and outdoor positioning, active positioning and passive positioning. Global Navigation Satellite System (GNSS) technologies were introduced as the omnipresent out-door positioning technologies, including GPS, GLONASS, Galileo and BD-1/2. After analysis of the shortcomings of GNSS, indoor positioning technologies were discussed and compared, including A-GPS, Cellular network, Infrared, Electromagnetism, Computer Vision Cognition, Embedded Pressure Sensor, Ultrasonic, RFID (Radio Frequency IDentification), Bluetooth, WLAN etc.. Then the concept and characteristics of Ubiquitous Positioning was proposed. After the ubiquitous positioning technologies contrast and selection followed by system engineering methodology, a navigation system model based on Incorporate Indoor-Outdoor Positioning Solution was proposed. And this model was simulated in the Galileo Demonstration for World Expo Shanghai project. In the conclusion, the prospects of ubiquitous positioning based navigation were shown, especially to satisfy the public location information acquiring requirement.
Lunar Navigation Architecture Design Considerations
D'Souza, Christopher; Getchius, Joel; Holt, Greg; Moreau, Michael
2009-01-01
The NASA Constellation Program is aiming to establish a long-term presence on the lunar surface. The Constellation elements (Orion, Altair, Earth Departure Stage, and Ares launch vehicles) will require a lunar navigation architecture for navigation state updates during lunar-class missions. Orion in particular has baselined earth-based ground direct tracking as the primary source for much of its absolute navigation needs. However, due to the uncertainty in the lunar navigation architecture, the Orion program has had to make certain assumptions on the capabilities of such architectures in order to adequately scale the vehicle design trade space. The following paper outlines lunar navigation requirements, the Orion program assumptions, and the impacts of these assumptions to the lunar navigation architecture design. The selection of potential sites was based upon geometric baselines, logistical feasibility, redundancy, and abort support capability. Simulated navigation covariances mapped to entry interface flightpath- angle uncertainties were used to evaluate knowledge errors. A minimum ground station architecture was identified consisting of Goldstone, Madrid, Canberra, Santiago, Hartebeeshoek, Dongora, Hawaii, Guam, and Ascension Island (or the geometric equivalent).
Towards automated visual flexible endoscope navigation.
van der Stap, Nanda; van der Heijden, Ferdinand; Broeders, Ivo A M J
2013-10-01
The design of flexible endoscopes has not changed significantly in the past 50 years. A trend is observed towards a wider application of flexible endoscopes with an increasing role in complex intraluminal therapeutic procedures. The nonintuitive and nonergonomical steering mechanism now forms a barrier in the extension of flexible endoscope applications. Automating the navigation of endoscopes could be a solution for this problem. This paper summarizes the current state of the art in image-based navigation algorithms. The objectives are to find the most promising navigation system(s) to date and to indicate fields for further research. A systematic literature search was performed using three general search terms in two medical-technological literature databases. Papers were included according to the inclusion criteria. A total of 135 papers were analyzed. Ultimately, 26 were included. Navigation often is based on visual information, which means steering the endoscope using the images that the endoscope produces. Two main techniques are described: lumen centralization and visual odometry. Although the research results are promising, no successful, commercially available automated flexible endoscopy system exists to date. Automated systems that employ conventional flexible endoscopes show the most promising prospects in terms of cost and applicability. To produce such a system, the research focus should lie on finding low-cost mechatronics and technologically robust steering algorithms. Additional functionality and increased efficiency can be obtained through software development. The first priority is to find real-time, robust steering algorithms. These algorithms need to handle bubbles, motion blur, and other image artifacts without disrupting the steering process.
2010-07-01
... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Information. 136.3 Section 136.3... SOURCE; AND ADVERTISEMENT General § 136.3 Information. Anyone desiring to file a claim against the Fund may obtain general information on the procedure for filing a claim from the Director National...
E-navigation Services for Non-SOLAS Ships
Directory of Open Access Journals (Sweden)
Kwang An
2016-06-01
Full Text Available It is clearly understood that the main benefits of e-navigation are improved safety and better protection of the environment through the promotion of standards of navigational system and a reduction in human error. In order to meet the expectations on the benefit of e-navigation, e-navigation services should be more focused on non-SOLAS ships. The purpose of this paper is to present necessary e-navigation services for non-SOLAS ships in order to prevent marine accidents in Korean coastal waters. To meet the objectives of the study, an examination on the present navigation and communication system for non-SOLAS ships was performed. Based on the IMO's e-navigation Strategy Implementation Plan (SIP and Korea's national SIP for e-navigation, future trends for the development and implementation of e-navigation were discussed. Consequently, Electronic Navigational Chart (ENC download and ENC up-date service, ENC streaming service, route support service and communication support service based on Maritime Cloud were presented as essential e-navigation services for non-SOLAS ships. This study will help for the planning and designing of the Korean e-navigation system. It is expected that the further researches on the navigation support systems based on e-navigation will be carried out in order to implement the essential e-navigation services for non-SOLAS ships.
THE DEVELOPMENT OF NAVIGATION SYSTEMS IN CIVIL AVIATION
Directory of Open Access Journals (Sweden)
Anastasiya Sergeyevna Stepanenko
2017-01-01
Full Text Available The article describes the history of navigation systems formation, such as "Cicada" system, which at that time could compete with the US "Transit", European, Chinese Beidou navigation system and the Japanese Quasi-Zenit.The detailed information about improving the American GPS system, launched in 1978 and working till now is provided. The characteristics of GPS-III counterpart "Transit", which became the platform for creating such modern globalnavigation systems as GLONASS and GPS. The process of implementation of the GLONASS system in civil aviation, itssegments, functions and features are considered. The stages of GLONASS satellite system orbital grouping formation are analyzed. The author draws the analogy with the American GPS system, the GALILEO system, which has a number of additional advantages, are given. The author remarks the features of the European counterpart of the GALILEO global nav- igation system. One of the goals of this system is to provide a high-precision positioning system, which Europe can rely on regardless of the Russian GLONASS system, the US - GPS and the Chinese Beidou. GALILEO offers a unique global search and rescue function called SAR, with an important feedback function. The peculiarities of Chinese scientists’ navi- gation system, the Beidou satellite system, and the Japanese global Quasi-Zenith Satellite System are described.Global navigation systems development tendencies are considered. The author dwells upon the path to world satel- lite systems globalization, a good example of which is the trend towards GLONASS and Beidou unification. Most attention was paid to the latest development of Russian scientists’ autonomous navigation system SINS 2015, which is a strap-down inertial navigation system and allows you to navigate the aircraft without being connected to a global satellite system. The ways of navigation systems further development in Russia are determined. The two naturally opposite directions are
Introduction: A Brief Note on Navigation: How Do We Get Around These Days?
Directory of Open Access Journals (Sweden)
Sean Scanlan
2011-01-01
Full Text Available The theme of the first issue of nano is Navigation. The usual suspects of navigation come to mind, don’t they? Map, sextant, and compass are essential to understanding how humans find their way from one place to another. But these technologies are not new, and they may not be the most important navigational technologies. Fast-forward to our present age and we must contend with navigating screens, pads, pods, and other information technologies. In fact, if you are reading this, then you know how to navigate several systems: button, login, address, page. The three essays in the first issue of nano speak of navigation as a complex, varied process. First, in “Algebra of the Visual: The London Underground Map and the Art It Has Inspired,” Alan Ashton-Smith explores the organizing principles of London Underground maps. Second, Robert Tally’s “On Literary Cartography: Narrative as a Spatially Symbolic Act” encourages us to consider how narratives operate much as maps do. A. Kendra Greene’s “Five Directions” presents examples of real-world navigation in which getting from A to B involves fitting pieces together, synthesizing.
Development of a Gridded Maritime Traffic DB for e-Navigation
Directory of Open Access Journals (Sweden)
Kwang-Il Kim
2014-12-01
Full Text Available In the era of e-Navigation, it is important to deliver maritime traffic information from a shore based station to all navigating vessels. However, in a vessel boarding system, there is a limit to the amount of raw traffic data that can be processed. In this paper, we used the Automatic Identification System (AIS data as metadata to build up the maritime traffic gridded database by projecting traffic data on a geographic coordinate system. In order to apply this database to the image layer for transferring to the ship efficiently, we have developed a maritime traffic display layer and route traffic information layer. All simulated data was collected and analyzed with the AIS in a Vessel Traffic Service(VTS center.
Visual Semantic Navigation Based on Deep Learning for Indoor Mobile Robots
Directory of Open Access Journals (Sweden)
Li Wang
2018-01-01
Full Text Available In order to improve the environmental perception ability of mobile robots during semantic navigation, a three-layer perception framework based on transfer learning is proposed, including a place recognition model, a rotation region recognition model, and a “side” recognition model. The first model is used to recognize different regions in rooms and corridors, the second one is used to determine where the robot should be rotated, and the third one is used to decide the walking side of corridors or aisles in the room. Furthermore, the “side” recognition model can also correct the motion of robots in real time, according to which accurate arrival to the specific target is guaranteed. Moreover, semantic navigation is accomplished using only one sensor (a camera. Several experiments are conducted in a real indoor environment, demonstrating the effectiveness and robustness of the proposed perception framework.
Visual tables of contents: structure and navigation of digital video material
Janse, M.D.; Das, D.A.D.; Tang, H.K.; Paassen, van R.L.F.
1997-01-01
This paper presents a study that was initiated to address the relationship between visualization of content information, the structure of this information and the effective traversal and navigation for users of digital video storage systems in domestic environments. Preliminary results in two topic
Navigation Lights - USACE IENC
Department of Homeland Security — These inland electronic Navigational charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...
Directory of Open Access Journals (Sweden)
Zheng Zhang
2013-03-01
Full Text Available In a hybrid wireless sensor network with mobile and static nodes, which have no prior geographical knowledge, successful navigation for mobile robots is one of the main challenges. In this paper, we propose two novel navigation algorithms for outdoor environments, which permit robots to travel from one static node to another along a planned path in the sensor field, namely the RAC and the IMAP algorithms. Using this, the robot can navigate without the help of a map, GPS or extra sensor modules, only using the received signal strength indication (RSSI and odometry. Therefore, our algorithms have the advantage of being cost-effective. In addition, a path planning algorithm to schedule mobile robots' travelling paths is presented, which focuses on shorter distances and robust paths for robots by considering the RSSI-Distance characteristics. The simulations and experiments conducted with an autonomous mobile robot show the effectiveness of the proposed algorithms in an outdoor environment.
Surface navigation on Mars with a Navigation Satellite
Vijayaraghavan, A.; Thurman, Sam W.; Kahn, Robert D.; Hastrup, Rolf C.
Radiometric navigation data from the Deep Space Network (DSN) stations on the earth to transponders and other surface elements such as rovers and landers on Mars, can determine their positions to only within a kilometer in inertial space. The positional error is mostly in the z-component of the surface element parallel to the Martian spin-axis. However, with Doppler and differenced-Doppler data from a Navigation Satellite in orbit around Mars to two or more of such transponders on the planetary surface, their positions can be determined to within 15 meters (or 20 meters for one-way Doppler beacons on Mars) in inertial space. In this case, the transponders (or other vehicles) on Mars need not even be capable of directly communicating to the earth. When the Navigation Satellite data is complemented by radiometric observations from the DSN stations also, directly to the surface elements on Mars, their positions can be determined to within 3 meters in inertial space. The relative positions of such surface elements on Mars (relative to one another) in Mars-fixed coordinates, however, can be determined to within 5 meters from simply range and Doppler data from the DSN stations to the surface elements. These results are obtained from covariance studies assuming X-band data noise levels and data-arcs not exceeding 10 days. They are significant in the planning and deployment of a Mars-based navigation network necessary to support real-time operations during critical phases of manned exploration of Mars.
Jacob, Mithun George; Wachs, Juan Pablo; Packer, Rebecca A
2013-06-01
This paper presents a method to improve the navigation and manipulation of radiological images through a sterile hand gesture recognition interface based on attentional contextual cues. Computer vision algorithms were developed to extract intention and attention cues from the surgeon's behavior and combine them with sensory data from a commodity depth camera. The developed interface was tested in a usability experiment to assess the effectiveness of the new interface. An image navigation and manipulation task was performed, and the gesture recognition accuracy, false positives and task completion times were computed to evaluate system performance. Experimental results show that gesture interaction and surgeon behavior analysis can be used to accurately navigate, manipulate and access MRI images, and therefore this modality could replace the use of keyboard and mice-based interfaces.
The role of geomagnetic cues in green turtle open sea navigation.
Directory of Open Access Journals (Sweden)
Simon Benhamou
Full Text Available BACKGROUND: Laboratory and field experiments have provided evidence that sea turtles use geomagnetic cues to navigate in the open sea. For instance, green turtles (Chelonia mydas displaced 100 km away from their nesting site were impaired in returning home when carrying a strong magnet glued on the head. However, the actual role of geomagnetic cues remains unclear, since magnetically treated green turtles can perform large scale (>2000 km post-nesting migrations no differently from controls. METHODOLOGY/PRINCIPAL FINDINGS: In the present homing experiment, 24 green turtles were displaced 200 km away from their nesting site on an oceanic island, and tracked, for the first time in this type of experiment, with Global Positioning System (GPS, which is able to provide much more frequent and accurate locations than previously used tracking methods. Eight turtles were magnetically treated for 24-48 h on the nesting beach prior to displacement, and another eight turtles had a magnet glued on the head at the release site. The last eight turtles were used as controls. Detailed analyses of water masses-related (i.e., current-corrected homing paths showed that magnetically treated turtles were able to navigate toward their nesting site as efficiently as controls, but those carrying magnets were significantly impaired once they arrived within 50 km of home. CONCLUSIONS/SIGNIFICANCE: While green turtles do not seem to need geomagnetic cues to navigate far from the goal, these cues become necessary when turtles get closer to home. As the very last part of the homing trip (within a few kilometers of home likely depends on non-magnetic cues, our results suggest that magnetic cues play a key role in sea turtle navigation at an intermediate scale by bridging the gap between large and small scale navigational processes, which both appear to depend on non-magnetic cues.
Application of γ ray to field investigation of float mud in ocean outfalls and navigation channels
International Nuclear Information System (INIS)
Yi Ruiji; Ding Yuanguo; Cheng Hesen
2007-01-01
The γ ray gauge is used to investigate the density and distribution of float mud in navigation channel area on site. The results provide important prototype information for effectively using navigable depth and studying rules of back silting. (authors)
Semiotic resources for navigation
DEFF Research Database (Denmark)
Due, Brian Lystgaard; Lange, Simon Bierring
2018-01-01
This paper describes two typical semiotic resources blind people use when navigating in urban areas. Everyone makes use of a variety of interpretive semiotic resources and senses when navigating. For sighted individuals, this especially involves sight. Blind people, however, must rely on everything...... else than sight, thereby substituting sight with other modalities and distributing the navigational work to other semiotic resources. Based on a large corpus of fieldwork among blind people in Denmark, undertaking observations, interviews, and video recordings of their naturally occurring practices...... of walking and navigating, this paper shows how two prototypical types of semiotic resources function as helpful cognitive extensions: the guide dog and the white cane. This paper takes its theoretical and methodological perspective from EMCA multimodal interaction analysis....
2013-04-05
... rule, in order to mitigate conflicts of interest, there are three types of information that Navigators... require disclosure of two other types of indirect financial conflicts of interest. Navigators and their... stop loss insurance or subsidiaries of such [[Page 20588
Instrument-mounted displays for reducing cognitive load during surgical navigation.
Herrlich, Marc; Tavakol, Parnian; Black, David; Wenig, Dirk; Rieder, Christian; Malaka, Rainer; Kikinis, Ron
2017-09-01
Surgical navigation systems rely on a monitor placed in the operating room to relay information. Optimal monitor placement can be challenging in crowded rooms, and it is often not possible to place the monitor directly beside the situs. The operator must split attention between the navigation system and the situs. We present an approach for needle-based interventions to provide navigational feedback directly on the instrument and close to the situs by mounting a small display onto the needle. By mounting a small and lightweight smartwatch display directly onto the instrument, we are able to provide navigational guidance close to the situs and directly in the operator's field of view, thereby reducing the need to switch the focus of view between the situs and the navigation system. We devise a specific variant of the established crosshair metaphor suitable for the very limited screen space. We conduct an empirical user study comparing our approach to using a monitor and a combination of both. Results from the empirical user study show significant benefits for cognitive load, user preference, and general usability for the instrument-mounted display, while achieving the same level of performance in terms of time and accuracy compared to using a monitor. We successfully demonstrate the feasibility of our approach and potential benefits. With ongoing technological advancements, instrument-mounted displays might complement standard monitor setups for surgical navigation in order to lower cognitive demands and for improved usability of such systems.
Navigation through unknown and dynamic open spaces using topological notions
Miguel-Tomé, Sergio
2018-04-01
Until now, most algorithms used for navigation have had the purpose of directing system towards one point in space. However, humans communicate tasks by specifying spatial relations among elements or places. In addition, the environments in which humans develop their activities are extremely dynamic. The only option that allows for successful navigation in dynamic and unknown environments is making real-time decisions. Therefore, robots capable of collaborating closely with human beings must be able to make decisions based on the local information registered by the sensors and interpret and express spatial relations. Furthermore, when one person is asked to perform a task in an environment, this task is communicated given a category of goals so the person does not need to be supervised. Thus, two problems appear when one wants to create multifunctional robots: how to navigate in dynamic and unknown environments using spatial relations and how to accomplish this without supervision. In this article, a new architecture to address the two cited problems is presented, called the topological qualitative navigation architecture. In previous works, a qualitative heuristic called the heuristic of topological qualitative semantics (HTQS) has been developed to establish and identify spatial relations. However, that heuristic only allows for establishing one spatial relation with a specific object. In contrast, navigation requires a temporal sequence of goals with different objects. The new architecture attains continuous generation of goals and resolves them using HTQS. Thus, the new architecture achieves autonomous navigation in dynamic or unknown open environments.
Virtual Planning and Intraoperative Navigation in Craniomaxillofacial Surgery
Directory of Open Access Journals (Sweden)
Jorge Guiñales
2017-08-01
Full Text Available Surgery planning assisted by computer represents one important example of the collaboration between surgeons and engineers. Virtual planning allows surgeons to pre-do the surgery by working over a virtual 3D model of the patient obtained through a computer tomography. Through surgical navigation, surgeons are helped while working with deep structures and can check if they are following accurately the surgical plan. These assistive tools are crucial in the field of facial reconstructive surgery. This paper describes two cases, one related to orbital fractures and another one related to oncological patients, showing the advantages that these tools provide, specifically when used for craniomaxillofacial surgery.
Kozak, J; Krysztoforski, K; Kroll, T; Helbig, S; Helbig, M
2009-01-01
The use of conventional CT- or MRI-based navigation systems for head and neck surgery is unsatisfactory due to tissue shift. Moreover, changes occurring during surgical procedures cannot be visualized. To overcome these drawbacks, we developed a novel ultrasound-guided navigation system for head and neck surgery. A comprehensive error analysis was undertaken to determine the accuracy of this new system. The evaluation of the system accuracy was essentially based on the method of error definition for well-established fiducial marker registration methods (point-pair matching) as used in, for example, CT- or MRI-based navigation. This method was modified in accordance with the specific requirements of ultrasound-guided navigation. The Fiducial Localization Error (FLE), Fiducial Registration Error (FRE) and Target Registration Error (TRE) were determined. In our navigation system, the real error (the TRE actually measured) did not exceed a volume of 1.58 mm(3) with a probability of 0.9. A mean value of 0.8 mm (standard deviation: 0.25 mm) was found for the FRE. The quality of the coordinate tracking system (Polaris localizer) could be defined with an FLE of 0.4 +/- 0.11 mm (mean +/- standard deviation). The quality of the coordinates of the crosshairs of the phantom was determined with a deviation of 0.5 mm (standard deviation: 0.07 mm). The results demonstrate that our newly developed ultrasound-guided navigation system shows only very small system deviations and therefore provides very accurate data for practical applications.
An Accurate Integral Method for Vibration Signal Based on Feature Information Extraction
Directory of Open Access Journals (Sweden)
Yong Zhu
2015-01-01
Full Text Available After summarizing the advantages and disadvantages of current integral methods, a novel vibration signal integral method based on feature information extraction was proposed. This method took full advantage of the self-adaptive filter characteristic and waveform correction feature of ensemble empirical mode decomposition in dealing with nonlinear and nonstationary signals. This research merged the superiorities of kurtosis, mean square error, energy, and singular value decomposition on signal feature extraction. The values of the four indexes aforementioned were combined into a feature vector. Then, the connotative characteristic components in vibration signal were accurately extracted by Euclidean distance search, and the desired integral signals were precisely reconstructed. With this method, the interference problem of invalid signal such as trend item and noise which plague traditional methods is commendably solved. The great cumulative error from the traditional time-domain integral is effectively overcome. Moreover, the large low-frequency error from the traditional frequency-domain integral is successfully avoided. Comparing with the traditional integral methods, this method is outstanding at removing noise and retaining useful feature information and shows higher accuracy and superiority.
33 CFR 401.54 - Interference with navigation aids.
2010-07-01
... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Interference with navigation aids. 401.54 Section 401.54 Navigation and Navigable Waters SAINT LAWRENCE SEAWAY DEVELOPMENT CORPORATION... with navigation aids. (a) Aids to navigation shall not be interfered with or used as moorings. (b) No...
Study on polarized optical flow algorithm for imaging bionic polarization navigation micro sensor
Guan, Le; Liu, Sheng; Li, Shi-qi; Lin, Wei; Zhai, Li-yuan; Chu, Jin-kui
2018-05-01
At present, both the point source and the imaging polarization navigation devices only can output the angle information, which means that the velocity information of the carrier cannot be extracted from the polarization field pattern directly. Optical flow is an image-based method for calculating the velocity of pixel point movement in an image. However, for ordinary optical flow, the difference in pixel value as well as the calculation accuracy can be reduced in weak light. Polarization imaging technology has the ability to improve both the detection accuracy and the recognition probability of the target because it can acquire the extra polarization multi-dimensional information of target radiation or reflection. In this paper, combining the polarization imaging technique with the traditional optical flow algorithm, a polarization optical flow algorithm is proposed, and it is verified that the polarized optical flow algorithm has good adaptation in weak light and can improve the application range of polarization navigation sensors. This research lays the foundation for day and night all-weather polarization navigation applications in future.
Berger, Moritz; Kallus, Sebastian; Nova, Igor; Ristow, Oliver; Eisenmann, Urs; Dickhaus, Hartmut; Kuhle, Reinald; Hoffmann, Jürgen; Seeberger, Robin
2015-11-01
Intraoperative guidance using electromagnetic navigation is an upcoming method in maxillofacial surgery. However, due to their unwieldy structures, especially the line-of-sight problem, optical navigation devices are not used for daily orthognathic surgery. Therefore, orthognathic surgery was simulated on study phantom skulls, evaluating the accuracy and handling of a new electromagnetic tracking system. Le-Fort I osteotomies were performed on 10 plastic skulls. Orthognathic surgical planning was done in the conventional way using plaster models. Accuracy of the gold standard, splint-based model surgery versus an electromagnetic tracking system was evaluated by measuring the actual maxillary deviation using bimaxillary splints and preoperative and postoperative cone beam computer tomography imaging. The distance of five anatomical marker points were compared pre- and postoperatively. The electromagnetic tracking system was significantly more accurate in all measured parameters compared with the gold standard using bimaxillary splints (p orthognathic surgery to 0.3 mm on average. The data of this preliminary study shows a high level of accuracy in surgical orthognathic performance using electromagnetic navigation, and may offer greater precision than the conventional plaster model surgery with bimaxillary splints. This preliminary work shows great potential for the establishment of an intraoperative electromagnetic navigation system for maxillofacial surgery. Copyright © 2015 European Association for Cranio-Maxillo-Facial Surgery. Published by Elsevier Ltd. All rights reserved.
75 FR 27353 - Navigation Safety Advisory Council; Meeting
2010-05-14
... meet at the Courtyard by Marriott Washington Capitol Hill/Navy Yard Hotel, Admiral I and II Conference... online docket, USCG-2010-0387, at http://www.regulations.gov . FOR FURTHER INFORMATION CONTACT: Mr. Mike... Installations (OREI) NVIC 02-07 review. (3) Designation of ``narrow channels'' for Inland Navigation Rule 9...
The skill of surface registration in CT-based navigation system for total hip arthroplasty
International Nuclear Information System (INIS)
Hananouchi, T.; Sugano, N.; Nishii, T.; Miki, H.; Sakai, T.; Yoshikawa, H.; Iwana, D.; Yamamura, M.; Nakamura, N.
2007-01-01
Surface registration of the CT-based navigation system, which is a matching between computational and real spatial spaces, is a key step to guarantee the accuracy of navigation. However, it has not been well described how the accuracy is affected by the registration skill of surgeon. Here, we reported the difference of the registration error between eight surgeons with the experience of navigation and six apprentice surgeons. A cadaveric pelvic model with an acetabular cup was made to measure the skill and learning curve of registration. After surface registration, two cup angles (inclination and anteversion) were recorded in the navigation system and the variance of these cup angles in ten trials were compared between the experienced surgeons and apprentices. In addition, we investigated whether the accuracy of registration by the apprentices was improved by visual information on how to take the surface points. The results showed that there was statistically significant difference in the accuracy of registration between the two groups. The accuracy of the second ten trials after getting the visual information showed great improvements. (orig.)
Directory of Open Access Journals (Sweden)
M. Tayfun Gülle
2010-03-01
Full Text Available Departing from the idea that internet, which has become a deep information tunnel, is causing a problem in access to “accurate information”, it is expressed that societies are imprisoned within the world of “virtual reality” with web 2.0/web 3.0 technologies and social media applications. In order to diagnose this problem correctly, the media used from past to present for accessing information are explained shortly as “social tools.” Furthermore, it is emphasised and summarised with an editorial viewpoint that the means of reaching accurate information can be increased via the freedom of expression channel which will be brought forth by “good librarianship” applications. IFLA Principles of Freedom of Expression and Good Librarianship is referred to at the end of the editorial.
Li, Hong; Liu, Mingyong; Zhang, Feihu
2017-01-01
This paper presents a multi-objective evolutionary algorithm of bio-inspired geomagnetic navigation for Autonomous Underwater Vehicle (AUV). Inspired by the biological navigation behavior, the solution was proposed without using a priori information, simply by magnetotaxis searching. However, the existence of the geomagnetic anomalies has significant influence on the geomagnetic navigation system, which often disrupts the distribution of the geomagnetic field. An extreme value region may easily appear in abnormal regions, which makes AUV lost in the navigation phase. This paper proposes an improved bio-inspired algorithm with behavior constraints, for sake of making AUV escape from the abnormal region. First, the navigation problem is considered as the optimization problem. Second, the environmental monitoring operator is introduced, to determine whether the algorithm falls into the geomagnetic anomaly region. Then, the behavior constraint operator is employed to get out of the abnormal region. Finally, the termination condition is triggered. Compared to the state-of- the-art, the proposed approach effectively overcomes the disturbance of the geomagnetic abnormal. The simulation result demonstrates the reliability and feasibility of the proposed approach in complex environments.
Automatic document navigation for digital content remastering
Lin, Xiaofan; Simske, Steven J.
2003-12-01
This paper presents a novel method of automatically adding navigation capabilities to re-mastered electronic books. We first analyze the need for a generic and robust system to automatically construct navigation links into re-mastered books. We then introduce the core algorithm based on text matching for building the links. The proposed method utilizes the tree-structured dictionary and directional graph of the table of contents to efficiently conduct the text matching. Information fusion further increases the robustness of the algorithm. The experimental results on the MIT Press digital library project are discussed and the key functional features of the system are illustrated. We have also investigated how the quality of the OCR engine affects the linking algorithm. In addition, the analogy between this work and Web link mining has been pointed out.
Flexible Particle Filter Navigation System for Analysis and Operations, Phase I
National Aeronautics and Space Administration — Odyssey Space Research proposes to develop a modular navigation software package to provide precise state information for offline analysis and real-time...
Age-Specific Patient Navigation Preferences Among Adolescents and Young Adults with Cancer.
Pannier, Samantha T; Warner, Echo L; Fowler, Brynn; Fair, Douglas; Salmon, Sara K; Kirchhoff, Anne C
2017-11-23
Patient navigation is increasingly being directed at adolescent and young adult (AYA) patients. This study provides a novel description of differences in AYA cancer patients' preferences for navigation services by developmental age at diagnosis. Eligible patients were diagnosed with cancer between ages 15 and 39 and had completed at least 1 month of treatment. Between October 2015 and January 2016, patients completed semi-structured interviews about navigation preferences. Summary statistics of demographic and cancer characteristics were generated. Differences in patient navigation preferences were examined through qualitative analyses by developmental age at diagnosis. AYAs were interviewed (adolescents 15-18 years N = 8; emerging adults 19-25 years N = 8; young adults 26-39 years N = 23). On average, participants were 4.5 years from diagnosis. All age groups were interested in face-to-face connection with a navigator and using multiple communication platforms (phone, text, email) to follow-up. Three of the most frequently cited needs were insurance, finances, and information. AYAs differed in support, healthcare, and resource preferences by developmental age; only adolescents preferred educational support. While all groups preferred financial and family support, the specific type of assistance (medical versus living expenses, partner/spouse, child, or parental assistance) varied by age group. AYAs with cancer have different preferences for patient navigation by developmental age at diagnosis. AYAs are not a one-size-fits-all population, and navigation programs can better assist AYAs when services are targeted to appropriate developmental ages. Future research should examine fertility and navigation preferences by time since diagnosis. While some navigation needs to span the AYA age range, other needs are specific to developmental age.
Cogné, M; Taillade, M; N'Kaoua, B; Tarruella, A; Klinger, E; Larrue, F; Sauzéon, H; Joseph, P-A; Sorita, E
2017-06-01
Spatial navigation, which involves higher cognitive functions, is frequently implemented in daily activities, and is critical to the participation of human beings in mainstream environments. Virtual reality is an expanding tool, which enables on one hand the assessment of the cognitive functions involved in spatial navigation, and on the other the rehabilitation of patients with spatial navigation difficulties. Topographical disorientation is a frequent deficit among patients suffering from neurological diseases. The use of virtual environments enables the information incorporated into the virtual environment to be manipulated empirically. But the impact of manipulations seems differ according to their nature (quantity, occurrence, and characteristics of the stimuli) and the target population. We performed a systematic review of research on virtual spatial navigation covering the period from 2005 to 2015. We focused first on the contribution of virtual spatial navigation for patients with brain injury or schizophrenia, or in the context of ageing and dementia, and then on the impact of visual or auditory stimuli on virtual spatial navigation. On the basis of 6521 abstracts identified in 2 databases (Pubmed and Scopus) with the keywords « navigation » and « virtual », 1103 abstracts were selected by adding the keywords "ageing", "dementia", "brain injury", "stroke", "schizophrenia", "aid", "help", "stimulus" and "cue"; Among these, 63 articles were included in the present qualitative analysis. Unlike pencil-and-paper tests, virtual reality is useful to assess large-scale navigation strategies in patients with brain injury or schizophrenia, or in the context of ageing and dementia. Better knowledge about both the impact of the different aids and the cognitive processes involved is essential for the use of aids in neurorehabilitation. Copyright © 2016. Published by Elsevier Masson SAS.
Emergency operation procedure navigation to avoid commission errors
International Nuclear Information System (INIS)
Gofuku, Akio; Ito, Koji
2004-01-01
New types of operation control system equipped with a large screen and CRT-based operation panels have been installed in newly constructed nuclear power plants. The operators can share important information of plant conditions by the large screen. The operation control system can know the operations by operators through the computers connected to the operation panels. The software switches placed in the CRT-based operation panels have a problem such that operators may make an error to manipulate an irrelevant software switch with their current operation. This study develops an operation procedure navigation technique to avoid this kind of commission errors. The system lies between CRT-based operation panels and plant control systems and checks an operation by operators if it follows the operation procedure of operation manuals. When the operation is a right one, the operation is executed as if the operation command is directly transmitted to control systems. If the operation does not follow the operation procedure, the system warns the commission error to operators. This paper describes the operation navigation technique, format of base operation model, and a proto-type operation navigation system for a three loop pressurized water reactor plant. The validity of the proto-type system is demonstrated by the operation procedure navigation for a steam generator tube rupture accident. (author)
Determination of UAV position using high accuracy navigation platform
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Ireneusz Kubicki
2016-07-01
Full Text Available The choice of navigation system for mini UAV is very important because of its application and exploitation, particularly when the installed on it a synthetic aperture radar requires highly precise information about an object’s position. The presented exemplary solution of such a system draws attention to the possible problems associated with the use of appropriate technology, sensors, and devices or with a complete navigation system. The position and spatial orientation errors of the measurement platform influence on the obtained SAR imaging. Both, turbulences and maneuvers performed during flight cause the changes in the position of the airborne object resulting in deterioration or lack of images from SAR. Consequently, it is necessary to perform operations for reducing or eliminating the impact of the sensors’ errors on the UAV position accuracy. You need to look for compromise solutions between newer better technologies and in the field of software. Keywords: navigation systems, unmanned aerial vehicles, sensors integration
Gould, J L
1998-10-08
Navigating animals need to know both the bearing of their goal (the 'map' step), and how to determine that direction (the 'compass' step). Compasses are typically arranged in hierarchies, with magnetic backup as a last resort when celestial information is unavailable. Magnetic information is often essential to calibrating celestial cues, though, and repeated recalibration between celestial and magnetic compasses is important in many species. Most magnetic compasses are based on magnetite crystals, but others make use of induction or paramagnetic interactions between short-wavelength light and visual pigments. Though odors may be used in some cases, most if not all long-range maps probably depend on magnetite. Magnetitebased map senses are used to measure only latitude in some species, but provide the distance and direction of the goal in others.
Transport Canada : navigable water protection technical paper on boating safety at dams
Energy Technology Data Exchange (ETDEWEB)
Putt, B [Transport Canada, Sarnia, ON (Canada); Di Censo, V M [Transport Canada, Ottawa, ON (Canada)
2009-07-01
The Navigable Waters Protection Act (NWPA) was designed to ensure a balance between public rights of navigation and the need to build bridges, dams, and other structures. This paper discussed an owner's guide to navigation safety around water control structures. Developed by Transport Canada, the guide was intended to help owners of water control structures address boating safety matters and assist owners in making applications under the NWPA. The guide was prepared to address amendments made to the NWPA in 2009 as well as to assist owners in identifying potential hazards and interactions by the boating public at water control structures. The guide included information related to signage; navigation aids; barriers and booms; warning alerts and alarms; portage and access around structures; and application requirements. It was concluded that the guide will also provide a summary of legislation that may affect owners of water control structures.
An Environmental Scan of Health and Social System Navigation Services in an Urban Canadian Community
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Nancy Carter RN, PhD
2017-01-01
Full Text Available Systems navigation services provided by a designated provider or team have the potential to address health and social disparities. We conducted an environmental scan of navigation activities in a large urban Canadian community to identify and describe: service providers who engage in systems navigation; the clients who require systems navigation support and the issues they face; activities involved; and barriers and facilitators in providing systems navigation support to clients. Using an online survey and convenience sampling, we recruited individuals who self-identified as community navigators or practiced systems navigation activities as part of their role. The majority of respondents ( n = 145 were social workers, social services workers, or nurses. Clients of navigators struggled with mental health or addictions issues, disabilities, chronic diseases, and history of trauma or abuse. The most frequently reported activities of navigators were building professional relationships, managing paperwork, and communicating with relevant agencies or organizations. Barriers to navigation were time available in the work day, difficulty partnering due to bureaucratic structures, differing philosophies and ways of working, and a lack of central information repository in the community. Facilitators were a client-centered organization, the availability of multiple community resources in the region, and organizational support. Participants struggled with client waitlists, system issues such as lack of resources and interagency collaboration, and role clarity.
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Julia Mehlhorn
Full Text Available Homing pigeons are known for their excellent homing ability, and their brains seem to be functionally adapted to homing. It is known that pigeons with navigational experience show a larger hippocampus and also a more lateralised brain than pigeons without navigational experience. So we hypothesized that experience may have an influence also on orientation ability. We examined two groups of pigeons (11 with navigational experience and 17 without in a standard operant chamber with a touch screen monitor showing a 2-D schematic of a rectangular environment (as "geometric" information and one uniquely shaped and colored feature in each corner (as "landmark" information. Pigeons were trained first for pecking on one of these features and then we examined their ability to encode geometric and landmark information in four tests by modifying the rectangular environment. All tests were done under binocular and monocular viewing to test hemispheric dominance. The number of pecks was counted for analysis. Results show that generally both groups orientate on the basis of landmarks and the geometry of environment, but landmark information was preferred. Pigeons with navigational experience did not perform better on the tests but showed a better conjunction of the different kinds of information. Significant differences between monocular and binocular viewing were detected particularly in pigeons without navigational experience on two tests with reduced information. Our data suggest that the conjunction of geometric and landmark information might be integrated after processing separately in each hemisphere and that this process is influenced by experience.
Mehlhorn, Julia; Rehkaemper, Gerd
2017-01-01
Homing pigeons are known for their excellent homing ability, and their brains seem to be functionally adapted to homing. It is known that pigeons with navigational experience show a larger hippocampus and also a more lateralised brain than pigeons without navigational experience. So we hypothesized that experience may have an influence also on orientation ability. We examined two groups of pigeons (11 with navigational experience and 17 without) in a standard operant chamber with a touch screen monitor showing a 2-D schematic of a rectangular environment (as "geometric" information) and one uniquely shaped and colored feature in each corner (as "landmark" information). Pigeons were trained first for pecking on one of these features and then we examined their ability to encode geometric and landmark information in four tests by modifying the rectangular environment. All tests were done under binocular and monocular viewing to test hemispheric dominance. The number of pecks was counted for analysis. Results show that generally both groups orientate on the basis of landmarks and the geometry of environment, but landmark information was preferred. Pigeons with navigational experience did not perform better on the tests but showed a better conjunction of the different kinds of information. Significant differences between monocular and binocular viewing were detected particularly in pigeons without navigational experience on two tests with reduced information. Our data suggest that the conjunction of geometric and landmark information might be integrated after processing separately in each hemisphere and that this process is influenced by experience.
Finding Home: Landmark Ambiguity in Human Navigation
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Simon Jetzschke
2017-07-01
Full Text Available Memories of places often include landmark cues, i.e., information provided by the spatial arrangement of distinct objects with respect to the target location. To study how humans combine landmark information for navigation, we conducted two experiments: To this end, participants were either provided with auditory landmarks while walking in a large sports hall or with visual landmarks while walking on a virtual-reality treadmill setup. We found that participants cannot reliably locate their home position due to ambiguities in the spatial arrangement when only one or two uniform landmarks provide cues with respect to the target. With three visual landmarks that look alike, the task is solved without ambiguity, while audio landmarks need to play three unique sounds for a similar performance. This reduction in ambiguity through integration of landmark information from 1, 2, and 3 landmarks is well modeled using a probabilistic approach based on maximum likelihood estimation. Unlike any deterministic model of human navigation (based e.g., on distance or angle information, this probabilistic model predicted both the precision and accuracy of the human homing performance. To further examine how landmark cues are integrated we introduced systematic conflicts in the visual landmark configuration between training of the home position and tests of the homing performance. The participants integrated the spatial information from each landmark near-optimally to reduce spatial variability. When the conflict becomes big, this integration breaks down and precision is sacrificed for accuracy. That is, participants return again closer to the home position, because they start ignoring the deviant third landmark. Relying on two instead of three landmarks, however, goes along with responses that are scattered over a larger area, thus leading to higher variability. To model the breakdown of integration with increasing conflict, the probabilistic model based on a
Theil, S.; Ammann, N.; Andert, F.; Franz, T.; Krüger, H.; Lehner, H.; Lingenauber, M.; Lüdtke, D.; Maass, B.; Paproth, C.; Wohlfeil, J.
2018-03-01
Since 2010 the German Aerospace Center is working on the project Autonomous Terrain-based Optical Navigation (ATON). Its objective is the development of technologies which allow autonomous navigation of spacecraft in orbit around and during landing on celestial bodies like the Moon, planets, asteroids and comets. The project developed different image processing techniques and optical navigation methods as well as sensor data fusion. The setup—which is applicable to many exploration missions—consists of an inertial measurement unit, a laser altimeter, a star tracker and one or multiple navigation cameras. In the past years, several milestones have been achieved. It started with the setup of a simulation environment including the detailed simulation of camera images. This was continued by hardware-in-the-loop tests in the Testbed for Robotic Optical Navigation (TRON) where images were generated by real cameras in a simulated downscaled lunar landing scene. Data were recorded in helicopter flight tests and post-processed in real-time to increase maturity of the algorithms and to optimize the software. Recently, two more milestones have been achieved. In late 2016, the whole navigation system setup was flying on an unmanned helicopter while processing all sensor information onboard in real time. For the latest milestone the navigation system was tested in closed-loop on the unmanned helicopter. For that purpose the ATON navigation system provided the navigation state for the guidance and control of the unmanned helicopter replacing the GPS-based standard navigation system. The paper will give an introduction to the ATON project and its concept. The methods and algorithms of ATON are briefly described. The flight test results of the latest two milestones are presented and discussed.
Jandl, N M; Sprenger, A; Wojak, J F; Göttlich, M; Münte, T F; Krämer, U M; Helmchen, C
2015-10-01
Spatial orientation and navigation depends on information from the vestibular system. Previous work suggested impaired spatial navigation in patients with bilateral vestibular failure (BVF). The aim of this study was to investigate event-related brain activity by functional magnetic resonance imaging (fMRI) during spatial navigation and visual memory tasks in BVF patients. Twenty-three BVF patients and healthy age- and gender matched control subjects performed learning sessions of spatial navigation by watching short films taking them through various streets from a driver's perspective along a route to the Cathedral of Cologne using virtual reality videos (adopted and modified from Google Earth). In the scanner, participants were asked to respond to questions testing for visual memory or spatial navigation while they viewed short video clips. From a similar but not identical perspective depicted video frames of routes were displayed which they had previously seen or which were completely novel to them. Compared with controls, posterior cerebellar activity in BVF patients was higher during spatial navigation than during visual memory tasks, in the absence of performance differences. This cerebellar activity correlated with disease duration. Cerebellar activity during spatial navigation in BVF patients may reflect increased non-vestibular efforts to counteract the development of spatial navigation deficits in BVF. Conceivably, cerebellar activity indicates a change in navigational strategy of BVF patients, i.e. from a more allocentric, landmark or place-based strategy (hippocampus) to a more sequence-based strategy. This interpretation would be in accord with recent evidence for a cerebellar role in sequence-based navigation. Copyright © 2015 IBRO. Published by Elsevier Ltd. All rights reserved.
Walker, M.
2012-05-01
Significant differences in the rotation of the celestial dome between the tropical and temperate zones did not stop the peoples of either the tropical Pacific or temperate Europe from using geocentric astronomy to guide exploration of the oceans. Although the differences in the night sky contributed to differences between the Pacific Island and European systems for navigation at sea, the two navigation systems exhibit substantial similarities. Both systems define positions on the surface of the Earth using two coordinates that vary at right angles to each other and use stars, and to a lesser extent the sun, to determine directions. This essay explores similarities and differences in the use of geocentric astronomy for navigation at sea by the peoples of Polynesia and Europe in the late eighteenth century. Captain Cook's orders to discover the unknown southern continent after observing the transit of Venus combined with differences in language and culture to obscure the deeper similarities between the navigation systems used by Cook and the Polynesians. Although it was a further 200 years before anthropologists studied Pacific navigation, collaborations in voyaging with communities in Oceania demonstrated the effectiveness of Pacific navigation systems, revived interest in traditional voyaging in island communities around the Pacific, and potentially open the way for further collaborations in other areas.
Intelligence Context Aware Mobile Navigation using Augmented Reality Technology
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Ahmad Hoirul Basori
2018-04-01
Full Text Available Most of the technologies of today’s world, which are enriched with various powerful features and amazing quality characteristics, enables software developers to come up with best possible software solutions, no matter what the context of the particular issue. Technologies such as Augmented Reality (AR, is utilized almost every kind of fields in today’s society. As computers become more advanced through mobile devices and wearable technology, augmented reality will become a seamless experience that is a part of our everyday lives. In the context of this work, an Intelligence mobile navigation application for the King Abdul Aziz University Rabigh is developed enabling the user to find specific locations on campus and offers the ability to explore the campus environment via AR. Furthermore, the system, Mobile Campus Navigation with Augmented Reality application is capable of giving guidance in outdoor location navigating and retrieving details of campus officials and lecturers. With the proposed system, it is expected to serve as a useful and informative navigate helper for both students of King Abdul Aziz University and for the visitors, at outdoor locations and to use as an application to check officials and lecturer availability and retrieve detail about them when they are not available at the office at any time.
Electromagnetic navigation diagnostic bronchoscopy for small peripheral lung lesions.
Makris, D; Scherpereel, A; Leroy, S; Bouchindhomme, B; Faivre, J-B; Remy, J; Ramon, P; Marquette, C-H
2007-06-01
The present study prospectively evaluated the diagnostic yield and safety of electromagnetic navigation-guided bronchoscopy biopsy, for small peripheral lung lesions in patients where standard techniques were nondiagnostic. The study was conducted in a tertiary medical centre on 40 consecutive patients considered unsuitable for straightforward surgery or computed tomography (CT)-guided transthoracic needle aspiration biopsy, due to comorbidities. The lung lesion diameter was mean+/-sem 23.5+/-1.5 mm and the depth from the visceral-costal pleura was 14.9+/-2 mm. Navigation was facilitated by an electromagnetic tracking system which could detect a position sensor incorporated into a flexible catheter advanced through a bronchoscope. Information obtained during bronchoscopy was superimposed on previously acquired CT data. Divergence between CT data and data obtained during bronchoscopy was calculated by the system's software as a measure of navigational accuracy. All but one of the target lesions was reached and the overall diagnostic yield was 62.5% (25-40). Diagnostic yield was significantly affected by CT-to-body divergence; yield was 77.2% when estimated divergence was drainage was required in one case. Electromagnetic navigation-guided bronchoscopy has the potential to improve the diagnostic yield of transbronchial biopsies without additional fluoroscopic guidance, and may be useful in the early diagnosis of lung cancer, particularly in nonoperable patients.
Chen, Xiao-lei; Xu, Bai-nan; Wang, Fei; Meng, Xiang-hui; Zhang, Jun; Jiang, Jin-li; Yu, Xin-guang; Zhou, Ding-biao
2011-08-01
To explore the clinical value of functional neuro-navigation and high-field-strength intraoperative magnetic resonance imaging (iMRI) for the resection of intracerebral gliomas involving eloquent language structures. From April 2009 to April 2010, 48 patients with intracerebral gliomas involving eloquent language structures, were operated with functional neuro-navigation and iMRI. Blood oxygen level dependent functional MRI (BOLD-fMRI) was used to depict both Broca and Wernicke cortex, while diffusion tensor imaging (DTI) based fiber tracking was used to delineate arcuate fasciculus. The reconstructed language structures were integrated into a navigation system, so that intra-operative microscopic-based functional neuro-navigation could be achieved. iMRI was used to update the images for both language structures and residual tumors. All patients were evaluated for language function pre-operatively and post-operatively upon short-term and long-term follow-up. In all patients, functional neuro-navigation and iMRI were successfully achieved. In 38 cases (79.2%), gross total resection was accomplished, while in the rest 10 cases (20.8%), subtotal resection was achieved. Only 1 case (2.1%) developed long-term (more than 3 months) new language function deficits at post-operative follow-up. No peri-operative mortality was recorded. With functional neuro-navigation and iMRI, the eloquent structures for language can be precisely located, while the resection size can be accurately evaluated intra-operatively. This technique is safe and helpful for preservation of language function.
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Jinbiao Chen
2014-06-01
Full Text Available The risk level of the Aids to Navigation (AtoNs can reflect the ship navigation safety level in the channel to some extent. In order to appreciate the risk level of the aids to navigation (AtoNs in a navigation channel and to provide some decision-making suggestions for the AtoNs Maintenance and Management Department, the risk assessment index system of the AtoNs was built considering the advanced experience of IALA. Under the Formal Safety Assessment frame, taking the advantages of the fuzzy comprehensive evaluation method, the fuzzy-FSA model of risk assessment for aids to navigation was established. The model was implemented for the assessment of aids to navigation in Shanghai area based on the aids to navigation three-dimensional simulation system. The real-time data were extracted from the existing information system of aids to navigation, and the real-time risk assessment for aids to navigation of the chosen channel was performed on platform of the three-dimensional simulation system, with the risk assessment software. Specifically, the deep-water channel of the Yangtze River estuary was taken as an example to illustrate the general assessment procedure. The method proposed presents practical significance and application prospect on the maintenance and management of the aids to navigation.
Williams, Brian; Hudson, Nicolas; Tweddle, Brent; Brockers, Roland; Matthies, Larry
2011-01-01
A Feature and Pose Constrained Extended Kalman Filter (FPC-EKF) is developed for highly dynamic computationally constrained micro aerial vehicles. Vehicle localization is achieved using only a low performance inertial measurement unit and a single camera. The FPC-EKF framework augments the vehicle's state with both previous vehicle poses and critical environmental features, including vertical edges. This filter framework efficiently incorporates measurements from hundreds of opportunistic visual features to constrain the motion estimate, while allowing navigating and sustained tracking with respect to a few persistent features. In addition, vertical features in the environment are opportunistically used to provide global attitude references. Accurate pose estimation is demonstrated on a sequence including fast traversing, where visual features enter and exit the field-of-view quickly, as well as hover and ingress maneuvers where drift free navigation is achieved with respect to the environment.
Comparison of robust H∞ filter and Kalman filter for initial alignment of inertial navigation system
Institute of Scientific and Technical Information of China (English)
HAO Yan-ling; CHEN Ming-hui; LI Liang-jun; XU Bo
2008-01-01
There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system.This paper discussed the use of GPS,but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system (SINS).One method is based on the Kalman filter (KF),and the other is based on the robust filter.Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF,given substantial process noise or unknown noise statistics.So the robust filter is an effective and useful method for initial alignment of SINS.This research should make the use of SINS more popular,and is also a step for further research.
Simulating Navigation with Virtual 3d Geovisualizations - a Focus on Memory Related Factors
Lokka, I.; Çöltekin, A.
2016-06-01
The use of virtual environments (VE) for navigation-related studies, such as spatial cognition and path retrieval has been widely adopted in cognitive psychology and related fields. What motivates the use of VEs for such studies is that, as opposed to real-world, we can control for the confounding variables in simulated VEs. When simulating a geographic environment as a virtual world with the intention to train navigational memory in humans, an effective and efficient visual design is important to facilitate the amount of recall. However, it is not yet clear what amount of information should be included in such visual designs intended to facilitate remembering: there can be too little or too much of it. Besides the amount of information or level of detail, the types of visual features (`elements' in a visual scene) that should be included in the representations to create memorable scenes and paths must be defined. We analyzed the literature in cognitive psychology, geovisualization and information visualization, and identified the key factors for studying and evaluating geovisualization designs for their function to support and strengthen human navigational memory. The key factors we identified are: i) the individual abilities and age of the users, ii) the level of realism (LOR) included in the representations and iii) the context in which the navigation is performed, thus specific tasks within a case scenario. Here we present a concise literature review and our conceptual development for follow-up experiments.
Usability Testing of Two Ambulatory EHR Navigators.
Hultman, Gretchen; Marquard, Jenna; Arsoniadis, Elliot; Mink, Pamela; Rizvi, Rubina; Ramer, Tim; Khairat, Saif; Fickau, Keri; Melton, Genevieve B
2016-01-01
Despite widespread electronic health record (EHR) adoption, poor EHR system usability continues to be a significant barrier to effective system use for end users. One key to addressing usability problems is to employ user testing and user-centered design. To understand if redesigning an EHR-based navigation tool with clinician input improved user performance and satisfaction. A usability evaluation was conducted to compare two versions of a redesigned ambulatory navigator. Participants completed tasks for five patient cases using the navigators, while employing a think-aloud protocol. The tasks were based on Meaningful Use (MU) requirements. The version of navigator did not affect perceived workload, and time to complete tasks was longer in the redesigned navigator. A relatively small portion of navigator content was used to complete the MU-related tasks, though navigation patterns were highly variable across participants for both navigators. Preferences for EHR navigation structures appeared to be individualized. This study demonstrates the importance of EHR usability assessments to evaluate group and individual performance of different interfaces and preferences for each design.
Herman, L.; Řezník, T.
2015-08-01
3D information is essential for a number of applications used daily in various domains such as crisis management, energy management, urban planning, and cultural heritage, as well as pollution and noise mapping, etc. This paper is devoted to the issue of 3D modelling from the levels of buildings to cities. The theoretical sections comprise an analysis of cartographic principles for the 3D visualization of spatial data as well as a review of technologies and data formats used in the visualization of 3D models. Emphasis was placed on the verification of available web technologies; for example, X3DOM library was chosen for the implementation of a proof-of-concept web application. The created web application displays a 3D model of the city district of Nový Lískovec in Brno, the Czech Republic. The developed 3D visualization shows a terrain model, 3D buildings, noise pollution, and other related information. Attention was paid to the areas important for handling heterogeneous input data, the design of interactive functionality, and navigation assistants. The advantages, limitations, and future development of the proposed concept are discussed in the conclusions.
2010-08-18
... 3 and 165 to reflect changes in Coast Guard internal organizational structure. Sector Portland and... 1625-ZA25 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments, Sector... Waters; Technical, Organizational, and Conforming Amendments, Sector Columbia River.'' 2. On page 48564...
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Tae-Suk Bae
2018-01-01
Full Text Available Recently, an accurate positioning has become the kernel of autonomous navigation with the rapid growth of drones including mapping purpose. The Network-based Real-time Kinematic (NRTK system was predominantly used for precision positioning in many fields such as surveying and agriculture, mostly in static mode or low-speed operation. The NRTK positioning, in general, shows much better performance with the fixed integer ambiguities. However, the success rate of the ambiguity resolution is highly dependent on the ionospheric condition and the surrounding environment of Global Navigation Satellite System (GNSS positioning, which particularly corresponds to the low-cost GNSS receivers. We analyzed the effects of the ionospheric conditions on the GNSS NRTK, as well as the possibility of applying the mobile NRTK to drone navigation for mapping. Two NRTK systems in operation were analyzed during a period of high ionospheric conditions, and the accuracy and the performance were compared for several operational cases. The test results show that a submeter accuracy is available even with float ambiguity under a favorable condition (i.e., visibility of the satellites as well as stable ionosphere. We still need to consider how to deal with ionospheric disturbances which may prevent NRTK positioning.
Object Persistence Enhances Spatial Navigation: A Case Study in Smartphone Vision Science.
Liverence, Brandon M; Scholl, Brian J
2015-07-01
Violations of spatiotemporal continuity disrupt performance in many tasks involving attention and working memory, but experiments on this topic have been limited to the study of moment-by-moment on-line perception, typically assessed by passive monitoring tasks. We tested whether persisting object representations also serve as underlying units of longer-term memory and active spatial navigation, using a novel paradigm inspired by the visual interfaces common to many smartphones. Participants used key presses to navigate through simple visual environments consisting of grids of icons (depicting real-world objects), only one of which was visible at a time through a static virtual window. Participants found target icons faster when navigation involved persistence cues (via sliding animations) than when persistence was disrupted (e.g., via temporally matched fading animations), with all transitions inspired by smartphone interfaces. Moreover, this difference occurred even after explicit memorization of the relevant information, which demonstrates that object persistence enhances spatial navigation in an automatic and irresistible fashion. © The Author(s) 2015.
Lopez-Rendon, Xochitl; Zhang, Guozhi; Coudyzer, Walter; Develter, Wim; Bosmans, Hilde; Zanca, Federica
2017-11-01
To compare the lung and breast dose associated with three chest protocols: standard, organ-based tube current modulation (OBTCM) and fast-speed scanning; and to estimate the error associated with organ dose when modelling the longitudinal (z-) TCM versus the 3D-TCM in Monte Carlo simulations (MC) for these three protocols. Five adult and three paediatric cadavers with different BMI were scanned. The CTDI vol of the OBTCM and the fast-speed protocols were matched to the patient-specific CTDI vol of the standard protocol. Lung and breast doses were estimated using MC with both z- and 3D-TCM simulated and compared between protocols. The fast-speed scanning protocol delivered the highest doses. A slight reduction for breast dose (up to 5.1%) was observed for two of the three female cadavers with the OBTCM in comparison to the standard. For both adult and paediatric, the implementation of the z-TCM data only for organ dose estimation resulted in 10.0% accuracy for the standard and fast-speed protocols, while relative dose differences were up to 15.3% for the OBTCM protocol. At identical CTDI vol values, the standard protocol delivered the lowest overall doses. Only for the OBTCM protocol is the 3D-TCM needed if an accurate (<10.0%) organ dosimetry is desired. • The z-TCM information is sufficient for accurate dosimetry for standard protocols. • The z-TCM information is sufficient for accurate dosimetry for fast-speed scanning protocols. • For organ-based TCM schemes, the 3D-TCM information is necessary for accurate dosimetry. • At identical CTDI vol , the fast-speed scanning protocol delivered the highest doses. • Lung dose was higher in XCare than standard protocol at identical CTDI vol .
Getting Lost Through Navigation
DEFF Research Database (Denmark)
Debus, Michael S.
2017-01-01
In this presentation, I argued two things. First, that it is navigation that lies at the core of contemporary (3D-) videogames and that its analysis is of utmost importance. Second, that this analysis needs a more rigorous differentiation between specific acts of navigation. Considering the Oxford...... in videogames is a configurational rather than an interpretational one (Eskelinen 2001). Especially in the case of game spaces, navigation appears to be of importance (Wolf 2009; Flynn 2008). Further, it does not only play a crucial role for the games themselves, but also for the experience of the player...
Inertial navigation without accelerometers
Boehm, M.
The Kennedy-Thorndike (1932) experiment points to the feasibility of fiber-optic inertial velocimeters, to which state-of-the-art technology could furnish substantial sensitivity and accuracy improvements. Velocimeters of this type would obviate the use of both gyros and accelerometers, and allow inertial navigation to be conducted together with vehicle attitude control, through the derivation of rotation rates from the ratios of the three possible velocimeter pairs. An inertial navigator and reference system based on this approach would probably have both fewer components and simpler algorithms, due to the obviation of the first level of integration in classic inertial navigators.
A Bionic Polarization Navigation Sensor and Its Calibration Method.
Zhao, Huijie; Xu, Wujian
2016-08-03
The polarization patterns of skylight which arise due to the scattering of sunlight in the atmosphere can be used by many insects for deriving compass information. Inspired by insects' polarized light compass, scientists have developed a new kind of navigation method. One of the key techniques in this method is the polarimetric sensor which is used to acquire direction information from skylight. In this paper, a polarization navigation sensor is proposed which imitates the working principles of the polarization vision systems of insects. We introduce the optical design and mathematical model of the sensor. In addition, a calibration method based on variable substitution and non-linear curve fitting is proposed. The results obtained from the outdoor experiments provide support for the feasibility and precision of the sensor. The sensor's signal processing can be well described using our mathematical model. A relatively high degree of accuracy in polarization measurement can be obtained without any error compensation.
Infrasound and the avian navigational map.
Hagstrum, J T
2000-04-01
Birds can navigate accurately over hundreds to thousands of kilometres, and this ability of homing pigeons is the basis for a worldwide sport. Compass senses orient avian flight, but how birds determine their location in order to select the correct homeward bearing (map sense) remains a mystery. Also mysterious are rare disruptions of pigeon races in which most birds are substantially delayed and large numbers are lost. Here, it is shown that in four recent pigeon races in Europe and the northeastern USA the birds encountered infrasonic (low-frequency acoustic) shock waves from the Concorde supersonic transport. An acoustic avian map is proposed that consists of infrasonic cues radiated from steep-sided topographic features; the source of these signals is microseisms continuously generated by interfering oceanic waves. Atmospheric processes affecting these infrasonic map cues can explain perplexing experimental results from pigeon releases.
Vision enhanced navigation for unmanned systems
Wampler, Brandon Loy
A vision based simultaneous localization and mapping (SLAM) algorithm is evaluated for use on unmanned systems. SLAM is a technique used by a vehicle to build a map of an environment while concurrently keeping track of its location within the map, without a priori knowledge. The work in this thesis is focused on using SLAM as a navigation solution when global positioning system (GPS) service is degraded or temporarily unavailable. Previous work on unmanned systems that lead up to the determination that a better navigation solution than GPS alone is first presented. This previous work includes control of unmanned systems, simulation, and unmanned vehicle hardware testing. The proposed SLAM algorithm follows the work originally developed by Davidson et al. in which they dub their algorithm MonoSLAM [1--4]. A new approach using the Pyramidal Lucas-Kanade feature tracking algorithm from Intel's OpenCV (open computer vision) library is presented as a means of keeping correct landmark correspondences as the vehicle moves through the scene. Though this landmark tracking method is unusable for long term SLAM due to its inability to recognize revisited landmarks, as opposed to the Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Features (SURF), its computational efficiency makes it a good candidate for short term navigation between GPS position updates. Additional sensor information is then considered by fusing INS and GPS information into the SLAM filter. The SLAM system, in its vision only and vision/IMU form, is tested on a table top, in an open room, and finally in an outdoor environment. For the outdoor environment, a form of the slam algorithm that fuses vision, IMU, and GPS information is tested. The proposed SLAM algorithm, and its several forms, are implemented in C++ using an Extended Kalman Filter (EKF). Experiments utilizing a live video feed from a webcam are performed. The different forms of the filter are compared and conclusions are made on
2013-07-10
... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Part 105 [Docket No. USCG-2013-0397] RIN 1625-AC06 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments; Correction AGENCY: Coast Guard, DHS. ACTION: Final rule; correction. SUMMARY: The Coast Guard published a final rule...
Moschetta, Marco; Telegrafo, Michele; Capuano, Giulia; Rella, Leonarda; Scardapane, Arnaldo; Angelelli, Giuseppe; Stabile Ianora, Amato Antonio
2013-10-01
To assess the contribute of intra-prosthetic MRI virtual navigation for evaluating breast implants and detecting implant ruptures. Forty-five breast implants were evaluated by MR examination. Only patients with a clinical indication were assessed. A 1.5-T device equipped with a 4-channel breast coil was used by performing axial TSE-T2, axial silicone-only, axial silicone suppression and sagittal STIR images. The obtained dicom files were also analyzed by using virtual navigation software. Two blinded radiologists evaluated all MR and virtual images. Eight patients for a total of 13 implants underwent surgical replacement. Sensitivity, specificity, accuracy, positive predictive value (PPV) and negative predictive value (NPV) were calculated for both imaging strategies. Intra-capsular rupture was diagnosed in 13 out of 45 (29%) implants by using MRI. Basing on virtual navigation, 9 (20%) cases of intra-capsular rupture were diagnosed. Sensitivity, specificity, accuracy, PPV and NPV values of 100%, 86%, 89%, 62% and 100%, respectively, were found for MRI. Virtual navigation increased the previous values up to 100%, 97%, 98%, 89% and 100%. Intra-prosthetic breast MR virtual navigation can represent an additional promising tool for the evaluation of breast implants being able to reduce false positives and to provide a more accurate detection of intra-capsular implant rupture signs. Copyright © 2013 Elsevier Inc. All rights reserved.
Data Integration from GPS and Inertial Navigation Systems for Pedestrians in Urban Area
Krzysztof Bikonis; Jerzy Demkowicz
2013-01-01
The GPS system is widely used in navigation and the GPS receiver can offer long-term stable absolute positioning information. The overall system performance depends largely on the signal environments. The position obtained from GPS is often degraded due to obstruction and multipath effect caused by buildings, city infrastructure and vegetation, whereas, the current performance achieved by inertial navigation systems (INS) is still relatively poor due to the large inertial sensor errors. The c...
Restricted Navigation Areas - USACE IENC
Department of Homeland Security — These inland electronic Navigational charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...
NFC Internal: An Indoor Navigation System
Ozdenizci, Busra; Coskun, Vedat; Ok, Kerem
2015-01-01
Indoor navigation systems have recently become a popular research field due to the lack of GPS signals indoors. Several indoors navigation systems have already been proposed in order to eliminate deficiencies; however each of them has several technical and usability limitations. In this study, we propose NFC Internal, a Near Field Communication (NFC)-based indoor navigation system, which enables users to navigate through a building or a complex by enabling a simple location update, simply by touching NFC tags those are spread around and orient users to the destination. In this paper, we initially present the system requirements, give the design details and study the viability of NFC Internal with a prototype application and a case study. Moreover, we evaluate the performance of the system and compare it with existing indoor navigation systems. It is seen that NFC Internal has considerable advantages and significant contributions to existing indoor navigation systems in terms of security and privacy, cost, performance, robustness, complexity, user preference and commercial availability. PMID:25825976
Global Navigation Satellite System (GNSS) Rapid Clock Product Summary from NASA CDDIS
National Aeronautics and Space Administration — This derived product set consists of Global Navigation Satellite System Rapid Clock Product Summary from the NASA Crustal Dynamics Data Information System (CDDIS)....
2010-08-11
... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Parts 3 and 165 [Docket No. USCG-2010-0351] RIN 1625-ZA25 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments, Sector Columbia River, WA AGENCY: Coast Guard, DHS. ACTION: Final rule. SUMMARY: This rule makes non-substantive...
Energy Technology Data Exchange (ETDEWEB)
Khasawneh, Mohammed A., E-mail: mkha@ieee.org [Department of Electrical Engineering, Jordan University of Science and Technology (Jordan); Al-Shboul, Zeina Aman M., E-mail: xeinaaman@gmail.com [Department of Electrical Engineering, Jordan University of Science and Technology (Jordan); Jaradat, Mohammad A., E-mail: majaradat@just.edu.jo [Department of Mechanical Engineering, Jordan University of Science and Technology (Jordan); Malkawi, Mohammad I., E-mail: mmalkawi@aimws.com [College of Engineering, Jadara University, Irbid 221 10 (Jordan)
2013-06-15
Highlights: ► A new navigation algorithm for Radiation Evasion around nuclear facilities. ► An optimization criteria minimized under algorithm operation. ► A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. ► Benefits of using localized navigation as opposed to global navigation schemas. ► A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. -- Abstract: In this extension from part I (Khasawneh et al., in press), we modify the navigation algorithm which was presented with the objective of optimizing the “Radiation Evasion” Criterion so that navigation would optimize the criterion of “Nearest Exit”. Under this modification, algorithm would yield navigation paths that would guide occupational workers towards Nearest Exit points. Again, under this optimization criterion, algorithm leverages the use of localized information acquired through a well designed and distributed wireless sensor network, as it averts the need for any long-haul communication links or centralized decision and monitoring facility thereby achieving a more reliable performance under dynamic environments. As was done in part I, the proposed algorithm under the “Nearest Exit” Criterion is designed to leverage nearest neighbor information coming in through the sensory network overhead, in computing successful navigational paths from one point to another. For comparison purposes, the proposed algorithm is tested under the two optimization criteria: “Radiation Evasion” and “Nearest Exit”, for different numbers of step look-ahead. We verify the performance of the algorithm by means of simulations, whereby navigational paths are calculated for different radiation fields. We, via simulations, also, verify the performance of the algorithm in comparison with a well-known global navigation algorithm upon which we draw our conclusions.
International Nuclear Information System (INIS)
Khasawneh, Mohammed A.; Al-Shboul, Zeina Aman M.; Jaradat, Mohammad A.; Malkawi, Mohammad I.
2013-01-01
Highlights: ► A new navigation algorithm for Radiation Evasion around nuclear facilities. ► An optimization criteria minimized under algorithm operation. ► A man-borne device guiding the occupational worker towards paths that warrant least radiation × time products. ► Benefits of using localized navigation as opposed to global navigation schemas. ► A path discrimination function for finding the navigational paths exhibiting the least amounts of radiation. -- Abstract: In this extension from part I (Khasawneh et al., in press), we modify the navigation algorithm which was presented with the objective of optimizing the “Radiation Evasion” Criterion so that navigation would optimize the criterion of “Nearest Exit”. Under this modification, algorithm would yield navigation paths that would guide occupational workers towards Nearest Exit points. Again, under this optimization criterion, algorithm leverages the use of localized information acquired through a well designed and distributed wireless sensor network, as it averts the need for any long-haul communication links or centralized decision and monitoring facility thereby achieving a more reliable performance under dynamic environments. As was done in part I, the proposed algorithm under the “Nearest Exit” Criterion is designed to leverage nearest neighbor information coming in through the sensory network overhead, in computing successful navigational paths from one point to another. For comparison purposes, the proposed algorithm is tested under the two optimization criteria: “Radiation Evasion” and “Nearest Exit”, for different numbers of step look-ahead. We verify the performance of the algorithm by means of simulations, whereby navigational paths are calculated for different radiation fields. We, via simulations, also, verify the performance of the algorithm in comparison with a well-known global navigation algorithm upon which we draw our conclusions
Sex differences in navigation strategy and efficiency.
Boone, Alexander P; Gong, Xinyi; Hegarty, Mary
2018-05-22
Research on human navigation has indicated that males and females differ in self-reported navigation strategy as well as objective measures of navigation efficiency. In two experiments, we investigated sex differences in navigation strategy and efficiency using an objective measure of strategy, the dual-solution paradigm (DSP; Marchette, Bakker, & Shelton, 2011). Although navigation by shortcuts and learned routes were the primary strategies used in both experiments, as in previous research on the DSP, individuals also utilized route reversals and sometimes found the goal location as a result of wandering. Importantly, sex differences were found in measures of both route selection and navigation efficiency. In particular, males were more likely to take shortcuts and reached their goal location faster than females, while females were more likely to follow learned routes and wander. Self-report measures of strategy were only weakly correlated with objective measures of strategy, casting doubt on their usefulness. This research indicates that the sex difference in navigation efficiency is large, and only partially related to an individual's navigation strategy as measured by the dual-solution paradigm.
Discovering More Accurate Frequent Web Usage Patterns
Bayir, Murat Ali; Toroslu, Ismail Hakki; Cosar, Ahmet; Fidan, Guven
2008-01-01
Web usage mining is a type of web mining, which exploits data mining techniques to discover valuable information from navigation behavior of World Wide Web users. As in classical data mining, data preparation and pattern discovery are the main issues in web usage mining. The first phase of web usage mining is the data processing phase, which includes the session reconstruction operation from server logs. Session reconstruction success directly affects the quality of the frequent patterns disc...
Unified Simulation and Analysis Framework for Deep Space Navigation Design
Anzalone, Evan; Chuang, Jason; Olsen, Carrie
2013-01-01
As the technology that enables advanced deep space autonomous navigation continues to develop and the requirements for such capability continues to grow, there is a clear need for a modular expandable simulation framework. This tool's purpose is to address multiple measurement and information sources in order to capture system capability. This is needed to analyze the capability of competing navigation systems as well as to develop system requirements, in order to determine its effect on the sizing of the integrated vehicle. The development for such a framework is built upon Model-Based Systems Engineering techniques to capture the architecture of the navigation system and possible state measurements and observations to feed into the simulation implementation structure. These models also allow a common environment for the capture of an increasingly complex operational architecture, involving multiple spacecraft, ground stations, and communication networks. In order to address these architectural developments, a framework of agent-based modules is implemented to capture the independent operations of individual spacecraft as well as the network interactions amongst spacecraft. This paper describes the development of this framework, and the modeling processes used to capture a deep space navigation system. Additionally, a sample implementation describing a concept of network-based navigation utilizing digitally transmitted data packets is described in detail. This developed package shows the capability of the modeling framework, including its modularity, analysis capabilities, and its unification back to the overall system requirements and definition.
Nautical Navigation Aids (NAVAID) Locations
Department of Homeland Security — Structures intended to assist a navigator to determine position or safe course, or to warn of dangers or obstructions to navigation. This dataset includes lights,...
Collaborative filtering to improve navigation of large radiology knowledge resources.
Kahn, Charles E
2005-06-01
Collaborative filtering is a knowledge-discovery technique that can help guide readers to items of potential interest based on the experience of prior users. This study sought to determine the impact of collaborative filtering on navigation of a large, Web-based radiology knowledge resource. Collaborative filtering was applied to a collection of 1,168 radiology hypertext documents available via the Internet. An item-based collaborative filtering algorithm identified each document's six most closely related documents based on 248,304 page views in an 18-day period. Documents were amended to include links to their related documents, and use was analyzed over the next 5 days. The mean number of documents viewed per visit increased from 1.57 to 1.74 (P Collaborative filtering can increase a radiology information resource's utilization and can improve its usefulness and ease of navigation. The technique holds promise for improving navigation of large Internet-based radiology knowledge resources.
Leveraging Two Kinect Sensors for Accurate Full-Body Motion Capture
Directory of Open Access Journals (Sweden)
Zhiquan Gao
2015-09-01
Full Text Available Accurate motion capture plays an important role in sports analysis, the medical field and virtual reality. Current methods for motion capture often suffer from occlusions, which limits the accuracy of their pose estimation. In this paper, we propose a complete system to measure the pose parameters of the human body accurately. Different from previous monocular depth camera systems, we leverage two Kinect sensors to acquire more information about human movements, which ensures that we can still get an accurate estimation even when significant occlusion occurs. Because human motion is temporally constant, we adopt a learning analysis to mine the temporal information across the posture variations. Using this information, we estimate human pose parameters accurately, regardless of rapid movement. Our experimental results show that our system can perform an accurate pose estimation of the human body with the constraint of information from the temporal domain.
Design of all-weather celestial navigation system
Sun, Hongchi; Mu, Rongjun; Du, Huajun; Wu, Peng
2018-03-01
In order to realize autonomous navigation in the atmosphere, an all-weather celestial navigation system is designed. The research of celestial navigation system include discrimination method of comentropy and the adaptive navigation algorithm based on the P value. The discrimination method of comentropy is studied to realize the independent switching of two celestial navigation modes, starlight and radio. Finally, an adaptive filtering algorithm based on P value is proposed, which can greatly improve the disturbance rejection capability of the system. The experimental results show that the accuracy of the three axis attitude is better than 10″, and it can work all weather. In perturbation environment, the position accuracy of the integrated navigation system can be increased 20% comparing with the traditional method. It basically meets the requirements of the all-weather celestial navigation system, and it has the ability of stability, reliability, high accuracy and strong anti-interference.
An on-line monitoring system for navigation equipment
Wang, Bo; Yang, Ping; Liu, Jing; Yang, Zhengbo; Liang, Fei
2017-10-01
Civil air navigation equipment is the most important infrastructure of Civil Aviation, which is closely related to flight safety. In addition to regular flight inspection, navigation equipment's patrol measuring, maintenance measuring, running measuring under special weather conditions are the important means of ensuring aviation flight safety. According to the safety maintenance requirements of Civil Aviation Air Traffic Control navigation equipment, this paper developed one on-line monitoring system with independent intellectual property rights for navigation equipment, the system breakthroughs the key technologies of measuring navigation equipment on-line including Instrument Landing System (ILS) and VHF Omni-directional Range (VOR), which also meets the requirements of navigation equipment ground measurement set by the ICAO DOC 8071, it provides technical means of the ground on-line measurement for navigation equipment, improves the safety of navigation equipment operation, and reduces the impact of measuring navigation equipment on airport operation.
Health Insurance Exchanges: Health Insurance Navigators and In-Person Assistance
2013-09-25
apply for coverage through the exchanges may be eligible for small business tax credits.5 Consumers may apply for coverage over the phone, online , via...more recent CMS announcements reference 20-30 hours of training. 47 The Medicare Learning Network online navigator training is estimated to take 20...about scam artists seeking to obtain personal information under the guise of verifying information regarding ACA coverage.114
32 CFR 644.3 - Navigation Projects.
2010-07-01
... 32 National Defense 4 2010-07-01 2010-07-01 true Navigation Projects. 644.3 Section 644.3 National... HANDBOOK Project Planning Civil Works § 644.3 Navigation Projects. (a) Land to be acquired in fee. All... construction and borrow areas. (3) In navigation-only projects, the right to permanently flood should be...
EnEx-RANGE - Robust autonomous Acoustic Navigation in Glacial icE
Heinen, Dirk; Eliseev, Dmitry; Henke, Christoph; Jeschke, Sabina; Linder, Peter; Reuter, Sebastian; Schönitz, Sebastian; Scholz, Franziska; Weinstock, Lars Steffen; Wickmann, Stefan; Wiebusch, Christopher; Zierke, Simon
2017-03-01
Within the Enceladus Explorer Initiative of the DLR Space Administration navigation technologies for a future space mission are in development. Those technologies are the basis for the search for extraterrestrial life on the Saturn moon Enceladus. An autonomous melting probe, the EnEx probe, aims to extract a liquid sample from a water reservoir below the icy crust. A first EnEx probe was developed and demonstrated in a terrestrial scenario at the Bloodfalls, Taylor Glacier, Antarctica in November 2014. To enable navigation in glacier ice two acoustic systems were integrated into the probe in addition to conventional navigation technologies. The first acoustic system determines the position of the probe during the run based on propagation times of acoustic signals from emitters at reference positions at the glacier surface to receivers in the probe. The second system provides information about the forefield of the probe. It is based on sonographic principles with phased array technology integrated in the probe's melting head. Information about obstacles or sampling regions in the probe's forefield can be acquired. The development of both systems is now continued in the project EnEx-RANGE. The emitters of the localization system are replaced by a network of intelligent acoustic enabled melting probes. These localize each other by means of acoustic signals and create the reference system for the EnEx probe. This presentation includes the discussion of the intelligent acoustic network, the acoustic navigation systems of the EnEx probe and results of terrestrial tests.
2010-01-01
... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Communication and navigation equipment for... § 121.349 Communication and navigation equipment for operations under VFR over routes not navigated by... receiver providing visual and aural signals; and (iii) One ILS receiver; and (3) Any RNAV system used to...
Quantum imaging for underwater arctic navigation
Lanzagorta, Marco
2017-05-01
The precise navigation of underwater vehicles is a difficult task due to the challenges imposed by the variable oceanic environment. It is particularly difficult if the underwater vehicle is trying to navigate under the Arctic ice shelf. Indeed, in this scenario traditional navigation devices such as GPS, compasses and gyrocompasses are unavailable or unreliable. In addition, the shape and thickness of the ice shelf is variable throughout the year. Current Arctic underwater navigation systems include sonar arrays to detect the proximity to the ice. However, these systems are undesirable in a wartime environment, as the sound gives away the position of the underwater vehicle. In this paper we briefly describe the theoretical design of a quantum imaging system that could allow the safe and stealthy navigation of underwater Arctic vehicles.
Autonomous Robot Navigation based on Visual Landmarks
DEFF Research Database (Denmark)
Livatino, Salvatore
2005-01-01
The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully a...... automatically learn and store visual landmarks, and later recognize these landmarks from arbitrary positions and thus estimate robot position and heading.......The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully...... autonomous navigation and self-localization using automatically selected landmarks. The thesis investigates autonomous robot navigation and proposes a new method which benefits from the potential of the visual sensor to provide accuracy and reliability to the navigation process while relying on naturally...
Global, real-time ionosphere specification for end-user communication and navigation products
Tobiska, W.; Carlson, H. C.; Schunk, R. W.; Thompson, D. C.; Sojka, J. J.; Scherliess, L.; Zhu, L.; Gardner, L. C.
2010-12-01
Space weather’s effects upon the near-Earth environment are due to dynamic changes in the energy transfer processes from the Sun’s photons, particles, and fields. Of the space environment domains that are affected by space weather, the ionosphere is the key region that affects communication and navigation systems. The Utah State University (USU) Space Weather Center (SWC) is a developer and producer of commercial space weather applications. A key system-level component for providing timely information about the effects of space weather is the Global Assimilation of Ionospheric Measurements (GAIM) system. GAIM, operated by SWC, improves real-time communication and navigation systems by continuously ingesting up to 10,000 slant TEC measurements every 15-minutes from approximately 500 stations. Using a Kalman filter, the background output from the physics-based Ionosphere Forecast Model (IFM) is adjusted to more accurately represent the actual ionosphere. An improved ionosphere leads to more useful derivative products. For example, SWC runs operational code, using GAIM, to calculate and report the global radio high frequency (HF) signal strengths for 24 world cities. This product is updated every 15 minutes at http://spaceweather.usu.edu and used by amateur radio operators. SWC also developed and provides through Apple iTunes the widely used real-time space weather iPhone app called SpaceWx for public space weather education. SpaceWx displays the real-time solar, heliosphere, magnetosphere, thermosphere, and ionosphere drivers to changes in the total electron content, for example. This smart phone app is tip of the “iceberg” of automated systems that provide space weather data; it permits instant understanding of the environment surrounding Earth as it dynamically changes. SpaceWx depends upon a distributed network that connects satellite and ground-based data streams with algorithms to quickly process the measurements into geophysical data, incorporate those
NFC Internal: An Indoor Navigation System
Directory of Open Access Journals (Sweden)
Busra Ozdenizci
2015-03-01
Full Text Available Indoor navigation systems have recently become a popular research field due to the lack of GPS signals indoors. Several indoors navigation systems have already been proposed in order to eliminate deficiencies; however each of them has several technical and usability limitations. In this study, we propose NFC Internal, a Near Field Communication (NFC-based indoor navigation system, which enables users to navigate through a building or a complex by enabling a simple location update, simply by touching NFC tags those are spread around and orient users to the destination. In this paper, we initially present the system requirements, give the design details and study the viability of NFC Internal with a prototype application and a case study. Moreover, we evaluate the performance of the system and compare it with existing indoor navigation systems. It is seen that NFC Internal has considerable advantages and significant contributions to existing indoor navigation systems in terms of security and privacy, cost, performance, robustness, complexity, user preference and commercial availability.
On Estimation Of The Orientation Of Mobile Robots Using Turning Functions And SONAR Information
Directory of Open Access Journals (Sweden)
Dorel AIORDACHIOAIE
2003-12-01
Full Text Available SONAR systems are widely used by some artificial objects, e.g. robots, and by animals, e.g. bats, for navigation and pattern recognition. The objective of this paper is to present a solution on the estimation of the orientation in the environment of mobile robots, in the context of navigation, using the turning function approach. The results are shown to be accurate and can be used further in the design of navigation strategies of mobile robots.
Kolarik, Andrew J; Scarfe, Amy C; Moore, Brian C J; Pardhan, Shahina
2017-01-01
Performance for an obstacle circumvention task was assessed under conditions of visual, auditory only (using echolocation) and tactile (using a sensory substitution device, SSD) guidance. A Vicon motion capture system was used to measure human movement kinematics objectively. Ten normally sighted participants, 8 blind non-echolocators, and 1 blind expert echolocator navigated around a 0.6 x 2 m obstacle that was varied in position across trials, at the midline of the participant or 25 cm to the right or left. Although visual guidance was the most effective, participants successfully circumvented the obstacle in the majority of trials under auditory or SSD guidance. Using audition, blind non-echolocators navigated more effectively than blindfolded sighted individuals with fewer collisions, lower movement times, fewer velocity corrections and greater obstacle detection ranges. The blind expert echolocator displayed performance similar to or better than that for the other groups using audition, but was comparable to that for the other groups using the SSD. The generally better performance of blind than of sighted participants is consistent with the perceptual enhancement hypothesis that individuals with severe visual deficits develop improved auditory abilities to compensate for visual loss, here shown by faster, more fluid, and more accurate navigation around obstacles using sound.
Directory of Open Access Journals (Sweden)
Andrew J Kolarik
Full Text Available Performance for an obstacle circumvention task was assessed under conditions of visual, auditory only (using echolocation and tactile (using a sensory substitution device, SSD guidance. A Vicon motion capture system was used to measure human movement kinematics objectively. Ten normally sighted participants, 8 blind non-echolocators, and 1 blind expert echolocator navigated around a 0.6 x 2 m obstacle that was varied in position across trials, at the midline of the participant or 25 cm to the right or left. Although visual guidance was the most effective, participants successfully circumvented the obstacle in the majority of trials under auditory or SSD guidance. Using audition, blind non-echolocators navigated more effectively than blindfolded sighted individuals with fewer collisions, lower movement times, fewer velocity corrections and greater obstacle detection ranges. The blind expert echolocator displayed performance similar to or better than that for the other groups using audition, but was comparable to that for the other groups using the SSD. The generally better performance of blind than of sighted participants is consistent with the perceptual enhancement hypothesis that individuals with severe visual deficits develop improved auditory abilities to compensate for visual loss, here shown by faster, more fluid, and more accurate navigation around obstacles using sound.
Zhang, Yachu; Zhao, Yuejin; Liu, Ming; Dong, Liquan; Kong, Lingqin; Liu, Lingling
2017-09-01
In contrast to humans, who use only visual information for navigation, many mobile robots use laser scanners and ultrasonic sensors along with vision cameras to navigate. This work proposes a vision-based robot control algorithm based on deep convolutional neural networks. We create a large 15-layer convolutional neural network learning system and achieve the advanced recognition performance. Our system is trained from end to end to map raw input images to direction in supervised mode. The images of data sets are collected in a wide variety of weather conditions and lighting conditions. Besides, the data sets are augmented by adding Gaussian noise and Salt-and-pepper noise to avoid overfitting. The algorithm is verified by two experiments, which are line tracking and obstacle avoidance. The line tracking experiment is proceeded in order to track the desired path which is composed of straight and curved lines. The goal of obstacle avoidance experiment is to avoid the obstacles indoor. Finally, we get 3.29% error rate on the training set and 5.1% error rate on the test set in the line tracking experiment, 1.8% error rate on the training set and less than 5% error rate on the test set in the obstacle avoidance experiment. During the actual test, the robot can follow the runway centerline outdoor and avoid the obstacle in the room accurately. The result confirms the effectiveness of the algorithm and our improvement in the network structure and train parameters
An Outdoor Navigation System for Blind Pedestrians Using GPS and Tactile-Foot Feedback
Directory of Open Access Journals (Sweden)
Ramiro Velázquez
2018-04-01
Full Text Available This paper presents a novel, wearable navigation system for visually impaired and blind pedestrians that combines a global positioning system (GPS for user outdoor localization and tactile-foot stimulation for information presentation. Real-time GPS data provided by a smartphone are processed by dedicated navigation software to determine the directions to a destination. Navigational directions are then encoded as vibrations and conveyed to the user via a tactile display that inserts into the shoe. The experimental results showed that users were capable of recognizing with high accuracy the tactile feedback provided to their feet. The preliminary tests conducted in outdoor locations involved two blind users who were guided along 380–420 m predetermined pathways, while sharing the space with other pedestrians and facing typical urban obstacles. The subjects successfully reached the target destinations. The results suggest that the proposed system enhances independent, safe navigation of blind pedestrians and show the potential of tactile-foot stimulation in assistive devices.
Inland Electronic Navigational Charts (IENC)
Army Corps of Engineers, Department of the Army, Department of Defense — These Inland Electronic Navigational Charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...
An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System.
Yao, Yiqing; Xu, Xiaosu; Xu, Xiang
2017-09-05
Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.
Assessment of Spatial Navigation and Docking Performance During Simulated Rover Tasks
Wood, S. J.; Dean, S. L.; De Dios, Y. E.; Moore, S. T.
2010-01-01
INTRODUCTION: Following long-duration exploration transits, pressurized rovers will enhance surface mobility to explore multiple sites across Mars and other planetary bodies. Multiple rovers with docking capabilities are envisioned to expand the range of exploration. However, adaptive changes in sensorimotor and cognitive function may impair the crew s ability to safely navigate and perform docking tasks shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify post-flight decrements in spatial navigation and docking performance during a rover simulation. METHODS: Eight crewmembers returning from the International Space Station will be tested on a motion simulator during four pre-flight and three post-flight sessions over the first 8 days following landing. The rover simulation consists of a serial presentation of discrete tasks to be completed within a scheduled 10 min block. The tasks are based on navigating around a Martian outpost spread over a 970 sq m terrain. Each task is subdivided into three components to be performed as quickly and accurately as possible: (1) Perspective taking: Subjects use a joystick to indicate direction of target after presentation of a map detailing current orientation and location of the rover with the task to be performed. (2) Navigation: Subjects drive the rover to the desired location while avoiding obstacles. (3) Docking: Fine positioning of the rover is required to dock with another object or align a camera view. Overall operator proficiency will be based on how many tasks the crewmember can complete during the 10 min time block. EXPECTED RESULTS: Functionally relevant testing early post-flight will develop evidence regarding the limitations to early surface operations and what countermeasures are needed. This approach can be easily adapted to a wide variety of simulated vehicle designs to provide sensorimotor assessments for other operational and civilian populations.
Navigation system for a mobile robot with a visual sensor using a fish-eye lens
Kurata, Junichi; Grattan, Kenneth T. V.; Uchiyama, Hironobu
1998-02-01
Various position sensing and navigation systems have been proposed for the autonomous control of mobile robots. Some of these systems have been installed with an omnidirectional visual sensor system that proved very useful in obtaining information on the environment around the mobile robot for position reckoning. In this article, this type of navigation system is discussed. The sensor is composed of one TV camera with a fish-eye lens, using a reference target on a ceiling and hybrid image processing circuits. The position of the robot, with respect to the floor, is calculated by integrating the information obtained from a visual sensor and a gyroscope mounted in the mobile robot, and the use of a simple algorithm based on PTP control for guidance is discussed. An experimental trial showed that the proposed system was both valid and useful for the navigation of an indoor vehicle.
MODELING OF BEHAVIORAL ACTIVITY OF AIR NAVIGATION SYSTEM'S HUMAN-OPERATOR IN FLIGHT EMERGENCIES
Directory of Open Access Journals (Sweden)
Volodymyr Kharchenko
2012-09-01
Full Text Available The Air Navigation System is presented as a complex socio-technical system. The influence on decision-making by Air Navigation System's human-operator of the professional factors as well as the factors of non-professional nature has been defined. Logic determined and stochastic models of decision-making by the Air Navigation System's human-operator in flight emergencies have been developed. The scenarios of developing a flight situation in case of selecting either the positive or negative pole in accordance with the reflexive theory have been obtained. The informational support system of the operator in the unusual situations on the basis of Neural Network model of evaluating the efficiency of the potential alternative of flight completion has been built.
Getting to the elephants: Gesture and preschoolers' comprehension of route direction information.
Austin, Elizabeth E; Sweller, Naomi
2017-11-01
During early childhood, children find spatial tasks such as following novel route directions challenging. Spatial tasks place demands on multiple cognitive processes, including language comprehension and memory, at a time in development when resources are limited. As such, gestures accompanying route directions may aid comprehension and facilitate task performance by scaffolding cognitive processes, including language and memory processing. This study examined the effect of presenting gesture during encoding on spatial task performance during early childhood. Three- to five-year-olds were presented with verbal route directions through a zoo-themed spatial array and, depending on assigned condition (no gesture, beat gesture, or iconic/deictic gesture), accompanying gestures. Children presented with verbal route directions accompanied by a combination of iconic (pantomime) and deictic (pointing) gestures verbally recalled more than children presented with beat gestures (rhythmic hand movements) or no gestures accompanying the route directions. The presence of gesture accompanying route directions similarly influenced physical route navigation, such that children presented with gesture (beat, pantomime, and pointing) navigated the route more accurately than children presented with no gestures. Across all gesture conditions, location information (e.g., the penguin pond) was recalled more than movement information (e.g., go around) and descriptive information (e.g., bright red). These findings suggest that speakers' gestures accompanying spatial task information influence listeners' recall and task performance. Copyright © 2017 Elsevier Inc. All rights reserved.
Li, Liang; Yang, Jian; Chu, Yakui; Wu, Wenbo; Xue, Jin; Liang, Ping; Chen, Lei
2016-01-01
Objective To verify the reliability and clinical feasibility of a self-developed navigation system based on an augmented reality technique for endoscopic sinus and skull base surgery. Materials and Methods In this study we performed a head phantom and cadaver experiment to determine the display effect and accuracy of our navigational system. We compared cadaver head-based simulated operations, the target registration error, operation time, and National Aeronautics and Space Administration Task Load Index scores of our navigation system to conventional navigation systems. Results The navigation system developed in this study has a novel display mode capable of fusing endoscopic images to three-dimensional (3-D) virtual images. In the cadaver head experiment, the target registration error was 1.28 ± 0.45 mm, which met the accepted standards of a navigation system used for nasal endoscopic surgery. Compared with conventional navigation systems, the new system was more effective in terms of operation time and the mental workload of surgeons, which is especially important for less experienced surgeons. Conclusion The self-developed augmented reality navigation system for endoscopic sinus and skull base surgery appears to have advantages that outweigh those of conventional navigation systems. We conclude that this navigational system will provide rhinologists with more intuitive and more detailed imaging information, thus reducing the judgment time and mental workload of surgeons when performing complex sinus and skull base surgeries. Ultimately, this new navigational system has potential to increase the quality of surgeries. In addition, the augmented reality navigational system could be of interest to junior doctors being trained in endoscopic techniques because it could speed up their learning. However, it should be noted that the navigation system serves as an adjunct to a surgeon’s skills and knowledge, not as a substitute. PMID:26757365
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Liang Li
Full Text Available To verify the reliability and clinical feasibility of a self-developed navigation system based on an augmented reality technique for endoscopic sinus and skull base surgery.In this study we performed a head phantom and cadaver experiment to determine the display effect and accuracy of our navigational system. We compared cadaver head-based simulated operations, the target registration error, operation time, and National Aeronautics and Space Administration Task Load Index scores of our navigation system to conventional navigation systems.The navigation system developed in this study has a novel display mode capable of fusing endoscopic images to three-dimensional (3-D virtual images. In the cadaver head experiment, the target registration error was 1.28 ± 0.45 mm, which met the accepted standards of a navigation system used for nasal endoscopic surgery. Compared with conventional navigation systems, the new system was more effective in terms of operation time and the mental workload of surgeons, which is especially important for less experienced surgeons.The self-developed augmented reality navigation system for endoscopic sinus and skull base surgery appears to have advantages that outweigh those of conventional navigation systems. We conclude that this navigational system will provide rhinologists with more intuitive and more detailed imaging information, thus reducing the judgment time and mental workload of surgeons when performing complex sinus and skull base surgeries. Ultimately, this new navigational system has potential to increase the quality of surgeries. In addition, the augmented reality navigational system could be of interest to junior doctors being trained in endoscopic techniques because it could speed up their learning. However, it should be noted that the navigation system serves as an adjunct to a surgeon's skills and knowledge, not as a substitute.
A novel low-cost approach for navigated transcranial magnetic stimulation.
Rodseth, Jakob; Washabaugh, Edward P; Krishnan, Chandramouli
2017-01-01
Transcranial magnetic stimulation (TMS) is commonly used for assessing or modulating brain excitability. However, the credibility of TMS outcomes depends on accurate and reliable coil placement during stimulation. Navigated TMS systems can address this issue, but these systems are expensive for routine use in clinical and research environments. The purpose of this study was to provide a high-quality open source framework for navigated TMS and test its reliability and accuracy using standard TMS procedures. A navigated TMS system was created using a low-cost 3D camera system (OptiTrack Trio), which communicates with our free and open source software environment programmed using the Unity 3D gaming engine. The environment is user friendly and has functions to allow for a variety of stimulation procedures (e.g., head and coil co-registration, multiple hotspot/grid tracking, intuitive matching, and data logging). The system was then validated using a static mockup of a TMS session. The clinical utility was also evaluated by assessing the repeatability and operator accuracy when collecting motor evoked potential (MEP) data from human subjects. The system was highly reliable and improved coil placement accuracy (position error = 1.2 mm and orientation error = 0.3°) as well as the quality and consistency (ICC >0.95) of MEPs recorded during TMS. These results indicate that the proposed system is a viable tool for reliable coil placement during TMS procedures, and can improve accuracy in locating the coil over a desired hotspot both within and between sessions.
True navigation in migrating gulls requires intact olfactory nerves
DEFF Research Database (Denmark)
Wikelski, Martin; Arriero, Elena; Gagliardo, Anna
2015-01-01
debated. In this experiment we subjected adult lesser black-backed gulls migrating from their Finnish/Russian breeding grounds (from >60°N) to Africa (to ... of the trigeminal nerve sectioned oriented towards their population-specific migratory corridor. Thus, air-borne olfactory information seems to be important for migrating gulls to navigate successfully in some circumstances....
Risk management model of winter navigation operations
International Nuclear Information System (INIS)
Valdez Banda, Osiris A.; Goerlandt, Floris; Kuzmin, Vladimir; Kujala, Pentti; Montewka, Jakub
2016-01-01
The wintertime maritime traffic operations in the Gulf of Finland are managed through the Finnish–Swedish Winter Navigation System. This establishes the requirements and limitations for the vessels navigating when ice covers this area. During winter navigation in the Gulf of Finland, the largest risk stems from accidental ship collisions which may also trigger oil spills. In this article, a model for managing the risk of winter navigation operations is presented. The model analyses the probability of oil spills derived from collisions involving oil tanker vessels and other vessel types. The model structure is based on the steps provided in the Formal Safety Assessment (FSA) by the International Maritime Organization (IMO) and adapted into a Bayesian Network model. The results indicate that ship independent navigation and convoys are the operations with higher probability of oil spills. Minor spills are most probable, while major oil spills found very unlikely but possible. - Highlights: •A model to assess and manage the risk of winter navigation operations is proposed. •The risks of oil spills in winter navigation in the Gulf of Finland are analysed. •The model assesses and prioritizes actions to control the risk of the operations. •The model suggests navigational training as the most efficient risk control option.
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Наталія Приміна
2014-07-01
Full Text Available In the given article the psychological peculiarities of teaching future navigators reading English professional authentic documentation have been analyzed. The psychological foundations of understanding printed information in general and foreign information particularly have been disclosed. The processes of textual information perception and visual material perception comprehension have been analysed. The language levels of foreign text comprehension have been examined. The peculiarities of perceptual transformation of foreign language information while reading English sailing directions have been found out.
Adaptive Landmark-Based Navigation System Using Learning Techniques
DEFF Research Database (Denmark)
Zeidan, Bassel; Dasgupta, Sakyasingha; Wörgötter, Florentin
2014-01-01
The goal-directed navigational ability of animals is an essential prerequisite for them to survive. They can learn to navigate to a distal goal in a complex environment. During this long-distance navigation, they exploit environmental features, like landmarks, to guide them towards their goal. In...... hexapod robots. As a result, it allows the robots to successfully learn to navigate to distal goals in complex environments.......The goal-directed navigational ability of animals is an essential prerequisite for them to survive. They can learn to navigate to a distal goal in a complex environment. During this long-distance navigation, they exploit environmental features, like landmarks, to guide them towards their goal....... Inspired by this, we develop an adaptive landmark-based navigation system based on sequential reinforcement learning. In addition, correlation-based learning is also integrated into the system to improve learning performance. The proposed system has been applied to simulated simple wheeled and more complex...
A navigational evaluation model for content management systems
International Nuclear Information System (INIS)
Gilani, S.; Majeed, A.
2016-01-01
Web applications are widely used world-wide, however it is important that the navigation of these websites is effective, to enhance usability. Navigation is not limited to links between pages, it is also how we complete a task. Navigational structure presented as hypertext is one of the most important component of the Web application besides content and presentation. The main objective of this paper is to explore the navigational structure of various open source Content Management Systems from the developer's perspective. For this purpose three CMS are chosen which are WordPress, Joomla, and Drupal. Objective of the research is to identify the important navigational aspects present in these CMSs. Moreover, a comparative study of these CMSs in terms of navigational support is required. For this purpose an industrial survey is conducted based on our proposed navigational evaluation model. The results shows that there exist correlation between the identified factors and these CMSs provide helpful and effective navigational support to their users. (author)
Application of GIS tools in determining the navigability of waterways
Nadolny, Grzegorz; Rabant, Hubert; Szatten, Dawid
2017-11-01
This article presents the results of a research conducted on Lower Noteć river for the application of geographic information system (GIS) tools. The study consisted of longitudinal profile soundings of navigable route combined with statistical analysis of water levels. GIS software - ArcMap v. 10.0 was used to perform analysis of changes in waterway depth depending on hydrological conditions. A mileage of waterway sections was specified depending on whether they met or did not meet classification requirements in accordance with Polish law. The application of spatial data of Lower Noteć river developed for the purpose of the article is presented. Conducted analyses and obtained results demonstrate the importance of GIS tools in inland navigation studies.
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Vincenzo G. Fiore
2017-08-01
Full Text Available The central complex in the insect brain is a composite of midline neuropils involved in processing sensory cues and mediating behavioral outputs to orchestrate spatial navigation. Despite recent advances, however, the neural mechanisms underlying sensory integration and motor action selections have remained largely elusive. In particular, it is not yet understood how the central complex exploits sensory inputs to realize motor functions associated with spatial navigation. Here we report an in silico interrogation of central complex-mediated spatial navigation with a special emphasis on the ellipsoid body. Based on known connectivity and function, we developed a computational model to test how the local connectome of the central complex can mediate sensorimotor integration to guide different forms of behavioral outputs. Our simulations show integration of multiple sensory sources can be effectively performed in the ellipsoid body. This processed information is used to trigger continuous sequences of action selections resulting in self-motion, obstacle avoidance and the navigation of simulated environments of varying complexity. The motor responses to perceived sensory stimuli can be stored in the neural structure of the central complex to simulate navigation relying on a collective of guidance cues, akin to sensory-driven innate or habitual behaviors. By comparing behaviors under different conditions of accessible sources of input information, we show the simulated insect computes visual inputs and body posture to estimate its position in space. Finally, we tested whether the local connectome of the central complex might also allow the flexibility required to recall an intentional behavioral sequence, among different courses of actions. Our simulations suggest that the central complex can encode combined representations of motor and spatial information to pursue a goal and thus successfully guide orientation behavior. Together, the observed
Fiore, Vincenzo G; Kottler, Benjamin; Gu, Xiaosi; Hirth, Frank
2017-01-01
The central complex in the insect brain is a composite of midline neuropils involved in processing sensory cues and mediating behavioral outputs to orchestrate spatial navigation. Despite recent advances, however, the neural mechanisms underlying sensory integration and motor action selections have remained largely elusive. In particular, it is not yet understood how the central complex exploits sensory inputs to realize motor functions associated with spatial navigation. Here we report an in silico interrogation of central complex-mediated spatial navigation with a special emphasis on the ellipsoid body. Based on known connectivity and function, we developed a computational model to test how the local connectome of the central complex can mediate sensorimotor integration to guide different forms of behavioral outputs. Our simulations show integration of multiple sensory sources can be effectively performed in the ellipsoid body. This processed information is used to trigger continuous sequences of action selections resulting in self-motion, obstacle avoidance and the navigation of simulated environments of varying complexity. The motor responses to perceived sensory stimuli can be stored in the neural structure of the central complex to simulate navigation relying on a collective of guidance cues, akin to sensory-driven innate or habitual behaviors. By comparing behaviors under different conditions of accessible sources of input information, we show the simulated insect computes visual inputs and body posture to estimate its position in space. Finally, we tested whether the local connectome of the central complex might also allow the flexibility required to recall an intentional behavioral sequence, among different courses of actions. Our simulations suggest that the central complex can encode combined representations of motor and spatial information to pursue a goal and thus successfully guide orientation behavior. Together, the observed computational features
Individualized 3D printing navigation template for pedicle screw fixation in upper cervical spine.
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Fei Guo
Full Text Available Pedicle screw fixation in the upper cervical spine is a difficult and high-risk procedure. The screw is difficult to place rapidly and accurately, and can lead to serious injury of spinal cord or vertebral artery. The aim of this study was to design an individualized 3D printing navigation template for pedicle screw fixation in the upper cervical spine.Using CT thin slices data, we employed computer software to design the navigation template for pedicle screw fixation in the upper cervical spine (atlas and axis. The upper cervical spine models and navigation templates were produced by 3D printer with equal proportion, two sets for each case. In one set (Test group, pedicle screws fixation were guided by the navigation template; in the second set (Control group, the screws were fixed under fluoroscopy. According to the degree of pedicle cortex perforation and whether the screw needed to be refitted, the fixation effects were divided into 3 types: Type I, screw is fully located within the vertebral pedicle; Type II, degree of pedicle cortex perforation is 1 mm or with the poor internal fixation stability and in need of renovation. Type I and Type II were acceptable placements; Type III placements were unacceptable.A total of 19 upper cervical spine and 19 navigation templates were printed, and 37 pedicle screws were fixed in each group. Type I screw-placements in the test group totaled 32; Type II totaled 3; and Type III totaled 2; with an acceptable rate of 94.60%. Type I screw placements in the control group totaled 23; Type II totaled 3; and Type III totaled 11, with an acceptable rate of 70.27%. The acceptability rate in test group was higher than the rate in control group. The operation time and fluoroscopic frequency for each screw were decreased, compared with control group.The individualized 3D printing navigation template for pedicle screw fixation is easy and safe, with a high success rate in the upper cervical spine surgery.
Waki, Masaki; Uruno, Shigenori; Ohashi, Hiroyuki; Manabe, Tetsuya; Azuma, Yuji
We propose an optical fiber connection navigation system that uses visible light communication for an integrated distribution module in a central office. The system realizes an accurate database, requires less skilled work to operate and eliminates human error. This system can achieve a working time reduction of up to 88.0% compared with the conventional work without human error for the connection/removal of optical fiber cords, and is economical as regards installation and operation.
Parking Navigation for Alleviating Congestion in Multilevel Parking Facility
Kenmotsu, Masahiro; Sun, Weihua; Shibata, Naoki; Yasumoto, Keiichi; Ito, Minoru
2012-01-01
Finding a vacant parking space in a large crowded parking facility takes long time. In this paper, we propose a navigation method that minimizes the parking time based on collected real-time positional information of cars. In the proposed method, a central server in the parking facility collects the information and estimates the occupancy of each parking zone. Then, the server broadcasts the occupancy data to the cars in the parking facility. Each car then computes a parking route with the sh...
Vibrotactile in-vehicle navigation system
Erp, J.B.F. van; Veen, H.J. van
2004-01-01
A vibrotactile display, consisting ofeight vibrating elements or tactors mounted in a driver's seat, was tested in a driving simulator. Participants drove with visual, tactile and multimodal navigation displays through a built-up area. Workload and the reaction time to navigation messages were
DEFF Research Database (Denmark)
Probst, Christian W.; Willemson, Jan; Pieters, Wolter
2016-01-01
The need to assess security and take protection decisions is at least as old as our civilisation. However, the complexity and development speed of our interconnected technical systems have surpassed our capacity to imagine and evaluate risk scenarios. This holds in particular for risks...... that are caused by the strategic behaviour of adversaries. Therefore, technology-supported methods are needed to help us identify and manage these risks. In this paper, we describe the attack navigator: a graph-based approach to security risk assessment inspired by navigation systems. Based on maps of a socio...
Directory of Open Access Journals (Sweden)
Svetlana Pavlova
2014-12-01
Full Text Available European Air Traffic Management system requires continuous improvements as air traffic is increasingday by day. For this purpose it was developed by international organizations Free Route Airspace and PerformanceBased Navigation concepts that allow to offer a required level of safety, capacity, environmental performance alongwith cost-effectiveness. The aim of the article is to provide detailed analysis of Free Route Airspace and PerformanceBased Navigation implementation status within European region including Ukrainian air navigation system.
Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems.
Tseng, Chien-Hao; Lin, Sheng-Fuu; Jwo, Dah-Jing
2016-07-26
This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF) is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD) parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF), unscented Kalman filter (UKF), and CKF approaches.
Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems
Directory of Open Access Journals (Sweden)
Chien-Hao Tseng
2016-07-01
Full Text Available This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF and fuzzy logic adaptive system (FLAS for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF, unscented Kalman filter (UKF, and CKF approaches.
Hall, Justin R.; Hastrup, Rolf C.; Bell, David J.
1992-06-01
The general support requirements of a typical SEI mission set, along with the mission operations objectives and related telecommunications, navigation, and information management (TNIM) support infrastructure options are described. Responsive system architectures and designs are proposed, including a Mars orbiting communications relay satellite system and a Mars-centered navigation capability for servicing all Mars missions. With the TNIM architecture as a basis, key elements of the microwave link design are proposed. The needed new technologies which enable these designs are identified, and current maturity is assessed.
Neural systems analysis of decision making during goal-directed navigation.
Penner, Marsha R; Mizumori, Sheri J Y
2012-01-01
The ability to make adaptive decisions during goal-directed navigation is a fundamental and highly evolved behavior that requires continual coordination of perceptions, learning and memory processes, and the planning of behaviors. Here, a neurobiological account for such coordination is provided by integrating current literatures on spatial context analysis and decision-making. This integration includes discussions of our current understanding of the role of the hippocampal system in experience-dependent navigation, how hippocampal information comes to impact midbrain and striatal decision making systems, and finally the role of the striatum in the implementation of behaviors based on recent decisions. These discussions extend across cellular to neural systems levels of analysis. Not only are key findings described, but also fundamental organizing principles within and across neural systems, as well as between neural systems functions and behavior, are emphasized. It is suggested that studying decision making during goal-directed navigation is a powerful model for studying interactive brain systems and their mediation of complex behaviors. Copyright © 2011. Published by Elsevier Ltd.
Applications of navigation for orthognathic surgery.
Bobek, Samuel L
2014-11-01
Stereotactic surgical navigation has been used in oral and maxillofacial surgery for orbital reconstruction, reduction of facial fractures, localization of foreign bodies, placement of implants, skull base surgery, tumor removal, temporomandibular joint surgery, and orthognathic surgery. The primary goals in adopting intraoperative navigation into these different surgeries were to define and localize operative anatomy, to localize implant position, and to orient the surgical wound. Navigation can optimize the functional and esthetic outcomes in patients with dentofacial deformities by identifying pertinent anatomic structures, transferring the surgical plan to the patient, and verifying the surgical result. This article discusses the principles of navigation-guided orthognathic surgery. Copyright © 2014 Elsevier Inc. All rights reserved.
GPS Navigation for the Magnetospheric Multi-Scale Mission
Bamford, William; Mitchell, Jason; Southward, Michael; Baldwin, Philip; Winternitz, Luke; Heckler, Gregory; Kurichh, Rishi; Sirotzky, Steve
2009-01-01
In 2014. NASA is scheduled to launch the Magnetospheric Multiscale Mission (MMS), a four-satellite formation designed to monitor fluctuations in the Earth's magnetosphere. This mission has two planned phases with different orbits (1? x 12Re and 1.2 x 25Re) to allow for varying science regions of interest. To minimize ground resources and to mitigate the probability of collisions between formation members, an on-board orbit determination system consisting of a Global Positioning System (GPS) receiver and crosslink transceiver was desired. Candidate sensors would be required to acquire GPS signals both below and above the constellation while spinning at three revolutions-per-minute (RPM) and exchanging state and science information among the constellation. The Intersatellite Ranging and Alarm System (IRAS), developed by Goddard Space Flight Center (GSFC) was selected to meet this challenge. IRAS leverages the eight years of development GSFC has invested in the Navigator GPS receiver and its spacecraft communication expertise, culminating in a sensor capable of absolute and relative navigation as well as intersatellite communication. The Navigator is a state-of-the-art receiver designed to acquire and track weak GPS signals down to -147dBm. This innovation allows the receiver to track both the main lobe and the much weaker side lobe signals. The Navigator's four antenna inputs and 24 tracking channels, together with customized hardware and software, allow it to seamlessly maintain visibility while rotating. Additionally, an extended Kalman filter provides autonomous, near real-time, absolute state and time estimates. The Navigator made its maiden voyage on the Space Shuttle during the Hubble Servicing Mission, and is scheduled to fly on MMS as well as the Global Precipitation Measurement Mission (GPM). Additionally, Navigator's acquisition engine will be featured in the receiver being developed for the Orion vehicle. The crosslink transceiver is a 1/4 Watt transmitter
Ratib, Osman; Rosset, Antoine; Dahlbom, Magnus; Czernin, Johannes
2005-04-01
Display and interpretation of multi dimensional data obtained from the combination of 3D data acquired from different modalities (such as PET-CT) require complex software tools allowing the user to navigate and modify the different image parameters. With faster scanners it is now possible to acquire dynamic images of a beating heart or the transit of a contrast agent adding a fifth dimension to the data. We developed a DICOM-compliant software for real time navigation in very large sets of 5 dimensional data based on an intuitive multidimensional jog-wheel widely used by the video-editing industry. The software, provided under open source licensing, allows interactive, single-handed, navigation through 3D images while adjusting blending of image modalities, image contrast and intensity and the rate of cine display of dynamic images. In this study we focused our effort on the user interface and means for interactively navigating in these large data sets while easily and rapidly changing multiple parameters such as image position, contrast, intensity, blending of colors, magnification etc. Conventional mouse-driven user interface requiring the user to manipulate cursors and sliders on the screen are too cumbersome and slow. We evaluated several hardware devices and identified a category of multipurpose jogwheel device that is used in the video-editing industry that is particularly suitable for rapidly navigating in five dimensions while adjusting several display parameters interactively. The application of this tool will be demonstrated in cardiac PET-CT imaging and functional cardiac MRI studies.
Markovian robots: Minimal navigation strategies for active particles
Nava, Luis Gómez; Großmann, Robert; Peruani, Fernando
2018-04-01
We explore minimal navigation strategies for active particles in complex, dynamical, external fields, introducing a class of autonomous, self-propelled particles which we call Markovian robots (MR). These machines are equipped with a navigation control system (NCS) that triggers random changes in the direction of self-propulsion of the robots. The internal state of the NCS is described by a Boolean variable that adopts two values. The temporal dynamics of this Boolean variable is dictated by a closed Markov chain—ensuring the absence of fixed points in the dynamics—with transition rates that may depend exclusively on the instantaneous, local value of the external field. Importantly, the NCS does not store past measurements of this value in continuous, internal variables. We show that despite the strong constraints, it is possible to conceive closed Markov chain motifs that lead to nontrivial motility behaviors of the MR in one, two, and three dimensions. By analytically reducing the complexity of the NCS dynamics, we obtain an effective description of the long-time motility behavior of the MR that allows us to identify the minimum requirements in the design of NCS motifs and transition rates to perform complex navigation tasks such as adaptive gradient following, detection of minima or maxima, or selection of a desired value in a dynamical, external field. We put these ideas in practice by assembling a robot that operates by the proposed minimalistic NCS to evaluate the robustness of MR, providing a proof of concept that is possible to navigate through complex information landscapes with such a simple NCS whose internal state can be stored in one bit. These ideas may prove useful for the engineering of miniaturized robots.
Steffes, S.; Dumke, M.; Heise, D.; Sagliano, M.; Samaan, M.; Theil, S.; Boslooper, E.C.; Oosterling, J.A.J.; Schulte, J.; Skaborn, D.; Söderholm, S.; Conticello, S.; Esposito, M.; Yanson, Y.; Monna, B.; Stelwagen, F.; Visee, R.
2014-01-01
The goal of the SINPLEX project is to develop an innovative solution to significantly reduce the mass of the navigation subsystem for exploration missions which include landing and/or rendezvous and capture phases. The system mass is reduced while still maintaining good navigation performance as
Hausdorff-Based RC and IESIL Combined Positioning Algorithm for Underwater Geomagnetic Navigation
Directory of Open Access Journals (Sweden)
Lin Yi
2010-01-01
Full Text Available This paper presents a primitive solution with novel scheme and algorithm for Underwater geoMagnetic Navigation (UMN, which now occurs as the hot-point in the research field of navigation. UMN as an independent or supplementary technique can theoretically supply accurate locations for marine vehicles, but in practice there are plenty of restrictions for UMN's application (e.g., geomagnetic daily variation. After analysis of the theoretical model of geomagnetic positioning in the correlation-matching mode from the viewpoint of pattern recognition, this paper proposed an appropriate matching scenario and a combined positioning algorithm for UMN. The subalgorithm of Hausdorff-based Relative Correlation (RC corresponding to the pattern classification module implements the coarse positioning, and the subalgorithm of Isograms Equidistance-Segmenting theIntersection Lines (IESILs associated with the module of feature extraction continues the fine positioning. The experiments based on the simulation platform and the real-surveyed data both validate the new algorithm, and its efficiency and accuracy are also discussed. It can be concluded that the work introduced in this paper gives an initial and real validation of UMN's potentiality.
Neural correlates of spatial navigation changes in mild cognitive impairment and Alzheimer’s disease
Directory of Open Access Journals (Sweden)
Kamil eVlček
2014-03-01
Full Text Available Although the memory impairment is a hallmark of Alzheimer’s disease (AD, AD has also been characterized by spatial disorientation, which is present from its early stages. Spatial disorientation in AD manifests itself in getting lost in familiar and unfamiliar places and have been characterized more specifically using spatial navigation tests in both real space and virtual environments as an impairment in multiple spatial abilities, including allocentric and egocentric navigation strategies, visuospatial perception or selection of relevant information for successful navigation. Patients suffering mild cognitive impairment (MCI, who are at a high risk of development of dementia, show impairment in a subset of these abilities, mainly connected with allocentric and egocentric processing. While spatial disorientation in typical AD patients probably reflects neurodegenerative changes in medial and posterior temporal, parietal and frontal lobes and retrosplenial cortex, the impairment of spatial navigation in MCI seem to be connected mainly with the medial temporal and also parietal brain changes. In this review we will summarize the signs of brain disease in most MCI and AD patients showing in various tasks of spatial memory and navigation.
Chen, Yuanpei; Wang, Lingcao; Li, Kui
2017-10-01
Rotary inertial navigation modulation mechanism can greatly improve the inertial navigation system (INS) accuracy through the rotation. Based on the single-axis rotational inertial navigation system (RINS), a self-calibration method is put forward. The whole system is applied with the rotation modulation technique so that whole inertial measurement unit (IMU) of system can rotate around the motor shaft without any external input. In the process of modulation, some important errors can be decoupled. Coupled with the initial position information and attitude information of the system as the reference, the velocity errors and attitude errors in the rotation are used as measurement to perform Kalman filtering to estimate part of important errors of the system after which the errors can be compensated into the system. The simulation results show that the method can complete the self-calibration of the single-axis RINS in 15 minutes and estimate gyro drifts of three-axis, the installation error angle of the IMU and the scale factor error of the gyro on z-axis. The calibration accuracy of optic gyro drifts could be about 0.003°/h (1σ) as well as the scale factor error could be about 1 parts per million (1σ). The errors estimate reaches the system requirements which can effectively improve the longtime navigation accuracy of the vehicle or the boat.
Directory of Open Access Journals (Sweden)
Paprosky WG
2016-11-01
Full Text Available Wayne G Paprosky,1,2 Jeffrey M Muir3 1Department of Orthopedics, Section of Adult Joint Reconstruction, Department of Orthopedics, Rush University Medical Center, Rush–Presbyterian–St Luke’s Medical Center, Chicago, 2Central DuPage Hospital, Winfield, IL, USA; 3Intellijoint Surgical, Inc, Waterloo, ON, Canada Abstract: Total hip arthroplasty is an increasingly common procedure used to address degenerative changes in the hip joint due to osteoarthritis. Although generally associated with good results, among the challenges associated with hip arthroplasty are accurate measurement of biomechanical parameters such as leg length, offset, and cup position, discrepancies of which can lead to significant long-term consequences such as pain, instability, neurological deficits, dislocation, and revision surgery, as well as patient dissatisfaction and, increasingly, litigation. Current methods of managing these parameters are limited, with manual methods such as outriggers or calipers being used to monitor leg length; however, these are susceptible to small intraoperative changes in patient position and are therefore inaccurate. Computer-assisted navigation, while offering improved accuracy, is expensive and cumbersome, in addition to adding significantly to procedural time. To address the technological gap in hip arthroplasty, a new intraoperative navigation tool (Intellijoint HIP® has been developed. This innovative, 3D mini-optical navigation tool provides real-time, intraoperative data on leg length, offset, and cup position and allows for improved accuracy and precision in component selection and alignment. Benchtop and simulated clinical use testing have demonstrated excellent accuracy, with the navigation tool able to measure leg length and offset to within <1 mm and cup position to within <1° in both anteversion and inclination. This study describes the indications, procedural technique, and early accuracy results of the Intellijoint HIP
Dynamic Transportation Navigation
Meng, Xiaofeng; Chen, Jidong
Miniaturization of computing devices, and advances in wireless communication and sensor technology are some of the forces that are propagating computing from the stationary desktop to the mobile outdoors. Some important classes of new applications that will be enabled by this revolutionary development include intelligent traffic management, location-based services, tourist services, mobile electronic commerce, and digital battlefield. Some existing application classes that will benefit from the development include transportation and air traffic control, weather forecasting, emergency response, mobile resource management, and mobile workforce. Location management, i.e., the management of transient location information, is an enabling technology for all these applications. In this chapter, we present the applications of moving objects management and their functionalities, in particular, the application of dynamic traffic navigation, which is a challenge due to the highly variable traffic state and the requirement of fast, on-line computations.
33 CFR 117.458 - Inner Harbor Navigation Canal, New Orleans.
2010-07-01
... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Inner Harbor Navigation Canal, New Orleans. 117.458 Section 117.458 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF... Harbor Navigation Canal, New Orleans. (a) The draws of the SR 46 (St. Claude Avenue) bridge, mile 0.5...
33 CFR 209.170 - Violations of laws protecting navigable waters.
2010-07-01
... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Violations of laws protecting navigable waters. 209.170 Section 209.170 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF... navigable waters. (a) [Reserved] (b) Injuries to Government works. Section 14 of the River and Harbor Act of...
A Low-Cost, Passive Navigation Training System for Image-Guided Spinal Intervention.
Lorias-Espinoza, Daniel; Carranza, Vicente González; de León, Fernando Chico-Ponce; Escamirosa, Fernando Pérez; Martinez, Arturo Minor
2016-11-01
Navigation technology is used for training in various medical specialties, not least image-guided spinal interventions. Navigation practice is an important educational component that allows residents to understand how surgical instruments interact with complex anatomy and to learn basic surgical skills such as the tridimensional mental interpretation of bidimensional data. Inexpensive surgical simulators for spinal surgery, however, are lacking. We therefore designed a low-cost spinal surgery simulator (Spine MovDigSys 01) to allow 3-dimensional navigation via 2-dimensional images without altering or limiting the surgeon's natural movement. A training system was developed with an anatomical lumbar model and 2 webcams to passively digitize surgical instruments under MATLAB software control. A proof-of-concept recognition task (vertebral body cannulation) and a pilot test of the system with 12 neuro- and orthopedic surgeons were performed to obtain feedback on the system. Position, orientation, and kinematic variables were determined and the lateral, posteroanterior, and anteroposterior views obtained. The system was tested with a proof-of-concept experimental task. Operator metrics including time of execution (t), intracorporeal length (d), insertion angle (α), average speed (v¯), and acceleration (a) were obtained accurately. These metrics were converted into assessment metrics such as smoothness of operation and linearity of insertion. Results from initial testing are shown and the system advantages and disadvantages described. This low-cost spinal surgery training system digitized the position and orientation of the instruments and allowed image-guided navigation, the generation of metrics, and graphic recording of the instrumental route. Spine MovDigSys 01 is useful for development of basic, noninnate skills and allows the novice apprentice to quickly and economically move beyond the basics. Copyright © 2016 Elsevier Inc. All rights reserved.
LATENCY DETERMINATION AND COMPENSATION IN REAL-TIME GNSS/INS INTEGRATED NAVIGATION SYSTEMS
Directory of Open Access Journals (Sweden)
P. D. Solomon
2012-09-01
Full Text Available Unmanned Aerial Vehicle (UAV technology is now commonplace in many defence and civilian environments. However, the high cost of owning and operating a sophisticated UAV has slowed their adoption in many commercial markets. Universities and research groups are actively experimenting with UAVs to further develop the technology, particularly for automated flying operations. The two main UAV platforms used are fixed-wing and helicopter. Helicopter-based UAVs offer many attractive features over fixed-wing UAVs, including vertical take-off, the ability to loiter, and highly dynamic flight. However the control and navigation of helicopters are significantly more demanding than those of fixed-wing UAVs and as such require a high bandwidth real-time Position, Velocity, Attitude (PVA navigation system. In practical Real-Time Navigation Systems (RTNS there are delays in the processing of the GNSS data prior to the fusion of the GNSS data with the INS measurements. This latency must be compensated for otherwise it degrades the solution of the navigation filter. This paper investigates the effect of latency in the arrival time of the GNSS data in a RTNS. Several test drives and flights were conducted with a low-cost RTNS, and compared with a high quality GNSS/INS solution. A technique for the real-time, automated and accurate estimation of the GNSS latency in low-cost systems was developed and tested. The latency estimates were then verified through cross-correlation with the time-stamped measurements from the reference system. A delayed measurement Extended Kalman Filter was then used to allow for the real-time fusing of the delayed measurements, and then a final system developed for on-the-fly measurement and compensation of GNSS latency in a RTNS.
1.5 T augmented reality navigated interventional MRI: paravertebral sympathetic plexus injections.
Marker, David R; U Thainual, Paweena; Ungi, Tamas; Flammang, Aaron J; Fichtinger, Gabor; Iordachita, Iulian I; Carrino, John A; Fritz, Jan
2017-01-01
The high contrast resolution and absent ionizing radiation of interventional magnetic resonance imaging (MRI) can be advantageous for paravertebral sympathetic nerve plexus injections. We assessed the feasibility and technical performance of MRI-guided paravertebral sympathetic injections utilizing augmented reality navigation and 1.5 T MRI scanner. A total of 23 bilateral injections of the thoracic (8/23, 35%), lumbar (8/23, 35%), and hypogastric (7/23, 30%) paravertebral sympathetic plexus were prospectively planned in twelve human cadavers using a 1.5 Tesla (T) MRI scanner and augmented reality navigation system. MRI-conditional needles were used. Gadolinium-DTPA-enhanced saline was injected. Outcome variables included the number of control magnetic resonance images, target error of the needle tip, punctures of critical nontarget structures, distribution of the injected fluid, and procedure length. Augmented-reality navigated MRI guidance at 1.5 T provided detailed anatomical visualization for successful targeting of the paravertebral space, needle placement, and perineural paravertebral injections in 46 of 46 targets (100%). A mean of 2 images (range, 1-5 images) were required to control needle placement. Changes of the needle trajectory occurred in 9 of 46 targets (20%) and changes of needle advancement occurred in 6 of 46 targets (13%), which were statistically not related to spinal regions (P = 0.728 and P = 0.86, respectively) and cadaver sizes (P = 0.893 and P = 0.859, respectively). The mean error of the needle tip was 3.9±1.7 mm. There were no punctures of critical nontarget structures. The mean procedure length was 33±12 min. 1.5 T augmented reality-navigated interventional MRI can provide accurate imaging guidance for perineural injections of the thoracic, lumbar, and hypogastric sympathetic plexus.
Latency Determination and Compensation in Real-Time Gnss/ins Integrated Navigation Systems
Solomon, P. D.; Wang, J.; Rizos, C.
2011-09-01
Unmanned Aerial Vehicle (UAV) technology is now commonplace in many defence and civilian environments. However, the high cost of owning and operating a sophisticated UAV has slowed their adoption in many commercial markets. Universities and research groups are actively experimenting with UAVs to further develop the technology, particularly for automated flying operations. The two main UAV platforms used are fixed-wing and helicopter. Helicopter-based UAVs offer many attractive features over fixed-wing UAVs, including vertical take-off, the ability to loiter, and highly dynamic flight. However the control and navigation of helicopters are significantly more demanding than those of fixed-wing UAVs and as such require a high bandwidth real-time Position, Velocity, Attitude (PVA) navigation system. In practical Real-Time Navigation Systems (RTNS) there are delays in the processing of the GNSS data prior to the fusion of the GNSS data with the INS measurements. This latency must be compensated for otherwise it degrades the solution of the navigation filter. This paper investigates the effect of latency in the arrival time of the GNSS data in a RTNS. Several test drives and flights were conducted with a low-cost RTNS, and compared with a high quality GNSS/INS solution. A technique for the real-time, automated and accurate estimation of the GNSS latency in low-cost systems was developed and tested. The latency estimates were then verified through cross-correlation with the time-stamped measurements from the reference system. A delayed measurement Extended Kalman Filter was then used to allow for the real-time fusing of the delayed measurements, and then a final system developed for on-the-fly measurement and compensation of GNSS latency in a RTNS.
Fault-tolerant and Diagnostic Methods for Navigation
DEFF Research Database (Denmark)
Blanke, Mogens
2003-01-01
to diagnose faults and autonomously provide valid navigation data, disregarding any faulty sensor data and use sensor fusion to obtain a best estimate for users. This paper discusses how diagnostic and fault-tolerant methods are applicable in marine systems. An example chosen is sensor fusion for navigation......Precise and reliable navigation is crucial, and for reasons of safety, essential navigation instruments are often duplicated. Hardware redundancy is mostly used to manually switch between instruments should faults occur. In contrast, diagnostic methods are available that can use analytic redundancy...
DEFF Research Database (Denmark)
Gee, Stephanie; Skovdal, Morten
2017-01-01
This paper draws on interview data to examine how international health care workers navigated risk during the unprecedented Ebola outbreak in West Africa. It identifies the importance of place in risk perception, including how different spatial localities give rise to different feelings of threat...... or safety, some from the construction of physical boundaries, and others mediated through aspects of social relations, such as trust, communication and team dynamics. Referring to these spatial localities as ‘riskscapes’, the paper calls for greater recognition of the role of place in understanding risk...... perception, and how people navigate risk....
Evaluation of Navigation System Accuracy Indexes for Deviation Reading from Average Range
Directory of Open Access Journals (Sweden)
Alexey Boykov
2017-12-01
Full Text Available The method for estimating the mean of square error, kurtosis and error correlation coefficient for deviations from the average range of three navigation parameter indications from the outputs of three information sensors is substantiated and developed.
Evaluation of an Autonomous Navigation and Positioning System for IAEA-SG Inspectors
International Nuclear Information System (INIS)
Finker, D.; Cai, R.; Rutkowski, J.; Kocjan, J.
2015-01-01
Documenting visual observations and other data taken during field missions such as inspections, complementary accesses and design information verification is a time-consuming process which requires considerable effort from the inspectors in the field. To streamline their work in the field, IAEA inspectors would benefit from being able to position themselves and navigate inside vast and complex sites. Automated positioning of the inspector will result in more accurate and complete documentation of the measurements and data that they collect. While outdoor positioning using GPS is a mature technology, an autonomous system providing ubiquitous positioning without relying on any infrastructure is still an emerging technology. This paper will present the results of the Technology Evaluation Workshop that was conducted in 2014 by the Department of Safeguards to assess the readiness level of existing technologies, identify gaps, and validate the identified operational needs. Potential implementation of the technology will be envisioned, and the presentation will highlight how they could benefit the efficiency of IAEA safeguards activities in the field and at Headquarters. Finally, it will be shown how the process of organizing technology evaluation workshops can be systematized to accelerate technological development and lower the risks associated with their deployment. (author)
Navigation using sensory substitution in real and virtual mazes.
Chebat, Daniel-Robert; Maidenbaum, Shachar; Amedi, Amir
2015-01-01
Under certain specific conditions people who are blind have a perception of space that is equivalent to that of sighted individuals. However, in most cases their spatial perception is impaired. Is this simply due to their current lack of access to visual information or does the lack of visual information throughout development prevent the proper integration of the neural systems underlying spatial cognition? Sensory Substitution devices (SSDs) can transfer visual information via other senses and provide a unique tool to examine this question. We hypothesize that the use of our SSD (The EyeCane: a device that translates distance information into sounds and vibrations) can enable blind people to attain a similar performance level as the sighted in a spatial navigation task. We gave fifty-six participants training with the EyeCane. They navigated in real life-size mazes using the EyeCane SSD and in virtual renditions of the same mazes using a virtual-EyeCane. The participants were divided into four groups according to visual experience: congenitally blind, low vision & late blind, blindfolded sighted and sighted visual controls. We found that with the EyeCane participants made fewer errors in the maze, had fewer collisions, and completed the maze in less time on the last session compared to the first. By the third session, participants improved to the point where individual trials were no longer significantly different from the initial performance of the sighted visual group in terms of errors, time and collision.
Magnetic navigation in a coronary phantom: experimental results.
García-García, Héctor M; Tsuchida, Keiichi; Meulenbrug, Hans; Ong, Andrew T L; Van der Giessen, Willem J; Serruys, Patrick W
2005-11-01
The objective was to investigate the efficacy of a magnetic navigation system (MNS) in a coronary phantom. The number of coronary interventional procedures performed is steadily increasing with the availability of new devices to treat more complex lesions. Vessel tortuosity remains an important limiting factor in percutaneous coronary intervention. The MNS can orient the tip of magnetized wire. The coronary phantom is a representation of the coronary tree. Two operators using both a magnetic wire and a standard wire, measured the procedural time (PT), the fluoroscopic time (FT) and the radiation exposure/area product (DAP) required to navigate through to fourteen segments. Ten wire advancements were performed per segment. In all but two segments, the PT was significantly longer using magnetic navigation than using manual navigation. The median FT in the left main artery (LMA) - first septal segment was 7 seconds vs. 18 seconds, with magnetic and manual navigation respectively, (p=0.05); in the LMA - obtuse marginal segment the median FT was 15 seconds with magnetic navigation vs. 29.5 seconds with manual navigation, (p=0.01); in the segment from proximal right coronary artery (RCA1) to the acute marginal branch, the median FT was 8 seconds with magnetic vs. 11 seconds with manual navigation, (p=0.05); and in the RCA1 -posterior descending segment the median FT was 9.5 seconds with magnetic vs. 15 seconds with manual navigation, (p=0.006). The MNS facilitates wire access to distal segments in a coronary phantom, with a reduction in FT and radiation exposure using magnetic navigation in tortuous segments.
Integrated INS/GPS Navigation from a Popular Perspective
Omerbashich, Mensur
2002-01-01
Inertial navigation, blended with other navigation aids, Global Positioning System (GPS) in particular, has gained significance due to enhanced navigation and inertial reference performance and dissimilarity for fault tolerance and anti-jamming. Relatively new concepts based upon using Differential GPS (DGPS) blended with Inertial (and visual) Navigation Sensors (INS) offer the possibility of low cost, autonomous aircraft landing. The FAA has decided to implement the system in a sophisticated form as a new standard navigation tool during this decade. There have been a number of new inertial sensor concepts in the recent past that emphasize increased accuracy of INS/GPS versus INS and reliability of navigation, as well as lower size and weight, and higher power, fault tolerance, and long life. The principles of GPS are not discussed; rather the attention is directed towards general concepts and comparative advantages. A short introduction to the problems faced in kinematics is presented. The intention is to relate the basic principles of kinematics to probably the most used navigation method in the future-INS/GPS. An example of the airborne INS is presented, with emphasis on how it works. The discussion of the error types and sources in navigation, and of the role of filters in optimal estimation of the errors then follows. The main question this paper is trying to answer is 'What are the benefits of the integration of INS and GPS and how is this, navigation concept of the future achieved in reality?' The main goal is to communicate the idea about what stands behind a modern navigation method.
DEFF Research Database (Denmark)
Winther, Morten
This report documents the fuel consumption and emission inventory for navigation (national sea transport, fisheries and international sea transport) in Denmark, for the historical period 1990-2005 and the forecast period 2006-2030. The inventory follows the UNFCCC (United Nations Framework...... Convention of Climate Changes), and the UNECE CLRTAP (United Nations Economic Commission for Europe Convention of Long Range Transboundary Air Pollutants) convention rules. The emission components considered are SO2, NOX, VOC (NMVOC and CH4) CO, CO2, N2O and particulates (TSP, PM10 and PM2.5). International...... sea transport is the most dominant source of emissions from navigation. For national sea transport, a new time series of fuel consumption has been calculated which is considered as much more accurate than fuel sales data reported by the Danish Energy Authority (DEA). The introduction of engine age...
Development of a force-reflecting robotic platform for cardiac catheter navigation.
Park, Jun Woo; Choi, Jaesoon; Pak, Hui-Nam; Song, Seung Joon; Lee, Jung Chan; Park, Yongdoo; Shin, Seung Min; Sun, Kyung
2010-11-01
Electrophysiological catheters are used for both diagnostics and clinical intervention. To facilitate more accurate and precise catheter navigation, robotic cardiac catheter navigation systems have been developed and commercialized. The authors have developed a novel force-reflecting robotic catheter navigation system. The system is a network-based master-slave configuration having a 3-degree of freedom robotic manipulator for operation with a conventional cardiac ablation catheter. The master manipulator implements a haptic user interface device with force feedback using a force or torque signal either measured with a sensor or estimated from the motor current signal in the slave manipulator. The slave manipulator is a robotic motion control platform on which the cardiac ablation catheter is mounted. The catheter motions-forward and backward movements, rolling, and catheter tip bending-are controlled by electromechanical actuators located in the slave manipulator. The control software runs on a real-time operating system-based workstation and implements the master/slave motion synchronization control of the robot system. The master/slave motion synchronization response was assessed with step, sinusoidal, and arbitrarily varying motion commands, and showed satisfactory performance with insignificant steady-state motion error. The current system successfully implemented the motion control function and will undergo safety and performance evaluation by means of animal experiments. Further studies on the force feedback control algorithm and on an active motion catheter with an embedded actuation mechanism are underway. © 2010, Copyright the Authors. Artificial Organs © 2010, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.
Piles, tabs and overlaps in navigation among documents
DEFF Research Database (Denmark)
Jakobsen, Mikkel Rønne; Hornbæk, Kasper
2010-01-01
Navigation among documents is a frequent, but ill supported activity. Overlapping or tabbed documents are widespread, but they offer limited visibility of their content. We explore variations on navigation support: arranging documents with tabs, as overlapping windows, and in piles. In an experim......Navigation among documents is a frequent, but ill supported activity. Overlapping or tabbed documents are widespread, but they offer limited visibility of their content. We explore variations on navigation support: arranging documents with tabs, as overlapping windows, and in piles....... In an experiment we compared 11 participants’ navigation with these variations and found strong task effects. Overall, overlapping windows were preferred and their structured layout worked well with some tasks. Surprisingly, tabbed documents were efficient in tasks requiring simply finding a document. Piled...... on document navigation and its support by piling....
Trigo, Guilherme F.; Maass, Bolko; Krüger, Hans; Theil, Stephan
2018-01-01
Accurate autonomous navigation capabilities are essential for future lunar robotic landing missions with a pin-point landing requirement, since in the absence of direct line of sight to ground control during critical approach and landing phases, or when facing long signal delays the herein before mentioned capability is needed to establish a guidance solution to reach the landing site reliably. This paper focuses on the processing and evaluation of data collected from flight tests that consisted of scaled descent scenarios where the unmanned helicopter of approximately 85 kg approached a landing site from altitudes of 50 m down to 1 m for a downrange distance of 200 m. Printed crater targets were distributed along the ground track and their detection provided earth-fixed measurements. The Crater Navigation (CNav) algorithm used to detect and match the crater targets is an unmodified method used for real lunar imagery. We analyze the absolute position and attitude solutions of CNav obtained and recorded during these flight tests, and investigate the attainable quality of vehicle pose estimation using both CNav and measurements from a tactical-grade inertial measurement unit. The navigation filter proposed for this end corrects and calibrates the high-rate inertial propagation with the less frequent crater navigation fixes through a closed-loop, loosely coupled hybrid setup. Finally, the attainable accuracy of the fused solution is evaluated by comparison with the on-board ground-truth solution of a dual-antenna high-grade GNSS receiver. It is shown that the CNav is an enabler for building autonomous navigation systems with high quality and suitability for exploration mission scenarios.
Georgy, Jacques; Noureldin, Aboelmagd
2011-01-01
Satellite navigation systems such as the global positioning system (GPS) are currently the most common technique used for land vehicle positioning. However, in GPS-denied environments, there is an interruption in the positioning information. Low-cost micro-electro mechanical system (MEMS)-based inertial sensors can be integrated with GPS and enhance the performance in denied GPS environments. The traditional technique for this integration problem is Kalman filtering (KF). Due to the inherent errors of low-cost MEMS inertial sensors and their large stochastic drifts, KF, with its linearized models, has limited capabilities in providing accurate positioning. Particle filtering (PF) was recently suggested as a nonlinear filtering technique to accommodate for arbitrary inertial sensor characteristics, motion dynamics and noise distributions. An enhanced version of PF called the Mixture PF is utilized in this study to perform tightly coupled integration of a three dimensional (3D) reduced inertial sensors system (RISS) with GPS. In this work, the RISS consists of one single-axis gyroscope and a two-axis accelerometer used together with the vehicle's odometer to obtain 3D navigation states. These sensors are then integrated with GPS in a tightly coupled scheme. In loosely-coupled integration, at least four satellites are needed to provide acceptable GPS position and velocity updates for the integration filter. The advantage of the tightly-coupled integration is that it can provide GPS measurement update(s) even when the number of visible satellites is three or lower, thereby improving the operation of the navigation system in environments with partial blockages by providing continuous aiding to the inertial sensors even during limited GPS satellite availability. To effectively exploit the capabilities of PF, advanced modeling for the stochastic drift of the vertically aligned gyroscope is used. In order to benefit from measurement updates for such drift, which are
Directory of Open Access Journals (Sweden)
Jacques Georgy
2011-04-01
Full Text Available Satellite navigation systems such as the global positioning system (GPS are currently the most common technique used for land vehicle positioning. However, in GPS-denied environments, there is an interruption in the positioning information. Low-cost micro-electro mechanical system (MEMS-based inertial sensors can be integrated with GPS and enhance the performance in denied GPS environments. The traditional technique for this integration problem is Kalman filtering (KF. Due to the inherent errors of low-cost MEMS inertial sensors and their large stochastic drifts, KF, with its linearized models, has limited capabilities in providing accurate positioning. Particle filtering (PF was recently suggested as a nonlinear filtering technique to accommodate for arbitrary inertial sensor characteristics, motion dynamics and noise distributions. An enhanced version of PF called the Mixture PF is utilized in this study to perform tightly coupled integration of a three dimensional (3D reduced inertial sensors system (RISS with GPS. In this work, the RISS consists of one single-axis gyroscope and a two-axis accelerometer used together with the vehicle’s odometer to obtain 3D navigation states. These sensors are then integrated with GPS in a tightly coupled scheme. In loosely-coupled integration, at least four satellites are needed to provide acceptable GPS position and velocity updates for the integration filter. The advantage of the tightly-coupled integration is that it can provide GPS measurement update(s even when the number of visible satellites is three or lower, thereby improving the operation of the navigation system in environments with partial blockages by providing continuous aiding to the inertial sensors even during limited GPS satellite availability. To effectively exploit the capabilities of PF, advanced modeling for the stochastic drift of the vertically aligned gyroscope is used. In order to benefit from measurement updates for such drift
An Integrated Approach to Electronic Navigation
National Research Council Canada - National Science Library
Shaw, Peter; Pettus, Bill
2001-01-01
While the Global Positioning System (GPS) is and will continue to be an excellent navigation system, it is neither flawless nor is it the only system employed in the navigation of today's seagoing warfighters...
A projective surgical navigation system for cancer resection
Gan, Qi; Shao, Pengfei; Wang, Dong; Ye, Jian; Zhang, Zeshu; Wang, Xinrui; Xu, Ronald
2016-03-01
Near infrared (NIR) fluorescence imaging technique can provide precise and real-time information about tumor location during a cancer resection surgery. However, many intraoperative fluorescence imaging systems are based on wearable devices or stand-alone displays, leading to distraction of the surgeons and suboptimal outcome. To overcome these limitations, we design a projective fluorescence imaging system for surgical navigation. The system consists of a LED excitation light source, a monochromatic CCD camera, a host computer, a mini projector and a CMOS camera. A software program is written by C++ to call OpenCV functions for calibrating and correcting fluorescence images captured by the CCD camera upon excitation illumination of the LED source. The images are projected back to the surgical field by the mini projector. Imaging performance of this projective navigation system is characterized in a tumor simulating phantom. Image-guided surgical resection is demonstrated in an ex-vivo chicken tissue model. In all the experiments, the projected images by the projector match well with the locations of fluorescence emission. Our experimental results indicate that the proposed projective navigation system can be a powerful tool for pre-operative surgical planning, intraoperative surgical guidance, and postoperative assessment of surgical outcome. We have integrated the optoelectronic elements into a compact and miniaturized system in preparation for further clinical validation.
Mental models accurately predict emotion transitions.
Thornton, Mark A; Tamir, Diana I
2017-06-06
Successful social interactions depend on people's ability to predict others' future actions and emotions. People possess many mechanisms for perceiving others' current emotional states, but how might they use this information to predict others' future states? We hypothesized that people might capitalize on an overlooked aspect of affective experience: current emotions predict future emotions. By attending to regularities in emotion transitions, perceivers might develop accurate mental models of others' emotional dynamics. People could then use these mental models of emotion transitions to predict others' future emotions from currently observable emotions. To test this hypothesis, studies 1-3 used data from three extant experience-sampling datasets to establish the actual rates of emotional transitions. We then collected three parallel datasets in which participants rated the transition likelihoods between the same set of emotions. Participants' ratings of emotion transitions predicted others' experienced transitional likelihoods with high accuracy. Study 4 demonstrated that four conceptual dimensions of mental state representation-valence, social impact, rationality, and human mind-inform participants' mental models. Study 5 used 2 million emotion reports on the Experience Project to replicate both of these findings: again people reported accurate models of emotion transitions, and these models were informed by the same four conceptual dimensions. Importantly, neither these conceptual dimensions nor holistic similarity could fully explain participants' accuracy, suggesting that their mental models contain accurate information about emotion dynamics above and beyond what might be predicted by static emotion knowledge alone.
Mental models accurately predict emotion transitions
Thornton, Mark A.; Tamir, Diana I.
2017-01-01
Successful social interactions depend on people’s ability to predict others’ future actions and emotions. People possess many mechanisms for perceiving others’ current emotional states, but how might they use this information to predict others’ future states? We hypothesized that people might capitalize on an overlooked aspect of affective experience: current emotions predict future emotions. By attending to regularities in emotion transitions, perceivers might develop accurate mental models of others’ emotional dynamics. People could then use these mental models of emotion transitions to predict others’ future emotions from currently observable emotions. To test this hypothesis, studies 1–3 used data from three extant experience-sampling datasets to establish the actual rates of emotional transitions. We then collected three parallel datasets in which participants rated the transition likelihoods between the same set of emotions. Participants’ ratings of emotion transitions predicted others’ experienced transitional likelihoods with high accuracy. Study 4 demonstrated that four conceptual dimensions of mental state representation—valence, social impact, rationality, and human mind—inform participants’ mental models. Study 5 used 2 million emotion reports on the Experience Project to replicate both of these findings: again people reported accurate models of emotion transitions, and these models were informed by the same four conceptual dimensions. Importantly, neither these conceptual dimensions nor holistic similarity could fully explain participants’ accuracy, suggesting that their mental models contain accurate information about emotion dynamics above and beyond what might be predicted by static emotion knowledge alone. PMID:28533373
Tu, Rui; Zhang, Rui; Zhang, Pengfei; Liu, Jinhai; Lu, Xiaochun
2018-07-01
This study proposes an approach to facilitate real-time fast point positioning of the BeiDou Navigation Satellite System (BDS) based on regional augmentation information. We term this as the precise positioning based on augmentation information (BPP) approach. The coordinates of the reference stations were highly constrained to extract the augmentation information, which contained not only the satellite orbit clock error correlated with the satellite running state, but also included the atmosphere error and unmodeled error, which are correlated with the spatial and temporal states. Based on these mixed augmentation corrections, a precise point positioning (PPP) model could be used for the coordinates estimation of the user stations, and the float ambiguity could be easily fixed for the single-difference between satellites. Thus, this technique provided a quick and high-precision positioning service. Three different datasets with small, medium, and large baselines (0.6 km, 30 km and 136 km) were used to validate the feasibility and effectiveness of the proposed BPP method. The validations showed that using the BPP model, 1–2 cm positioning service can be provided in a 100 km wide area after just 2 s of initialization. Thus, as the proposed approach not only capitalized on both PPP and RTK but also provided consistent application, it can be used for area augmentation positioning.
Navigation in Cross-cultural business relationships
DEFF Research Database (Denmark)
Andersen, Poul Houman
2001-01-01
Cross-cultural business navigation concerns the process of handling the complexity of several interacting cultural spheres of influence......Cross-cultural business navigation concerns the process of handling the complexity of several interacting cultural spheres of influence...
Comparative advantage between traditional and smart navigation systems
Shin, Jeongkyu; Kim, Pan-Jun; Kim, Seunghwan
2013-03-01
The smart navigation system that refers to real-time traffic data is believed to be superior to traditional navigation systems. To verify this belief, we created an agent-based traffic model and examined the effect of changing market share of the traditional shortest-travel-time algorithm based navigation and the smart navigation system. We tested our model on the grid and actual metropolitan road network structures. The result reveals that the traditional navigation system have better performance than the smart one as the market share of the smart navigation system exceeds a critical value, which is contrary to conventional expectation. We suggest that the superiority inversion between agent groups is strongly related to the traffic weight function form, and is general. We also found that the relationship of market share, traffic flow density and travel time is determined by the combination of congestion avoidance behavior of the smartly navigated agents and the inefficiency of shortest-travel-time based navigated agents. Our results can be interpreted with the minority game and extended to the diverse topics of opinion dynamics. This work was supported by the Original Technology Research Program for Brain Science through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology(No. 2010-0018847).
Lesions of the basal forebrain cholinergic system in mice disrupt idiothetic navigation.
Directory of Open Access Journals (Sweden)
Adam S Hamlin
Full Text Available Loss of integrity of the basal forebrain cholinergic neurons is a consistent feature of Alzheimer's disease, and measurement of basal forebrain degeneration by magnetic resonance imaging is emerging as a sensitive diagnostic marker for prodromal disease. It is also known that Alzheimer's disease patients perform poorly on both real space and computerized cued (allothetic or uncued (idiothetic recall navigation tasks. Although the hippocampus is required for allothetic navigation, lesions of this region only mildly affect idiothetic navigation. Here we tested the hypothesis that the cholinergic medial septo-hippocampal circuit is important for idiothetic navigation. Basal forebrain cholinergic neurons were selectively lesioned in mice using the toxin saporin conjugated to a basal forebrain cholinergic neuronal marker, the p75 neurotrophin receptor. Control animals were able to learn and remember spatial information when tested on a modified version of the passive place avoidance test where all extramaze cues were removed, and animals had to rely on idiothetic signals. However, the exploratory behaviour of mice with cholinergic basal forebrain lesions was highly disorganized during this test. By contrast, the lesioned animals performed no differently from controls in tasks involving contextual fear conditioning and spatial working memory (Y maze, and displayed no deficits in potentially confounding behaviours such as motor performance, anxiety, or disturbed sleep/wake cycles. These data suggest that the basal forebrain cholinergic system plays a specific role in idiothetic navigation, a modality that is impaired early in Alzheimer's disease.
A fuzzy logic based navigation for mobile robot
International Nuclear Information System (INIS)
Adel Ali S Al-Jumaily; Shamsudin M Amin; Mohamed Khalil
1998-01-01
The main issue of intelligent robot is how to reach its goal safely in real time when it moves in unknown environment. The navigational planning is becoming the central issue in development of real-time autonomous mobile robots. Behaviour based robots have been successful in reacting with dynamic environment but still there are some complexity and challenging problems. Fuzzy based behaviours present as powerful method to solve the real time reactive navigation problems in unknown environment. We shall classify the navigation generation methods, five some characteristics of these methods, explain why fuzzy logic is suitable for the navigation of mobile robot and automated guided vehicle, and describe a reactive navigation that is flexible to react through their behaviours to the change of the environment. Some simulation results will be presented to show the navigation of the robot. (Author)
Visualization of hierarchically structured information for human-computer interaction
Energy Technology Data Exchange (ETDEWEB)
Cheon, Suh Hyun; Lee, J. K.; Choi, I. K.; Kye, S. C.; Lee, N. K. [Dongguk University, Seoul (Korea)
2001-11-01
Visualization techniques can be used to support operator's information navigation tasks on the system especially consisting of an enormous volume of information, such as operating information display system and computerized operating procedure system in advanced control room of nuclear power plants. By offering an easy understanding environment of hierarchically structured information, these techniques can reduce the operator's supplementary navigation task load. As a result of that, operators can pay more attention on the primary tasks and ultimately improve the cognitive task performance. In this report, an interface was designed and implemented using hyperbolic visualization technique, which is expected to be applied as a means of optimizing operator's information navigation tasks. 15 refs., 19 figs., 32 tabs. (Author)
78 FR 23598 - National Space-Based Positioning, Navigation, and Timing (PNT) Advisory Board; Meeting
2013-04-19
..., Public Law 92-463, as amended, and the President's 2004 U.S. Space-Based Positioning, Navigation, and...: The Melrose Hotel, 2430 Pennsylvania Ave NW., Washington, DC 20037. FOR FURTHER INFORMATION CONTACT...
The cerebellum: a new key structure in the navigation system
Directory of Open Access Journals (Sweden)
Christelle eRochefort
2013-03-01
Full Text Available Early investigations of cerebellar function focused on motor learning, in particular on eyeblink conditioning and adaptation of the vestibulo-ocular reflex, and led to the general view that cerebellar Long Term Depression (LTD at parallel fiber-Purkinje cell synapses is the neural correlate of cerebellar motor learning. Thereafter, while the full complexity of cerebellar plasticities was being unraveled, cerebellar involvement in more cognitive tasks - including spatial navigation - was further investigated. However, cerebellar implication in spatial navigation remains a matter of debate because motor deficits frequently associated with cerebellar damage often prevent the dissociation between its role in spatial cognition from its implication in motor function. Here, we review recent findings from behavioral and electrophysiological analyses of cerebellar mutant mouse models, which show that the cerebellum might participate in the construction of hippocampal spatial representation map (i.e. place cells and thereby in goal-directed navigation. These recent advances in cerebellar research point toward a model in which computation from the cerebellum could be required for spatial representation and would involve the integration of multi-source self-motion information to: 1 transform the reference frame of vestibular signals and 2 distinguish between self- and externally-generated vestibular signals. We eventually present herein anatomical and functional connectivity data supporting a cerebello-hippocampal interaction. Whilst a direct cerebello-hippocampal projection has been suggested, recent investigations rather favor a multi-synaptic pathway involving posterior parietal and retrosplenial cortices, two regions critically involved in spatial navigation.
Real Time Mapping and Dynamic Navigation for Mobile Robots
Directory of Open Access Journals (Sweden)
Maki K. Habib
2008-11-01
Full Text Available This paper discusses the importance, the complexity and the challenges of mapping mobile robot?s unknown and dynamic environment, besides the role of sensors and the problems inherited in map building. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. The paper presenst the state of the art in map building and localization for mobile robots navigating within unknown environment, and then introduces a solution for the complex problem of autonomous map building and maintenance method with focus on developing an incremental grid based mapping technique that is suitable for real-time obstacle detection and avoidance. In this case, the navigation of mobile robots can be treated as a problem of tracking geometric features that occur naturally in the environment of the robot. The robot maps its environment incrementally using the concept of occupancy grids and the fusion of multiple ultrasonic sensory information while wandering in it and stay away from all obstacles. To ensure real-time operation with limited resources, as well as to promote extensibility, the mapping and obstacle avoidance modules are deployed in parallel and distributed framework. Simulation based experiments has been conducted and illustrated to show the validity of the developed mapping and obstacle avoidance approach.
Digital waterway construction based on inland electronic navigation chart
Wang, Xue; Pan, Junfeng; Zhu, Weiwei
2015-12-01
With advantages of large capacity, long distance, low energy consumption, low cost, less land occupation and light pollution, inland waterway transportation becomes one of the most important constituents of the comprehensive transportation system and comprehensive water resources utilization in China. As one of "three elements" of navigation, waterway is the important basis for the development of water transportation and plays a key supporting role in shipping economic. The paper discuss how to realize the informatization and digitization of waterway management based on constructing an integrated system of standard inland electronic navigation chart production, waterway maintenance, navigation mark remote sensing and control, ship dynamic management, and water level remote sensing and report, which can also be the foundation of the intelligent waterway construction. Digital waterway construction is an information project and also has a practical meaning for waterway. It can not only meet the growing high assurance and security requirements for waterway, but also play a significant advantage in improving transport efficiency, reducing costs, promoting energy conservation and so on. This study lays a solid foundation on realizing intelligent waterway and building a smooth, efficient, safe, green modern inland waterway system, and must be considered as an unavoidable problem for the coordinated development between "low carbon" transportation and social economic.
X-Ray Detection and Processing Models for Spacecraft Navigation and Timing
Sheikh, Suneel; Hanson, John
2013-01-01
timing model. A discrepancy provides an estimate of the spacecraft position offset, since an error in position will relate to the measured time offset of a pulse along the line of sight to the pulsar. XNAV researchers have been developing additional enhanced approaches to process the photon TOAs to arrive at an estimate of spacecraft position, including those using maximum-likelihood estimation, digital phase locked loops, and "single photon processing" schemes that utilize all available time data associated with each photon. Using pulsars from separate, non-coplanar locations provides range and range-rate measurements in each pulsar s direction. Combining these different pulsar measurements solves for offsets in position and velocity in three dimensions, and provides accurate overall navigation for deep space vehicles.
DEFF Research Database (Denmark)
Simon, M; Evans, S.; McAloone, Timothy Charles
The Ecodesign Navigator is the product of a three-year research project called DEEDS - DEsign for Environment Decision Support. The initial partners were Manchester Metropolitan University, Cranfield University, Engineering 6 Physical Sciences Resaech Council, Electrolux, ICL, and the Industry...
Navigational strategies during fast walking: a comparison between trained athletes and non-athletes.
Gérin-Lajoie, Martin; Ronsky, Janet L; Loitz-Ramage, Barbara; Robu, Ion; Richards, Carol L; McFadyen, Bradford J
2007-10-01
Many common activities such as walking in a shopping mall, moving in a busy subway station, or even avoiding opponents during sports, all require different levels of navigational skills. Obstacle circumvention is beginning to be understood across age groups, but studying trained athletes with greater levels of motor ability will further our understanding of skillful adaptive locomotor behavior. The objective of this work was to compare navigational skills during fast walking between elite athletes (e.g. soccer, field hockey, basketball) and aged-matched non-athletes under different levels of environmental complexity in relation to obstacle configuration and visibility. The movements of eight women athletes and eight women non-athletes were measured as they walked as fast as possible through different obstacle courses in both normal and low lighting conditions. Results showed that athletes, despite similar unobstructed maximal speeds to non-athletes, had faster walking times during the navigation of all obstructed environments. It appears that athletes can process visuo-spatial information faster since both groups can make appropriate navigational decisions, but athletes can navigate through complex, novel, environments at greater speeds. Athletes' walking times were also more affected by the low lighting conditions suggesting that they normally scan the obstructed course farther ahead. This study also uses new objective measures to assess functional locomotor capacity in order to discriminate individuals according to their level of navigational ability. The evaluation paradigm and outcome measures developed may be applicable to the evaluation of skill level in athletic training and selection, as well as in gait rehabilitation following impairment.
Barta, András; Horváth, Gábor; Meyer-Rochow, Victor Benno
2005-06-01
In the late 1960s it was hypothesized that Vikings had been able to navigate the open seas, even when the sun was occluded by clouds or below the sea horizon, by using the angle of polarization of skylight. To detect the direction of skylight polarization, they were thought to have made use of birefringent crystals, called "sun-stones," and a large part of the scientific community still firmly believe that Vikings were capable of polarimetric navigation. However, there are some critics who treat the usefulness of skylight polarization for orientation under partly cloudy or twilight conditions with extreme skepticism. One of their counterarguments has been the assumption that solar positions or solar azimuth directions could be estimated quite accurately by the naked eye, even if the sun was behind clouds or below the sea horizon. Thus under partly cloudy or twilight conditions there might have been no serious need for a polarimetric method to determine the position of the sun. The aim of our study was to test quantitatively the validity of this qualitative counterargument. In our psychophysical laboratory experiments, test subjects were confronted with numerous 180 degrees field-of-view color photographs of partly cloudy skies with the sun occluded by clouds or of twilight skies with the sun below the horizon. The task of the subjects was to guess the position or the azimuth direction of the invisible sun with the naked eye. We calculated means and standard deviations of the estimated solar positions and azimuth angles to characterize the accuracy of the visual sun location. Our data do not support the common belief that the invisible sun can be located quite accurately from the celestial brightness and/or color patterns under cloudy or twilight conditions. Although our results underestimate the accuracy of visual sun location by experienced Viking navigators, the mentioned counterargument cannot be taken seriously as a valid criticism of the theory of the alleged
Shape Perception and Navigation in Blind Adults
Gori, Monica; Cappagli, Giulia; Baud-Bovy, Gabriel; Finocchietti, Sara
2017-01-01
Different sensory systems interact to generate a representation of space and to navigate. Vision plays a critical role in the representation of space development. During navigation, vision is integrated with auditory and mobility cues. In blind individuals, visual experience is not available and navigation therefore lacks this important sensory signal. In blind individuals, compensatory mechanisms can be adopted to improve spatial and navigation skills. On the other hand, the limitations of these compensatory mechanisms are not completely clear. Both enhanced and impaired reliance on auditory cues in blind individuals have been reported. Here, we develop a new paradigm to test both auditory perception and navigation skills in blind and sighted individuals and to investigate the effect that visual experience has on the ability to reproduce simple and complex paths. During the navigation task, early blind, late blind and sighted individuals were required first to listen to an audio shape and then to recognize and reproduce it by walking. After each audio shape was presented, a static sound was played and the participants were asked to reach it. Movements were recorded with a motion tracking system. Our results show three main impairments specific to early blind individuals. The first is the tendency to compress the shapes reproduced during navigation. The second is the difficulty to recognize complex audio stimuli, and finally, the third is the difficulty in reproducing the desired shape: early blind participants occasionally reported perceiving a square but they actually reproduced a circle during the navigation task. We discuss these results in terms of compromised spatial reference frames due to lack of visual input during the early period of development. PMID:28144226
Off the Beaten tracks: Exploring Three Aspects of Web Navigation
Weinreich, H.; Obendorf, H.; Herder, E.; Mayer, M.; Edmonds, H.; Hawkey, K.; Kellar, M.; Turnbull, D.
2006-01-01
This paper presents results of a long-term client-side Web usage study, updating previous studies that range in age from five to ten years. We focus on three aspects of Web navigation: changes in the distribution of navigation actions, speed of navigation and within-page navigation. “Navigation
Simplification of Visual Rendering in Simulated Prosthetic Vision Facilitates Navigation.
Vergnieux, Victor; Macé, Marc J-M; Jouffrais, Christophe
2017-09-01
Visual neuroprostheses are still limited and simulated prosthetic vision (SPV) is used to evaluate potential and forthcoming functionality of these implants. SPV has been used to evaluate the minimum requirement on visual neuroprosthetic characteristics to restore various functions such as reading, objects and face recognition, object grasping, etc. Some of these studies focused on obstacle avoidance but only a few investigated orientation or navigation abilities with prosthetic vision. The resolution of current arrays of electrodes is not sufficient to allow navigation tasks without additional processing of the visual input. In this study, we simulated a low resolution array (15 × 18 electrodes, similar to a forthcoming generation of arrays) and evaluated the navigation abilities restored when visual information was processed with various computer vision algorithms to enhance the visual rendering. Three main visual rendering strategies were compared to a control rendering in a wayfinding task within an unknown environment. The control rendering corresponded to a resizing of the original image onto the electrode array size, according to the average brightness of the pixels. In the first rendering strategy, vision distance was limited to 3, 6, or 9 m, respectively. In the second strategy, the rendering was not based on the brightness of the image pixels, but on the distance between the user and the elements in the field of view. In the last rendering strategy, only the edges of the environments were displayed, similar to a wireframe rendering. All the tested renderings, except the 3 m limitation of the viewing distance, improved navigation performance and decreased cognitive load. Interestingly, the distance-based and wireframe renderings also improved the cognitive mapping of the unknown environment. These results show that low resolution implants are usable for wayfinding if specific computer vision algorithms are used to select and display appropriate
78 FR 65006 - National Space-Based Positioning, Navigation, and Timing (PNT) Advisory Board; Meeting
2013-10-30
..., Public Law 92-463, as amended, and the President's 2004 U.S. Space-Based Positioning, Navigation, and.... ADDRESSES: The Omni Shoreham Hotel, 2500 Calvert Street NW., Washington, DC 20008. FOR FURTHER INFORMATION...
Kuhlmann, Stefan; Edler, Jakob; Ordonez Matamoros, Hector Gonzalo; Randles, Sally; Walhout, Bart; Walhout, Bart; Gough, Clair; Lindner, Ralf; Lindner, Ralf; Kuhlmann, Stefan; Randles, Sally; Bedsted, Bjorn; Gorgoni, Guido; Griessler, Erich; Loconto, Allison; Mejlgaard, Niels
2016-01-01
Research and innovation activities need to become more responsive to societal challenges and concerns. The Responsibility Navigator, developed in the Res-AGorA project, supports decision-makers to govern such activities towards more conscious responsibility. What is considered “responsible” will
Development of A Plant Navigation System
International Nuclear Information System (INIS)
Furuta, Tomihiko; Nakagawa, Tsuneo; Kubota, Ryuji; Ikeda, Kouji
1998-01-01
A 'Plant Navigation System (PNS)' is under development to assist nuclear power plant (NPP) operators by automatically displaying the plant situation and plant operational procedures on a CRT screen when abnormalities occur. The operation procedures given in a symptom-oriented manual are expressed in a tree - type flowchart (modified PAD). The optimum operation procedure for an NPP is selected automatically using built-in diagnostic logics based on the current status of the NPP. Concerning the plant situation, the PNS displays important information only on the current status of the NPP. A prototype PNS system is being constructed. (authors)
DEFF Research Database (Denmark)
Shaikh, Danish; Manoonpong, Poramate
2018-01-01
steered the robot towards an acoustic target. The architecture mapped sound direction information, extracted by a model of the peripheral auditory system of lizards, to appropriate wheel velocities. An obstacle avoidance behaviour using distance information overrode the wheel velocities during navigation...
A neural model of motion processing and visual navigation by cortical area MST.
Grossberg, S; Mingolla, E; Pack, C
1999-12-01
Cells in the dorsal medial superior temporal cortex (MSTd) process optic flow generated by self-motion during visually guided navigation. A neural model shows how interactions between well-known neural mechanisms (log polar cortical magnification, Gaussian motion-sensitive receptive fields, spatial pooling of motion-sensitive signals and subtractive extraretinal eye movement signals) lead to emergent properties that quantitatively simulate neurophysiological data about MSTd cell properties and psychophysical data about human navigation. Model cells match MSTd neuron responses to optic flow stimuli placed in different parts of the visual field, including position invariance, tuning curves, preferred spiral directions, direction reversals, average response curves and preferred locations for stimulus motion centers. The model shows how the preferred motion direction of the most active MSTd cells can explain human judgments of self-motion direction (heading), without using complex heading templates. The model explains when extraretinal eye movement signals are needed for accurate heading perception, and when retinal input is sufficient, and how heading judgments depend on scene layouts and rotation rates.
Fang, Tae Hyun; Kim, Yeon-Gyu; Gong, In-Young; Park, Sekil; Kim, Ah-Young
2015-09-01
In order to develop the challenging process of placing Aids to Navigation (AtoN), we propose performance measures which quantifies the effect of such placement. The best placement of AtoNs is that from which the navigator can best recognize the information provided by an AtoN. The visibility of AtoNs depends mostly on light sources, the weather condition and the position of the navigator. Visual recognition is enabled by achieving adequate contrast between the AtoN light source and background light. Therefore, the performance measures can be formulated through the amount of differences between these two lights. For simplification, this approach is based on the values of the human factor suggested by International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA). Performance measures for AtoN placement can be evaluated through AtoN Simulator, which has been being developed by KIOST/KRISO in Korea and has been launched by Korea National Research Program. Simulations for evaluation are carried out at waterway in Busan port in Korea.
Directory of Open Access Journals (Sweden)
Tae Hyun Fang
2015-05-01
Full Text Available In order to develop the challenging process of placing Aids to Navigation (AtoN, we propose performance measures which quantifies the effect of such placement. The best placement of AtoNs is that from which the navigator can best recognize the information provided by an AtoN. The visibility of AtoNs depends mostly on light sources, the weather condition and the position of the navigator. Visual recognition is enabled by achieving adequate contrast between the AtoN light source and background light. Therefore, the performance measures can be formulated through the amount of differences between these two lights. For simplification, this approach is based on the values of the human factor suggested by International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA. Performance measures for AtoN placement can be evaluated through AtoN Simulator, which has been being developed by KIOST/KRISO in Korea and has been launched by Korea National Research Program. Simulations for evaluation are carried out at waterway in Busan port in Korea.
Closed-Loop Targeted Memory Reactivation during Sleep Improves Spatial Navigation.
Shimizu, Renee E; Connolly, Patrick M; Cellini, Nicola; Armstrong, Diana M; Hernandez, Lexus T; Estrada, Rolando; Aguilar, Mario; Weisend, Michael P; Mednick, Sara C; Simons, Stephen B
2018-01-01
Sounds associated with newly learned information that are replayed during non-rapid eye movement (NREM) sleep can improve recall in simple tasks. The mechanism for this improvement is presumed to be reactivation of the newly learned memory during sleep when consolidation takes place. We have developed an EEG-based closed-loop system to precisely deliver sensory stimulation at the time of down-state to up-state transitions during NREM sleep. Here, we demonstrate that applying this technology to participants performing a realistic navigation task in virtual reality results in a significant improvement in navigation efficiency after sleep that is accompanied by increases in the spectral power especially in the fast (12-15 Hz) sleep spindle band. Our results show promise for the application of sleep-based interventions to drive improvement in real-world tasks.
Individualized 3D printing navigation template for pedicle screw fixation in upper cervical spine.
Guo, Fei; Dai, Jianhao; Zhang, Junxiang; Ma, Yichuan; Zhu, Guanghui; Shen, Junjie; Niu, Guoqi
2017-01-01
Pedicle screw fixation in the upper cervical spine is a difficult and high-risk procedure. The screw is difficult to place rapidly and accurately, and can lead to serious injury of spinal cord or vertebral artery. The aim of this study was to design an individualized 3D printing navigation template for pedicle screw fixation in the upper cervical spine. Using CT thin slices data, we employed computer software to design the navigation template for pedicle screw fixation in the upper cervical spine (atlas and axis). The upper cervical spine models and navigation templates were produced by 3D printer with equal proportion, two sets for each case. In one set (Test group), pedicle screws fixation were guided by the navigation template; in the second set (Control group), the screws were fixed under fluoroscopy. According to the degree of pedicle cortex perforation and whether the screw needed to be refitted, the fixation effects were divided into 3 types: Type I, screw is fully located within the vertebral pedicle; Type II, degree of pedicle cortex perforation is stability and no need to renovate; Type III, degree of pedicle cortex perforation is >1 mm or with the poor internal fixation stability and in need of renovation. Type I and Type II were acceptable placements; Type III placements were unacceptable. A total of 19 upper cervical spine and 19 navigation templates were printed, and 37 pedicle screws were fixed in each group. Type I screw-placements in the test group totaled 32; Type II totaled 3; and Type III totaled 2; with an acceptable rate of 94.60%. Type I screw placements in the control group totaled 23; Type II totaled 3; and Type III totaled 11, with an acceptable rate of 70.27%. The acceptability rate in test group was higher than the rate in control group. The operation time and fluoroscopic frequency for each screw were decreased, compared with control group. The individualized 3D printing navigation template for pedicle screw fixation is easy and safe
Directory of Open Access Journals (Sweden)
Stefan Linsler
2016-01-01
Full Text Available Objective: The safety of endoscopic skull base surgery can be enhanced by accurate navigation in preoperative computed tomography (CT and magnetic resonance imaging (MRI. Here, we report our initial experience of real-time intraoperative CT-guided navigation surgery for pituitary tumors in childhood. Materials and Methods: We report the case of a 15-year-old girl with a huge growth hormone-secreting pituitary adenoma with supra- and perisellar extension. Furthermore, the skull base was infiltrated. In this case, we performed an endonasal transsphenoidal approach for debulking the adenoma and for chiasma decompression. We used an MRI neuronavigation (Medtronic Stealth Air System which was registered via intraoperative CT scan (Siemens CT Somatom. Preexisting MRI studies (navigation protocol were fused with the intraoperative CT scans to enable three-dimensional navigation based on MR and CT imaging data. Intraoperatively, we did a further CT scan for resection control. Results: The intraoperative accuracy of the neuronavigation was excellent. There was an adjustment of <1 mm. The navigation was very helpful for orientation on the destroyed skull base in the sphenoid sinus. After opening the sellar region and tumor debulking, we did a CT scan for resection control because the extent of resection was not credible evaluable in this huge infiltrating adenoma. Thereby, we were able to demonstrate a sufficient decompression of the chiasma and complete resection of the medial part of the adenoma in the intraoperative CT images. Conclusions: The use of intraoperative CT/MRI-guided neuronavigation for transsphenoidal surgery is a time-effective, safe, and technically beneficial technique for special cases.
A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots.
Sherwin, Tyrone; Easte, Mikala; Chen, Andrew Tzer-Yeu; Wang, Kevin I-Kai; Dai, Wenbin
2018-02-14
Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.
A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots
Directory of Open Access Journals (Sweden)
Tyrone Sherwin
2018-02-01
Full Text Available Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.
Pipeline control support system, 'pipe navigation'; Kanro kanri shien system 'kannabi'
Energy Technology Data Exchange (ETDEWEB)
NONE
2000-01-10
'Pipe navigation' is a pipeline control support system which employs GIS/GPS (geographic information system/global positioning system) technology in controlling information of water pipeline and incidental facilities, using a pen note/personal computer as the operating base. These pen computers can be carried to the spot and used in displaying pipeline/incidental equipment and retrieving related information. The main features as follows:(1) Memo preparation is possible at an arbitrary place with handwriting ease. The memo data so prepared can be taken in other terminals and shared.(2) Communication with remote places is possible by transmitting drawings, prepared memo data, etc., as in facsimile (3) Confirmation of the present position and navigation are possible (GPS function), demonstrating power in a restoration work at the time of earthquake for example.(4) Inputting and maintenance of each facility information are possible through the data input support function even by general users easily. (translated by NEDO)
Inui, Hiroshi; Taketomi, Shuji; Nakamura, Kensuke; Sanada, Takaki; Tanaka, Sakae; Nakagawa, Takumi
2013-05-01
Few studies have demonstrated improvement in accuracy of rotational alignment using image-free navigation systems mainly due to the inconsistent registration of anatomical landmarks. We have used an image-free navigation for total knee arthroplasty, which adopts the average algorithm between two reference axes (transepicondylar axis and axis perpendicular to the Whiteside axis) for femoral component rotation control. We hypothesized that addition of another axis (condylar twisting axis measured on a preoperative radiograph) would improve the accuracy. One group using the average algorithm (double-axis group) was compared with the other group using another axis to confirm the accuracy of the average algorithm (triple-axis group). Femoral components were more accurately implanted for rotational alignment in the triple-axis group (ideal: triple-axis group 100%, double-axis group 82%, P<0.05). Copyright © 2013 Elsevier Inc. All rights reserved.
DEFF Research Database (Denmark)
Azarmehr, Iman; Stokbro, Kasper; Bell, R. Bryan
2017-01-01
Purpose: This systematic review investigates the most common indications, treatments, and outcomes of surgical navigation (SN) published from 2010 to 2015. The evolution of SN and its application in oral and maxillofacial surgery have rapidly developed over recent years, and therapeutic indicatio...
Computer Navigation-aided Resection of Sacral Chordomas
Directory of Open Access Journals (Sweden)
Yong-Kun Yang
2016-01-01
Full Text Available Background: Resection of sacral chordomas is challenging. The anatomy is complex, and there are often no bony landmarks to guide the resection. Achieving adequate surgical margins is, therefore, difficult, and the recurrence rate is high. Use of computer navigation may allow optimal preoperative planning and improve precision in tumor resection. The purpose of this study was to evaluate the safety and feasibility of computer navigation-aided resection of sacral chordomas. Methods: Between 2007 and 2013, a total of 26 patients with sacral chordoma underwent computer navigation-aided surgery were included and followed for a minimum of 18 months. There were 21 primary cases and 5 recurrent cases, with a mean age of 55.8 years old (range: 35-84 years old. Tumors were located above the level of the S3 neural foramen in 23 patients and below the level of the S3 neural foramen in 3 patients. Three-dimensional images were reconstructed with a computed tomography-based navigation system combined with the magnetic resonance images using the navigation software. Tumors were resected via a posterior approach assisted by the computer navigation. Mean follow-up was 38.6 months (range: 18-84 months. Results: Mean operative time was 307 min. Mean intraoperative blood loss was 3065 ml. For computer navigation, the mean registration deviation during surgery was 1.7 mm. There were 18 wide resections, 4 marginal resections, and 4 intralesional resections. All patients were alive at the final follow-up, with 2 (7.7% exhibiting tumor recurrence. The other 24 patients were tumor-free. The mean Musculoskeletal Tumor Society Score was 27.3 (range: 19-30. Conclusions: Computer-assisted navigation can be safely applied to the resection of the sacral chordomas, allowing execution of preoperative plans, and achieving good oncological outcomes. Nevertheless, this needs to be accomplished by surgeons with adequate experience and skill.
INTEGRITY ANALYSIS OF REAL-TIME PPP TECHNIQUE WITH IGS-RTS SERVICE FOR MARITIME NAVIGATION
Directory of Open Access Journals (Sweden)
M. El-Diasty
2017-10-01
of convergence time for Ocean/Coastal/Port approach/Inland waterway, in port navigation and automatic docking, respectively. Moreover, the misleading information is about 2 % for all navigation phases that is considered less safe is not in immediate danger because the horizontal position error is less than the navigation alert limits.
Integrity Analysis of Real-Time Ppp Technique with Igs-Rts Service for Maritime Navigation
El-Diasty, M.
2017-10-01
time for Ocean/Coastal/Port approach/Inland waterway, in port navigation and automatic docking, respectively. Moreover, the misleading information is about 2 % for all navigation phases that is considered less safe is not in immediate danger because the horizontal position error is less than the navigation alert limits.
Navigation using sensory substitution in real and virtual mazes.
Directory of Open Access Journals (Sweden)
Daniel-Robert Chebat
Full Text Available Under certain specific conditions people who are blind have a perception of space that is equivalent to that of sighted individuals. However, in most cases their spatial perception is impaired. Is this simply due to their current lack of access to visual information or does the lack of visual information throughout development prevent the proper integration of the neural systems underlying spatial cognition? Sensory Substitution devices (SSDs can transfer visual information via other senses and provide a unique tool to examine this question. We hypothesize that the use of our SSD (The EyeCane: a device that translates distance information into sounds and vibrations can enable blind people to attain a similar performance level as the sighted in a spatial navigation task. We gave fifty-six participants training with the EyeCane. They navigated in real life-size mazes using the EyeCane SSD and in virtual renditions of the same mazes using a virtual-EyeCane. The participants were divided into four groups according to visual experience: congenitally blind, low vision & late blind, blindfolded sighted and sighted visual controls. We found that with the EyeCane participants made fewer errors in the maze, had fewer collisions, and completed the maze in less time on the last session compared to the first. By the third session, participants improved to the point where individual trials were no longer significantly different from the initial performance of the sighted visual group in terms of errors, time and collision.
Requirements for e-Navigation Architectures
Directory of Open Access Journals (Sweden)
Axel Hahn
2016-12-01
Full Text Available Technology is changing the way of navigation. New technologies for communication and navigation can be found on virtually every vessel. System architectures define structure and cooperation of components and subsystems. IMO, IALA, costal authorities, technology provider and many more actually propose new architectures for e-Navigation. This paper looks at other transportation domains and technical as normative requirements for e-Navigation architectures. With the aim of identifying possible synergies in the research, development, certification and standardization, this paper sets out to compare requirements and approaches of these two domains with respect to safety and security aspects. Since from an autonomy perspective, the automotive domain has started earlier and therefore has achieved a higher degree of technical progress, we will start with an overview of the developments in this domain. After that, the paper discusses the requirements on automation and assistance systems in the maritime domain and gives an overview of the developments into this direction within the maritime domain. This then allows us to compare developments in both domains and to derive recommendations for further developments in the maritime domain at the end of this paper.