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Sample records for autonomous navigation system

  1. Autonomous navigation system and method

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2009-09-08

    A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

  2. Autonomous navigation system and method

    Energy Technology Data Exchange (ETDEWEB)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2009-09-08

    A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

  3. Indoor Autonomous Airship Control and Navigation System

    Directory of Open Access Journals (Sweden)

    Fedorenko Roman

    2016-01-01

    Full Text Available The paper presents an automatic control system for autonomous airship. The system is designed to organize autonomous flight of the mini-airship performing flight mission defined from ground control station. Structure, hardware and software implementation of indoor autonomous airship and its navigation and control system as well as experiment results are described.

  4. Autonomous underwater pipeline monitoring navigation system

    Science.gov (United States)

    Mitchell, Byrel; Mahmoudian, Nina; Meadows, Guy

    2014-06-01

    This paper details the development of an autonomous motion-control and navigation algorithm for an underwater autonomous vehicle, the Ocean Server IVER3, to track long linear features such as underwater pipelines. As part of this work, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) developed an algorithm that utilizes inputs from the vehicles state of the art sensor package, which includes digital imaging, digital 3-D Sidescan Sonar, and Acoustic Doppler Current Profilers. The resulting algorithms should tolerate real-world waterway with episodic strong currents, low visibility, high sediment content, and a variety of small and large vessel traffic.

  5. Autonomous system for cross-country navigation

    Science.gov (United States)

    Stentz, Anthony; Brumitt, Barry L.; Coulter, R. C.; Kelly, Alonzo

    1993-05-01

    Autonomous cross-country navigation is essential for outdoor robots moving about in unstructured environments. Most existing systems use range sensors to determine the shape of the terrain, plan a trajectory that avoids obstacles, and then drive the trajectory. Performance has been limited by the range and accuracy of sensors, insufficient vehicle-terrain interaction models, and the availability of high-speed computers. As these elements improve, higher- speed navigation on rougher terrain becomes possible. We have developed a software system for autonomous navigation that provides for greater capability. The perception system supports a large braking distance by fusing multiple range images to build a map of the terrain in front of the vehicle. The system identifies range shadows and interpolates undersamples regions to account for rough terrain effects. The motion planner reduces computational complexity by investigating a minimum number of trajectories. Speeds along the trajectory are set to provide for dynamic stability. The entire system was tested in simulation, and a subset of the capability was demonstrated on a real vehicle. Results to date include a continuous 5.1 kilometer run across moderate terrain with obstacles. This paper begins with the applications, prior work, limitations, and current paradigms for autonomous cross-country navigation, and then describes our contribution to the area.

  6. Visual navigation system for autonomous indoor blimps

    Science.gov (United States)

    Campos, Mario F.; de Souza Coelho, Lucio

    1999-07-01

    Autonomous dirigibles - aerial robots that are a blimp controlled by computer based on information gathered by sensors - are a new and promising research field in Robotics, offering several original work opportunities. One of them is the study of visual navigation of UAVs. In the work described in this paper, a Computer Vision and Control system was developed to perform automatically very simple navigation task for a small indoor blimp. The vision system is able to track artificial visual beacons - objects with known geometrical properties - and from them a geometrical methodology can extract information about orientation of the blimp. The tracking of natural landmarks is also a possibility for the vision technique developed. The control system uses that data to keep the dirigible on a programmed orientation. Experimental results showing the correct and efficient functioning of the system are shown and have your implications and future possibilities discussed.

  7. A relativistic and autonomous navigation satellite system

    CERN Document Server

    Delva, Pacôme; Kostić, Uros; Carloni, Sante

    2011-01-01

    A relativistic positioning system has been proposed by Bartolom\\'e Coll in 2002. Since then, several group developed this topic with different approaches. I will present a work done in collaboration with Ljubljana University and the ESA Advanced Concepts Team. We developed a concept, Autonomous Basis of Coordinates, in order to take advantage of the full autonomy of a satellite constellation for navigation and positioning, by means of satellite inter-links. I will present the advantages of this new paradigm and a number of potential application for reference systems, geophysics and relativistic gravitation.

  8. Software framework for off-road autonomous robot navigation system

    Institute of Scientific and Technical Information of China (English)

    WU Er-yong; ZHOU Wen-hui; ZHANG Li; DAI Guo-jun

    2009-01-01

    This paper presents a software framework for off-road autonomous robot navigation system. With the requirements of accurate terrain perception and instantaneous obstacles detection, one navigation software framework was advanced based on the principles of "three layer architecture" of intelligence system. Utilized the technologies of distributed system, machine learning and multiple sensor fusion, individual functional module was discussed. This paper aims to provide a framework reference for autonomous robot navigation system design.

  9. Artificial Pheromone System Using RFID for Navigation of Autonomous Robots

    Institute of Scientific and Technical Information of China (English)

    Herianto; Toshiki Sakakibara; Daisuke Kurabayashi

    2007-01-01

    Navigation system based on the animal behavior has received a growing attention in the past few years. The navigation systems using artificial pheromone are still few so far. For this reason, this paper presents our research that aim to implement autonomous navigation with artificial pheromone system. By introducing artificial pheromone system composed of data carriers and autonomous robots, the robotic system creates a potential field to navigate their group. We have developed a pheromone density model to realize the function of pheromones with the help of data carriers. We intend to show the effectiveness of the proposed system by performing simulations and realization using modified mobile robot. The pheromone potential field system can be used for navigation of autonomous robots.

  10. Autonomous navigation system based on GPS and magnetometer data

    Science.gov (United States)

    Julie, Thienel K. (Inventor); Richard, Harman R. (Inventor); Bar-Itzhack, Itzhack Y. (Inventor)

    2004-01-01

    This invention is drawn to an autonomous navigation system using Global Positioning System (GPS) and magnetometers for low Earth orbit satellites. As a magnetometer is reliable and always provides information on spacecraft attitude, rate, and orbit, the magnetometer-GPS configuration solves GPS initialization problem, decreasing the convergence time for navigation estimate and improving the overall accuracy. Eventually the magnetometer-GPS configuration enables the system to avoid costly and inherently less reliable gyro for rate estimation. Being autonomous, this invention would provide for black-box spacecraft navigation, producing attitude, orbit, and rate estimates without any ground input with high accuracy and reliability.

  11. Cloud Absorption Radiometer Autonomous Navigation System - CANS

    Science.gov (United States)

    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

  12. Simulation platform of navigation system for autonomous underwater vehicle

    Institute of Scientific and Technical Information of China (English)

    QIN Zheng; BIAN Xin-qian

    2006-01-01

    In view of the characteristics of underwater navigation, the simulation platform of navigation system for autonomous underwater vehicle has been developed based on Windows platform. The system architecture, net communication and the information flow are discussed. The methods of software realization and some key techniques of the Vehicle Computer and the Navigation Equipment Computer are introduced in particular. The software design of Terrain Matching Computer is introduced also. The simulation platform is verified and analyzed through simulation. The results show that the architecture of the platform is reasonable and reliable, and the mathematic models and simulation algorithms of sub-systems are also valid and practicable.

  13. Lunar Autonomous Automatic Surface Navigation System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — To address the NASA GRC Laboratory need for navigation capabilities to provide location awareness, precision position fixing, best heading, and traverse path...

  14. Development and Evaluation of Positioning Systems for Autonomous Vehicle Navigation

    Science.gov (United States)

    2001-12-01

    The University of Oxford has developed a navigation for a low speed, indoor AGV suitable suitable for industrial use. This system uses SONAR to...1996. Shi92 Shin, D.H., Sanjiv, S., and Lee, J.J., “Explicit Path Tracking by Autonomous Vehicles,” Robotica , 10, (1992), 69-87. Ste95

  15. High accuracy autonomous navigation using the global positioning system (GPS)

    Science.gov (United States)

    Truong, Son H.; Hart, Roger C.; Shoan, Wendy C.; Wood, Terri; Long, Anne C.; Oza, Dipak H.; Lee, Taesul

    1997-01-01

    The application of global positioning system (GPS) technology to the improvement of the accuracy and economy of spacecraft navigation, is reported. High-accuracy autonomous navigation algorithms are currently being qualified in conjunction with the GPS attitude determination flyer (GADFLY) experiment for the small satellite technology initiative Lewis spacecraft. Preflight performance assessments indicated that these algorithms are able to provide a real time total position accuracy of better than 10 m and a velocity accuracy of better than 0.01 m/s, with selective availability at typical levels. It is expected that the position accuracy will be increased to 2 m if corrections are provided by the GPS wide area augmentation system.

  16. Lunar Navigator - A Miniature, Fully Autonomous, Lunar Navigation, Surveyor, and Range Finder System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Microcosm proposes to design and develop a fully autonomous Lunar Navigator based on our MicroMak miniature star sensor and a gravity gradiometer similar to one on a...

  17. Multifunctional astronomical self-organizing system of autonomous navigation and orientation for artificial Earth satellites

    Science.gov (United States)

    Kuznetsov, V. I.; Danilova, T. V.

    2017-03-01

    We describe the methods and algorithms of a multifunctional astronomical system of the autonomous navigation and orientation for artificial Earth satellites based on the automatization of the system approach to the design and programming problems of the subject area.

  18. Learning for Autonomous Navigation

    Science.gov (United States)

    Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

    2005-01-01

    Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

  19. New vision system and navigation algorithm for an autonomous ground vehicle

    Science.gov (United States)

    Tann, Hokchhay; Shakya, Bicky; Merchen, Alex C.; Williams, Benjamin C.; Khanal, Abhishek; Zhao, Jiajia; Ahlgren, David J.

    2013-12-01

    Improvements were made to the intelligence algorithms of an autonomously operating ground vehicle, Q, which competed in the 2013 Intelligent Ground Vehicle Competition (IGVC). The IGVC required the vehicle to first navigate between two white lines on a grassy obstacle course, then pass through eight GPS waypoints, and pass through a final obstacle field. Modifications to Q included a new vision system with a more effective image processing algorithm for white line extraction. The path-planning algorithm adopted the vision system, creating smoother, more reliable navigation. With these improvements, Q successfully completed the basic autonomous navigation challenge, finishing tenth out of over 50 teams.

  20. Canoe: An Autonomous Infrastructure-Free Indoor Navigation System

    Directory of Open Access Journals (Sweden)

    Kai Dong

    2017-04-01

    Full Text Available The development of the Internet of Things (IoT has accelerated research in indoor navigation systems, a majority of which rely on adequate wireless signals and sources. Nonetheless, deploying such a system requires periodic site-survey, which is time consuming and labor intensive. To address this issue, in this paper we present Canoe, an indoor navigation system that considers shopping mall scenarios. In our system, we do not assume any prior knowledge, such as floor-plan or the shop locations, access point placement or power settings, historical RSS measurements or fingerprints, etc. Instead, Canoe requires only that the shop owners collect and publish RSS values at the entrances of their shops and can direct a consumer to any of these shops by comparing the observed RSS values. The locations of the consumers and the shops are estimated using maximum likelihood estimation. In doing this, the direction of the target shop relative to the current orientation of the consumer can be precisely computed, such that the direction that a consumer should move can be determined. We have conducted extensive simulations using a real-world dataset. Our experiments in a real shopping mall demonstrate that if 50% of the shops publish their RSS values, Canoe can precisely navigate a consumer within 30 s, with an error rate below 9%.

  1. Canoe: An Autonomous Infrastructure-Free Indoor Navigation System.

    Science.gov (United States)

    Dong, Kai; Wu, Wenjia; Ye, Haibo; Yang, Ming; Ling, Zhen; Yu, Wei

    2017-04-30

    The development of the Internet of Things (IoT) has accelerated research in indoor navigation systems, a majority of which rely on adequate wireless signals and sources. Nonetheless, deploying such a system requires periodic site-survey, which is time consuming and labor intensive. To address this issue, in this paper we present Canoe, an indoor navigation system that considers shopping mall scenarios. In our system, we do not assume any prior knowledge, such as floor-plan or the shop locations, access point placement or power settings, historical RSS measurements or fingerprints, etc. Instead, Canoe requires only that the shop owners collect and publish RSS values at the entrances of their shops and can direct a consumer to any of these shops by comparing the observed RSS values. The locations of the consumers and the shops are estimated using maximum likelihood estimation. In doing this, the direction of the target shop relative to the current orientation of the consumer can be precisely computed, such that the direction that a consumer should move can be determined. We have conducted extensive simulations using a real-world dataset. Our experiments in a real shopping mall demonstrate that if 50% of the shops publish their RSS values, Canoe can precisely navigate a consumer within 30 s, with an error rate below 9%.

  2. Autonomous Navigation System Using a Fuzzy Adaptive Nonlinear H∞ Filter

    Directory of Open Access Journals (Sweden)

    Fariz Outamazirt

    2014-09-01

    Full Text Available Although nonlinear H∞ (NH∞ filters offer good performance without requiring assumptions concerning the characteristics of process and/or measurement noises, they still require additional tuning parameters that remain fixed and that need to be determined through trial and error. To address issues associated with NH∞ filters, a new SINS/GPS sensor fusion scheme known as the Fuzzy Adaptive Nonlinear H∞ (FANH∞ filter is proposed for the Unmanned Aerial Vehicle (UAV localization problem. Based on a real-time Fuzzy Inference System (FIS, the FANH∞ filter continually adjusts the higher order of the Taylor development thorough adaptive bounds  and adaptive disturbance attenuation , which significantly increases the UAV localization performance. The results obtained using the FANH∞ navigation filter are compared to the NH∞ navigation filter results and are validated using a 3D UAV flight scenario. The comparison proves the efficiency and robustness of the UAV localization process using the FANH∞ filter.

  3. Autonomous Spacecraft Navigation With Pulsars

    CERN Document Server

    Becker, Werner; Jessner, Axel

    2013-01-01

    An external reference system suitable for deep space navigation can be defined by fast spinning and strongly magnetized neutron stars, called pulsars. Their beamed periodic signals have timing stabilities comparable to atomic clocks and provide characteristic temporal signatures that can be used as natural navigation beacons, quite similar to the use of GPS satellites for navigation on Earth. By comparing pulse arrival times measured on-board a spacecraft with predicted pulse arrivals at a reference location, the spacecraft position can be determined autonomously and with high accuracy everywhere in the solar system and beyond. The unique properties of pulsars make clear already today that such a navigation system will have its application in future astronautics. In this paper we describe the basic principle of spacecraft navigation using pulsars and report on the current development status of this novel technology.

  4. A Localisation and Navigation System for an Autonomous Wheel Loader

    OpenAIRE

    Lilja, Robin

    2011-01-01

    Autonomous vehicles are an emerging trend in robotics, seen in a vast range of applications and environments. Consequently, Volvo Construction Equipment endeavour to apply the concept of autonomous vehicles onto one of their main products. In the company’s Autonomous Machine project an autonomous wheel loader is being developed. As an ob jective given by the company; a demonstration proving the possibility of conducting a fully autonomous load and haul cycle should be performed. Conducting su...

  5. A stereo camera system for autonomous maritime navigation (AMN) vehicles

    Science.gov (United States)

    Zhang, Weihong; Zhuang, Ping; Elkins, Les; Simon, Rick; Gore, David; Cogar, Jeff; Hildebrand, Kevin; Crawford, Steve; Fuller, Joe

    2009-05-01

    Spatial Integrated System (SIS), Rockville, Maryland, in collaboration with NSWC Combatant Craft Division (NSWCCD), is applying 3D imaging technology, artificial intelligence, sensor fusion, behaviors-based control, and system integration to a prototype 40 foot, high performance Research and Development Unmanned Surface Vehicle (USV). This paper focus on the developments of the stereo camera system in the USV navigation that currently consists of two high-resolution cameras and will incorporate an array of cameras in the near future. The objectives of the camera system are to re-construct 3D objects and detect them in the sea water surface. The paper reviews two critical technological components, namely camera calibration and stereo matching. In stereo matching, a comprehensive study is presented to compare the algorithmic performances resulted from the various information sources (intensity, RGB values, Gaussian gradients and Gaussian Laplacians), patching schemas (single windows, and multiple windows with same/different centers), and correlation metrics (convolution, absolute difference, and histogram). To enhance system performance, a sub-pixel edge detection technique has been introduced to address the precision requirement and a noise removal post-processing step added to eliminate noisy points from the reconstructed 3D point clouds. Finally, experimental results are reported to demonstrate the performance of the stereo camera system.

  6. 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.

  7. Autonomous reconfigurable GPS/INS navigation and pointing system for rendezvous and docking

    Science.gov (United States)

    Upadhyay, Triveni N.; Cotterill, Stephen; Deaton, A. Wayne

    1991-01-01

    This paper describes the results of an integrated navigation and pointing system software development effort sponsored by the NASA MSFC through a SBIR Phase 2 Program. The integrated Global Positioning System (GPS)/Inertial Navigation System (INS) implements an autonomous navigation filter that is reconfigurable in real-time to accommodate mission contingencies. An onboard expert system monitors the spacecraft status and reconfigures the navigation filter accordingly, to optimize the system performance. The navigation filter is a multi-mode Kalman filter to estimate the spacecraft position, velocity, and attitude. Three different GPS-based attitude determination techniques, namely, velocity vector matching, attitude vector matching, and interferometric processing, are implemented to encompass different mission contingencies. The integrated GPS/INS navigation filter will use any of these techniques depending on the mission phase and the state of the sensors. The first technique, velocity vector matching, uses the GPS velocity measurement to estimate the INS velocity errors and exploits the correlation between INS velocity and attitude errors to estimate the attitude. The second technique, attitude vector matching, uses INS gyro measurements and GPS carrier phase (integrated Doppler) measurements during a spacecraft rotation maneuver to determine the attitude. Both of these techniques require only one GPS antenna onboard to determine the spacecraft attitude. The third technique, interferometric processing, requires use of multiple GPS antennae. In order to determine 3-axis body attitude, three GPS antennae (2 no-coplanor baselines) are required.

  8. Radar seeker based autonomous navigation update system using topography feature matching techniques

    Science.gov (United States)

    Lerche, H. D.; Tumbreagel, F.

    1992-11-01

    The discussed navigation update system was designed for an unmanned platform with fire and forget capability. It meets the requirement due to fully autonomous operation. The system concept will be characterized by complementary use of the radar seeker for target identification as well as for navigation function. The system works in the navigation mode during preprogrammable phases where the primary target identification function is not active or in parallel processing. The dual function radar seeker system navigates the drone during the midcourse and terminal phases of the mission. Its high resolution due to range measurement and doppler beam sharpening in context with its radar reflectivity sensing capability are the basis for topography referenced navigation computation. The detected height jumps (coming from terrain elevation and cultural objects) and radar reflectivity features will be matched together with topography referenced features. The database comprises elevation data and selected radar reflectivity features that are robust against seasonal influences. The operational benefits of the discussed system are as follows: (1) the improved navigation performance with high probability of position fixing, even over flat terrain; (2) the operation within higher altitudes; and (3) bad weather capability. The developed software modules were verified with captive flight test data running in a hardware-in-the-loop simulation.

  9. Bioinspired polarization navigation sensor for autonomous munitions systems

    Science.gov (United States)

    Giakos, G. C.; Quang, T.; Farrahi, T.; Deshpande, A.; Narayan, C.; Shrestha, S.; Li, Y.; Agarwal, M.

    2013-05-01

    Small unmanned aerial vehicles UAVs (SUAVs), micro air vehicles (MAVs), Automated Target Recognition (ATR), and munitions guidance, require extreme operational agility and robustness which can be partially offset by efficient bioinspired imaging sensor designs capable to provide enhanced guidance, navigation and control capabilities (GNC). Bioinspired-based imaging technology can be proved useful either for long-distance surveillance of targets in a cluttered environment, or at close distances limited by space surroundings and obstructions. The purpose of this study is to explore the phenomenology of image formation by different insect eye architectures, which would directly benefit the areas of defense and security, on the following four distinct areas: a) fabrication of the bioinspired sensor b) optical architecture, c) topology, and d) artificial intelligence. The outcome of this study indicates that bioinspired imaging can impact the areas of defense and security significantly by dedicated designs fitting into different combat scenarios and applications.

  10. Autonomous Guidance, Navigation and Control

    Science.gov (United States)

    Bordano, A. J.; Mcswain, G. G.; Fernandes, S. T.

    1991-01-01

    The NASA Autonomous Guidance, Navigation and Control (GN&C) Bridging program is reviewed to demonstrate the program plan and GN&C systems for the Space Shuttle. The ascent CN&C system is described in terms of elements such as the general-purpose digital computers, sensors for the navigation subsystem, the guidance-system software, and the flight-control subsystem. Balloon-based and lidar wind soundings are used for operations assessment on the day of launch, and the guidance software is based on dedicated units for atmospheric powered flight, vacuum powered flight, and abort-specific situations. Optimization of the flight trajectories is discussed, and flight-control responses are illustrated for wavelengths of 500-6000 m. Alternate sensors are used for load relief, and adaptive GN&C systems based on alternate gain synthesis are used for systems failures.

  11. Autonomous Robot Navigation based on Visual Landmarks

    DEFF Research Database (Denmark)

    Livatino, Salvatore

    2005-01-01

    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...... available environment features (natural landmarks). The goal is also to integrate techniques and algorithms (also related to other research field) in the same navigation system, in order to improve localization performance and system autonomy. The proposed localization strategy is based on a continuous...... update of the estimated robot position while the robot is moving. In order to make the system autonomous, both acquisition and observation of landmarks have to be carried out automatically. The thesis consequently proposes a method for learning and navigation of a working environment and it explores...

  12. Visual navigation for an autonomous mobile vehicle

    OpenAIRE

    Peterson, Kevin Robert

    1992-01-01

    Approved for public release; distribution is unlimited Image understanding for a mobile robotic vehicle is an important and complex task for ensuring safe navigation and extended autonomous operations. The goal of this work is to implement a working vision-based navigation control mechanism within a known environment onboard the autonomous mobile vehicle Yamabico-II. Although installing a working hardware system was not accomplished, the image processing, model description, pattern match...

  13. LEO AUTONOMOUS NAVIGATION BASED ON IMAGE MOTION

    Institute of Scientific and Technical Information of China (English)

    DUANFang; LIUJian-ye; YUFeng

    2005-01-01

    A method of LEO autonomous navigation is presented based on the nonlinear satellite velocity relative to the earth. The velocity is detected by a high-speed camera, with the attitude information detected by a star sensor. Compared with traditional autonomous navigation by landmark identification, the satellite velocity relarive to the earth is obtained by correlativity analysis of images. It does not need to recognize ground objects or views. Since it is not necessary to pre-store the database of ground marks, lots of memory space can be saved.The state and observation equations are constructed, and the filtering is processed by the Kalman filter. Simulation results show that the system has high autonomous navigation precision in LEO autonomous navigation.

  14. Optical 3D laser measurement system for navigation of autonomous mobile robot

    Science.gov (United States)

    Básaca-Preciado, Luis C.; Sergiyenko, Oleg Yu.; Rodríguez-Quinonez, Julio C.; García, Xochitl; Tyrsa, Vera V.; Rivas-Lopez, Moises; Hernandez-Balbuena, Daniel; Mercorelli, Paolo; Podrygalo, Mikhail; Gurko, Alexander; Tabakova, Irina; Starostenko, Oleg

    2014-03-01

    In our current research, we are developing a practical autonomous mobile robot navigation system which is capable of performing obstacle avoiding task on an unknown environment. Therefore, in this paper, we propose a robot navigation system which works using a high accuracy localization scheme by dynamic triangulation. Our two main ideas are (1) integration of two principal systems, 3D laser scanning technical vision system (TVS) and mobile robot (MR) navigation system. (2) Novel MR navigation scheme, which allows benefiting from all advantages of precise triangulation localization of the obstacles, mostly over known camera oriented vision systems. For practical use, mobile robots are required to continue their tasks with safety and high accuracy on temporary occlusion condition. Presented in this work, prototype II of TVS is significantly improved over prototype I of our previous publications in the aspects of laser rays alignment, parasitic torque decrease and friction reduction of moving parts. The kinematic model of the MR used in this work is designed considering the optimal data acquisition from the TVS with the main goal of obtaining in real time, the necessary values for the kinematic model of the MR immediately during the calculation of obstacles based on the TVS data.

  15. Autonomous Deep-Space Optical Navigation Project

    Science.gov (United States)

    D'Souza, Christopher

    2014-01-01

    This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limited testing in the Integrated Power, Avionics and Software (IPAS) with the ARCM (Asteroid Retrieval Crewed Mission) DRO (Distant Retrograde Orbit) Autonomous Rendezvous and Docking (AR&D) scenario. The technology, which will be harnessed, is called 'optical flow', also known as 'visual odometry'. It is being matured in the automotive and SLAM (Simultaneous Localization and Mapping) applications but has yet to be applied to spacecraft navigation. In light of the tremendous potential of this technique, we believe that NASA needs to design a optical navigation architecture that will use this technique. It is flexible enough to be applicable to navigating around planetary bodies, such as asteroids.

  16. Perception system and functions for autonomous navigation in a natural environment

    Science.gov (United States)

    Chatila, Raja; Devy, Michel; Lacroix, Simon; Herrb, Matthieu

    1994-01-01

    This paper presents the approach, algorithms, and processes we developed for the perception system of a cross-country autonomous robot. After a presentation of the tele-programming context we favor for intervention robots, we introduce an adaptive navigation approach, well suited for the characteristics of complex natural environments. This approach lead us to develop a heterogeneous perception system that manages several different terrain representatives. The perception functionalities required during navigation are listed, along with the corresponding representations we consider. The main perception processes we developed are presented. They are integrated within an on-board control architecture we developed. First results of an ambitious experiment currently underway at LAAS are then presented.

  17. Autonomous Robot Navigation based on Visual Landmarks

    DEFF Research Database (Denmark)

    Livatino, Salvatore

    2005-01-01

    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...... update of the estimated robot position while the robot is moving. In order to make the system autonomous, both acquisition and observation of landmarks have to be carried out automatically. The thesis consequently proposes a method for learning and navigation of a working environment and it explores...... of the proposed method is based on a system with a simple setup. The novelty and potentiality, are in combining algorithms for panoramic view-synthesis, attention selection, stereo reconstruction, triangulation, optimal triplet selection, and image-based rendering. Experiments demonstrate that the system can...

  18. Lunar Navigator - A Miniature, Fully Autonomous, Lunar Navigation, Surveyor, and Range Finder System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Microcosm will use existing hardware and software from related programs to create a prototype Lunar Navigation Sensor (LNS) early in Phase II, such that most of the...

  19. H∞ robust fault-tolerant controller design for an autonomous underwater vehicle's navigation control system

    Science.gov (United States)

    Cheng, Xiang-Qin; Qu, Jing-Yuan; Yan, Zhe-Ping; Bian, Xin-Qian

    2010-03-01

    In order to improve the security and reliability for autonomous underwater vehicle (AUV) navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain. Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities (LMI) to solve for the H∞ controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.

  20. An adaptive localization system for outdoor/indoor navigation for autonomous robots

    Science.gov (United States)

    Pacis, E. B.; Sights, B.; Ahuja, G.; Kogut, G.; Everett, H. R.

    2006-05-01

    Many envisioned applications of mobile robotic systems require the robot to navigate in complex urban environments. This need is particularly critical if the robot is to perform as part of a synergistic team with human forces in military operations. Historically, the development of autonomous navigation for mobile robots has targeted either outdoor or indoor scenarios, but not both, which is not how humans operate. This paper describes efforts to fuse component technologies into a complete navigation system, allowing a robot to seamlessly transition between outdoor and indoor environments. Under the Joint Robotics Program's Technology Transfer project, empirical evaluations of various localization approaches were conducted to assess their maturity levels and performance metrics in different exterior/interior settings. The methodologies compared include Markov localization, global positioning system, Kalman filtering, and fuzzy-logic. Characterization of these technologies highlighted their best features, which were then fused into an adaptive solution. A description of the final integrated system is discussed, including a presentation of the design, experimental results, and a formal demonstration to attendees of the Unmanned Systems Capabilities Conference II in San Diego in December 2005.

  1. The investigation of an autonomous intelligent mobile robot system for indoor environment navigation

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The autonomous mobile robotics system designed and implemented for indoor environment navigation is a nonholonomic differential drive system with two driving wheels mounted on the same axis driven by two PID controlled motors and two caster wheels mounted in the front and back respectively. It is furnished with multiple kinds of sensors such as IR detectors, ultrasonic sensors, laser line generators and cameras, constituting a per ceiving system for exploring its surroundings. Its computation source is a simultaneously running system com posed of multiprocessor with multitask and multiprocessing programming. Hybrid control architecture is em ployed on the mobile robot to perform complex tasks. The mobile robot system is implemented at the Center for Intelligent Design, Automation and Manufacturing of City University of Hong Kong.

  2. Autonomous Navigation Motion Control of Mobile Robots using Hybrid System Control Method

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Y.M. [Samsung Electronics Co., Ltd., Seoul (Korea); Lim, M.S. [Kyonggi Institute of Technology, Shihung (Korea); Lim, J.H. [Hanyang University, Seoul (Korea)

    2002-05-01

    This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments. (author). 13 refs., 13 figs., 1 tab.

  3. A navigation and control system for an autonomous rescue vehicle in the space station environment

    Science.gov (United States)

    Merkel, Lawrence

    1991-01-01

    A navigation and control system was designed and implemented for an orbital autonomous rescue vehicle envisioned to retrieve astronauts or equipment in the case that they become disengaged from the space station. The rescue vehicle, termed the Extra-Vehicular Activity Retriever (EVAR), has an on-board inertial measurement unit ahd GPS receivers for self state estimation, a laser range imager (LRI) and cameras for object state estimation, and a data link for reception of space station state information. The states of the retriever and objects (obstacles and the target object) are estimated by inertial state propagation which is corrected via measurements from the GPS, the LRI system, or the camera system. Kalman filters are utilized to perform sensor fusion and estimate the state propagation errors. Control actuation is performed by a Manned Maneuvering Unit (MMU). Phase plane control techniques are used to control the rotational and translational state of the retriever. The translational controller provides station-keeping or motion along either Clohessy-Wiltshire trajectories or straight line trajectories in the LVLH frame of any sufficiently observed object or of the space station. The software was used to successfully control a prototype EVAR on an air bearing floor facility, and a simulated EVAR operating in a simulated orbital environment. The design of the navigation system and the control system are presented. Also discussed are the hardware systems and the overall software architecture.

  4. Control algorithms for autonomous robot navigation

    Energy Technology Data Exchange (ETDEWEB)

    Jorgensen, C.C.

    1985-09-20

    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.

  5. Precise laser gyroscope for autonomous inertial navigation

    Energy Technology Data Exchange (ETDEWEB)

    Kuznetsov, A G; Molchanov, A V; Izmailov, E A [Joint Stock Company ' Moscow Institute of Electromechanics and Automatics' , Moscow (Russian Federation); Chirkin, M V [Ryazan State Radio Engineering University (Russian Federation)

    2015-01-31

    Requirements to gyroscopes of strapdown inertial navigation systems for aircraft application are formulated. The construction of a ring helium – neon laser designed for autonomous navigation is described. The processes that determine the laser service life and the relation between the random error of the angular velocity measurement and the surface relief features of the cavity mirrors are analysed. The results of modelling one of the promising approaches to processing the laser gyroscope signals are presented. (laser gyroscopes)

  6. Image-based 3D scene analysis for navigation of autonomous airborne systems

    Science.gov (United States)

    Jaeger, Klaus; Bers, Karl-Heinz

    2001-10-01

    In this paper we describe a method for automatic determination of sensor pose (position and orientation) related to a 3D landmark or scene model. The method is based on geometrical matching of 2D image structures with projected elements of the associated 3D model. For structural image analysis and scene interpretation, a blackboard-based production system is used resulting in a symbolic description of image data. Knowledge of the approximated sensor pose measured for example by IMU or GPS enables to estimate an expected model projection used for solving the correspondence problem of image structures and model elements. These correspondences are presupposed for pose computation carried out by nonlinear numerical optimization algorithms. We demonstrate the efficiency of the proposed method by navigation update approaching a bridge scenario and flying over urban area, whereas data were taken with airborne infrared sensors in high oblique view. In doing so we simulated image-based navigation for target engagement and midcourse guidance suited for the concepts of future autonomous systems like missiles and drones.

  7. Optimization design about gimbal structure of high-precision autonomous celestial navigation tracking mirror system

    Science.gov (United States)

    Huang, Wei; Yang, Xiao-xu; Han, Jun-feng; Wei, Yu; Zhang, Jing; Xie, Mei-lin; Yue, Peng

    2016-01-01

    High precision tracking platform of celestial navigation with control mirror servo structure form, to solve the disadvantages of big volume and rotational inertia, slow response speed, and so on. It improved the stability and tracking accuracy of platform. Due to optical sensor and mirror are installed on the middle-gimbal, stiffness and resonant frequency requirement for high. Based on the application of finite element modality analysis theory, doing Research on dynamic characteristics of the middle-gimbal, and ANSYS was used for the finite element dynamic emulator analysis. According to the result of the computer to find out the weak links of the structure, and Put forward improvement suggestions and reanalysis. The lowest resonant frequency of optimization middle-gimbal avoid the bandwidth of the platform servo mechanism, and much higher than the disturbance frequency of carrier aircraft, and reduces mechanical resonance of the framework. Reaching provides a theoretical basis for the whole machine structure optimization design of high-precision of autonomous Celestial navigation tracking mirror system.

  8. Wavefront Propagation and Fuzzy Based Autonomous Navigation

    Directory of Open Access Journals (Sweden)

    Adel Al-Jumaily

    2005-06-01

    Full Text Available Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementing an autonomous navigation system for an indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for dynamic environments.

  9. An extensive and autonomous deep space navigation system using radio pulsars

    NARCIS (Netherlands)

    Kestilä, A.A.; Engelen, S.; Gill, E.K.A.; Verhoeven, C.J.M.; Bentum, M.J.; Irahhauten, Z.

    2010-01-01

    Interstellar navigation poses significant challenges in all aspects of a spacecraft. One of them is reliable, low-cost, real-time navigation, especially when there is a considerable distance between Earth and the spacecraft in question. In this paper, a complete system for navigation using pulsar

  10. An extensive and autonomous deep space navigation system using radio pulsars

    NARCIS (Netherlands)

    Kestillä, A.A.; Engelen, S.; Gill, E.K.A.; Verhoeven, C.J.M.; Bentum, M.J.; Irahhauten, Z.

    2010-01-01

    Interstellar navigation poses significant challenges in all aspects of a spacecraft. One of them is reliable, low-cost, real-time navigation, especially when there is a considerable distance between Earth and the spacecraft in question. In this paper, a complete system for navigation using pulsar ra

  11. Optimization of eyesafe avalanche photodiode lidar for automobile safety and autonomous navigation systems

    Science.gov (United States)

    Williams, George M.

    2017-03-01

    Newly emerging accident-reducing, driver-assistance, and autonomous-navigation technology for automobiles is based on real-time three-dimensional mapping and object detection, tracking, and classification using lidar sensors. Yet, the lack of lidar sensors suitable for meeting application requirements appreciably limits practical widespread use of lidar in trucking, public livery, consumer cars, and fleet automobiles. To address this need, a system-engineering perspective to eyesafe lidar-system design for high-level advanced driver-assistance sensor systems and a design trade study including 1.5-μm spot-scanned, line-scanned, and flash-lidar systems are presented. A cost-effective lidar instrument design is then proposed based on high-repetition-rate diode-pumped solid-state lasers and high-gain, low-excess-noise InGaAs avalanche photodiode receivers and focal plane arrays. Using probabilistic receiver-operating-characteristic analysis, derived from measured component performance, a compact lidar system is proposed that is capable of 220 m ranging with 5-cm accuracy, which can be readily scaled to a 360-deg field of regard.

  12. Unmanned vehicle mobility: Limits of autonomous navigation

    Science.gov (United States)

    McCormac, A. W.; Hanna, D. M.; McFee, J.

    Considerable research is being conducted on the development of unmanned vehicles for military and civilian applications, particularly for hostile environments. It is desirable to produce a vehicle which can select its own route, not requiring remote navigation, but then it would be required to sense its surroundings. Although imaging systems and modern computers make this possible, the extreme data processing demands usually make it impractical. It is suggested that an inverse relationship exists between vehicle mobility and the complexity of the autonomous navigation system required for an unmanned vehicle. An overview of vehicle navigation is presented which shows the degree to which navigation is affected by increasing inherent mobility. If the inherent mobility of a vehicle is greatly enhanced, the scene image processing requirements and navigational computations are greatly simplified. This means the vehicle path selection and speed and steering adjustments may be made more quickly, resulting in higher vehicle speeds whenever possible. Combined with reduced deviation from the intended path, this would greatly increase the speed of the vehicle from one given point to another, suggesting that high speed autonomous navigation may be feasible.

  13. Road boundary detection for autonomous vehicle navigation

    Energy Technology Data Exchange (ETDEWEB)

    Davis, L.S.; Kushner, T.R.; LeMoigne, J.J.; Waxman, A.M.

    1986-03-01

    The Computer Vision Laboratory at the University Maryland for the past year has been developing a computer vision system for autonomous ground navigation of roads and road networks for the Defense Advanced Research Projects Agency's Strategic Computing Program. The complete system runs on a VAX 11/785, but certain parts of it have been reimplemented on a VICOM image processing sysem for experimentation on an autonomous vehicle built for the Martin Marietta Corp., Aerospace Division, in Denver, Colorado. A brief overview is given of the principal software components of the system and the VICOM implementation in detail.

  14. An Improved FastSLAM System Based on Distributed Structure for Autonomous Robot Navigation

    Directory of Open Access Journals (Sweden)

    Fu-jun Pei

    2014-01-01

    Full Text Available Fast simultaneous localization and mapping (FastSLAM is an efficient algorithm for autonomous navigation of mobile vehicle. However, FastSLAM must reconfigure the entire vehicle state equation when the feature points change, which causes an exponential growth in quantities of computation and difficulties in isolating potential faults. In order to overcome these limitations, an improved FastSLAM, based on the distributed structure, is developed in this paper. There are two state estimation parts designed in this improved FastSLAM. Firstly, a distributed unscented particle filter is used to avoid reconfiguring the entire system equation in the vehicle state estimation part. Secondly, in the landmarks estimation part, the observation model is designed as a linear one to update the landmarks states by using the linear observation errors. Then, the convergence of the proposed and improved FastSLAM algorithm is given in the sense of mean square. Finally, the simulation results show that the proposed distributed algorithm could reduce the computational complexity with high accuracy and high fault-tolerance performance.

  15. Autonomous navigation vehicle system based on robot vision and multi-sensor fusion

    Science.gov (United States)

    Wu, Lihong; Chen, Yingsong; Cui, Zhouping

    2011-12-01

    The architecture of autonomous navigation vehicle based on robot vision and multi-sensor fusion technology is expatiated in this paper. In order to acquire more intelligence and robustness, accurate real-time collection and processing of information are realized by using this technology. The method to achieve robot vision and multi-sensor fusion is discussed in detail. The results simulated in several operating modes show that this intelligent vehicle has better effects in barrier identification and avoidance and path planning. And this can provide higher reliability during vehicle running.

  16. Navigation and Control of an Autonomous Vehicle

    OpenAIRE

    Schworer, Ian Josef

    2005-01-01

    The navigation and control of an autonomous vehicle is a highly complex task. Making a vehicle intelligent and able to operate â unmannedâ requires extensive theoretical as well as practical knowledge. An autonomous vehicle must be able to make decisions and respond to situations completely on its own. Navigation and control serves as the major limitation of the overall performance, accuracy and robustness of an autonomous vehicle. This thesis will address this problem and propose a uni...

  17. A simplified satellite navigation system for an autonomous Mars roving vehicle.

    Science.gov (United States)

    Janosko, R. E.; Shen, C. N.

    1972-01-01

    The use of a retroflecting satellite and a laser rangefinder to navigate a Martian roving vehicle is considered in this paper. It is shown that a simple system can be employed to perform this task. An error analysis is performed on the navigation equations and it is shown that the error inherent in the scheme proposed can be minimized by the proper choice of measurement geometry. A nonlinear programming approach is used to minimize the navigation error subject to constraints that are due to geometric and laser requirements. The problem is solved for a particular set of laser parameters and the optimal solution is presented.

  18. Design, Development and Testing of the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) Guidance, Navigation and Control System

    Science.gov (United States)

    Wagenknecht, J.; Fredrickson, S.; Manning, T.; Jones, B.

    2003-01-01

    Engineers at NASA Johnson Space Center have designed, developed, and tested a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spaceflight activities. The technology demonstration system, known as the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam), has been integrated into the approximate form and function of a flight system. The primary focus has been to develop a system capable of providing external views of the International Space Station. The Mini AERCam system is spherical-shaped and less than eight inches in diameter. It has a full suite of guidance, navigation, and control hardware and software, and is equipped with two digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations. Tests have been performed in both a six degree-of-freedom closed-loop orbital simulation and on an air-bearing table. The Mini AERCam system can also be used as a test platform for evaluating algorithms and relative navigation for autonomous proximity operations and docking around the Space Shuttle Orbiter or the ISS.

  19. Autonomous Rule Based Robot Navigation In Orchards

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Ravn, Ole; Andersen, Nils Axel

    2010-01-01

    Orchard navigation using sensor-based localization and exible mission management facilitates successful missions independent of the Global Positioning System (GPS). This is especially important while driving between tight tree rows where the GPS coverage is poor. This paper suggests localization ......, obstacle avoidance, path planning and drive control. The system is tested successfully using a Hako 20 kW tractor during autonomous missions in both cherry and apple orchards with mission length of up to 2.3 km including the headland turns.......Orchard navigation using sensor-based localization and exible mission management facilitates successful missions independent of the Global Positioning System (GPS). This is especially important while driving between tight tree rows where the GPS coverage is poor. This paper suggests localization...

  20. Autonomous Rubidium Clock Weak Frequency Jump Detector for Onboard Navigation Satellite System.

    Science.gov (United States)

    Khare, Akshay; Arora, Rajat; Banik, Alak; Mehta, Sanjay D

    2016-02-01

    Frequency jumps are common in rubidium frequency sources. They affect the estimation of user position in navigational satellite systems. These jumps must be detected and corrected immediately as they have direct impact on the navigation system integrity. A novel weak frequency jump detector is proposed based on a Kalman filter with a multi-interval approach. This detector can be applied for both "sudden" and "slow" frequency transitions. In this detection method, noises of clock data are reduced by Kalman filtering, for accurate estimation of jump size with less latency. Analysis on in-orbit rubidium atomic frequency standard (RAFS) phase telemetry data shows that the detector can be used for fast detection and correction of weak frequency jumps. Furthermore, performance comparison of different existing frequency jump detection techniques with the proposed detector is discussed. A multialgorithm-based strategy is proposed depending on the jump size and latency for onboard navigation satellites having RAFS as the primary frequency source.

  1. Fuzzy sets and autonomous navigation

    Science.gov (United States)

    Lea, Robert N.

    1987-01-01

    The use of fuzzy sets in modeling the human expert for certain Space Shuttle navigation problems is discussed with particular reference to onboard and ground console data monitoring tasks traditionally performed by astronauts and engineers. Specific problems include determining the quality of sensor data and of the filter state. The results obtained in this study indicate that fuzzy sets can be successfully used in modeling human reaction to rules in decision-making processes. They can also be used within software systems where guidelines have traditionally been used to set strict tolerances.

  2. Autonomous navigation system for mobile robots of inspection; Sistema de navegacion autonoma para robots moviles de inspeccion

    Energy Technology Data Exchange (ETDEWEB)

    Angulo S, P. [ITT, Metepec, Estado de Mexico (Mexico); Segovia de los Rios, A. [ININ, 52045 Ocoyoacac, Estado de Mexico (Mexico)]. e-mail: pedrynteam@hotmail.com

    2005-07-01

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  3. Crew-Aided Autonomous Navigation

    Science.gov (United States)

    Holt, Greg N.

    2015-01-01

    A sextant provides manual capability to perform star/planet-limb sightings and offers a cheap, simple, robust backup navigation source for exploration missions independent from the ground. Sextant sightings from spacecraft were first exercised in Gemini and flew as the lost-communication backup for all Apollo missions. This study characterized error sources of navigation-grade sextants for feasibility of taking star and planetary limb sightings from inside a spacecraft. A series of similar studies was performed in the early/mid-1960s in preparation for Apollo missions. This study modernized and updated those findings in addition to showing feasibility using Linear Covariance analysis techniques. The human eyeball is a remarkable piece of optical equipment and provides many advantages over camera-based systems, including dynamic range and detail resolution. This technique utilizes those advantages and provides important autonomy to the crew in the event of lost communication with the ground. It can also provide confidence and verification of low-TRL automated onboard systems. The technique is extremely flexible and is not dependent on any particular vehicle type. The investigation involved procuring navigation-grade sextants and characterizing their performance under a variety of conditions encountered in exploration missions. The JSC optical sensor lab and Orion mockup were the primary testing locations. For the accuracy assessment, a group of test subjects took sextant readings on calibrated targets while instrument/operator precision was measured. The study demonstrated repeatability of star/planet-limb sightings with bias and standard deviation around 10 arcseconds, then used high-fidelity simulations to verify those accuracy levels met the needs for targeting mid-course maneuvers in preparation for Earth reen.

  4. Optic flow and autonomous navigation.

    Science.gov (United States)

    Campani, M; Giachetti, A; Torre, V

    1995-01-01

    Many animals, especially insects, compute and use optic flow to control their motion direction and to avoid obstacles. Recent advances in computer vision have shown that an adequate optic flow can be computed from image sequences. Therefore studying whether artificial systems, such as robots, can use optic flow for similar purposes is of particular interest. Experiments are reviewed that suggest the possible use of optic flow for the navigation of a robot moving in indoor and outdoor environments. The optic flow is used to detect and localise obstacles in indoor scenes, such as corridors, offices, and laboratories. These routines are based on the computation of a reduced optic flow. The robot is usually able to avoid large obstacles such as a chair or a person. The avoidance performances of the proposed algorithm critically depend on the optomotor reaction of the robot. The optic flow can be used to understand the ego-motion in outdoor scenes, that is, to obtain information on the absolute velocity of the moving vehicle and to detect the presence of other moving objects. A critical step is the correction of the optic flow for shocks and vibrations present during image acquisition. The results obtained suggest that optic flow can be successfully used by biological and artificial systems to control their navigation. Moreover, both systems require fast and accurate optomotor reactions and need to compensate for the instability of the viewed world.

  5. Design and Implementation of a Fully Autonomous UAV's Navigator Based on Omni-directional Vision System

    Directory of Open Access Journals (Sweden)

    Seyed Mohammadreza Kasaei

    2011-12-01

    Full Text Available Unmanned Aerial Vehicles (UAVs are the subject of an increasing interest in many applications . UAVs are seeing more widespread use in military, scenic, and civilian sectors in recent years. Autonomy is one of the major advantages of these vehicles. It is then necessary to develop particular sensor in order to provide efficient navigation functions. The helicopter has been stabilized with visual information through the control loop. Omni directional vision can be a useful sensor for this propose. It can be used as the only sensor or as complementary sensor. In this paper , we propose a novel method for path planning on an UAV based on electrical potential .We are using an omni directional vision system for navigating and path planning.

  6. A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems

    Directory of Open Access Journals (Sweden)

    Andrew James Cooper

    2015-08-01

    Full Text Available This paper presents an unmanned aircraft system (UAS that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the capabilities of dynamic waypoint-based navigation systems for a low-cost UAS. The behavioural dynamics of target movement for the design of a Kalman filter and Markov model-based prediction algorithm are included. Geometrical concepts and the Haversine formula are applied to the maximum likelihood case in order to make a prediction regarding a future state of a target, thus delivering a new waypoint for autonomous navigation. The results of the application to aerial filming with low-cost UAS are presented, achieving the desired goal of maintained front-on perspective without significant constraint to the route or pace of target movement.

  7. Autonomous Navigation of Small Uavs Based on Vehicle Dynamic Model

    Science.gov (United States)

    Khaghani, M.; Skaloud, J.

    2016-03-01

    This paper presents a novel approach to autonomous navigation for small UAVs, in which the vehicle dynamic model (VDM) serves as the main process model within the navigation filter. The proposed method significantly increases the accuracy and reliability of autonomous navigation, especially for small UAVs with low-cost IMUs on-board. This is achieved with no extra sensor added to the conventional INS/GNSS setup. This improvement is of special interest in case of GNSS outages, where inertial coasting drifts very quickly. In the proposed architecture, the solution to VDM equations provides the estimate of position, velocity, and attitude, which is updated within the navigation filter based on available observations, such as IMU data or GNSS measurements. The VDM is also fed with the control input to the UAV, which is available within the control/autopilot system. The filter is capable of estimating wind velocity and dynamic model parameters, in addition to navigation states and IMU sensor errors. Monte Carlo simulations reveal major improvements in navigation accuracy compared to conventional INS/GNSS navigation system during the autonomous phase, when satellite signals are not available due to physical obstruction or electromagnetic interference for example. In case of GNSS outages of a few minutes, position and attitude accuracy experiences improvements of orders of magnitude compared to inertial coasting. It means that during such scenario, the position-velocity-attitude (PVA) determination is sufficiently accurate to navigate the UAV to a home position without any signal that depends on vehicle environment.

  8. Evolutionary strategy for achieving autonomous navigation

    Science.gov (United States)

    Gage, Douglas W.

    1999-01-01

    An approach is presented for the evolutionary development of supervised autonomous navigation capabilities for small 'backpackable' ground robots, in the context of a DARPA- sponsored program to provide robotic support to small units of dismounted warfighters. This development approach relies on the implementation of a baseline visual serving navigation capability, including tools to support operator oversight and override, which is then enhanced with semantically referenced commands and a mission scripting structure. As current and future machine perception techniques are able to automatically designate visual serving goal points, this approach should provide a natural evolutionary pathway to higher levels of autonomous operation and reduced requirements for operator intervention.

  9. Navigation Method for Autonomous Robots in a Dynamic Indoor Environment

    Directory of Open Access Journals (Sweden)

    Stanislav Věchet

    2013-11-01

    Full Text Available The present paper considers issues related to navigation by autonomous mobile robots in overcrowded dynamic indoor environments (e.g., shopping malls, exhibition halls or convention centers. For robots moving among potentially unaware bystanders, safety is a key issue. A navigation method based on mixed potential field path planning is proposed, in cooperation with active artificial landmarks-based localization, in particular the bearing of infrared beacons placed in known coordinates processed via particle filters. Simulation experiments and tests in unmodified real-world environments with the actual robot show the proposed navigation system allows the robot to successfully navigate safely among bystanders.

  10. Autonomous GPS/INS navigation experiment for Space Transfer Vehicle

    Science.gov (United States)

    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.

  11. A Conceptual Design of an Inertial Navigation System for an Autonomous Submersible Testbed Vehicle.

    Science.gov (United States)

    1987-09-01

    States Navy. A likely envisionment . of the aut9. nomous submersible vehicle is derived.--- The design of the autonomous submarine depends heavily on...autonomous submersible testbed vehicle is designed to provide those advancements and breakthroughs to the United States Navy. A likely envisionment of

  12. Navigation of an autonomous road vehicle with redundant sensor systems; Fuehrung eines autonomen Strassenfahrzeugs mit redundanten Sensorsystemen

    Energy Technology Data Exchange (ETDEWEB)

    Simon, A.

    2003-07-01

    Methods of navigating an autonomous road vehicle in a known environment are presented. The applicability of Bezier splines as a basis of tracking is discussed. The algorithm for trajectory planning is presented which enables manoeuvering both on free terrain and along narrow road-type corridors. For the second component of navigation, i.e. localization of the vehicle, possibilities are discussed of identifying the movement and position of the vehicle from measured data and sensor data of the vehicle environment. Methods of Kalman filter based data fusion, filtering and smoothing of the preprocessed raw navigation data are used. The results were implemented in the research project ''Autonomous Driving''. [German] In dieser Arbeit werden Verfahren zur Navigation eines autonomen Strassenfahrzeugs in bekannter Umgebung beschrieben. Fuer die Bahnfuehrung als Bestandteil der Fahrzeugnavigation wird die Eignung von Beziersplines diskutiert. Hierbei wird ein Algorithmus zur Trajektorienplanung vorgestellt, der sowohl Fahrmanoever auf ausgedehnten Freiflaechen als auch Fahrten entlang schmaler, strassenfoermiger Fahrkorridore ermoeglicht. Im Zusammenhang mit der zweiten Komponente der Navigation, der Fahrzeugortung, werden verschiedene Moeglichkeiten eroertert, aus Fahrzeugmessdaten und Sensordaten des Fahrzeugumfeldes Rueckschluesse auf die Bewegung bzw. Position des Fahrzeugs zu ziehen. Es werden hierbei Verfahren zur Kalman-Filter-basierten Datenfusion, Filterung und Glaettung dieser vorverarbeiteten Navigationsrohdaten angewendet. Die praktische Umsetzung der vorgestellten Verfahren sowie die Fahrversuche erfolgten im Rahmen des Forschungsprojektes ''Autonomes Fahren''. (orig.)

  13. Spatial abstraction for autonomous robot navigation.

    Science.gov (United States)

    Epstein, Susan L; Aroor, Anoop; Evanusa, Matthew; Sklar, Elizabeth I; Parsons, Simon

    2015-09-01

    Optimal navigation for a simulated robot relies on a detailed map and explicit path planning, an approach problematic for real-world robots that are subject to noise and error. This paper reports on autonomous robots that rely on local spatial perception, learning, and commonsense rationales instead. Despite realistic actuator error, learned spatial abstractions form a model that supports effective travel.

  14. Hazard Map for Autonomous Navigation

    DEFF Research Database (Denmark)

    Riis, Troels

    This dissertation describes the work performed in the area of using image analysis in the process of landing a spacecraft autonomously and safely on the surface of the Moon. This is suggested to be done using a Hazard Map. The correspondence problem between several Hazard Maps are investigated fu...

  15. Vision Based Autonomous Robot Navigation Algorithms and Implementations

    CERN Document Server

    Chatterjee, Amitava; Nirmal Singh, N

    2013-01-01

    This book is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book descri...

  16. Passive perception system for day/night autonomous off-road navigation

    Science.gov (United States)

    Rankin, Arturo L.; Bergh, Charles F.; Goldberg, Steven B.; Bellutta, Paolo; Huertas, Andres; Matthies, Larry H.

    2005-05-01

    Passive perception of terrain features is a vital requirement for military related unmanned autonomous vehicle operations, especially under electromagnetic signature management conditions. As a member of Team Raptor, the Jet Propulsion Laboratory developed a self-contained passive perception system under the DARPA funded PerceptOR program. An environmentally protected forward-looking sensor head was designed and fabricated in-house to straddle an off-the-shelf pan-tilt unit. The sensor head contained three color cameras for multi-baseline daytime stereo ranging, a pair of cooled mid-wave infrared cameras for nighttime stereo ranging, and supporting electronics to synchronize captured imagery. Narrow-baseline stereo provided improved range data density in cluttered terrain, while wide-baseline stereo provided more accurate ranging for operation at higher speeds in relatively open areas. The passive perception system processed stereo images and outputted over a local area network terrain maps containing elevation, terrain type, and detected hazards. A novel software architecture was designed and implemented to distribute the data processing on a 533MHz quad 7410 PowerPC single board computer under the VxWorks real-time operating system. This architecture, which is general enough to operate on N processors, has been subsequently tested on Pentium-based processors under Windows and Linux, and a Sparc based-processor under Unix. The passive perception system was operated during FY04 PerceptOR program evaluations at Fort A. P. Hill, Virginia, and Yuma Proving Ground, Arizona. This paper discusses the Team Raptor passive perception system hardware and software design, implementation, and performance, and describes a road map to faster and improved passive perception.

  17. Tightly Coupling GPS with Lane Markings for Autonomous Vehicle Navigation

    OpenAIRE

    2014-01-01

    International audience; Tightly coupling GPS pseudorange and Doppler measurements with other sensors is a way to increase accuracy and integrity of the positioning information particularly when it is computed autonomously. Highly accurate digital maps are also more and more key components for autonomous vehicle navigation and can enhance the localization system. In this paper, a video camera is used to get relative information with respect to lane markings and dead-reckoning sensors are also ...

  18. Autonomous Spacecraft Navigation Based on Pulsar Timing Information

    CERN Document Server

    Bernhardt, Mike Georg; Prinz, Tobias; Breithuth, Ferdinand Maximilian; Walter, Ulrich

    2011-01-01

    We discuss the possibility of an autonomous navigation system for spacecraft that is based on pulsar timing data. Pulsars are rapidly rotating neutron stars that are observable as variable celestial sources of electromagnetic radiation. Their periodic signals have timing stabilities comparable to atomic clocks and provide characteristic temporal signatures that can be used as natural navigation beacons, quite similar to the use of GPS satellites for navigation on Earth. By comparing pulse arrival times measured on-board the spacecraft with predicted pulse arrivals at some reference location, the spacecraft position can be determined autonomously with accuracies on the order of 5 kilometres. For a spacecraft at a distance of 10 astronomical units from Earth (e.g., Earth-Saturn), this means an improvement by a factor of 8 compared to conventional methods. Therefore this new technology is an alternative to standard navigation based on radio tracking by ground stations, without the disadvantages of uncertainty in...

  19. Navigation and control of an autonomous vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Simon, A.; Soehnitz, I.; Becker, J.C.; Schumacher, W. [Technical Univ. Braunschweig (Germany). Inst. of Control Engineering

    2000-07-01

    This paper describes the fusion of sensor data for the navigation of an autonomous vehicle as well as two lateral control concepts to track the vehicle along a desired path. The fusion of navigation data is based on information provided by multiple object-detecting sensors. The object data is fused to increase the accuracy and to obtain the vehicle's state from the relative movement w.r.t. the objects. The presented lateral control methods are an LQG/H{sub 2}-design and an input-output linearizing algorithm. These control schemes were both implemented on a test vehicle. (orig.)

  20. Development of autonomous grasping and navigating robot

    Science.gov (United States)

    Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

    2015-01-01

    The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

  1. Improved obstacle avoidance and navigation for an autonomous ground vehicle

    Science.gov (United States)

    Giri, Binod; Cho, Hyunsu; Williams, Benjamin C.; Tann, Hokchhay; Shakya, Bicky; Bharam, Vishal; Ahlgren, David J.

    2015-01-01

    This paper presents improvements made to the intelligence algorithms employed on Q, an autonomous ground vehicle, for the 2014 Intelligent Ground Vehicle Competition (IGVC). In 2012, the IGVC committee combined the formerly separate autonomous and navigation challenges into a single AUT-NAV challenge. In this new challenge, the vehicle is required to navigate through a grassy obstacle course and stay within the course boundaries (a lane of two white painted lines) that guide it toward a given GPS waypoint. Once the vehicle reaches this waypoint, it enters an open course where it is required to navigate to another GPS waypoint while avoiding obstacles. After reaching the final waypoint, the vehicle is required to traverse another obstacle course before completing the run. Q uses modular parallel software architecture in which image processing, navigation, and sensor control algorithms run concurrently. A tuned navigation algorithm allows Q to smoothly maneuver through obstacle fields. For the 2014 competition, most revisions occurred in the vision system, which detects white lines and informs the navigation component. Barrel obstacles of various colors presented a new challenge for image processing: the previous color plane extraction algorithm would not suffice. To overcome this difficulty, laser range sensor data were overlaid on visual data. Q also participates in the Joint Architecture for Unmanned Systems (JAUS) challenge at IGVC. For 2014, significant updates were implemented: the JAUS component accepted a greater variety of messages and showed better compliance to the JAUS technical standard. With these improvements, Q secured second place in the JAUS competition.

  2. LiAISON: Linked, Autonomous Interplanetary Satellite Orbit Navigation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — A new navigation technique known as LiAISON (Linked Autonomous Interplanetary Satellite Orbit Navigation) may be used to propel the benefits of GPS to new orbits,...

  3. Reactive navigational controller for autonomous mobile robots

    Science.gov (United States)

    Hawkins, Scott

    1993-12-01

    Autonomous mobile robots must respond to external challenges and threats in real time. One way to satisfy this requirement is to use a fast low level intelligence to react to local environment changes. A fast reactive controller has been implemented which performs the task of real time local navigation by integrating primitive elements of perception, planning, and control. Competing achievement and constraint behaviors are used to allow abstract qualitative specification of navigation goals. An interface is provided to allow a higher level deliberative intelligence with a more global perspective to set local goals for the reactive controller. The reactive controller's simplistic strategies may not always succeed, so a means to monitor and redirect the reactive controller is provided.

  4. Cybersecurity for aerospace autonomous systems

    Science.gov (United States)

    Straub, Jeremy

    2015-05-01

    High profile breaches have occurred across numerous information systems. One area where attacks are particularly problematic is autonomous control systems. This paper considers the aerospace information system, focusing on elements that interact with autonomous control systems (e.g., onboard UAVs). It discusses the trust placed in the autonomous systems and supporting systems (e.g., navigational aids) and how this trust can be validated. Approaches to remotely detect the UAV compromise, without relying on the onboard software (on a potentially compromised system) as part of the process are discussed. How different levels of autonomy (task-based, goal-based, mission-based) impact this remote characterization is considered.

  5. Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

    Directory of Open Access Journals (Sweden)

    Leonimer Flavio de Melo

    2013-09-01

    Full Text Available This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.

  6. Measure of the accuracy of navigational sensors for autonomous path tracking

    Science.gov (United States)

    Motazed, Ben

    1994-02-01

    Outdoor mobile robot path tracking for an extended period of time and distance is a formidable task. The difficulty lies in the ability of robot navigation systems to reliably and accurately report on the position and orientation of the vehicle. This paper addresses the accurate navigation of mobile robots in the context of non-line of sight autonomous convoying. Dead-reckoning, GPS and vision based autonomous road following navigational schemes are integrated through a Kalman filter formulation to derive mobile robot position and orientation. The accuracy of these navigational schemes and their sufficiency to achieve autonomous path tracking for long duration are examined.

  7. INS integrated motion analysis for autonomous vehicle navigation

    Science.gov (United States)

    Roberts, Barry; Bazakos, Mike

    1991-01-01

    The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

  8. Simulation of a Doppler lidar system for autonomous navigation and hazard avoidance during planetary landing

    Science.gov (United States)

    Budge, Scott E.; Chester, David B.

    2016-05-01

    The latest mission proposals for exploration of solar system bodies require accurate position and velocity data during the descent phase in order to ensure safe, soft landing at the pre-designated sites. During landing maneuvers, the accuracy of the on-board inertial measurement unit (IMU) may not be reliable due to drift over extended travel times to destinations. NASA has proposed an advanced Doppler lidar system with multiple beams that can be used to accurately determine attitude and position of the landing vehicle during descent, and to detect hazards that might exist in the landing area. In order to assess the effectiveness of such a Doppler lidar landing system, it is valuable to simulate the system with different beam numbers and configurations. In addition, the effectiveness of the system to detect and map potential landing hazards must be understood. This paper reports the simulated system performance for a proposed multi-beam Doppler lidar using the LadarSIM system simulation software. Details of the simulation methods are given, as well as lidar performance parameters such as range and velocity accuracy, detection and false alarm rates, and examples of the Doppler lidars ability to detect and characterize simulated hazards in the landing site. The simulation includes modulated pulse generation and coherent detection methods, beam footprint simulation, beam scanning, and interaction with terrain.

  9. An acoustic system for autonomous navigation and tracking of marine fauna

    KAUST Repository

    De la Torre, Pedro

    2014-08-01

    A marine acoustic system for underwater target tracking is described. This system is part of the Integrated Satellite and Acoustic Telemetry (iSAT) project to study marine fauna. It is a microcontroller-based underwater projector and receiver. A narrow-band, passive sonar detection architecture is described from signal generation, through transduction, reception, signal processing and up to tone extraction. Its circuit and operation principles are described. Finally, a comparison between the current energy detection method versus an alternative matched filter approach is included.

  10. A Software Architecture for a Small Autonomous Underwater Vehicle Navigation System

    Science.gov (United States)

    1993-06-01

    back to a recovery position. This mission may involve waypoint steering and artificial intelligence applications such as obstacle avoidance. The second...system hardware) and Appendix A (technical specifications). Figure 3.1 and equation 3.1 illustrate the trigonometry involved in computation of

  11. A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation

    Science.gov (United States)

    2006-01-01

    Homegrown Texture approach a) road bounded by grass, b) entropy, c) horizontal transitions, and d) vertical transitions. Matrices [2], Gabor Filters ...biological vision that texture is one of the most powerful visual discriminants , however, the biological system almost never relies on texture alone...we choose effective sensing that inherently performs some level of scene discrimination at the phenomenology level, algorithms will be handed a

  12. Feasibility study of autonomous orbit determination using only the crosslink range measurement for a combined navigation constellation

    Institute of Scientific and Technical Information of China (English)

    Gao Youtao; Xu Bo; Zhang Lei

    2014-01-01

    In order to expand the coverage area of satellite navigation systems, a combined naviga-tion constellation which is formed by a global navigation constellation and a Lagrangian navigation constellation was studied. Only the crosslink range measurement was used to achieve long-term precise autonomous orbit determination for the combined navigation constellation, and the measurement model was derived. Simulations of 180 days based on the international global navigation satellite system (GNSS) service (IGS) ephemeris showed that the mentioned autonomous orbit determination method worked well in the Earth-Moon system. Statistical results were used to analyze the accuracy of autonomous orbit determination under the influences of different Lagrangian satellite constellations.

  13. SOVEREIGN: An autonomous neural system for incrementally learning planned action sequences to navigate towards a rewarded goal.

    Science.gov (United States)

    Gnadt, William; Grossberg, Stephen

    2008-06-01

    How do reactive and planned behaviors interact in real time? How are sequences of such behaviors released at appropriate times during autonomous navigation to realize valued goals? Controllers for both animals and mobile robots, or animats, need reactive mechanisms for exploration, and learned plans to reach goal objects once an environment becomes familiar. The SOVEREIGN (Self-Organizing, Vision, Expectation, Recognition, Emotion, Intelligent, Goal-oriented Navigation) animat model embodies these capabilities, and is tested in a 3D virtual reality environment. SOVEREIGN includes several interacting subsystems which model complementary properties of cortical What and Where processing streams and which clarify similarities between mechanisms for navigation and arm movement control. As the animat explores an environment, visual inputs are processed by networks that are sensitive to visual form and motion in the What and Where streams, respectively. Position-invariant and size-invariant recognition categories are learned by real-time incremental learning in the What stream. Estimates of target position relative to the animat are computed in the Where stream, and can activate approach movements toward the target. Motion cues from animat locomotion can elicit head-orienting movements to bring a new target into view. Approach and orienting movements are alternately performed during animat navigation. Cumulative estimates of each movement are derived from interacting proprioceptive and visual cues. Movement sequences are stored within a motor working memory. Sequences of visual categories are stored in a sensory working memory. These working memories trigger learning of sensory and motor sequence categories, or plans, which together control planned movements. Predictively effective chunk combinations are selectively enhanced via reinforcement learning when the animat is rewarded. Selected planning chunks effect a gradual transition from variable reactive exploratory

  14. Fuzzy Behavior Modulation with Threshold Activation for Autonomous Vehicle Navigation

    Science.gov (United States)

    Tunstel, Edward

    2000-01-01

    This paper describes fuzzy logic techniques used in a hierarchical behavior-based architecture for robot navigation. An architectural feature for threshold activation of fuzzy-behaviors is emphasized, which is potentially useful for tuning navigation performance in real world applications. The target application is autonomous local navigation of a small planetary rover. Threshold activation of low-level navigation behaviors is the primary focus. A preliminary assessment of its impact on local navigation performance is provided based on computer simulations.

  15. Autonomous Navigation with Constrained Consistency for C-Ranger

    Directory of Open Access Journals (Sweden)

    Shujing Zhang

    2014-06-01

    Full Text Available Autonomous underwater vehicles (AUVs have become the most widely used tools for undertaking complex exploration tasks in marine environments. Their synthetic ability to carry out localization autonomously and build an environmental map concurrently, in other words, simultaneous localization and mapping (SLAM, are considered to be pivotal requirements for AUVs to have truly autonomous navigation. However, the consistency problem of the SLAM system has been greatly ignored during the past decades. In this paper, a consistency constrained extended Kalman filter (EKF SLAM algorithm, applying the idea of local consistency, is proposed and applied to the autonomous navigation of the C-Ranger AUV, which is developed as our experimental platform. The concept of local consistency (LC is introduced after an explicit theoretical derivation of the EKF-SLAM system. Then, we present a locally consistency- constrained EKF-SLAM design, LC-EKF, in which the landmark estimates used for linearization are fixed at the beginning of each local time period, rather than evaluated at the latest landmark estimates. Finally, our proposed LC- EKF algorithm is experimentally verified, both in simulations and sea trials. The experimental results show that the LC-EKF performs well with regard to consistency, accuracy and computational efficiency.

  16. Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

    Science.gov (United States)

    Maimone, Mark; Johnson, Andrew; Cheng, Yang; Willson, Reg; Matthies, Larry H.

    2004-01-01

    In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.

  17. Autonomous Navigation with Constrained Consistency for C-Ranger

    Directory of Open Access Journals (Sweden)

    Shujing Zhang

    2014-06-01

    Full Text Available Autonomous underwater vehicles (AUVs have become the most widely used tools for undertaking complex exploration tasks in marine environments. Their synthetic ability to carry out localization autonomously and build an environmental map concurrently, in other words, simultaneous localization and mapping (SLAM, are considered to be pivotal requirements for AUVs to have truly autonomous navigation. However, the consistency problem of the SLAM system has been greatly ignored during the past decades. In this paper, a consistency constrained extended Kalman filter (EKF SLAM algorithm, applying the idea of local consistency, is proposed and applied to the autonomous navigation of the C-Ranger AUV, which is developed as our experimental platform. The concept of local consistency (LC is introduced after an explicit theoretical derivation of the EKF-SLAM system. Then, we present a locally consistency-constrained EKF-SLAM design, LC-EKF, in which the landmark estimates used for linearization are fixed at the beginning of each local time period, rather than evaluated at the latest landmark estimates. Finally, our proposed LC-EKF algorithm is experimentally verified, both in simulations and sea trials. The experimental results show that the LC-EKF performs well with regard to consistency, accuracy and computational efficiency.

  18. Autonomous navigation of the vehicle with vision system. Vision system wo motsu sharyo no jiritsu soko seigyo

    Energy Technology Data Exchange (ETDEWEB)

    Yatabe, T.; Hirose, T.; Tsugawa, S. (Mechanical Engineering Laboratory, Tsukuba (Japan))

    1991-11-10

    As part of the automatic driving system researches, a pilot driverless automobile was built and discussed, which is equipped with obstacle detection and automatic navigating functions without depending on ground facilities including guiding cables. A small car was mounted with a vision system to recognize obstacles three-dimensionally by means of two TV cameras, and a dead reckoning system to calculate the car position and direction from speeds of the rear wheels on a real time basis. The control algorithm, which recognizes obstacles and road range on the vision and drives the car automatically, uses a table-look-up method that retrieves a table stored with the necessary driving amount based on data from the vision system. The steering uses the target point following method algorithm provided that the has a map. As a result of driving tests, useful knowledges were obtained that the system meets the basic functions, but needs a few improvements because of it being an open loop. 36 refs., 22 figs., 2 tabs.

  19. Fully autonomous navigation for the NASA cargo transfer vehicle

    Science.gov (United States)

    Wertz, James R.; Skulsky, E. David

    1991-01-01

    A great deal of attention has been paid to navigation during the close approach (less than or equal to 1 km) phase of spacecraft rendezvous. However, most spacecraft also require a navigation system which provides the necessary accuracy for placing both satellites within the range of the docking sensors. The Microcosm Autonomous Navigation System (MANS) is an on-board system which uses Earth-referenced attitude sensing hardware to provide precision orbit and attitude determination. The system is capable of functioning from LEO to GEO and beyond. Performance depends on the number of available sensors as well as mission geometry; however, extensive simulations have shown that MANS will provide 100 m to 400 m (3(sigma)) position accuracy and 0.03 to 0.07 deg (3(sigma)) attitude accuracy in low Earth orbit. The system is independent of any external source, including GPS. MANS is expected to have a significant impact on ground operations costs, mission definition and design, survivability, and the potential development of very low-cost, fully autonomous spacecraft.

  20. Autonomous guidance, navigation and control bridging program plan

    Science.gov (United States)

    Mcswain, G. G.; Fernandes, S. T.; Doane, K. B.

    1991-01-01

    A four-center NASA team has undertaken to develop and demonstrate mature technologies applicable to autonomous guidance, navigation, and control (GNC) systems for application to the National Space Transportation System in full cognizance of its operational, safety, and performance requirements, as well as its cost constraints. Attention is to be given to GNC launch/landing weather assessment, ascent guidance, ascent load relief, and system failure during ascent. Preliminary results indicate that a ground-computed atmospheric steering profile can achieve near-optimum performance as well as high cost effectiveness.

  1. Challenges to autonomous navigation in complex urban terrain

    Science.gov (United States)

    Gray, Jeremy P.; Karlsen, Robert E.; DiBerardino, Chip; Mottern, Edward; Kott, N. Joseph, III

    2012-06-01

    In the field of military Unmanned Ground Vehicles (UGV), military units are adapting their concept of operations to focus on their mission capabilities within populated cities and towns. These types of operations are referred to as MOUT (Military Operations on Urban Terrain). As more Soldiers seek to incorporate technology to enhance their mission capabilities, there then becomes a need for UGV systems to encompass an ability to autonomously navigate through urban terrains. Autonomous systems have the potential to increase Soldier safety by mitigating the risk of unnecessary enemy exposure during routine urban reconnaissance. This paper presents the development and methodology that the military has sought to increase mission capabilities by incorporating autonomy into manned/unmanned ground vehicles. The presented solution that has been developed through the Safe Operations of Unmanned systems for Reconnaissance in Complex Environments (SOURCE) Army Technology Objective (ATO) has the ability and has been tested to safely navigate through complex urban environments. This paper will also focus on the challenges the military has faced to develop the presented autonomous UGV.

  2. Outdoor autonomous navigation using monocular vision

    OpenAIRE

    Royer, Eric; Bom, Jonathan; Dhome, Michel; Thuilot, Benoît; Lhuillier, Maxime; Marmoiton, Francois

    2005-01-01

    International audience; In this paper, a complete system for outdoor robot navigation is presented. It uses only monocular vision. The robot is first guided on a path by a human. During this learning step, the robot records a video sequence. From this sequence, a three dimensional map of the trajectory and the environment is built. When this map has been computed, the robot is able to follow the same trajectory by itself. Experimental results carried out with an urban electric vehicle are sho...

  3. Autonomous Navigation Apparatus With Neural Network for a Mobile Vehicle

    Science.gov (United States)

    Quraishi, Naveed (Inventor)

    1996-01-01

    An autonomous navigation system for a mobile vehicle arranged to move within an environment includes a plurality of sensors arranged on the vehicle and at least one neural network including an input layer coupled to the sensors, a hidden layer coupled to the input layer, and an output layer coupled to the hidden layer. The neural network produces output signals representing respective positions of the vehicle, such as the X coordinate, the Y coordinate, and the angular orientation of the vehicle. A plurality of patch locations within the environment are used to train the neural networks to produce the correct outputs in response to the distances sensed.

  4. Navigation of Autonomous Mobile Robot under Decision-making Strategy tuned by Genetic Algorithm

    Science.gov (United States)

    Wang, Fei; Kamano, Takuya; Yasuno, Takashi; Suzuki, Takayuki; Harada, Hironobu

    This paper describes a novel application of genetic algorithm for navigation of an autonomous mobile robot (AMR) under unknown environments. In the navigation system, the AMR is controlled by the decision-making block, which consists of neural network. To achieve both successful navigation to the goal and the suitable obstacle avoidance, the connection weights of the neural network and speed gains for predefined actions are encoded as genotypes and are tuned simultaneously by genetic algorithm so that the static and dynamic danger-degrees, the energy consumption and the distance and direction errors decrease during the navigation. Experimental results demonstrate the validity of the proposed navigation system.

  5. Autonomic Nervous System Disorders

    Science.gov (United States)

    Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

  6. An autonomous navigation algorithm for high orbit satellite using star sensor and ultraviolet earth sensor.

    Science.gov (United States)

    Baohua, Li; Wenjie, Lai; Yun, Chen; Zongming, Liu

    2013-01-01

    An autonomous navigation algorithm using the sensor that integrated the star sensor (FOV1) and ultraviolet earth sensor (FOV2) is presented. The star images are sampled by FOV1, and the ultraviolet earth images are sampled by the FOV2. The star identification algorithm and star tracking algorithm are executed at FOV1. Then, the optical axis direction of FOV1 at J2000.0 coordinate system is calculated. The ultraviolet image of earth is sampled by FOV2. The center vector of earth at FOV2 coordinate system is calculated with the coordinates of ultraviolet earth. The autonomous navigation data of satellite are calculated by integrated sensor with the optical axis direction of FOV1 and the center vector of earth from FOV2. The position accuracy of the autonomous navigation for satellite is improved from 1000 meters to 300 meters. And the velocity accuracy of the autonomous navigation for satellite is improved from 100 m/s to 20 m/s. At the same time, the period sine errors of the autonomous navigation for satellite are eliminated. The autonomous navigation for satellite with a sensor that integrated ultraviolet earth sensor and star sensor is well robust.

  7. Autonomous assistance navigation for robotic wheelchairs in confined spaces.

    Science.gov (United States)

    Cheein, Fernando Auat; Carelli, Ricardo; De la Cruz, Celso; Muller, Sandra; Bastos Filho, Teodiano F

    2010-01-01

    In this work, a visual interface for the assistance of a robotic wheelchair's navigation is presented. The visual interface is developed for the navigation in confined spaces such as narrows corridors or corridor-ends. The interface performs two navigation modus: non-autonomous and autonomous. The non-autonomous driving of the robotic wheelchair is made by means of a hand-joystick. The joystick directs the motion of the vehicle within the environment. The autonomous driving is performed when the user of the wheelchair has to turn (90, 90 or 180 degrees) within the environment. The turning strategy is performed by a maneuverability algorithm compatible with the kinematics of the wheelchair and by the SLAM (Simultaneous Localization and Mapping) algorithm. The SLAM algorithm provides the interface with the information concerning the environment disposition and the pose -position and orientation-of the wheelchair within the environment. Experimental and statistical results of the interface are also shown in this work.

  8. Optical Navigation System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — This proposal is for a flexible navigation system for deep space operations that does not require GPS measurements. The navigation solution is computed using an...

  9. Optical Navigation System Project

    Data.gov (United States)

    National Aeronautics and Space Administration — This proposal is for a flexible navigation system for deep space operations that does not require GPS measurements. The navigation solution is computed using an...

  10. 小型无人机航路规划及自主导航算法研究%Research of MUAV route planning and autonomous navigation system

    Institute of Scientific and Technical Information of China (English)

    蒋志华; 陶德桂

    2015-01-01

    为了实现无人机自主导航功能,定义了以发射点为坐标原点的地理导航坐标系,给出由WGS⁃84坐标系到导航坐标系的具体转换公式;设计了航路中的航点结构,利用GPS接收机输出数据对无人机的位置进行两点式实时推算,对无人机在直线航路段和转弯段的判断和侧偏距进行了详细讨论,避免了超越函数的计算;利用比例⁃微分导航控制律求得无人机的滚转角,通过飞控系统控制无人机副翼舵机,修正飞行航迹,达到消除侧偏距的目的。这些方法和措施提高了小型无人机的自主导航控制精度和稳定性,使小型无人机具有较好的飞行品质。%In order to realize autonomous navigation function of UAV,a geographic navigation coordinates was defined, and the conversion formula from WGS⁃84 coordinates to navigation coordinates was offered. The navigating points in air route planning were designed. At each air⁃point,a two⁃point model was used for determine the position of the UAV by using data coming from GPS receiver. The judgment whether the UAV is in line route or turning section is discussed in detail,which avoid calcula⁃tion of transcendental function. The roll angle of the UAV was acquired by using a proportional⁃differential navigation control law. The aileron actuator is controlled by flight control system to modify the flight routine and eliminate the lateral offset. With these methods and measures,the navigation precision and stability of UAV was improved,which achieved a good flying quality of UAV.

  11. An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles.

    Science.gov (United States)

    Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

    2017-03-25

    Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance.

  12. Interaction of Harsh Weather Operation and Collision Avoidance in Autonomous Navigation

    Directory of Open Access Journals (Sweden)

    Hans-Christoph Burmeister

    2015-03-01

    Full Text Available Taking into account the autonomous navigation system design and today’s state of the art navigation with regards to weather and collision avoidance this paper presents the architecture of the integrated approach, its links to existing rules and regulations and the test scenarios. These demonstrate how safe and efficient navigation of autonomous vessels can be achieved by showing the module's interaction and validating the feasibility of the approach. These analyses will be based on historical traffic data sets as well as simulation results.

  13. Mobile Intelligent Autonomous Systems

    Directory of Open Access Journals (Sweden)

    Jitendra R. Raol

    2010-01-01

    Full Text Available Mobile intelligent autonomous systems (MIAS is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i perception and reasoning, (ii mobility and navigation,(iii haptics and teleoperation, (iv image fusion/computervision, (v modelling of manipulators, (vi hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii vehicle-robot path and motionplanning/control, (viii human-machine interfaces for interaction between humans and robots, and (ix application of artificial neural networks (ANNs, fuzzy logic/systems (FLS,probabilistic/approximate reasoning (PAR, Bayesian networks(BN and genetic algorithms (GA to the above-mentioned problems. Also, multi-sensor data fusion (MSDF playsvery crucial role at many levels of the data fusion process:(i kinematic fusion (position/bearing tracking, (ii imagefusion (for scene recognition, (iii information fusion (forbuilding world models, and (iv decision fusion (for tracking,control actions. The MIAS as a technology is useful for automation of complex tasks, surveillance in a hazardousand hostile environment, human-assistance in very difficultmanual works, medical robotics, hospital systems, autodiagnosticsystems, and many other related civil and military systems. Also, other important research areas for MIAScomprise sensor/actuator modelling, failure management/reconfiguration, scene understanding, knowledge representation, learning and decision-making. Examples ofdynamic systems considered within the MIAS would be:autonomous systems (unmanned ground vehicles, unmannedaerial vehicles, micro/mini air vehicles, and autonomousunder water vehicles, mobile/fixed robotic systems, dexterousmanipulator robots, mining robots, surveillance systems,and networked/multi-robot systems, to name a few.Defence Science Journal, 2010, 60(1, pp.3-4,

  14. Aided strapdown inertial navigation for autonomous underwater vehicles

    Science.gov (United States)

    Liu, Yu; Li, X. Rong

    2010-04-01

    This paper presents a navigation algorithm based on aided strapdown inertial navigation (INS) for an underwater autonomous underwater vehicle (AUV). The AUV is equipped with a long baseline (LBL) acoustic positioning system, acoustic Doppler current profiler (ADCP) and a depth sensor to aid the INS. They have, however, much slower data rates than that of the INS. A linearized, quaternion-based dynamic model and measurement model of the INS output errors are presented. Data from different sensors are fused by applying the extended Kalman filer (EKF) to estimate and correct the errors. Due to the difficulty of generating realistic simulation scenario, real data (raw INS measurement) collected from AUV field experiments are processed to test the algorithm. Without knowing the ground truth, however, performance evaluation becomes much more complicated and needs further research. In this paper, the problem is circumvented by considering the post-processed real data as the "ground truth" and noisy raw measurements are generated from this "ground truth" to feed the algorithm. The simulation results demonstrate the algorithm applicability and show that by incorporating readings from the ADCP and the depth sensor, the (horizontal) position errors still increase but with a significant lower rate than the case of stand-alone operation. If the LBL sensor is further included, the navigation errors can be constrained within a certain bound.

  15. Autonomous Navigation and Obstacle Avoidance of a Micro-bus

    Directory of Open Access Journals (Sweden)

    Carlos Fernández

    2013-04-01

    Full Text Available At present, the topic of automated vehicles is one of the most promising research areas in the field of Intelligent Transportation Systems (ITS. The use of automated vehicles for public transportation also contributes to reductions in congestion levels and to improvements in traffic flow. Moreover, electrical public autonomous vehicles are environmentally friendly, provide better air quality and contribute to energy conservation. The driverless public transportation systems, which are at present operating in some airports and train stations, are restricted to dedicated roads and exhibit serious trouble dynamically avoiding obstacles in the trajectory. In this paper, an electric autonomous mini-bus is presented. All datasets used in this article were collected during the experiments carried out in the demonstration event of the 2012 IEEE Intelligent Vehicles Symposium that took place in Alcalá de Henares (Spain. The demonstration consisted of a route 725 metres long containing a list of latitude-longitude points (waypoints. The mini-bus was capable of driving autonomously from one waypoint to another using a GPS sensor. Furthermore, the vehicle is provided with a multi-beam Laser Imaging Detection and Ranging (LIDAR sensor for surrounding reconstruction and obstacle detection. When an obstacle is detected in the planned path, the planned route is modified in order to avoid the obstacle and continue its way to the end of the mission. On the demonstration day, a total of 196 attendees had the opportunity to get a ride on the vehicles. A total of 28 laps were successfully completed in full autonomous mode in a private circuit located in the National Institute for Aerospace Research (INTA, Spain. In other words, the system completed 20.3 km of driverless navigation and obstacle avoidance.

  16. Autonomous navigation - The ARMMS concept. [Autonomous Redundancy and Maintenance Management Subsystem

    Science.gov (United States)

    Wood, L. J.; Jones, J. B.; Mease, K. D.; Kwok, J. H.; Goltz, G. L.; Kechichian, J. A.

    1984-01-01

    A conceptual design is outlined for the navigation subsystem of the Autonomous Redundancy and Maintenance Management Subsystem (ARMMS). The principal function of this navigation subsystem is to maintain the spacecraft over a specified equatorial longitude to within + or - 3 deg. In addition, the navigation subsystem must detect and correct internal faults. It comprises elements for a navigation executive and for orbit determination, trajectory, maneuver planning, and maneuver command. Each of these elements is described. The navigation subsystem is to be used in the DSCS III spacecraft.

  17. UPF based autonomous navigation scheme for deep space probe

    Institute of Scientific and Technical Information of China (English)

    Li Peng; Cui Hutao; Cui Pingyuan

    2008-01-01

    The autonomous "celestial navigation scheme" for deep space probe departing from the earth and the autonomous "optical navigation scheme" for encountering object celestial body are presented. Then, aiming at the conditions that large initial estimation errors and non-Gaussian distribution of state or measurement errors may exist in orbit determination process of the two phases, UPF (unscented particle filter) is introduced into the navigation schemes. By tackling nonlinear and non-Gaussian problems, UPF overcomes the accuracy influence brought by the traditional EKF (extended Kalman filter), UKF (unscented Kalman filter), and PF (particle filter) schemes in approximate treatment to nonlinear and non-Gaussian state model and measurement model. The numerical simulations demonstrate the feasibility and higher accuracy of the UPF navigation scheme.

  18. Autonomous GPS/INS navigation experiment for Space Transfer Vehicle (STV)

    Science.gov (United States)

    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.

  19. Target Trailing With Safe Navigation With Colregs for Maritime Autonomous Surface Vehicles

    Science.gov (United States)

    Kuwata, Yoshiaki (Inventor); Wolf, Michael T. (Inventor); Zarzhitsky, Dimitri V. (Inventor); Aghazarian, Hrand (Inventor); Huntsberger, Terrance L. (Inventor); Howard, Andrew B. (Inventor)

    2014-01-01

    Systems and methods for operating autonomous waterborne vessels in a safe manner. The systems include hardware for identifying the locations and motions of other vessels, as well as the locations of stationary objects that represent navigation hazards. By applying a computational method that uses a maritime navigation algorithm for avoiding hazards and obeying COLREGS using Velocity Obstacles to the data obtained, the autonomous vessel computes a safe and effective path to be followed in order to accomplish a desired navigational end result, while operating in a manner so as to avoid hazards and to maintain compliance with standard navigational procedures defined by international agreement. The systems and methods have been successfully demonstrated on water with radar and stereo cameras as the perception sensors, and integrated with a higher level planner for trailing a maneuvering target.

  20. PRIMUS: autonomous navigation in open terrain with a tracked vehicle

    Science.gov (United States)

    Schaub, Guenter W.; Pfaendner, Alfred H.; Schaefer, Christoph

    2004-09-01

    The German experimental robotics program PRIMUS (PRogram for Intelligent Mobile Unmanned Systems) is focused on solutions for autonomous driving in unknown open terrain, over several project phases under specific realization aspects for more than 12 years. The main task of the program is to develop algorithms for a high degree of autonomous navigation skills with off-the-shelf available hardware/sensor technology and to integrate this into military vehicles. For obstacle detection a Dornier-3D-LADAR is integrated on a tracked vehicle "Digitized WIESEL 2". For road-following a digital video camera and a visual perception module from the Universitaet der Bundeswehr Munchen (UBM) has been integrated. This paper gives an overview of the PRIMUS program with a focus on the last program phase D (2001 - 2003). This includes the system architecture, the description of the modes of operation and the technology development with the focus on obstacle avoidance and obstacle classification using a 3-D LADAR. A collection of experimental results and a short look at the next steps in the German robotics program will conclude the paper.

  1. Adaptive Neuro-Fuzzy Technique for Autonomous Ground Vehicle Navigation

    Directory of Open Access Journals (Sweden)

    Auday Al-Mayyahi

    2014-11-01

    Full Text Available This article proposes an adaptive neuro-fuzzy inference system (ANFIS for solving navigation problems of an autonomous ground vehicle (AGV. The system consists of four ANFIS controllers; two of which are used for regulating both the left and right angular velocities of the AGV in order to reach the target position; and other two ANFIS controllers are used for optimal heading adjustment in order to avoid obstacles. The two velocity controllers receive three sensor inputs: front distance (FD; right distance (RD and left distance (LD for the low-level motion control. Two heading controllers deploy the angle difference (AD between the heading of AGV and the angle to the target to choose the optimal direction. The simulation experiments have been carried out under two different scenarios to investigate the feasibility of the proposed ANFIS technique. The simulation results have been presented using MATLAB software package; showing that ANFIS is capable of performing the navigation and path planning task safely and efficiently in a workspace populated with static obstacles.

  2. The Algorithm Design in the Underwater Autonomous Navigation System%水下自主导航系统算法设计

    Institute of Scientific and Technical Information of China (English)

    马晓峰; 杜刚; 战兴群; 翟传润

    2012-01-01

    An algorithm based on the special requirement of the autonomous underwater vehicle ( AUV) navigation system is designed. The center processor unit and inertial measurement unit are selected. The principle of designing the Kalman filter is put forward. Choosing appropriate estimates and measurements, building up the equation of estimate and measurements, the centralized Kalman filter is designed. The algorithm make sure the navigation system is stable in a long time run and make full use of all the sensors' information. The experiment which is to verify the algorithm is also be done.%基于微小型水下机器人的导航需求,结合水下机器人应用环境的特点,在既定的元器件与处理芯片基础上,提出了水下组合导航算法的设计原则,选取合适的状态量和量测量,建立状态方程与量测方程,建立一套集中式Kalman滤波导航系统算法.算法保证导航系统能够满足长航时下高精度需求,具有较高的抗干扰能力,同时充分利用现有的各项传感器输出信息,保证系统的稳定性.并用实验小车进行陆上实验,验证算法的正确性.

  3. Autonomous Robot Navigation In Public Nature Park

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Andersen, Nils Axel; Ravn, Ole

    2005-01-01

    This extended abstract describes a project to make a robot travel autonomously across a public nature park. The challenge is to detect and follow the right path across junctions and open squares avoiding people and obstacles. The robot is equipped with a laser scanner, a (low accuracy) GPS, wheel...

  4. Intelligence algorithms for autonomous navigation in a ground vehicle

    Science.gov (United States)

    Petkovsek, Steve; Shakya, Rahul; Shin, Young Ho; Gautam, Prasanna; Norton, Adam; Ahlgren, David J.

    2012-01-01

    This paper will discuss the approach to autonomous navigation used by "Q," an unmanned ground vehicle designed by the Trinity College Robot Study Team to participate in the Intelligent Ground Vehicle Competition (IGVC). For the 2011 competition, Q's intelligence was upgraded in several different areas, resulting in a more robust decision-making process and a more reliable system. In 2010-2011, the software of Q was modified to operate in a modular parallel manner, with all subtasks (including motor control, data acquisition from sensors, image processing, and intelligence) running simultaneously in separate software processes using the National Instruments (NI) LabVIEW programming language. This eliminated processor bottlenecks and increased flexibility in the software architecture. Though overall throughput was increased, the long runtime of the image processing process (150 ms) reduced the precision of Q's realtime decisions. Q had slow reaction times to obstacles detected only by its cameras, such as white lines, and was limited to slow speeds on the course. To address this issue, the image processing software was simplified and also pipelined to increase the image processing throughput and minimize the robot's reaction times. The vision software was also modified to detect differences in the texture of the ground, so that specific surfaces (such as ramps and sand pits) could be identified. While previous iterations of Q failed to detect white lines that were not on a grassy surface, this new software allowed Q to dynamically alter its image processing state so that appropriate thresholds could be applied to detect white lines in changing conditions. In order to maintain an acceptable target heading, a path history algorithm was used to deal with local obstacle fields and GPS waypoints were added to provide a global target heading. These modifications resulted in Q placing 5th in the autonomous challenge and 4th in the navigation challenge at IGVC.

  5. Autonomous Collision-Free Navigation of Microvehicles in Complex and Dynamically Changing Environments.

    Science.gov (United States)

    Li, Tianlong; Chang, Xiaocong; Wu, Zhiguang; Li, Jinxing; Shao, Guangbin; Deng, Xinghong; Qiu, Jianbin; Guo, Bin; Zhang, Guangyu; He, Qiang; Li, Longqiu; Wang, Joseph

    2017-08-18

    Self-propelled micro- and nanoscale robots represent a rapidly emerging and fascinating robotics research area. However, designing autonomous and adaptive control systems for operating micro/nanorobotics in complex and dynamically changing environments, which is a highly demanding feature, is still an unmet challenge. Here we describe a smart microvehicle for precise autonomous navigation in complicated environments and traffic scenarios. The fully autonomous navigation system of the smart microvehicle is composed of a microscope-coupled CCD camera, an artificial intelligence planner, and a magnetic field generator. The microscope-coupled CCD camera provides real-time localization of the chemically powered Janus microsphere vehicle and environmental detection for path planning to generate optimal collision-free routes, while the moving direction of the microrobot toward a reference position is determined by the external electromagnetic torque. Real-time object detection offers adaptive path planning in response to dynamically changing environments. We demonstrate that the autonomous navigation system can guide the vehicle movement in complex patterns, in the presence of dynamically changing obstacles, and in complex biological environments. Such a navigation system for micro/nanoscale vehicles, relying on vision-based close-loop control and path planning, is highly promising for their autonomous operation in complex dynamic settings and unpredictable scenarios expected in a variety of realistic nanoscale scenarios.

  6. Quad-Rotor Helicopter Autonomous Navigation Based on Vanishing Point Algorithm

    Directory of Open Access Journals (Sweden)

    Jialiang Wang

    2014-01-01

    Full Text Available Quad-rotor helicopter is becoming popular increasingly as they can well implement many flight missions in more challenging environments, with lower risk of damaging itself and its surroundings. They are employed in many applications, from military operations to civilian tasks. Quad-rotor helicopter autonomous navigation based on the vanishing point fast estimation (VPFE algorithm using clustering principle is implemented in this paper. For images collected by the camera of quad-rotor helicopter, the system executes the process of preprocessing of image, deleting noise interference, edge extracting using Canny operator, and extracting straight lines by randomized hough transformation (RHT method. Then system obtains the position of vanishing point and regards it as destination point and finally controls the autonomous navigation of the quad-rotor helicopter by continuous modification according to the calculated navigation error. The experimental results show that the quad-rotor helicopter can implement the destination navigation well in the indoor environment.

  7. Vision-aided Navigation for Autonomous Aircraft Based on Unscented Kalman Filter

    Directory of Open Access Journals (Sweden)

    Junwei Yu

    2013-02-01

    Full Text Available A vision-aided navigation system for autonomous aircraft is described in this paper. The vision navigation of the aircraft to the known scence is performed with a camera fixed on the aircraft. The location and pose of the aircraft are estimated with the corresponding control points which can be detected in the images captured. The control points are selected according their saliency and are tracked in sequential images based on Fourier-Melline transform. The simulation model of the aircraft dynamics and vision-aided navigation system based on Matlab/Simulink is built.The unscented Kalman filter is used to fuse the aircraft state information provided by the vision system and the inertial navigation system. Simulation results show that the vision-based navigation system provides satisfactory results of both accuracy and reliability.

  8. Autonomous navigation using a robot platform in a sugar beet field

    NARCIS (Netherlands)

    Bakker, T.; Asselt, van C.J.; Bontsema, J.; Müller, J.; Straten, van G.

    2011-01-01

    An RTK-DGPS (Real Time Kinematic Differential Global Positioning System) based autonomous field navigation system including automated headland turns was developed to provide a method for crop row mapping combining machine vision, and to evaluate the benefits of a behaviour based reactive layer in a

  9. Navigation of an underwater industrial autonomous vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Korotchentsev, V.I.; Rozenbaum, A.N.; Deshner, A.I. [Rossijskaya Akademiya Nauk, Vladivostok (Russian Federation). Inst. Avtomatiki i Protsessov Upravleniya

    2000-07-01

    This paper suggests a new approach to solving the problem of navigation of an underwater vehicle using arbitrary seafloor relief data. The known methods of building seafloor acoustic maps are not effective for correction of coordinates in areas of smooth relief and in shallow water. The suggested algorithm allows making maps using acoustic sectional view of the seafloor layers. The sectional view is of various forms in different areas of the smooth relief. (orig.)

  10. An integrated GPS/DR navigation system for AUV

    Institute of Scientific and Technical Information of China (English)

    PANG Yong-jie; SUN Yu-shan; GAN Yong; WAN Lei

    2006-01-01

    GPS/Dead-reckoning navigation system for autonomous underwater vehicle (AUV) is introduced, which includes navigation overall architecture, hardware and software structure.Dead-reckoning theory is presented in details. And the strong tracking Kalman filter and Singer model are applied to handle the imprecise navigation mode, which can improve the navigation system's precision and reliability. Finally, the sea experiments which include autonomous search mission in an unknown area and long distance motion are conducted to demonstrate the reliability and feasibility of the navigation system.

  11. Autonomous navigation to quasi-periodic orbits near translunar libration points

    Institute of Scientific and Technical Information of China (English)

    Jing Wuxing; Qian Yingjing; Gao Changsheng; Li Jianqing

    2013-01-01

    Libration-point missions have been very useful and successful. Due to the unstable nat-ures of most of these orbits, the long-time stationkeeping demands frequent maneuvers and precise orbit determinations. Earth-based tracking will have to undertake much more responsibilities with the increasing number of libration missions. An autonomous navigation system could offer a better way to decrease the need for Earth-based tracking. Nevertheless, when an autonomous navigation system is applied, there are three important factors affecting autonomous navigation accuracy, i.e., the accuracy of initial conditions, the accuracy of measurements, and the accuracy of onboard dynamics for propagation. This paper focuses on analyzing the influence from the third factor and finding an appropriate navigation dynamics, which can satisfy the requirement of estimation accuracy but not cause too much burden for onboard computation. When considering the restricted three-body model and the bicircular restricted four-body model as navigation dynamics, the astrin-gency is not shown during the simulations. Meanwhile, when considering the influences of the Sun’s direct and indirect perturbations and the eccentricity of the Moon’s orbit, a new navigation dynamic model with the standard ephemerides is proposed. The simulation shows the feasibility of the proposed model.

  12. Semi-Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — Vision The Semi-Autonomous Systems Lab focuses on developing a comprehensive framework for semi-autonomous coordination of networked robotic systems. Semi-autonomous...

  13. Semi-Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — VisionThe Semi-Autonomous Systems Lab focuses on developing a comprehensive framework for semi-autonomous coordination of networked robotic systems. Semi-autonomous...

  14. Testing the Preliminary X-33 Navigation System

    Science.gov (United States)

    Lomas, James J.; Mitchell, Daniel W.; Freestone, Todd M.; Lee, Charles; Lessman, Craig; Foster, Lee D. (Technical Monitor)

    2001-01-01

    The X-33 Reusable Launch Vehicle (RLV) must meet the demanding requirements of landing autonomously on a narrow landing strip following a flight that reaches an altitude of up to 200,000 feet and a speed in excess of Mach 9 with significant in-flight energy bleed-off maneuvers. To execute this flight regimen a highly reliable avionics system has been designed that includes three LN-100G Inertial Navigation System/Global Positioning System (INS/GPS) units as the primary navigation system for the X-33. NASA's Marshall Space Flight Center (MSFC) tested an INS/GPS system in real-time simulations to determine the ability of this navigation suite to meet the in flight and autonomous landing requirements of the X-33 RLV. A total of sixty-one open loop tests were performed to characterize the navigation accuracy of the LN-100G. Twenty-seven closed-loop tests were also performed to evaluate the performance of the X-33 Guidance, Navigation and Control (GN&C) algorithms with the real navigation hardware. These closed-loop tests were also designed to expose any integration or operational issues with the real-time X-33 vehicle simulation. Dynamic road tests of the INS/GPS were conducted by Litton to assess the performance of differential and nondifferential INS/GPS hybrid navigation solutions. The results of the simulations and road testing demonstrate that this novel solution is capable of meeting the demanding requirements of take-off, in-flight navigation, and autonomous landing of the X-33 RLV. This paper describes the test environment developed to stimulate the LN-100G and discusses the results of this test effort. This paper also presents recommendations for a navigation system suitable to an operational RLV system.

  15. Flight Mechanics/Estimation Theory Symposium. [with application to autonomous navigation and attitude/orbit determination

    Science.gov (United States)

    Fuchs, A. J. (Editor)

    1979-01-01

    Onboard and real time image processing to enhance geometric correction of the data is discussed with application to autonomous navigation and attitude and orbit determination. Specific topics covered include: (1) LANDSAT landmark data; (2) star sensing and pattern recognition; (3) filtering algorithms for Global Positioning System; and (4) determining orbital elements for geostationary satellites.

  16. Biologically Inspired Waveform Diversity for Synthetic Autonomous Navigation Sensing

    Science.gov (United States)

    2009-11-01

    Autonomous Navigation Sensing UNCLASSIFIED/UNLIMITED (g) Long duration broadband calls are presently described only for the Malagasy sucker -footed bat...approach [12]. Target size was found not to affect call intensity during approach to targets of varying size in M. daubentonii [12]. In synthetic sensing...between target strength and frequency was developed for spheres by Lord Rayleigh over a century ago, the theoretical relationship between prey size and

  17. Terrain Aided Navigation for Remus Autonomous Underwater Vehicle

    Science.gov (United States)

    2014-06-01

    NAVIGATION FOR REMUS AUTONOMOUS UNDERWATER VEHICLE by Jacob T. Juriga June 2014 Thesis Advisor: Doug Horner Second Reader: Noel DuToit...2014 Author: Jacob T. Juriga Approved by: Doug Horner Thesis Advisor Noel Du Toit Second Reader Garth Hobson Chair...I would like to acknowledge my advisor, Dr. Doug Horner , for his guidance and assistance throughout this process. His help was very much appreciated

  18. Navigation strategies for multiple autonomous mobile robots moving in formation

    Science.gov (United States)

    Wang, P. K. C.

    1991-01-01

    The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

  19. Landmark-based autonomous navigation for pinpoint planetary landing

    Science.gov (United States)

    Xu, Chao; Wang, Dayi; Huang, Xiangyu

    2016-12-01

    A landmark-based autonomous navigation scheme is presented for pinpoint planetary landing. The dynamic model is built on the basis of measurements from Inertial Measurement Unit. Measurement models of landmarks with known coordinates and landmarks with unknown coordinates extracted from sequential descent images are developed and used to calculated the state corrections in Extend Kalman Filter, respectively. Then, the corrections are fused by a covariance intersection fusion algorithm to perform state updates. The tight coupling of the two types of landmark observations yields accurate and robust state estimates. Extensive simulations are performed, which confirm the validity of the proposed navigation scheme and analyze the effects of factors, such as the horizonal position errors and the densities of landmarks with known coordinates and the roughness of the landing surface, on the navigation accuracy.

  20. Semi autonomous mine detection system

    Energy Technology Data Exchange (ETDEWEB)

    Douglas Few; Roelof Versteeg; Herman Herman

    2010-04-01

    CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, a countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude – from an autonomous robotic perspective – the rapid development and deployment of fieldable systems.

  1. Semi autonomous mine detection system

    Science.gov (United States)

    Few, Doug; Versteeg, Roelof; Herman, Herman

    2010-04-01

    CMMAD is a risk reduction effort for the AMDS program. As part of CMMAD, multiple instances of semi autonomous robotic mine detection systems were created. Each instance consists of a robotic vehicle equipped with sensors required for navigation and marking, countermine sensors and a number of integrated software packages which provide for real time processing of the countermine sensor data as well as integrated control of the robotic vehicle, the sensor actuator and the sensor. These systems were used to investigate critical interest functions (CIF) related to countermine robotic systems. To address the autonomy CIF, the INL developed RIK was extended to allow for interaction with a mine sensor processing code (MSPC). In limited field testing this system performed well in detecting, marking and avoiding both AT and AP mines. Based on the results of the CMMAD investigation we conclude that autonomous robotic mine detection is feasible. In addition, CMMAD contributed critical technical advances with regard to sensing, data processing and sensor manipulation, which will advance the performance of future fieldable systems. As a result, no substantial technical barriers exist which preclude - from an autonomous robotic perspective - the rapid development and deployment of fieldable systems.

  2. Laser range finder model for autonomous navigation of a robot in a maize field using a particle filter

    NARCIS (Netherlands)

    Hiremath, S.A.; Heijden, van der G.W.A.M.; Evert, van F.K.; Stein, A.; Braak, ter C.J.F.

    2014-01-01

    Autonomous navigation of robots in an agricultural environment is a difficult task due to the inherent uncertainty in the environment. Many existing agricultural robots use computer vision and other sensors to supplement Global Positioning System (GPS) data when navigating. Vision based methods are

  3. Laser range finder model for autonomous navigation of a robot in a maize field using a particle filter

    NARCIS (Netherlands)

    Hiremath, S.A.; Heijden, van der G.W.A.M.; Evert, van F.K.; Stein, A.; Braak, ter C.J.F.

    2014-01-01

    Autonomous navigation of robots in an agricultural environment is a difficult task due to the inherent uncertainty in the environment. Many existing agricultural robots use computer vision and other sensors to supplement Global Positioning System (GPS) data when navigating. Vision based methods are

  4. Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

    Science.gov (United States)

    Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

    1994-01-01

    A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

  5. Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

    Science.gov (United States)

    Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

    1994-01-01

    A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

  6. Bilateral human-robot control for semi-autonomous UAV navigation

    NARCIS (Netherlands)

    Wopereis, Han W.; Fumagalli, Matteo; Stramigioli, Stefano; Carloni, Raffaella

    2015-01-01

    This paper proposes a semi-autonomous bilateral control architecture for unmanned aerial vehicles. During autonomous navigation, a human operator is allowed to assist the autonomous controller of the vehicle by actively changing its navigation parameters to assist it in critical situations, such as

  7. Terrain aided navigation for autonomous underwater vehicles with coarse maps

    Science.gov (United States)

    Zhou, Ling; Cheng, Xianghong; Zhu, Yixian

    2016-09-01

    Terrain aided navigation (TAN) is a form of geophysical localization technique for autonomous underwater vehicles (AUVs) operating in GPS-denied environments. TAN performance on sensor-rich AUVs has been evaluated in sea trials. However, many challenges remain before TAN can be successfully implemented on sensor-limited AUVs, especially with coarse maps. To improve TAN performance over coarse maps, a Gaussian process (GP) is proposed for the modeling of bathymetric terrain and integrated into the particle filter (GP-PF). GP is applied to provide not only the bathymetric value prediction through learning a set of bathymetric data from coarse maps but also the variance of the prediction. As a measurement update, calculated on bathymetric deviation is performed through the PF to obtain absolute and bounded positioning accuracy. Through the analysis of TAN performance on experimental data for two different terrains with map resolutions of 10-50 m, both the ability of the proposed model to represent the actual bathymetric terrain with accuracy and the effect of the GP-PF for TAN on sensor-limited systems in suited terrain are demonstrated. The experiment results further verify that there is an inverse relationship between the coarseness of the map and the overall TAN accuracy in rough terrains, but there is hardly any relationship between them in relatively flat terrains.

  8. Autonomous Evolutionary Information Systems

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Traditional information systems are passive, i.e., data orknowledge is created , retrieved, modified, updated, and deleted only in response to operations issued by users or application programs, and the systems only can execute queries or t ransactions explicitly submitted by users or application programs but have no ab ility to do something actively by themselves. Unlike a traditional information system serving just as a storehouse of data or knowledge and working passively a ccording to queries or transactions explicitly issued by users and application p rograms, an autonomous evolutionary information system serves as an autonomous a nd evolutionary partner of its users that discovers new knowledge from its datab ase or knowledge-base autonomously, cooperates with its users in solving proble m s actively by providing the users with advices, and has a certain mechanism to i mprove its own state of “knowing” and ability of “working”. This paper semi nall y defines what is an autonomous evolutionary information system, explain why aut onomous evolutionary information systems are needed, and presents some new issue s, fundamental considerations, and research directions in design and development of autonomous evolutionary information systems.

  9. Pulsar Navigation in the Solar System

    CERN Document Server

    Dong, Jiang

    2008-01-01

    The X-ray Pulsar-based Autonomous Navigation(XNAV) were recently tested which use the Crab pulsar (PSR B0531+21) in the USA Experiment on flown by the Navy on the Air Force Advanced Research and Global Observation Satellite (ARGOS) under the Space Test Program. It provide the way that the spacecraft could autonomously determine its position with respect to an inertial origin. Now I analysis the sensitivity of the exist instrument and the signal process to use radio pulsar navigation and discuss the integrated navigation use pulsar,then give the different navigation mission analysis and design process basically which include the space, the airborne, the ship and the land of the planet or the lunar.So the pulsar navigation can give the continuous position in deep spaces, that means we can freedom fly successfully in the solar system use celestial navigation that include pulsar and traditional star sensor.It also can less or abolish the depend of Global Navigation Satellite System which include GPS, GRONSS, Gali...

  10. Inertial navigation sensor integrated motion analysis for autonomous vehicle navigation

    Science.gov (United States)

    Roberts, Barry; Bhanu, Bir

    1992-01-01

    Recent work on INS integrated motion analysis is described. Results were obtained with a maximally passive system of obstacle detection (OD) for ground-based vehicles and rotorcraft. The OD approach involves motion analysis of imagery acquired by a passive sensor in the course of vehicle travel to generate range measurements to world points within the sensor FOV. INS data and scene analysis results are used to enhance interest point selection, the matching of the interest points, and the subsequent motion-based computations, tracking, and OD. The most important lesson learned from the research described here is that the incorporation of inertial data into the motion analysis program greatly improves the analysis and makes the process more robust.

  11. 78 FR 68861 - Certain Navigation Products, Including GPS Devices, Navigation and Display Systems, Radar Systems...

    Science.gov (United States)

    2013-11-15

    ... COMMISSION Certain Navigation Products, Including GPS Devices, Navigation and Display Systems, Radar Systems... the United States after importation of certain navigation products, including GPS devices, navigation... products, including GPS devices, navigation and display systems, radar systems, navigational aids,...

  12. Sensor Fusion for Autonomous Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Plascencia, Alfredo

    Multi-sensor data fusion is a broad area of constant research which is applied to a wide variety of fields such as the field of mobile robots. Mobile robots are complex systems where the design and implementation of sensor fusion is a complex task. But research applications are explored constantly....... The scope of the thesis is limited to building a map for a laboratory robot by fusing range readings from a sonar array with landmarks extracted from stereo vision images using the (Scale Invariant Feature Transform) SIFT algorithm....

  13. Performance enhancement of X-ray pulsar navigation using autonomous optical sensor

    Science.gov (United States)

    Kai, Xiong; Chunling, Wei; Liangdong, Liu

    2016-11-01

    This paper develops an integrated navigation method based on the X-ray pulsar navigation (XNAV) system and an autonomous optical navigation system for spacecrafts. The X-ray pulsar navigation is implemented by using the difference between the measured and predicated pulse arrival time, which is calculated by comparing an observed pulse profile with a standard pulse profile. A problem arises from the X-ray signal processing in that the spacecraft's orbit information, which may be unknown, is required to construct the observed pulse profile. The effect of the spacecraft orbit error on the accuracy of the pulse TOA (time of arrival) difference determination is analyzed. It is specified that the performance of the XNAV system may be degraded in the presence of large orbit error. In order to improve the navigation accuracy, an integrated navigation scheme is presented by fusing the measurement information of a X-ray detector and an ultraviolet optical sensor. The XNAV/optical integrated navigation system is effective to mitigate the effect of the spacecraft orbit error. The superiority of the presented scheme is illustrated through numerical simulations.

  14. Autonomous precision approach and landing system (APALS)

    Science.gov (United States)

    Dieffenbach, Otto W.

    1995-06-01

    The APALSTM system is a precision approach and landing system designed to enable low visibility landings at many more airports than is now possible. It is an autonomous navigation system which uses standard avionics equipment to determine the aircraft position and altitude with respect to unique features over which the aircraft flies. The primary measurement is made with the aircraft's weather radar and provides the range and range rate information necessary to update the precision navigation system. The system makes use of stored terrain map data as references for map matching with Synthetic Aperture Radar maps.

  15. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments.

    Science.gov (United States)

    Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

    2016-07-26

    We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

  16. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

    Directory of Open Access Journals (Sweden)

    Juan David Hernández

    2016-07-01

    Full Text Available We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV. To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

  17. Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

    Science.gov (United States)

    Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

    2016-01-01

    We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario. PMID:27472337

  18. Autonomous Navigation of Mobile Robot Based on Flood Fill Algorithm

    Directory of Open Access Journals (Sweden)

    Ayad Mohammed Jabbar

    2016-06-01

    Full Text Available The autonomous navigation of robots is an important area of research. It can intelligently navigate itself from source to target within an environment without human interaction. Recently, algorithms and techniques have been made and developed to improve the performance of robots. It’s more effective and has high precision tasks than before. This work proposed to solve a maze using a Flood fill algorithm based on real time camera monitoring the movement on its environment. Live video streaming sends an obtained data to be processed by the server. The server sends back the information to the robot via wireless radio. The robot works as a client device moves from point to point depends on server information. Using camera in this work allows voiding great time that needs it to indicate the route by the robot.

  19. Visual Odometry for Autonomous Deep-Space Navigation Project

    Science.gov (United States)

    Robinson, Shane; Pedrotty, Sam

    2016-01-01

    Autonomous rendezvous and docking (AR&D) is a critical need for manned spaceflight, especially in deep space where communication delays essentially leave crews on their own for critical operations like docking. Previously developed AR&D sensors have been large, heavy, power-hungry, and may still require further development (e.g. Flash LiDAR). Other approaches to vision-based navigation are not computationally efficient enough to operate quickly on slower, flight-like computers. The key technical challenge for visual odometry is to adapt it from the current terrestrial applications it was designed for to function in the harsh lighting conditions of space. This effort leveraged Draper Laboratory's considerable prior development and expertise, benefitting both parties. The algorithm Draper has created is unique from other pose estimation efforts as it has a comparatively small computational footprint (suitable for use onboard a spacecraft, unlike alternatives) and potentially offers accuracy and precision needed for docking. This presents a solution to the AR&D problem that only requires a camera, which is much smaller, lighter, and requires far less power than competing AR&D sensors. We have demonstrated the algorithm's performance and ability to process 'flight-like' imagery formats with a 'flight-like' trajectory, positioning ourselves to easily process flight data from the upcoming 'ISS Selfie' activity and then compare the algorithm's quantified performance to the simulated imagery. This will bring visual odometry beyond TRL 5, proving its readiness to be demonstrated as part of an integrated system. Once beyond TRL 5, visual odometry will be poised to be demonstrated as part of a system in an in-space demo where relative pose is critical, like Orion AR&D, ISS robotic operations, asteroid proximity operations, and more.

  20. Visual Odometry for Autonomous Deep-Space Navigation Project

    Science.gov (United States)

    Robinson, Shane; Pedrotty, Sam

    2016-01-01

    Autonomous rendezvous and docking (AR&D) is a critical need for manned spaceflight, especially in deep space where communication delays essentially leave crews on their own for critical operations like docking. Previously developed AR&D sensors have been large, heavy, power-hungry, and may still require further development (e.g. Flash LiDAR). Other approaches to vision-based navigation are not computationally efficient enough to operate quickly on slower, flight-like computers. The key technical challenge for visual odometry is to adapt it from the current terrestrial applications it was designed for to function in the harsh lighting conditions of space. This effort leveraged Draper Laboratory’s considerable prior development and expertise, benefitting both parties. The algorithm Draper has created is unique from other pose estimation efforts as it has a comparatively small computational footprint (suitable for use onboard a spacecraft, unlike alternatives) and potentially offers accuracy and precision needed for docking. This presents a solution to the AR&D problem that only requires a camera, which is much smaller, lighter, and requires far less power than competing AR&D sensors. We have demonstrated the algorithm’s performance and ability to process ‘flight-like’ imagery formats with a ‘flight-like’ trajectory, positioning ourselves to easily process flight data from the upcoming ‘ISS Selfie’ activity and then compare the algorithm’s quantified performance to the simulated imagery. This will bring visual odometry beyond TRL 5, proving its readiness to be demonstrated as part of an integrated system.Once beyond TRL 5, visual odometry will be poised to be demonstrated as part of a system in an in-space demo where relative pose is critical, like Orion AR&D, ISS robotic operations, asteroid proximity operations, and more.

  1. Personal Navigation System

    Science.gov (United States)

    2005-10-31

    GPS Satellite Simulator PC I B us PC I B us Embedded C language software TMS320VC33 DSP • Sensor I/O • Navigation Equations • Deep Integration...Simulator Test Display Simulation Controller 22 Figure 12. PNS Prototype Software System Integration Environment Embedded C language

  2. Autonomous Navigation in GNSS-Denied Environments Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Aurora proposes to transition UMD methods for insect-inspired, lightweight vision- and optical sensor-based navigation methods for a combined air-ground system that...

  3. Autonomous On-Board Optical Navigation Beyond Earth Orbit Project

    Data.gov (United States)

    National Aeronautics and Space Administration — To date, navigation solutions are created by ground systems teams and then uploaded to vehicles operating beyond Earth orbit. However with the improvement of...

  4. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

    The paper describes the requirements for and a prototype configuration of a software architecture for control of an experimental autonomous vehicle. The test bed nature of the system is emphasised in the choice of architecture making re-configurability, data logging and extendability simple...

  5. Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

    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.

  6. Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

    Science.gov (United States)

    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.

  7. Embedded Relative Navigation Sensor Fusion Algorithms for Autonomous Rendezvous and Docking Missions

    Science.gov (United States)

    DeKock, Brandon K.; Betts, Kevin M.; McDuffie, James H.; Dreas, Christine B.

    2008-01-01

    bd Systems (a subsidiary of SAIC) has developed a suite of embedded relative navigation sensor fusion algorithms to enable NASA autonomous rendezvous and docking (AR&D) missions. Translational and rotational Extended Kalman Filters (EKFs) were developed for integrating measurements based on the vehicles' orbital mechanics and high-fidelity sensor error models and provide a solution with increased accuracy and robustness relative to any single relative navigation sensor. The filters were tested tinough stand-alone covariance analysis, closed-loop testing with a high-fidelity multi-body orbital simulation, and hardware-in-the-loop (HWIL) testing in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL).

  8. Robot navigation system using intrinsic evolvable hardware

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    Recently there has been great interest in the idea that evolvable system based on the principle of ar tifcial intelligence can be used to continuously and autonomously adapt the behaviour of physically embedded systems such as autonomous mobile robots and intelligent home devices. Meanwhile, we have seen the introduc tion of evolvable hardware(EHW): new integrated electronic circuits that are able to continuously evolve to a dapt the chages in the environment implemented by evolutionary algorithms such as genetic algorithm(GA)and reinforcement learning. This paper concentrates on developing a robotic navigation system whose basic behav iours are obstacle avoidance and light source navigation. The results demonstrate that the intrinsic evolvable hardware system is able to create the stable robotiiuc behaviours as required in the real world instead of the tra ditional hardware systems.

  9. Safe navigation for autonomous vehicles: a purposive and direct solution

    Science.gov (United States)

    Young, Gin-Shu; Hong, Tsai Hong; Herman, Martin; Yang, Jackson C. S.

    1993-08-01

    It is a challenge to develop autonomous vehicles capable of operating in complicated, unpredictable, and hazardous environments. To navigate autonomous vehicles safely, obstacles such as protrusions, depressions, and steep terrains must be discriminated from terrain before any path planning and obstacle avoidance activity is undertaken. A purposive and direct solution to obstacle detection for safe navigation has been developed. The method finds obstacles in a 2-D image-based space, as opposed to a 3-D reconstructed space, using optical flow. The theory derives from new visual linear invariants based on optical flow. Employing the linear invariance property, obstacles can be directly detected by using a reference flow line obtained from measured optical flow. The main features of this approach are that (1) 2-D visual information (i.e., optical flow) is directly used to detect obstacles; no range, 3-D motion, or 3-D scene geometry is recovered; (2) the method finding protrusions and depressions is valid for the vehicle (or camera) undergoing general motion (both translation and rotation); (3) the error sources involved are reduced to a minimum, since the only information required is one component of optical flow. Experiments using both synthetic and real image data suggest that the approach is effective and robust. The method is demonstrated on both ground and air vehicles.

  10. Multisensor robot navigation system

    Science.gov (United States)

    Persa, Stelian; Jonker, Pieter P.

    2002-02-01

    Almost all robot navigation systems work indoors. Outdoor robot navigation systems offer the potential for new application areas. The biggest single obstacle to building effective robot navigation systems is the lack of accurate wide-area sensors for trackers that report the locations and orientations of objects in an environment. Active (sensor-emitter) tracking technologies require powered-device installation, limiting their use to prepared areas that are relative free of natural or man-made interference sources. The hybrid tracker combines rate gyros and accelerometers with compass and tilt orientation sensor and DGPS system. Sensor distortions, delays and drift required compensation to achieve good results. The measurements from sensors are fused together to compensate for each other's limitations. Analysis and experimental results demonstrate the system effectiveness. The paper presents a field experiment for a low-cost strapdown-IMU (Inertial Measurement Unit)/DGPS combination, with data processing for the determination of 2-D components of position (trajectory), velocity and heading. In the present approach we have neglected earth rotation and gravity variations, because of the poor gyroscope sensitivities of our low-cost ISA (Inertial Sensor Assembly) and because of the relatively small area of the trajectory. The scope of this experiment was to test the feasibility of an integrated DGPS/IMU system of this type and to develop a field evaluation procedure for such a combination.

  11. Autonomous Navigation of a Surveillance Robot in Harsh Outdoor Road Environments

    Directory of Open Access Journals (Sweden)

    Youjin Shin

    2013-01-01

    Full Text Available This paper deals with the autonomous navigation problem of a mobile robot in outdoor road environments. The target application is surveillance in petroleum storage bases. Although there have been remarkable technological achievements recently in the area of outdoor navigation, robotic systems are still expensive due to a large number of high cost sensors. This paper proposes the reliable extraction algorithm of traversable regions using a single onboard Laser Range Finder (LRF in outdoor road environments. The traversable regions are derived from the classifications of the road surfaces, curbs, and obstacles. The proposed scheme was experimentally tested in success. Since there are many potential applications that require autonomous service robots to move in semistructured road environments, the proposed scheme can be widely used as a low-cost practical solution.

  12. Autonomous Navigation for Unmanned Aerial Vehicles Based on Chaotic Bionics Theory

    Institute of Scientific and Technical Information of China (English)

    Xiao-lei Yu; Yong-rong Sun; Jian-ye Liu; Bing-wen Chen

    2009-01-01

    In this paper a new reactive mechanism based on perception-action bionics for multi-sensory integration applied to Un-manned Aerial Vehicles (UAVs) navigation is proposed. The strategy is inspired by the olfactory bulb neural activity observed in rabbits subject to external stimuli. The new UAV navigation technique exploits the use of a muitiscroil chaotic system which i sable to be controlled in real-time towards less complex orbits, like periodic orbits or equilibrium points, considered as perceptive orbits. These are subject to real-time modifications on the basis of environment changes acquired through a Synthetic Aperture Radar (SAR) sensory system. The mathematical details of the approach are given including simulation results in a virtual en-vironment. The results demonstrate the capability of autonomous navigation for UAV based on chaotic bionics theory in com-plex spatial environments.

  13. Overview of the Autonomic Nervous System

    Science.gov (United States)

    ... be reversible or progressive. Anatomy of the autonomic nervous system The autonomic nervous system is the part of ... organs they connect with. Function of the autonomic nervous system The autonomic nervous system controls internal body processes ...

  14. Autonomous Vehicle Navigation Using Vision and Mapless Strategies: A Survey

    Directory of Open Access Journals (Sweden)

    Mehmet Serdar Güzel

    2013-01-01

    Full Text Available This survey addresses the existing state of knowledge related to vision-based mobile robots, especially including their background and history, current trends, and mapless navigation. This paper not only discusses studies relevant to vision-based mobile robot systems but also critically evaluates the methodologies which have been developed and that directly affect such systems.

  15. 基于自适应UKF算法的小型水下机器人导航系统%Small Autonomous Underwater Vehicle Navigation System Based on Adaptive UKF Algorithm

    Institute of Scientific and Technical Information of China (English)

    孙尧; 张强; 万磊

    2011-01-01

    针对海流扰动及姿态、航向误差角引起的无法确知的导航系统模型误差,设计了一种带模型误差的自适应无迹卡尔曼滤波器(Adaptive unscented Kalman filter,AUKF)用于小型水下机器人(Small autonomous underwater vehicle,SAUV)推位导航系统.首先提出了小型水下机器人三维运动连续时间模型;然后针对该模型特点,基于极大后验估值原理推导了AUKF算法.仿真结果说明该算法能够克服海流扰动及姿态和航向误差引起的模型误差.对比经典无迹卡尔曼滤波器算法,采用该算法的小型水下机器人推位导航系统在复杂海况下的滤波精度显著提高.%Ocean current disturbance and attitude, heading errors can cause uncertain navigation system model error.To solve the above problem, an adaptive unscented Kalman filter (AUKF) with model error is designed for a small autonomous underwater vehicle's (SAUV) dead reckoning (DR) navigation system.Firstly, three-dimensional motion of SAUV continuous time model is designed.Then, the proposed AUKF algorithm is deduced according to maximum a posterior (MAP) theory.Finally, simulation results show that the algorithm can overcome the model error caused by disturbance currents and attitude, and heading errors.Compared with the conventional UKF algorithm, the filter precision of the SAUV's DR navigation system in complex sea state is improved a lot by adopting the proposed algorithm.

  16. Robust water hazard detection for autonomous off-road navigation

    Institute of Scientific and Technical Information of China (English)

    Tuo-zhong YAO; Zhi-yu XIANG; Ji-lin LIU

    2009-01-01

    Existing water hazard detection methods usually fail when the features of water surfaces are greatly changed by the surroundings, e.g., by a change in illumination. This paper proposes a novel algorithm to robustly detect different kinds of water hazards for autonomous navigation. Our algorithm combines traditional machine learning and image segmentation and uses only digital cameras, which are usually affordable, as the visual sensors. Active learning is used for automatically dealing with problems caused by the selection, labeling and classification of large numbers of training sets. Mean-shift based image segmentation is used to refine the final classification. Our experimental results show that our new algorithm can accurately detect not only 'common' water hazards, which usually have the features of both high brightness and low texture, but also 'special' water hazards that may have lots of ripples or low brightness.

  17. Obstacle detection for autonomous navigation : an LDRD final report.

    Energy Technology Data Exchange (ETDEWEB)

    Padilla, Denise D.

    2004-03-01

    This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled 'Obstacle Detection for Autonomous Navigation'. The principal goal of this project was to develop a mathematical framework for obstacle detection. The framework provides a basis for solutions to many complex obstacle detection problems critical to successful autonomous navigation. Another goal of this project was to characterize sensing requirements in terms of physical characteristics of obstacles, vehicles, and terrain. For example, a specific vehicle traveling at a specific velocity over a specific terrain requires a sensor with a certain range of detection, resolution, field-of-view, and sufficient sensitivity to specific obstacle characteristics. In some cases, combinations of sensors were required to distinguish between different hazardous obstacles and benign terrain. In our framework, the problem was posed as a multidimensional, multiple-hypothesis, pattern recognition problem. Features were extracted from selected sensors that allow hazardous obstacles to be distinguished from benign terrain and other types of obstacles. Another unique thrust of this project was to characterize different terrain classes with respect to both positive (e.g., rocks, trees, fences) and negative (e.g., holes, ditches, drop-offs) obstacles. The density of various hazards per square kilometer was statistically quantified for different terrain categories (e.g., high desert, ponderosa forest, and prairie). This quantification reflects the scale, or size, and mobility of different types of vehicles. The tradeoffs between obstacle detection, position location, path planning, and vehicle mobility capabilities were also to be characterized.

  18. POSTMAN: Point of Sail Tacking for Maritime Autonomous Navigation

    Science.gov (United States)

    Huntsberger, Terrance L.; Reinhart, Felix

    2012-01-01

    Waves apply significant forces to small boats, in particular when such vessels are moving at a high speed in severe sea conditions. In addition, small high-speed boats run the risk of diving with the bow into the next wave crest during operations in the wavelengths and wave speeds that are typical for shallow water. In order to mitigate the issues of autonomous navigation in rough water, a hybrid controller called POSTMAN combines the concept of POS (point of sail) tack planning from the sailing domain with a standard PID (proportional-integral-derivative) controller that implements reliable target reaching for the motorized small boat control task. This is an embedded, adaptive software controller that uses look-ahead sensing in a closed loop method to perform path planning for safer navigation in rough waters. State-of-the-art controllers for small boats are based on complex models of the vessel's kinematics and dynamics. They enable the vessel to follow preplanned paths accurately and can theoretically control all of the small boat s six degrees of freedom. However, the problems of bow diving and other undesirable incidents are not addressed, and it is questionable if a six-DOF controller with basically a single actuator is possible at all. POSTMAN builds an adaptive capability into the controller based on sensed wave characteristics. This software will bring a muchneeded capability to unmanned small boats moving at high speeds. Previously, this class of boat was limited to wave heights of less than one meter in the sea states in which it could operate. POSTMAN is a major advance in autonomous safety for small maritime craft.

  19. Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair.

    Science.gov (United States)

    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.

  20. GPS navigation algorithms for Autonomous Airborne Refueling of Unmanned Air Vehicles

    Science.gov (United States)

    Khanafseh, Samer Mahmoud

    Unmanned Air Vehicles (UAVs) have recently generated great interest because of their potential to perform hazardous missions without risking loss of life. If autonomous airborne refueling is possible for UAVs, mission range and endurance will be greatly enhanced. However, concerns about UAV-tanker proximity, dynamic mobility and safety demand that the relative navigation system meets stringent requirements on accuracy, integrity, and continuity. In response, this research focuses on developing high-performance GPS-based navigation architectures for Autonomous Airborne Refueling (AAR) of UAVs. The AAR mission is unique because of the potentially severe sky blockage introduced by the tanker. To address this issue, a high-fidelity dynamic sky blockage model was developed and experimentally validated. In addition, robust carrier phase differential GPS navigation algorithms were derived, including a new method for high-integrity reacquisition of carrier cycle ambiguities for recently-blocked satellites. In order to evaluate navigation performance, world-wide global availability and sensitivity covariance analyses were conducted. The new navigation algorithms were shown to be sufficient for turn-free scenarios, but improvement in performance was necessary to meet the difficult requirements for a general refueling mission with banked turns. Therefore, several innovative methods were pursued to enhance navigation performance. First, a new theoretical approach was developed to quantify the position-domain integrity risk in cycle ambiguity resolution problems. A mechanism to implement this method with partially-fixed cycle ambiguity vectors was derived, and it was used to define tight upper bounds on AAR navigation integrity risk. A second method, where a new algorithm for optimal fusion of measurements from multiple antennas was developed, was used to improve satellite coverage in poor visibility environments such as in AAR. Finally, methods for using data-link extracted

  1. An Autonomous Waist-Mounted Pedestrian Dead Reckoning System by Coupling Low-Cost MEMS Inertial Sensors and GPS Receiver for 3D Urban Navigation

    Directory of Open Access Journals (Sweden)

    Jin-feng Li

    2014-03-01

    Full Text Available Global positioning system (GPS offers a perfect solution to the 3-dimension(3D navigation. However, the GPS-only solution can’t provide continuous and accurate position information in the unfavourable environments, such as urban canyons, indoor buildings, dense foliages due to signal blockage, interference, or jamming etc. A pedestrian dead reckoning (PDR system integrating the self-contained inertial sensors with GPS receiver is proposed to provide a seamless outdoor/indoor 3D pedestrian navigation. The MEM sensor module attached to the user’s waist is composed of a 3-axis accelerometer, a 3-axis gyroscope, a 3-axis digital compass and a barometric pressure sensor, which doesn’t rely on any infrastructure. The positioning algorithm implements a loosely coupled GPS/PDR integration. The sensor data are fused via a complementary filter to reduce the integral drift and magnetic disturbance for accurate heading. The four key components of the PDR algorithm: step detection, stride length estimation, heading and position determination are described in detail and implemented by the microcontroller. The step is detected using the accelerometer signals by the combination of three approaches: sliding window, peak detection and zero-crossing. The step length is estimated using a simple linear relationship with the step frequency. By coupling the step length, azimuth and height, 3D navigation is achieved. The performance of the proposed system is carefully verified through several field outdoor and indoor walking tests. The positioning errors are below 3% of the total traveled distance. The main error source comes from the orientation estimation. The results indicate that the proposed system is effective in accurate tracking.

  2. GPS World, Innovation: Autonomous Navigation at High Earth Orbits

    Science.gov (United States)

    Bamford, William; Winternitz, Luke; Hay, Curtis

    2005-01-01

    Calculating a spacecraft's precise location at high orbital altitudes-22,000 miles (35,800 km) and beyond-is an important and challenging problem. New and exciting opportunities become possible if satellites are able to autonomously determine their own orbits. First, the repetitive task of periodically collecting range measurements from terrestrial antennas to high altitude spacecraft becomes less important-this lessens competition for control facilities and saves money by reducing operational costs. Also, autonomous navigation at high orbital altitudes introduces the possibility of autonomous station keeping. For example, if a geostationary satellite begins to drift outside of its designated slot it can make orbit adjustments without requiring commands from the ground. Finally, precise onboard orbit determination opens the door to satellites flying in formation-an emerging concept for many scientific space applications. The realization of these benefits is not a trivial task. While the navigation signals broadcast by GPS satellites are well suited for orbit and attitude determination at lower altitudes, acquiring and using these signals at geostationary (GEO) and highly elliptical orbits is much more difficult. The light blue trace describes the GPS orbit at approximately 12,550 miles (20,200 km) altitude. GPS satellites were designed to provide navigation signals to terrestrial users-consequently the antenna array points directly toward the earth. GEO and HE0 orbits, however, are well above the operational GPS constellation, making signal reception at these altitudes more challenging. The nominal beamwidth of a Block II/IIA GPS satellite antenna array is approximately 42.6 degrees. At GEO and HE0 altitudes, most of these primary beam transmissions are blocked by the Earth, leaving only a narrow region of nominal signal visibility near opposing limbs of the earth. This region is highlighted in gray. If GPS receivers at GEO and HE0 orbits were designed to use these

  3. 多传感器信息融合的水下航行器组合导航方法%Information Fusion Technology and its Application to Multi-sensor Integrated Navigation System for Autonomous Underwater Vehicle

    Institute of Scientific and Technical Information of China (English)

    范欣; 张福斌; 张永清; 汪刚

    2011-01-01

    In order to enhance ability and accuracy of the autonomous underwater vehicle navigation system, in this paper, we propose a multi-sensor integrated navigation scheme based on information fusion theory. Based on the error equations of SINS, DVL, LBL and other sensor, the information fusion model for the system is build up. Meanwhile, the paper presents the structure and the algorithm of the federated filter and proposes the solution of various sensors frequency. Computer simulation was done and its result show that the model can effectively improve navigation system's precision to ability to fault detection and fully distill information from navigation sensors.%为了提高远程自主水下航行器组合导航系统的导航精度,提出了一种基于多传感器信息融合的组合导航系统方案.在建立SINS、DVL、LBL、深度计和航向传感器的误差模型的基础上,推导了多传感器信息融合模型,详细设计联邦滤波器结构,并给出各传感器输出频率不同时滤波器的解决方案.最后进行仿真试验,仿真结果表明该方法能充分融合多导航传感器信息,提高了远程自主水下航行器的导航精度.

  4. Navigation, behaviors, and control modes in an autonomous vehicle

    Science.gov (United States)

    Byler, Eric A.

    1995-01-01

    An Intelligent Mobile Sensing System (IMSS) has been developed for the automated inspection of radioactive and hazardous waste storage containers in warehouse facilities at Department of Energy sites. A 2D space of control modes was used that provides a combined view of reactive and planning approaches wherein a 2D situation space is defined by dimensions representing the predictability of the agent's task environment and the constraint imposed by its goals. In this sense selection of appropriate systems for planning, navigation, and control depends on the problem at hand. The IMSS vehicle navigation system is based on a combination of feature based motion, landmark sightings, and an a priori logical map of the mockup storage facility. Motion for the inspection activities are composed of different interactions of several available control modes, several obstacle avoidance modes, and several feature identification modes. Features used to drive these behaviors are both visual and acoustic.

  5. Geomagnetic Navigation of Autonomous Underwater Vehicle Based on Multi-objective Evolutionary Algorithm

    Directory of Open Access Journals (Sweden)

    Hong Li

    2017-07-01

    Full Text Available 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.

  6. The Broadcast Ephemeris Parameters Fitting for the Integrated Autonomous Navigation System of Space and Land%天地一体自主导航系统卫星广播星历参数拟合

    Institute of Scientific and Technical Information of China (English)

    陈刘成; 徐波

    2016-01-01

    To solve the problem that the ephemeris parameters fitting arithmetic of operational satellite navigations aren’t applicable for the integrated autonomous navigation system of space and land in the future,especially for the geostationary or-bits and the Lagrange libration point orbits,the Chebyshev polynomial fitting algorithm is proposed to unify the multi-types satellites ephemeris parameters fitting.The fitting results,based on the operational COMPASS system satellite precise orbits and stimulated earth-moon system Lagrange libration point orbits,demonstrate that the Chebyshev polynomial is stable and reliable,flexi-ble and controllable,with less calculation,and it is adapted to all-type satellite autonomous fitting onboard as well.%本文针对现役卫星导航系统广播星历拟合及用户计算算法不能适用未来天地一体自主卫星导航系统的问题,提出利用切比雪夫多项式统一拟合多类型卫星轨道广播星历。利用 BDS 实际精密轨道数据和仿真拉格朗日平动点轨道数据试验表明,切比雪夫多项式星历拟合算法稳定可靠,灵活可控,计算量少,适用于所有类型导航卫星星载自主拟合。

  7. An enhanced dynamic Delaunay triangulation-based path planning algorithm for autonomous mobile robot navigation

    Science.gov (United States)

    Chen, Jun; Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Tang, Yipeng

    2010-01-01

    An enhanced dynamic Delaunay Triangulation-based (DT) path planning approach is proposed for mobile robots to plan and navigate a path successfully in the context of the Autonomous Challenge of the Intelligent Ground Vehicle Competition (www.igvc.org). The Autonomous Challenge course requires the application of vision techniques since it involves path-based navigation in the presence of a tightly clustered obstacle field. Course artifacts such as switchbacks, ramps, dashed lane lines, trap etc. are present which could turn the robot around or cause it to exit the lane. The main contribution of this work is a navigation scheme based on dynamic Delaunay Triangulation (DDT) that is heuristically enhanced on the basis of a sense of general lane direction. The latter is computed through a "GPS (Global Positioning System) tail" vector obtained from the immediate path history of the robot. Using processed data from a LADAR, camera, compass and GPS unit, a composite local map containing both obstacles and lane line segments is built up and Delaunay Triangulation is continuously run to plan a path. This path is heuristically corrected, when necessary, by taking into account the "GPS tail" . With the enhancement of the Delaunay Triangulation by using the "GPS tail", goal selection is successfully achieved in a majority of situations. The robot appears to follow a very stable path while navigating through switchbacks and dashed lane line situations. The proposed enhanced path planning and GPS tail technique has been successfully demonstrated in a Player/Stage simulation environment. In addition, tests on an actual course are very promising and reveal the potential for stable forward navigation.

  8. A Neural Path Integration Mechanism for Adaptive Vector Navigation in Autonomous Agents

    DEFF Research Database (Denmark)

    Goldschmidt, Dennis; Dasgupta, Sakyasingha; Wörgötter, Florentin

    2015-01-01

    Animals show remarkable capabilities in navigating their habitat in a fully autonomous and energy-efficient way. In many species, these capabilities rely on a process called path integration, which enables them to estimate their current location and to find their way back home after long-distance......Animals show remarkable capabilities in navigating their habitat in a fully autonomous and energy-efficient way. In many species, these capabilities rely on a process called path integration, which enables them to estimate their current location and to find their way back home after long...... of autonomous agent navigation, but it also reproduces various aspects of animal navigation. Finally, we discuss how the proposed path integration mechanism may be used as a scaffold for spatial learning in terms of vector navigation....

  9. Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

    Science.gov (United States)

    Armah, Stephen Kofi

    Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized

  10. Navigation of an Autonomous Tractor for a Row-Type Tree Plantation Using a Laser Range Finder—Development of a Point-to-Go Algorithm

    Directory of Open Access Journals (Sweden)

    Pawin Thanpattranon

    2015-09-01

    Full Text Available It is challenging to develop a control algorithm that uses only one sensor to guide an autonomous vehicle. The objective of this research was to develop a control algorithm with a single sensor for an autonomous agricultural vehicle that could identify landmarks in the row-type plantation environment and navigate a vehicle to a point-to-go target location through the plantation. To enable such a navigation system for the plantation system, a laser range finder (LRF was used as a single sensor to detect objects and navigate a full-size autonomous agricultural tractor. The LRF was used to control the tractor as it followed a path, and landmarks were detected “on-the-go” in real time. The landmarks were selected based on data for their distances calculated by comparison with the surrounding objects. Once the landmarks were selected, a target point was calculated from the landmarks, and the tractor was navigated toward the target. Navigation experiments were successfully conducted on the selected paths without colliding with the surrounding objects. A real time kinematic global positioning system (RTK GPS was used to compare the positioning between the autonomous control and manual control. The results of this study showed that this control system could navigate the autonomous tractor to follow the paths, and the vehicle position differed from the manually driven paths by 0.264, 0.370 and 0.542 m for the wide, tight, and U-turn paths, respectively, with directional accuracies of 3.139°, 4.394°, and 5.217°, respectively, which are satisfactory for the autonomous operation of tractors on rubber or palm plantations. Therefore, this laser-based landmark detection and navigation system can be adapted to an autonomous navigation system to reduce the vehicle`s sensor cost and improve the accuracy of the positioning.

  11. GPS Based Autonomous Flight Control System for an Unmanned Airship

    Directory of Open Access Journals (Sweden)

    Vishnu G Nair,

    2014-01-01

    Full Text Available An unmanned airship, also known as a Unmanned aircraft System (UAS or a remotely piloted aircraft is a machine which functions either by the remote control of a navigator or pilot. The unmanned airship uses the autonomous flight, navigation and guidance based on the telemetry command of ground station. The Autonomous Flight Control System (AFCS [1] plays a key role in achieving the given requirements and missions. This paper introduces the overall design architecture of the hardware and software of the flight control systems in a 50m long unmanned airship

  12. Proportionality and Autonomous Weapons Systems

    NARCIS (Netherlands)

    van den Boogaard, J.

    2015-01-01

    Given the swift technologic development, it may be expected that the availability of the first truly autonomous weapons systems is fast approaching. Once they are deployed, these weapons will use artificial intelligence to select and attack targets without further human intervention. Autonomous

  13. Proportionality and Autonomous Weapons Systems

    NARCIS (Netherlands)

    van den Boogaard, J.

    2015-01-01

    Given the swift technologic development, it may be expected that the availability of the first truly autonomous weapons systems is fast approaching. Once they are deployed, these weapons will use artificial intelligence to select and attack targets without further human intervention. Autonomous weap

  14. Study on autonomous navigation based on pulsar timing model

    Institute of Scientific and Technical Information of China (English)

    2009-01-01

    The basic principle of pulsar timing model was introduced, and the general relativistic corrections were analyzed when pulse time of arrival (TOA) was transferred to coordinate TOA at the Solar System Barycentre. Based on the shifting, an iterative method of autonomous position determination for spacecraft was developed. Accordingly, the linear form of the position offset equation was evolved. Using the initial estimated value of spacecraft’s position as the input of pulsar timing equation, through calculation of the offset between measured or transferred and predicted TOA, the position offset can be solved by Least Squares. At last, the main error sources including modeling error and parameters error were discussed.

  15. Study on autonomous navigation based on pulsar timing model

    Institute of Scientific and Technical Information of China (English)

    LI JianXun; KE XiZheng

    2009-01-01

    The basic principle of pulsar timing model was introduced, and the general relativistic corrections were analyzed when pulse time of arrival (TOA) was transferred to coordinate TOA at the Solar System Barycentre. Based on the shifting, an iterative method of autonomous position determination for spacecraft was developed. Accordingly, the linear form of the position offset equation was evolved. Using the initial estimated value of spacecraft's position as the input of pulsar timing equation, through calculation of the offset between measured or transferred and predicted TOA, the position offset can be solved by Least Squares. At last, the main error sources including modeling error and parameters error were discussed.

  16. Evolutionary Autonomous Health Monitoring System (EAHMS) Project

    Data.gov (United States)

    National Aeronautics and Space Administration — For supporting NASA's Robotics, Tele-Robotics and Autonomous Systems Roadmap, we are proposing the "Evolutionary Autonomous Health Monitoring System" (EAHMS) for...

  17. Improving Canada's Marine Navigation System through e-Navigation

    Directory of Open Access Journals (Sweden)

    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.

  18. An effective trace-guided wavefront navigation and map-building approach for autonomous mobile robots

    Science.gov (United States)

    Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Jan, Gene Eu

    2013-12-01

    This paper aims to address a trace-guided real-time navigation and map building approach of an autonomous mobile robot. Wave-front based global path planner is developed to generate a global trajectory for an autonomous mobile robot. Modified Vector Field Histogram (M-VFH) is employed based on the LIDAR sensor information to guide the robot locally to be autonomously traversed with obstacle avoidance by following traces provided by the global path planner. A local map composed of square grids is created through the local navigator while the robot traverses with limited LIDAR sensory information. From the measured sensory information, a map of the robot's immediate limited surroundings is dynamically built for the robot navigation. The real-time wave-front based navigation and map building methodology has been successfully demonstrated in a Player/Stage simulation environment. With the wave-front-based global path planner and M-VFH local navigator, a safe, short, and reasonable trajectory is successfully planned in a majority of situations without any templates, without explicitly optimizing any global cost functions, and without any learning procedures. Its effectiveness, feasibility, efficiency and simplicity of the proposed real-time navigation and map building of an autonomous mobile robot have been successfully validated by simulation and comparison studies. Comparison studies of the proposed approach with the other path planning approaches demonstrate that the proposed method is capable of planning more reasonable and shorter collision-free trajectories autonomously.

  19. Search Problems in Mission Planning and Navigation of Autonomous Aircraft. M.S. Thesis

    Science.gov (United States)

    Krozel, James A.

    1988-01-01

    An architecture for the control of an autonomous aircraft is presented. The architecture is a hierarchical system representing an anthropomorphic breakdown of the control problem into planner, navigator, and pilot systems. The planner system determines high level global plans from overall mission objectives. This abstract mission planning is investigated by focusing on the Traveling Salesman Problem with variations on local and global constraints. Tree search techniques are applied including the breadth first, depth first, and best first algorithms. The minimum-column and row entries for the Traveling Salesman Problem cost matrix provides a powerful heuristic to guide these search techniques. Mission planning subgoals are directed from the planner to the navigator for planning routes in mountainous terrain with threats. Terrain/threat information is abstracted into a graph of possible paths for which graph searches are performed. It is shown that paths can be well represented by a search graph based on the Voronoi diagram of points representing the vertices of mountain boundaries. A comparison of Dijkstra's dynamic programming algorithm and the A* graph search algorithm from artificial intelligence/operations research is performed for several navigation path planning examples. These examples illustrate paths that minimize a combination of distance and exposure to threats. Finally, the pilot system synthesizes the flight trajectory by creating the control commands to fly the aircraft.

  20. Image processing for navigation on a mobile embedded platform: design of an autonomous mobile robot

    Science.gov (United States)

    Loose, Harald; Lemke, Christiane; Papazov, Chavdar

    2006-02-01

    This paper deals with intelligent mobile platforms connected to a camera controlled by a small hardware-platform called RCUBE. This platform is able to provide features of a typical actuator-sensor board with various inputs and outputs as well as computing power and image recognition capabilities. Several intelligent autonomous RCBUE devices can be equipped and programmed to participate in the BOSPORUS network. These components form an intelligent network for gathering sensor and image data, sensor data fusion, navigation and control of mobile platforms. The RCUBE platform provides a standalone solution for image processing, which will be explained and presented. It plays a major role for several components in a reference implementation of the BOSPORUS system. On the one hand, intelligent cameras will be positioned in the environment, analyzing the events from a fixed point of view and sharing their perceptions with other components in the system. On the other hand, image processing results will contribute to a reliable navigation of a mobile system, which is crucially important. Fixed landmarks and other objects appropriate for determining the position of a mobile system can be recognized. For navigation other methods are added, i.e. GPS calculations and odometers.

  1. Target Trailing With Safe Navigation for Maritime Autonomous Surface Vehicles

    Science.gov (United States)

    Wolf, Michael; Kuwata, Yoshiaki; Zarzhitsky, Dimitri V.

    2013-01-01

    This software implements a motion-planning module for a maritime autonomous surface vehicle (ASV). The module trails a given target while also avoiding static and dynamic surface hazards. When surface hazards are other moving boats, the motion planner must apply International Regulations for Avoiding Collisions at Sea (COLREGS). A key subset of these rules has been implemented in the software. In case contact with the target is lost, the software can receive and follow a "reacquisition route," provided by a complementary system, until the target is reacquired. The programmatic intention is that the trailed target is a submarine, although any mobile naval platform could serve as the target. The algorithmic approach to combining motion with a (possibly moving) goal location, while avoiding local hazards, may be applicable to robotic rovers, automated landing systems, and autonomous airships. The software operates in JPL s CARACaS (Control Architecture for Robotic Agent Command and Sensing) software architecture and relies on other modules for environmental perception data and information on the predicted detectability of the target, as well as the low-level interface to the boat controls.

  2. Relative receiver autonomous integrity monitoring for future GNSS-based aircraft navigation

    Science.gov (United States)

    Gratton, Livio Rafael

    The Global Positioning System (GPS) has enabled reliable, safe, and practical aircraft positioning for en-route and non-precision phases of flight for more than a decade. Intense research is currently devoted to extending the use of Global Navigation Satellite Systems (GNSS), including GPS, to precision approach and landing operations. In this context, this work is focused on the development, analysis, and verification of the concept of Relative Receiver Autonomous Integrity Monitoring (RRAIM) and its potential applications to precision approach navigation. RRAIM fault detection algorithms are developed, and associated mathematical bounds on position error are derived. These are investigated as possible solutions to some current key challenges in precision approach navigation, discussed below. Augmentation systems serving continent-size areas (like the Wide Area Augmentation System or WAAS) allow certain precision approach operations within the covered region. More and better satellites, with dual frequency capabilities, are expected to be in orbit in the mid-term future, which will potentially allow WAAS-like capabilities worldwide with a sparse ground station network. Two main challenges in achieving this goal are (1) ensuring that navigation fault detection functions are fast enough to alert worldwide users of hazardously misleading information, and (2) minimizing situations in which navigation is unavailable because the user's local satellite geometry is insufficient for safe position estimation. Local augmentation systems (implemented at individual airports, like the Local Area Augmentation System or LAAS) have the potential to allow precision approach and landing operations by providing precise corrections to user-satellite range measurements. An exception to these capabilities arises during ionospheric storms (caused by solar activity), when hazardous situations can exist with residual range errors several orders of magnitudes higher than nominal. Until dual

  3. Multi- and Hyper-Spectral Sensing for Autonomous Ground Vehicle Navigation

    Energy Technology Data Exchange (ETDEWEB)

    FOGLER, ROBERT J.

    2003-06-01

    Robotic vehicles that navigate autonomously are hindered by unnecessary avoidance of soft obstacles, and entrapment by potentially avoidable obstacles. Existing sensing technologies fail to reliably distinguish hard obstacles from soft obstacles, as well as impassable thickets and other sources of entrapment. Automated materials classification through advanced sensing methods may provide a means to identify such obstacles, and from their identity, to determine whether they must be avoided. Multi- and hyper-spectral electro-optic sensors are used in remote sensing applications to classify both man-made and naturally occurring materials on the earth's surface by their reflectance spectra. The applicability of this sensing technology to obstacle identification for autonomous ground vehicle navigation is the focus of this report. The analysis is restricted to system concepts in which the multi- or hyper-spectral sensor is on-board the ground vehicle, facing forward to detect and classify obstacles ahead of the vehicle. Obstacles of interest include various types of vegetation, rocks, soils, minerals, and selected man-made materials such as paving asphalt and concrete.

  4. Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation

    Directory of Open Access Journals (Sweden)

    Hajer Omrane

    2016-01-01

    Full Text Available This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path.

  5. Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation

    Science.gov (United States)

    Masmoudi, Mohamed Slim; Masmoudi, Mohamed

    2016-01-01

    This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path. PMID:27688748

  6. Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation.

    Science.gov (United States)

    Omrane, Hajer; Masmoudi, Mohamed Slim; Masmoudi, Mohamed

    This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path.

  7. Autonomous navigation method of high elliptical orbit satellite based on celestial navigation and GPS%基于天文/GPS的HEO卫星自主导航方法

    Institute of Scientific and Technical Information of China (English)

    王鹏; 张迎春

    2015-01-01

    为了实现大椭圆轨道(HEO)卫星高精度自主导航,提出一种将直接敏感地平天文导航与全球定位系统(GPS)相结合的组合导航方法.首先,分析卫星轨道��2运动模型及其所受空间摄动,建立卫星轨道动力学模型;然后,分析单一使用天文导航和GPS的优缺点,根据HEO卫星对GPS的可见性,提出在远地点只采用天文导航,而在近地点采用以天文导航为主、适时引入GPS信号进行位速测量辅助修正的方法.通过计算机仿真和结果分析表明了所提出的设计方法导航精度比单一天文导航提高72.4%∼85.6%.%In order to realize autonomous and continuous navigation information outputs for high elliptical orbit(HEO) satellite, new integrated navigation system is proposed based on celestial navigation of directly sensing stellar and global positioning system(GPS) navigation. Firstly, satellite orbit motion model is established on the satellite orbit dynamics��2 model and suffered space perturbation. Moreover, performances of single-use celestial navigation or GPS are analyzed. When the satellite is near the apogee, observation system is established by using only celestial navigation. When the satellite is near the perigee, the estimate covariance is revised through incoming GPS signal to improve the celestial navigation estimate. The autonomous navigation system is designed and simulating. The results of computer simulation show that the navigation accuracy is improved by 72.4%∼85.6%compared with the celestial navigation method.

  8. Lunar Navigation Determination System - LaNDS

    Science.gov (United States)

    Quinn, David; Talabac, Stephen

    2012-01-01

    A portable comprehensive navigational system has been developed that both robotic and human explorers can use to determine their location, attitude, and heading anywhere on the lunar surface independent of external infrastructure (needs no Lunar satellite network, line of sight to the Sun or Earth, etc.). The system combines robust processing power with an extensive topographical database to create a real-time atlas (GIS Geospatial Information System) that is able to autonomously control and monitor both single unmanned rovers and fleets of rovers, as well as science payload stations. The system includes provisions for teleoperation and tele-presence. The system accepts (but does not require) inputs from a wide range of sensors. A means was needed to establish a location when the search is taken deep in a crater (looking for water ice) and out of view of Earth or any other references. A star camera can be employed to determine the user's attitude in menial space and stellar map in body space. A local nadir reference (e.g., an accelerometer that orients the nadir vector in body space) can be used in conjunction with a digital ephemeris and gravity model of the Moon to isolate the latitude, longitude, and azimuth of the user on the surface. That information can be used in conjunction with a Lunar GIS and advanced navigation planning algorithms to aid astronauts (or other assets) to navigate on the Lunar surface.

  9. Navigation Behaviors Based on Fuzzy ArtMap Neural Networks for Intelligent Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Amine Chohra

    2011-01-01

    Full Text Available The use of hybrid intelligent systems (HISs is necessary to bring the behavior of intelligent autonomous vehicles (IAVs near the human one in recognition, learning, adaptation, generalization, decision making, and action. First, the necessity of HIS and some navigation approaches based on fuzzy ArtMap neural networks (FAMNNs are discussed. Indeed, such approaches can provide IAV with more autonomy, intelligence, and real-time processing capabilities. Second, an FAMNN-based navigation approach is suggested. Indeed, this approach must provide vehicles with capability, after supervised fast stable learning: simplified fuzzy ArtMap (SFAM, to recognize both target-location and obstacle-avoidance situations using FAMNN1 and FAMNN2, respectively. Afterwards, the decision making and action consist of two association stages, carried out by reinforcement trial and error learning, and their coordination using NN3. Then, NN3 allows to decide among the five (05 actions to move towards 30∘, 60∘, 90∘, 120∘, and 150∘. Third, simulation results display the ability of the FAMNN-based approach to provide IAV with intelligent behaviors allowing to intelligently navigate in partially structured environments. Finally, a discussion, dealing with the suggested approach and how its robustness would be if implemented on real vehicle, is given.

  10. Integrated navigation method based on inertial navigation system and Lidar

    Science.gov (United States)

    Zhang, Xiaoyue; Shi, Haitao; Pan, Jianye; Zhang, Chunxi

    2016-04-01

    An integrated navigation method based on the inertial navigational system (INS) and Lidar was proposed for land navigation. Compared with the traditional integrated navigational method and dead reckoning (DR) method, the influence of the inertial measurement unit (IMU) scale factor and misalignment was considered in the new method. First, the influence of the IMU scale factor and misalignment on navigation accuracy was analyzed. Based on the analysis, the integrated system error model of INS and Lidar was established, in which the IMU scale factor and misalignment error states were included. Then the observability of IMU error states was analyzed. According to the results of the observability analysis, the integrated system was optimized. Finally, numerical simulation and a vehicle test were carried out to validate the availability and utility of the proposed INS/Lidar integrated navigational method. Compared with the test result of a traditional integrated navigation method and DR method, the proposed integrated navigational method could result in a higher navigation precision. Consequently, the IMU scale factor and misalignment error were effectively compensated by the proposed method and the new integrated navigational method is valid.

  11. Autonomous navigation of a mobile robot using custom-designed qualitative reasoning VLSI chips and boards

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.; Pattay, R.S. (Oak Ridge National Lab., TN (United States)); Watanabe, H.; Symon, J. (North Carolina Univ., Chapel Hill, NC (United States). Dept. of Computer Science)

    1991-01-01

    Two types of computer boards including custom-designed VLSI chips have been developed to add a qualitative reasoning capability to the real-time control of autonomous mobile robots. The design and operation of these boards are first described and an example of their use for the autonomous navigation of a mobile robot is presented. The development of qualitative reasoning schemes emulating human-like navigation is a-priori unknown environments is discussed. The efficiency of such schemes, which can consist of as little as a dozen qualitative rules, is illustrated in experiments involving an autonomous mobile robot navigating on the basis of very sparse inaccurate sensor data. 17 refs., 6 figs.

  12. Using custom-designed VLSI fuzzy inferencing chips for the autonomous navigation of a mobile robot

    Energy Technology Data Exchange (ETDEWEB)

    Pin, F.G.; Pattay, R.S. (Oak Ridge National Lab., TN (United States)); Watanabe, Hiroyuki; Symon, J. (North Carolina Univ., Chapel Hill, NC (United States). Dept. of Computer Science)

    1991-01-01

    Two types of computer boards including custom-designed VLSI fuzzy inferencing chips have been developed to add a qualitative reasoning capability to the real-time control of autonomous mobile robots. The design and operation of these boards are first described and an example of their use for the autonomous navigation of mobile robot is presented. The development of qualitative reasoning schemes emulating human-like navigation in apriori unknown environments is discussed. An approach using superposition of elemental sensor-based behaviors is shown to alloy easy development and testing of the inferencing rule base, while providing for progressive addition of behaviors to resolve situations of increasing complexity. The efficiency of such schemes, which can consist of as little as a dozen qualitative rules, is illustrated in experiments involving an autonomous mobile robot navigating on the basis of very sparse and inaccurate sensor data. 17 refs., 6 figs.

  13. Fusion of Redundant Aided-inertial Sensors with Decentralised Kalman Filter for Autonomous Underwater Vehicle Navigation

    Directory of Open Access Journals (Sweden)

    Vaibhav Awale

    2015-11-01

    Full Text Available Most submarines carry more than one set of inertial navigation system (INS for redundancy and reliability. Apart from INS systems, the submarine carries other sensors that provide different navigation information. A major challenge is to combine these sensors and INS estimates in an optimal and robust manner for navigation. This issue has been addressed by Farrell1. The same approach is used in this paper to combine different sensor measurements along with INS system. However, since more than one INS system is available onboard, it would be better to use multiple INS systems at the same time to obtain a better estimate of states and to provide autonomy in the event of failure of one INS system. This would require us to combine the estimates obtained from local filters (one set of INS system integrated with external sensors, in some optimal way to provide a global estimate. Individual sensor and IMU measurements cannot be accessed in this scenario. Also, autonomous operation requires no sharing of information among local filters. Hence a decentralised Kalman filter approach is considered for combining the estimates of local filters to give a global estimate. This estimate would not be optimal, however. A better optimal estimate can be obtained by accessing individual measurements and augmenting the state vector in Kalman filter, but in that case, corruption of one INS system will lead to failure of the whole filter. Hence to ensure satisfactory performance of the filter even in the event of failure of some INS system, a decentralised Kalman filtering approach is considered.

  14. 12th International Conference on Intelligent Autonomous Systems (IAS-12)

    CERN Document Server

    Yoon, Kwang-Joon; Lee, Jangmyung; Frontiers of Intelligent Autonomous Systems

    2013-01-01

    This carefully edited volume aims at providing readers with the most recent progress on intelligent autonomous systems, with its particular emphasis on intelligent autonomous ground, aerial and underwater vehicles as well as service robots for home and healthcare under the context of the aforementioned convergence. “Frontiers of Intelligent Autonomous Systems” includes thoroughly revised and extended papers selected from the 12th International Conference on Intelligent Autonomous Systems (IAS-12), held in Jeju, Korea, June 26-29, 2012. The editors chose 35 papers out of the 202 papers presented at IAS-12 which are organized into three chapters: Chapter 1 is dedicated to autonomous navigation and mobile manipulation, Chapter 2 to unmanned aerial and underwater vehicles and Chapter 3 to service robots for home and healthcare. To help the readers to easily access this volume, each chapter starts with a chapter summary introduced by one of the editors: Chapter 1 by Sukhan Lee, Chapter 2 by Kwang Joon Yoon and...

  15. Satellite Imagery Assisted Road-Based Visual Navigation System

    Science.gov (United States)

    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

  16. Gas House Autonomous System Monitoring

    Science.gov (United States)

    Miller, Luke; Edsall, Ashley

    2015-01-01

    Gas House Autonomous System Monitoring (GHASM) will employ Integrated System Health Monitoring (ISHM) of cryogenic fluids in the High Pressure Gas Facility at Stennis Space Center. The preliminary focus of development incorporates the passive monitoring and eventual commanding of the Nitrogen System. ISHM offers generic system awareness, adept at using concepts rather than specific error cases. As an enabler for autonomy, ISHM provides capabilities inclusive of anomaly detection, diagnosis, and abnormality prediction. Advancing ISHM and Autonomous Operation functional capabilities enhances quality of data, optimizes safety, improves cost effectiveness, and has direct benefits to a wide spectrum of aerospace applications.

  17. Learning for autonomous navigation : extrapolating from underfoot to the far field

    Science.gov (United States)

    Matthies, Larry; Turmon, Michael; Howard, Andrew; Angelova, Anelia; Tang, Benyang; Mjolsness, Eric

    2005-01-01

    Autonomous off-road navigation of robotic ground vehicles has important applications on Earth and in space exploration. Progress in this domain has been retarded by the limited lookahead range of 3-D sensors and by the difficulty of preprogramming systems to understand the traversability of the wide variety of terrain they can encounter. Enabling robots to learn from experience may alleviate both of these problems. We define two paradigms for this, learning from 3-D geometry and learning from proprioception, and describe initial instantiations of them we have developed under DARPA and NASA programs. Field test results show promise for learning traversability of vegetated terrain, learning to extend the lookahead range of the vision system, and learning how slip varies with slope.

  18. Observability of Inertial Navigation System

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    To improve the observability of strapdown inertial navigation system and the effectiveness of Kalman filter in the navigation system, the method of estimating the observability is analyzed based on eigenvalues and eigenvectors which are proved to be availabe, on this basis two-position alignment technigue is applied. The simulation shows that two-position alignment really makes the system's observability change from being incomplete to being complete, and the test method based on eigenvalues and eigenvectors is available to determine the observability of every state vector.

  19. Navigation d'un vehicule autonome autour d'un asteroide

    Science.gov (United States)

    Dionne, Karine

    Les missions d'exploration planetaire utilisent des vehicules spatiaux pour acquerir les donnees scientifiques qui font avancer notre connaissance du systeme solaire. Depuis les annees 90, ces missions ciblent non seulement les planetes, mais aussi les corps celestes de plus petite taille comme les asteroides. Ces astres representent un defi particulier du point de vue des systemes de navigation, car leur environnement dynamique est complexe. Une sonde spatiale doit reagir rapidement face aux perturbations gravitationnelles en presence, sans quoi sa securite pourrait etre compromise. Les delais de communication avec la Terre pouvant souvent atteindre plusieurs dizaines de minutes, il est necessaire de developper des logiciels permettant une plus grande autonomie d'operation pour ce type de mission. Ce memoire presente un systeme de navigation autonome qui determine la position et la vitesse d'un satellite en orbite autour d'un asteroide. Il s'agit d'un filtre de Kalman etendu adaptatif a trois degres de liberte. Le systeme propose se base sur l'imagerie optique pour detecter des " points de reperes " qui ont ete prealablement cartographies. Il peut s'agir de crateres, de rochers ou de n'importe quel trait physique discernable a la camera. Les travaux de recherche realises se concentrent sur les techniques d'estimation d'etat propres a la navigation autonome. Ainsi, on suppose l'existence d'un logiciel approprie qui realise les fonctions de traitement d'image. La principale contribution de recherche consiste en l'inclusion, a chaque cycle d'estimation, d'une mesure de distance afin d'ameliorer les performances de navigation. Un estimateur d'etat de type adaptatif est necessaire pour le traitement de ces mesures, car leur precision varie dans le temps en raison de l'erreur de pointage. Les contributions secondaires de recherche sont liees a l'analyse de l'observabilite du systeme ainsi qu'a une analyse de sensibilite pour six parametres principaux de conception. Les

  20. Autonomous Mobile Robot Navigation Using Harmonic Potential Field

    Science.gov (United States)

    Panati, Subbash; Baasandorj, Bayanjargal; Chong, Kil To

    2015-05-01

    Mobile robot navigation has been an area of robotics which has gained massive attention among the researchers of robotics community. Path planning and obstacle avoidance are the key aspects of mobile robot navigation. This paper presents harmonic potential field based navigation algorithm for mobile robots. Harmonic potential field method overcomes the issue of local minima which was a major bottleneck in the case of artificial potential field method. The harmonic potential field is calculated using harmonic functions and Dirichlet boundary conditions are used for the obstacles, goal and initial position. The simulation results shows that the proposed method is able to overcome the local minima issue and navigate successfully from initial position to the goal without colliding into obstacles in static environment.

  1. A Parallel Hypothesis Method of Autonomous Underwater Vehicle Navigation

    Science.gov (United States)

    2009-06-01

    matching ( TERCOM ), as presented in Golden’s seminal article [30]. Since then, the idea of terrain relative navigation has been adapted for underwater...SMG Speed Made Good SMM Static Multiple Model SR Slant Range STRONG Single Transponder Range Only Navigation SVP Sound Velocity Profile 261 TERCOM ...Geological Survey, 1998. [29] A. Gelb, editor. Applied Optimal Estimation. MIT Press, Cambridge, MA, 1974. [30] J.P. Golden. Terrain contour matching ( TERCOM

  2. Autonomous Underwater Vehicle Magnetic Mapping System

    Science.gov (United States)

    Steigerwalt, R.; Johnson, R. M.; Trembanis, A. C.; Schmidt, V. E.; Tait, G.

    2012-12-01

    An Autonomous Underwater Vehicle (AUV) Magnetic Mapping (MM) System has been developed and tested for military munitions detection as well as pipeline locating, wreck searches, and geologic surveys in underwater environments. The system is comprised of a high sensitivity Geometrics G-880AUV cesium vapor magnetometer integrated with a Teledyne-Gavia AUV and associated Doppler enabled inertial navigation further utilizing traditional acoustic bathymetric and side scan imaging. All onboard sensors and associated electronics are managed through customized crew members to autonomously operate through the vehicles primary control module. Total field magnetic measurements are recorded with asynchronous time-stamped data logs which include position, altitude, heading, pitch, roll, and electrical current usage. Pre-planned mission information can be uploaded to the system operators to define data collection metrics including speed, height above seafloor, and lane or transect spacing specifically designed to meet data quality objectives for the survey. As a result of the AUVs modular design, autonomous navigation and rapid deployment capabilities, the AUV MM System provides cost savings over current surface vessel surveys by reducing the mobilization/demobilization effort, thus requiring less manpower for operation and reducing or eliminating the need for a surface support vessel altogether. When the system completes its mission, data can be remotely downloaded via W-LAN and exported for use in advanced signal processing platforms. Magnetic compensation software has been concurrently developed to accept electrical current measurements directly from the AUV to address distortions from permanent and induced magnetization effects on the magnetometer. Maneuver and electrical current compensation terms can be extracted from the magnetic survey missions to perform automated post-process corrections. Considerable suppression of system noise has been observed over traditional

  3. IPS - a vision aided navigation system

    Science.gov (United States)

    Börner, Anko; Baumbach, Dirk; Buder, Maximilian; Choinowski, Andre; Ernst, Ines; Funk, Eugen; Grießbach, Denis; Schischmanow, Adrian; Wohlfeil, Jürgen; Zuev, Sergey

    2017-04-01

    Ego localization is an important prerequisite for several scientific, commercial, and statutory tasks. Only by knowing one's own position, can guidance be provided, inspections be executed, and autonomous vehicles be operated. Localization becomes challenging if satellite-based navigation systems are not available, or data quality is not sufficient. To overcome this problem, a team of the German Aerospace Center (DLR) developed a multi-sensor system based on the human head and its navigation sensors - the eyes and the vestibular system. This system is called integrated positioning system (IPS) and contains a stereo camera and an inertial measurement unit for determining an ego pose in six degrees of freedom in a local coordinate system. IPS is able to operate in real time and can be applied for indoor and outdoor scenarios without any external reference or prior knowledge. In this paper, the system and its key hardware and software components are introduced. The main issues during the development of such complex multi-sensor measurement systems are identified and discussed, and the performance of this technology is demonstrated. The developer team started from scratch and transfers this technology into a commercial product right now. The paper finishes with an outlook.

  4. Autonomous Navigation Based on SEIF with Consistency Constraint for C-Ranger AUV

    Directory of Open Access Journals (Sweden)

    Yue Shen

    2015-01-01

    Full Text Available An autonomous underwater vehicle (AUV has to solve two essential problems in underwater environment, namely, localization and mapping. SLAM is one novel solution to estimate locations and maps simultaneously based on motion models and sensor measurements. Sparse extended information filter (SEIF is an effective algorithm to reduce storage and computational costs of large-scale maps in the SLAM problem. However, there exists the inconsistency in the SEIF since the rank of the observability matrix of linearized error-state model in SLAM system is higher than that of the nonlinear SLAM system. By analyzing the consistency of the SEIF-based SLAM from the perspective of observability, a SLAM based on SEIF with consistency constraint (SEIF-CC SLAM is developed to improve the estimator’s consistency. The proposed algorithm uses the first-ever available estimates to calculate SEIF Jacobians for each of the state variables, called the First Estimates Jacobian (FEJ. Then, the linearized error-state model can keep the same observability as the underlying nonlinear SLAM system. The capability of autonomous navigation with the proposed algorithm is validated through simulations experiments and sea trials for a C-Ranger AUV. Experimental results show that the proposed SEIF-CC SLAM algorithm yields more consistent and accurate estimates compared with the SEIF-based SLAM.

  5. Power line field sensing to support autonomous navigation of small unmanned aerial vehicles

    Science.gov (United States)

    Matthews, John; Bukshpun, Leonid; Pradhan, Ranjit

    2013-06-01

    Autonomous navigation around power lines in a complex urban environment is a critical challenge facing small unmanned aerial vehicles (SUAVs). As part of an ongoing development of an electric and magnetic field sensor system designed to provide SUAVs with the capability to sense and avoid power transmission and distribution lines by monitoring their electric and magnetic field signatures, we have performed field measurements and analysis of power-line signals. We discuss the nature of the power line signatures to be detected, and optimal strategies for detecting these signals amid SUAV platform noise and environmental interference. Based on an analysis of measured power line signals and vehicle noise, we have found that, under certain circumstances, power line harmonics can be detected at greater range than the fundamental. We explain this phenomenon by combining a model of power line signal nonlinearity with the quasi-static electric and magnetic signatures of multiphase power lines.

  6. Autonomous Spacecraft Navigation Using Above-the-Constellation GPS Signals

    Science.gov (United States)

    Winternitz, Luke

    2017-01-01

    GPS-based spacecraft navigation offers many performance and cost benefits, and GPS receivers are now standard GNC components for LEO missions. Recently, more and more high-altitude missions are taking advantage of the benefits of GPS navigation as well. High-altitude applications pose challenges, however, because receivers operating above the GPS constellations are subject to reduced signal strength and availability, and uncertain signal quality. This presentation will present the history and state-of-the-art in high-altitude GPS spacecraft navigation, including early experiments, current missions and receivers, and efforts to characterize and protect signals available to high-altitude users. Recent results from the very-high altitude MMS mission are also provided.

  7. Safety effects of navigation systems.

    NARCIS (Netherlands)

    2009-01-01

    Increasing numbers of drivers are using navigation systems in their cars. The advantages to the user are obvious: you can get to your destination via the fastest and shortest route. This reduces stress and exposure to other traffic. However, there are also some (unintended) negative effects. For exa

  8. Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report

    Energy Technology Data Exchange (ETDEWEB)

    EISLER, G. RICHARD

    2002-08-01

    This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the development of appropriate sensors and algorithms to navigate unattended. The project was partially successful in achieving gains in sensing, path planning, navigation, and guidance. One of three experimental platforms, the Minimalist Autonomous Testbed, used a repetitive sense-and-re-plan combination to demonstrate the majority of elements necessary for autonomous navigation. However, a critical goal for overall success in arbitrary terrain, that of developing a sensor that is able to distinguish true obstacles that need to be avoided as a function of vehicle scale, still needs substantial research to bring to fruition.

  9. Vision Assisted Laser Scanner Navigation for Autonomous Robots

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Andersen, Nils Axel; Ravn, Ole

    2008-01-01

    This paper describes a navigation method based on road detection using both a laser scanner and a vision sensor. The method is to classify the surface in front of the robot into traversable segments (road) and obstacles using the laser scanner, this classifies the area just in front of the robot ...

  10. Learning from Demonstration for Autonomous Navigation in Complex Unstructured Terrain

    Science.gov (United States)

    2010-06-24

    Hap- pold , M., Herman, H., Mandelbaum, R., Pilarski, T., Rander, P., Thayer, S., Vallidis, N., and 30 Warner, R. (2006). Toward reliable off road au...Ollis et al., 2007] Ollis, M., Huang, W. H., and Hap- pold , M. (2007). A bayesian approach to imitation learning for robot navigation. In

  11. Autonomous photovoltaic lighting system

    OpenAIRE

    Ahmed A. A. Hafez; Montesinos Miracle, Daniel; Sudrià Andreu, Antoni

    2012-01-01

    This paper introduces a comparison between the conventional and Photovoltaic (PV) lighting systems. A simple sizing procedure for a PV stand-alone system was advised. The paper also proposes a novel PV lighting system. The proposed system is simple, compact and reliable. The system operation was investigated by thoroughly mathematical and simulation work.

  12. Navigation autonome et télé-opération de véhicules aériens en utilisant la vision monoculaire

    OpenAIRE

    Mercado-Ravell, Diego Alberto

    2015-01-01

    The present document addresses, theoretically and experimentally, the most relevant topics for Unmanned Aerial Vehicles (UAVs) in autonomous and semi-autonomous navigation. According with the multidisciplinary nature of the studied problems, a wide range of techniques and theories are covered in the fields of robotics, automatic control, computer science, computer vision and embedded systems, among others. As part of this thesis, two different experimental platforms were developed in order to...

  13. Active Visual SLAM with Exploration for Autonomous Underwater Navigation

    Science.gov (United States)

    2012-01-01

    straints to the pose-graph (will be discussed in §II), and greatly reduce position uncertainty as compared to pure odometry ( dead reckoning). Despite...2009) and bathymetry maps from acoustic sensors (Roman and Singh, 2005) have been successfully demonstrated. All of these mentioned approaches, however...autonomous underwater hull inspection, which seeks to map and inspect the below-water portion of a ship in situ while in port or at sea . Typical methods for

  14. DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System

    OpenAIRE

    Bjørn Jalving; Kenneth Gade; Kristian Svartveit; Are Willumsen; Robert Sørhagen

    2004-01-01

    The RDI WHN-600 Doppler Velocity Log (DVL) is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV). HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is facilitated by a low drift velocity aided Inertial Navigation System (INS). Major factors determining the position error growth are the IMU and DVL error characteristics and the mission plan pattern_ For instance, low frequency DVL errors cause an approximately linear drift in a...

  15. Geostar - Navigation location system

    Science.gov (United States)

    Keyser, Donald A.

    The author describes the Radiodetermination Satellite Service (RDSS). The initial phase of the RDSS provides for a unique service enabling central offices and headquarters to obtain position-location information and receive short digital messages from mobile user terminals throughout the contiguous United States, southern Canada, and northern Mexico. The system employs a spread-spectrum, CDMA modulation technique allowing multiple customers to use the system simultaneously, without preassigned coordination with fellow users. Position location is currently determined by employing an existing radio determination receiver, such as Loran-C, GPS, or Transit, in the mobile user terminal. In the early 1990s position location will be determined at a central earth station by time-differential ranging of the user terminals via two or more geostationary satellites. A brief overview of the RDSS system architecture is presented with emphasis on the user terminal and its diverse applications.

  16. A Vision-Based Relative Navigation Approach for Autonomous Multirotor Aircraft

    Science.gov (United States)

    Leishman, Robert C.

    Autonomous flight in unstructured, confined, and unknown GPS-denied environments is a challenging problem. Solutions could be tremendously beneficial for scenarios that require information about areas that are difficult to access and that present a great amount of risk. The goal of this research is to develop a new framework that enables improved solutions to this problem and to validate the approach with experiments using a hardware prototype. In Chapter 2 we examine the consequences and practical aspects of using an improved dynamic model for multirotor state estimation, using only IMU measurements. The improved model correctly explains the measurements available from the accelerometers on a multirotor. We provide hardware results demonstrating the improved attitude, velocity and even position estimates that can be achieved through the use of this model. We propose a new architecture to simplify some of the challenges that constrain GPS-denied aerial flight in Chapter 3. At the core, the approach combines visual graph-SLAM with a multiplicative extended Kalman filter (MEKF). More importantly, we depart from the common practice of estimating global states and instead keep the position and yaw states of the MEKF relative to the current node in the map. This relative navigation approach provides a tremendous benefit compared to maintaining estimates with respect to a single global coordinate frame. We discuss the architecture of this new system and provide important details for each component. We verify the approach with goal-directed autonomous flight-test results. The MEKF is the basis of the new relative navigation approach and is detailed in Chapter 4. We derive the relative filter and show how the states must be augmented and marginalized each time a new node is declared. The relative estimation approach is verified using hardware flight test results accompanied by comparisons to motion capture truth. Additionally, flight results with estimates in the control

  17. Autonomous cascaded PV system

    OpenAIRE

    2011-01-01

    This paper proposes multi-level PV system; three PV generators each coupled to a buck cell. Each PV-generator-buckconverter channel is controlled such that maximum power is captured independently under different irradiation and temperature levels. The system operation under normal/abnormal conditions is investigated by thoroughly mathematical and simulation work. Peer Reviewed

  18. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

    ANSI-C program extending the TCL system is used for plan execution and a combination of MATLAB and a custom made Java GUI as user interface on the remote operator console. The choice of these standard software components is explained and the individual components demonstrated. Examples of how specific....... The central element of the architecture is the ‘global database’ that serves several purposes, such as storing system parameters, making signals available for data logging and inter-process communication. Standard software components are used to a large extent, OS-9 as real-time operating system, a custom...

  19. Three dimensional monocular SLAM for autonomous drone navigation

    OpenAIRE

    Dehem, Boris

    2017-01-01

    This master's thesis expands on work previously done at the UCL's autonomous drone project to allow three dimensional simultaneous localization and mapping by a low-cost quadcopter. In GPS-denied environments, drones have to rely on their on-board sensors to localize themselves. We decided to use the drone's front camera to build a map of the environment and to localize the drone within that map. We take a keyframe-based approach, building a map from a small set of snapshots of the drone's ca...

  20. Lunar roving vehicle navigation system performance review

    Science.gov (United States)

    Smith, E. C.; Mastin, W. C.

    1973-01-01

    The design and operation of the lunar roving vehicle (LRV) navigation system are briefly described. The basis for the premission LRV navigation error analysis is explained and an example included. The real time mission support operations philosophy is presented. The LRV navigation system operation and accuracy during the lunar missions are evaluated.

  1. Lessons Learned from OSIRIS-Rex Autonomous Navigation Using Natural Feature Tracking

    Science.gov (United States)

    Lorenz, David A.; Olds, Ryan; May, Alexander; Mario, Courtney; Perry, Mark E.; Palmer, Eric E.; Daly, Michael

    2017-01-01

    The Origins, Spectral Interpretation, Resource Identification, Security-Regolith Explorer (Osiris-REx) spacecraft is scheduled to launch in September, 2016 to embark on an asteroid sample return mission. It is expected to rendezvous with the asteroid, Bennu, navigate to the surface, collect a sample (July 20), and return the sample to Earth (September 23). The original mission design called for using one of two Flash Lidar units to provide autonomous navigation to the surface. Following Preliminary design and initial development of the Lidars, reliability issues with the hardware and test program prompted the project to begin development of an alternative navigation technique to be used as a backup to the Lidar. At the critical design review, Natural Feature Tracking (NFT) was added to the mission. NFT is an onboard optical navigation system that compares observed images to a set of asteroid terrain models which are rendered in real-time from a catalog stored in memory on the flight computer. Onboard knowledge of the spacecraft state is then updated by a Kalman filter using the measured residuals between the rendered reference images and the actual observed images. The asteroid terrain models used by NFT are built from a shape model generated from observations collected during earlier phases of the mission and include both terrain shape and albedo information about the asteroid surface. As a result, the success of NFT is highly dependent on selecting a set of topographic features that can be both identified during descent as well as reliably rendered using the shape model data available. During development, the OSIRIS-REx team faced significant challenges in developing a process conducive to robust operation. This was especially true for terrain models to be used as the spacecraft gets close to the asteroid and higher fidelity models are required for reliable image correlation. This paper will present some of the challenges and lessons learned from the development

  2. Vision-Based Autonomous Underwater Vehicle Navigation in Poor Visibility Conditions Using a Model-Free Robust Control

    Directory of Open Access Journals (Sweden)

    Ricardo Pérez-Alcocer

    2016-01-01

    Full Text Available This paper presents a vision-based navigation system for an autonomous underwater vehicle in semistructured environments with poor visibility. In terrestrial and aerial applications, the use of visual systems mounted in robotic platforms as a control sensor feedback is commonplace. However, robotic vision-based tasks for underwater applications are still not widely considered as the images captured in this type of environments tend to be blurred and/or color depleted. To tackle this problem, we have adapted the lαβ color space to identify features of interest in underwater images even in extreme visibility conditions. To guarantee the stability of the vehicle at all times, a model-free robust control is used. We have validated the performance of our visual navigation system in real environments showing the feasibility of our approach.

  3. A traffic priority language for collision-free navigation of autonomous mobile robots in dynamic environments.

    Science.gov (United States)

    Bourbakis, N G

    1997-01-01

    This paper presents a generic traffic priority language, called KYKLOFORTA, used by autonomous robots for collision-free navigation in a dynamic unknown or known navigation space. In a previous work by X. Grossmman (1988), a set of traffic control rules was developed for the navigation of the robots on the lines of a two-dimensional (2-D) grid and a control center coordinated and synchronized their movements. In this work, the robots are considered autonomous: they are moving anywhere and in any direction inside the free space, and there is no need of a central control to coordinate and synchronize them. The requirements for each robot are i) visual perception, ii) range sensors, and iii) the ability of each robot to detect other moving objects in the same free navigation space, define the other objects perceived size, their velocity and their directions. Based on these assumptions, a traffic priority language is needed for each robot, making it able to decide during the navigation and avoid possible collision with other moving objects. The traffic priority language proposed here is based on a set of primitive traffic priority alphabet and rules which compose pattern of corridors for the application of the traffic priority rules.

  4. [Autonomic nervous system in diabetes].

    Science.gov (United States)

    Emdin, M

    2001-08-01

    Hyperglycemia and hyperinsulinemia have a primary role in determining the early functional and later anatomic changes at the level of the autonomic pathways controlling the circulation, and besides in directly influencing cardiac and vascular cellular targets and feed-back baroreceptor system sensitivity to neurohumoral modulation in patients with diabetes mellitus. The basic mechanisms of dysfunction and damage, and the clinical and prognostic value of diabetic cardiovascular dysautonomia are discussed together with the diagnostic apparatus and the possible therapeutic approaches.

  5. Precision optical navigation guidance system

    Science.gov (United States)

    Starodubov, D.; McCormick, K.; Nolan, P.; Johnson, D.; Dellosa, M.; Volfson, L.; Fallahpour, A.; Willner, A.

    2016-05-01

    We present the new precision optical navigation guidance system approach that provides continuous, high quality range and bearing data to fixed wing aircraft during landing approach to an aircraft carrier. The system uses infrared optical communications to measure range between ship and aircraft with accuracy and precision better than 1 meter at ranges more than 7.5 km. The innovative receiver design measures bearing from aircraft to ship with accuracy and precision better than 0.5 mRad. The system provides real-time range and bearing updates to multiple aircraft at rates up to several kHz, and duplex data transmission between ship and aircraft.

  6. Autonomous Systems: Autonomous Cryogenic Loading Operations Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The main objectives are to develop and integrate Integrated Systems Health Management (ISHM) tools and component technologies into a seamless health management...

  7. Multi-agent autonomous system

    Science.gov (United States)

    Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

    2010-01-01

    A multi-agent autonomous system for exploration of hazardous or inaccessible locations. The multi-agent autonomous system includes simple surface-based agents or craft controlled by an airborne tracking and command system. The airborne tracking and command system includes an instrument suite used to image an operational area and any craft deployed within the operational area. The image data is used to identify the craft, targets for exploration, and obstacles in the operational area. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. Each craft includes its own instrument suite to collect information about the operational area that is transmitted back to the tracking and command system. The tracking and command system may be further coupled to a satellite system to provide additional image information about the operational area and provide operational and location commands to the tracking and command system.

  8. The N456 Navigator System

    Science.gov (United States)

    2009-01-01

    system, the N456 timing functions are not used or affected. – 4 – 5. PRV Mode This is a common navigation method for the Jason/ Medea system. In...this mode, a trigger is sent down the tether, where it is causes an interrogation pulse from Medea . Boards dedicated to Medea and Jason both time the... Medea uses PING_BOARD=2 # MODE_CYCLE = the name of a ping cycle definition # IS_TIMED = 0 if pings occur at the commanded instant

  9. CYCLOPS: A mobile robotic platform for testing and validating image processing and autonomous navigation algorithms in support of artificial vision prostheses.

    Science.gov (United States)

    Fink, Wolfgang; Tarbell, Mark A

    2009-12-01

    While artificial vision prostheses are quickly becoming a reality, actual testing time with visual prosthesis carriers is at a premium. Moreover, it is helpful to have a more realistic functional approximation of a blind subject. Instead of a normal subject with a healthy retina looking at a low-resolution (pixelated) image on a computer monitor or head-mounted display, a more realistic approximation is achieved by employing a subject-independent mobile robotic platform that uses a pixelated view as its sole visual input for navigation purposes. We introduce CYCLOPS: an AWD, remote controllable, mobile robotic platform that serves as a testbed for real-time image processing and autonomous navigation systems for the purpose of enhancing the visual experience afforded by visual prosthesis carriers. Complete with wireless Internet connectivity and a fully articulated digital camera with wireless video link, CYCLOPS supports both interactive tele-commanding via joystick, and autonomous self-commanding. Due to its onboard computing capabilities and extended battery life, CYCLOPS can perform complex and numerically intensive calculations, such as image processing and autonomous navigation algorithms, in addition to interfacing to additional sensors. Its Internet connectivity renders CYCLOPS a worldwide accessible testbed for researchers in the field of artificial vision systems. CYCLOPS enables subject-independent evaluation and validation of image processing and autonomous navigation systems with respect to the utility and efficiency of supporting and enhancing visual prostheses, while potentially reducing to a necessary minimum the need for valuable testing time with actual visual prosthesis carriers.

  10. Towards practical autonomous deep-space navigation using X-Ray pulsar timing

    Science.gov (United States)

    Shemar, Setnam; Fraser, George; Heil, Lucy; Hindley, David; Martindale, Adrian; Molyneux, Philippa; Pye, John; Warwick, Robert; Lamb, Andrew

    2016-07-01

    We investigate the feasibility of deep-space navigation using the highly stable periodic signals from X-ray pulsars in combination with dedicated instrumentation on the spacecraft: a technique often referred to as `XNAV'. The results presented are based on the outputs from a study undertaken for the European Space Agency. The potential advantages of this technique include increased spacecraft autonomy and lower mission operating costs. Estimations of navigation uncertainties have been obtained using simulations of different pulsar combinations and navigation strategies. We find that the pulsar PSR B1937 + 21 has potential to allow spacecraft positioning uncertainties of ~2 and ~5 km in the direction of the pulsar after observation times of 10 and 1 h respectively, for ranges up to 30 AU. This could be achieved autonomously on the spacecraft using a focussing X-ray instrument of effective area ~50 cm2 together with a high performance atomic clock. The Mercury Imaging X-ray Spectrometer (MIXS) instrument, due to be launched on the ESA/JAXA BepiColombo mission to Mercury in 2018, is an example of an instrument that may be further developed as a practical telescope for XNAV. For a manned mission to Mars, where an XNAV system could provide valuable redundancy, observations of the three pulsars PSR B1937 + 21, B1821-24 and J0437-4715 would enable a three-dimensional positioning uncertainty of ~30 km for up to 3 months without the need to contact Earth-based systems. A lower uncertainty may be achieved, for example, by use of extended observations or, if feasible, by use of a larger instrument. X-ray instrumentation suitable for use in an operational XNAV subsystem must be designed to require only modest resources, especially in terms of size, mass and power. A system with a focussing optic is required in order to reduce the sky and particle background against which the source must be measured. We examine possible options for future developments in terms of simpler, lower

  11. Experiences in Benchmarking of Autonomic Systems

    Science.gov (United States)

    Etchevers, Xavier; Coupaye, Thierry; Vachet, Guy

    Autonomic computing promises improvements of systems quality of service in terms of availability, reliability, performance, security, etc. However, little research and experimental results have so far demonstrated this assertion, nor provided proof of the return on investment stemming from the efforts that introducing autonomic features requires. Existing works in the area of benchmarking of autonomic systems can be characterized by their qualitative and fragmented approaches. Still a crucial need is to provide generic (i.e. independent from business, technology, architecture and implementation choices) autonomic computing benchmarking tools for evaluating and/or comparing autonomic systems from a technical and, ultimately, an economical point of view. This article introduces a methodology and a process for defining and evaluating factors, criteria and metrics in order to qualitatively and quantitatively assess autonomic features in computing systems. It also discusses associated experimental results on three different autonomic systems.

  12. A Visual-aided Inertial Navigation and Mapping System

    Directory of Open Access Journals (Sweden)

    Rodrigo Munguía

    2016-05-01

    Full Text Available State estimation is a fundamental necessity for any application involving autonomous robots. This paper describes a visual-aided inertial navigation and mapping system for application to autonomous robots. The system, which relies on Kalman filtering, is designed to fuse the measurements obtained from a monocular camera, an inertial measurement unit (IMU and a position sensor (GPS. The estimated state consists of the full state of the vehicle: the position, orientation, their first derivatives and the parameter errors of the inertial sensors (i.e., the bias of gyroscopes and accelerometers. The system also provides the spatial locations of the visual features observed by the camera. The proposed scheme was designed by considering the limited resources commonly available in small mobile robots, while it is intended to be applied to cluttered environments in order to perform fully vision-based navigation in periods where the position sensor is not available. Moreover, the estimated map of visual features would be suitable for multiple tasks: i terrain analysis; ii three dimensional (3D scene reconstruction; iii localization, detection or perception of obstacles and generating trajectories to navigate around these obstacles; and iv autonomous exploration. In this work, simulations and experiments with real data are presented in order to validate and demonstrate the performance of the proposal.

  13. Global navigation satellite systems, inertial navigation, and integration

    CERN Document Server

    Grewal, Mohinder S; Bartone, Chris G

    2013-01-01

    An updated guide to GNSS, and INS, and solutions to real-world GNSS/INS problems with Kalman filtering Written by recognized authorities in the field, this third edition of a landmark work provides engineers, computer scientists, and others with a working familiarity of the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems, and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kal

  14. Autonomous systems for plant protection

    DEFF Research Database (Denmark)

    Griepentrog, Hans W.; Ruckelshausen, Arno; Jørgensen, Rasmus Nyholm;

    2010-01-01

    Advances in automation are demanded by the market mainly as a response to high labor costs. Robotic outdoor systems are ready to allow not only economically viable operations but also increased efficiency in agriculture, horticulture and forestry. The aim of this chapter is to give examples...... of autonomous operations related to crop protection probably commercially available in the near future. Scouting and monitoring together with the efficient application of chemicals or mechanical treatments are operations which can be successful automated. Drawbacks are that current systems are lacking robust...

  15. The Autonomous Pathogen Detection System

    Energy Technology Data Exchange (ETDEWEB)

    Dzenitis, J M; Makarewicz, A J

    2009-01-13

    We developed, tested, and now operate a civilian biological defense capability that continuously monitors the air for biological threat agents. The Autonomous Pathogen Detection System (APDS) collects, prepares, reads, analyzes, and reports results of multiplexed immunoassays and multiplexed PCR assays using Luminex{copyright} xMAP technology and flow cytometer. The mission we conduct is particularly demanding: continuous monitoring, multiple threat agents, high sensitivity, challenging environments, and ultimately extremely low false positive rates. Here, we introduce the mission requirements and metrics, show the system engineering and analysis framework, and describe the progress to date including early development and current status.

  16. Obstacle avoidance for autonomous land vehicle navigation in indoor environments by quadratic classifier.

    Science.gov (United States)

    Ku, C H; Tsai, W H

    1999-01-01

    A vision-based approach to obstacle avoidance for autonomous land vehicle (ALV) navigation in indoor environments is proposed. The approach is based on the use of a pattern recognition scheme, the quadratic classifier, to find collision-free paths in unknown indoor corridor environments. Obstacles treated in this study include the walls of the corridor and the objects that appear in the way of ALV navigation in the corridor. Detected obstacles as well as the two sides of the ALV body are considered as patterns. A systematic method for separating these patterns into two classes is proposed. The two pattern classes are used as the input data to design a quadratic classifier. Finally, the two-dimensional decision boundary of the classifier, which goes through the middle point between the two front vehicle wheels, is taken as a local collision-free path. This approach is implemented on a real ALV and successful navigations confirm the feasibility of the approach.

  17. APDS: Autonomous Pathogen Detection System

    Energy Technology Data Exchange (ETDEWEB)

    Langlois, R G; Brown, S; Burris, L; Colston, B; Jones, L; Makarewicz, T; Mariella, R; Masquelier, D; McBride, M; Milanovich, F; Masarabadi, S; Venkateswaran, K; Marshall, G; Olson, D; Wolcott, D

    2002-02-14

    An early warning system to counter bioterrorism, the Autonomous Pathogen Detection System (APDS) continuously monitors the environment for the presence of biological pathogens (e.g., anthrax) and once detected, it sounds an alarm much like a smoke detector warns of a fire. Long before September 11, 2001, this system was being developed to protect domestic venues and events including performing arts centers, mass transit systems, major sporting and entertainment events, and other high profile situations in which the public is at risk of becoming a target of bioterrorist attacks. Customizing off-the-shelf components and developing new components, a multidisciplinary team developed APDS, a stand-alone system for rapid, continuous monitoring of multiple airborne biological threat agents in the environment. The completely automated APDS samples the air, prepares fluid samples in-line, and performs two orthogonal tests: immunoassay and nucleic acid detection. When compared to competing technologies, APDS is unprecedented in terms of flexibility and system performance.

  18. Editorial for special issue on Perception and Navigation for Autonomous Vehicles

    OpenAIRE

    Laugier, Christian; Philippe, Martinet; Urbano, Nunes

    2014-01-01

    International audience; This Special Issue of the IEEE Robotics and Automation Magazine has been prepared in the scope of the activities of the Technical Committee on "Autonomous Ground Vehicle and Intelligent Transportation System" (AGV-ITS) (http://www.ieee-ras.org/autonomous-groundvehicles- and-intelligent-transportation-systems) of the IEEE Robotics and Automation Society (IEEE RAS).

  19. GPS-INS-STAR - A navigation system for the era of space autonomy

    Science.gov (United States)

    Tanabe, Toru; Kitamura, Toshiaki; Ikeuchi, Masayuki; Tanaka, Toshiyuki; Akasaka, Akira

    Experimental validation of the GPS-INS-STAR hybrid navigation system concept is performed. First, an INS-STAR hybrid navigation system is constructed on the 3-axis motion table to verify the performance of its attitude loop. A GPS-INS hybrid navigation system is then installed on a car, and its translational performance is evaluated. Each result of the experiments is verified by theoretical analysis, and its feasibility for space application is evaluated. Through the experiments, the concept of the autonomous hybrid navigation is validated, and its potential in space autonomy is indicated.

  20. Global navigation satellite systems and their applications

    CERN Document Server

    Madry, Scott

    2015-01-01

    Dr. Madry, one of the world's leading experts in the field, provides in a condensed form a quick yet comprehensive overview of satellite navigation. This book concisely addresses the latest technology, the applications, the regulatory issues, and the strategic implications of satellite navigation systems. This assesses the strengths and weaknesses of satellite navigation networks and review of all the various national systems now being deployed and the motivation behind the proliferation of these systems.

  1. On credibility improvements for automotive navigation systems

    NARCIS (Netherlands)

    Schaub, Florian; Hipp, Markus; Kargl, Frank; Weber, Michael

    2012-01-01

    Automotive navigation systems are becoming ubiquitous as driver assistance systems. Vendors continuously aim to enhance route guidance by adding new features to their systems. However, we found in an analysis of current navigation systems that many share interaction weaknesses, which can damage the

  2. Airports and Navigation Aids Database System -

    Data.gov (United States)

    Department of Transportation — Airport and Navigation Aids Database System is the repository of aeronautical data related to airports, runways, lighting, NAVAID and their components, obstacles, no...

  3. Nonlinear filtering for autonomous navigation of spacecraft in highly elliptical orbit

    Science.gov (United States)

    Vigneron, Adam C.; de Ruiter, Anton H. J.; Burlton, Bruce V.; Soh, Warren K. H.

    2016-05-01

    In support of Canada's proposed Polar Communication and Weather mission, this study examined the accuracy to which GPS-based autonomous navigation might be realized for spacecraft in a Molniya orbit. A navigation algorithm based on the Extended Kalman Filter was demonstrated to achieve a three-dimensional root-mean-square accuracy of 58.9 m over a Molniya orbit with 500 km and 40,000 km perigee and apogee altitudes, respectively. Despite the inclusion of biased and non-white error models in the generated GPS pseudorange measurements - a first for navigation studies in this orbital regime - algorithms based on the Unscented Kalman Filter and the Cubature Kalman Filter were not found to improve this result; their benefits were eclipsed due to the accurate pseudorange measurements which were available during periods of highly nonlinear dynamics. This study revealed receiver clock bias error to be a significant source of navigation solution error. For reasons of geometry, the navigation algorithm is not able to differentiate between this error and a radial position error. A novel dual-mode dynamic clock model was proposed and implemented as a means to minimize receiver clock bias error over the entire orbital regime.

  4. Real-time precision pedestrian navigation solution using Inertial Navigation System and Global Positioning System

    Directory of Open Access Journals (Sweden)

    Yong-Jin Yoon

    2015-03-01

    Full Text Available 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 Positioning System is coupled with Inertial Navigation System to correct the errors, while Inertial Navigation System itself can be used to provide navigation solution during a Global Positioning System outage. Data from Global Positioning System and Inertial Navigation System can be integrated by extensive Kalman filtering, using loosely coupled integration architecture to provide navigation solutions. In this study, real-time low-cost loosely coupled micro-electro-mechanical system Inertial Navigation System/Global Positioning System sensors have been used for pedestrian navigation. Trial runs of Global Positioning System outages have been conducted to determine the accuracy of the system described. The micro-electro-mechanical system Inertial Navigation System/Global Positioning System can successfully project a trajectory during a Global Positioning System outage and produces a root mean square error of 9.35 m in latitude direction and 10.8 m in longitude direction. This technology is very suitable for visually impaired pedestrians.

  5. Guidance Navigation and Control for Autonomous Multiple Spacecraft Assembly: Analysis and Experimentation

    Directory of Open Access Journals (Sweden)

    Riccardo Bevilacqua

    2011-01-01

    Full Text Available This work introduces theoretical developments and experimental verification for Guidance, Navigation, and Control of autonomous multiple spacecraft assembly. We here address the in-plane orbital assembly case, where two translational and one rotational degrees of freedom are considered. Each spacecraft involved in the assembly is both chaser and target at the same time. The guidance and control strategies are LQR-based, designed to take into account the evolving shape and mass properties of the assembling spacecraft. Each spacecraft runs symmetric algorithms. The relative navigation is based on augmenting the target's state vector by introducing, as extra state components, the target's control inputs. By using the proposed navigation method, a chaser spacecraft can estimate the relative position, the attitude and the control inputs of a target spacecraft, flying in its proximity. The proposed approaches are successfully validated via hardware-in-the-loop experimentation, using four autonomous three-degree-of-freedom robotic spacecraft simulators, floating on a flat floor.

  6. Challenges to Autonomous Navigation in Complex Urban Terrain

    Science.gov (United States)

    2012-03-23

    a, Robert E. Karlsen a, Chip DiBerardino b, Edward Mottern b, & N. Joseph Kott, III a aU.S. Army Tank- Automotive Research, Development & Engineering...Gray; Robert Karlsen; Chip DiBerardino; Edward Mottern; N. Joseph Kott, III 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING...There are a variety of sensors that a UGV can use to provide information about its environment, including active systems such as RADAR , LIDAR and

  7. Experimental validation of GPS-INS-STAR hybrid navigation system for space autonomy

    Science.gov (United States)

    Tanabe, Toru; Harigae, Masatoshi

    The experimental validation of the GPS-INS-STAR hybrid navigation system concept is performed. The hybrid navigation system combines the best features of employed sensors to improve total navigation performances. The GPS-INS-STAR hybrid navigation system consists of the three different sensors, a GPS receiver, an inertial navigation system and a STAR image sensor. In this concept, the system integrates a high positioning performance of the GPS system, an accurate attitude determination capability of the STAR image sensor and the INS signal with a wide bandwidth. It results in a complete 6-DOF (degrees of freedom) autonomous navigation system. The present paper shows the validation of the concept by the experiments using GPS, INS and STAR hardware systems. The experiments are divided into three steps. Firstly, the INS-STAR hybrid navigation system is constructed on the 3-axis motion table to verify the performances of its attitude loop. Secondly, the GPS-INS hybrid navigation system installed on the car shows the performance improvement in its translational loop. Finally, the full configuration of the GPS-INS-STAR hybrid navigation system is evaluated at night. Each experiment result is checked by the theoretical analysis. In the theoretical analysis, the concept of observability well explains the performances of the system. Its feasibility for space application is also evaluated in the point of existing hardware technology. It is concluded that the experiments vaidate the concept of the hybrid navigation system and confirm its capability to realize space autonomy.

  8. Spatial Database Modeling for Indoor Navigation Systems

    Science.gov (United States)

    Gotlib, Dariusz; Gnat, Miłosz

    2013-12-01

    For many years, cartographers are involved in designing GIS and navigation systems. Most GIS applications use the outdoor data. Increasingly, similar applications are used inside buildings. Therefore it is important to find the proper model of indoor spatial database. The development of indoor navigation systems should utilize advanced teleinformation, geoinformatics, geodetic and cartographical knowledge. The authors present the fundamental requirements for the indoor data model for navigation purposes. Presenting some of the solutions adopted in the world they emphasize that navigation applications require specific data to present the navigation routes in the right way. There is presented original solution for indoor data model created by authors on the basis of BISDM model. Its purpose is to expand the opportunities for use in indoor navigation.

  9. Adaptive Control System for Autonomous Helicopter Slung Load Operations

    DEFF Research Database (Denmark)

    Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon

    2010-01-01

    system on the helicopter that measures the position of the slung load. The controller is a combined feedforward and feedback scheme for simultaneous avoidance of swing excitation and active swing damping. Simulations and laboratory flight tests show the effectiveness of the combined control system......This paper presents design and verification of an estimation and control system for a helicopter slung load system. The estimator provides position and velocity estimates of the slung load and is designed to augment existing navigation in autonomous helicopters. Sensor input is provided by a vision......, yielding significant load swing reduction compared to the baseline controller....

  10. Autonomous power system intelligent diagnosis and control

    Science.gov (United States)

    Ringer, Mark J.; Quinn, Todd M.; Merolla, Anthony

    1991-01-01

    The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control, and scheduling techniques to space power distribution hardware. Knowledge-based software provides a robust method of control for highly complex space-based power systems that conventional methods do not allow. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis and control, the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space based power system. The operation of the Autonomous Power System as a whole is described and the responsibilities of the three elements - APEX, AIPS, and Brassboard - are characterized. A discussion of the methodologies used in each element is provided. Future plans are discussed for the growth of the Autonomous Power System.

  11. Autonomic Management for Multi-agent Systems

    CERN Document Server

    Salih, Nadir K; Viju, PG K; Mohamed, Abdelmotalib A

    2011-01-01

    Autonomic computing is a computing system that can manage itself by self-configuration, self-healing, self-optimizing and self-protection. Researchers have been emphasizing the strong role that multi agent systems can play progressively towards the design and implementation of complex autonomic systems. The important of autonomic computing is to create computing systems capable of managing themselves to a far greater extent than they do today. With the nature of autonomy, reactivity, sociality and pro-activity, software agents are promising to make autonomic computing system a reality. This paper mixed multi-agent system with autonomic feature that completely hides its complexity from users/services. Mentioned Java Application Development Framework as platform example of this environment, could applied to web services as front end to users. With multi agent support it also provides adaptability, intelligence, collaboration, goal oriented interactions, flexibility, mobility and persistence in software systems

  12. Autonomic nervous system and immune system interactions.

    Science.gov (United States)

    Kenney, M J; Ganta, C K

    2014-07-01

    The present review assesses the current state of literature defining integrative autonomic-immune physiological processing, focusing on studies that have employed electrophysiological, pharmacological, molecular biological, and central nervous system experimental approaches. Central autonomic neural networks are informed of peripheral immune status via numerous communicating pathways, including neural and non-neural. Cytokines and other immune factors affect the level of activity and responsivity of discharges in sympathetic and parasympathetic nerves innervating diverse targets. Multiple levels of the neuraxis contribute to cytokine-induced changes in efferent parasympathetic and sympathetic nerve outflows, leading to modulation of peripheral immune responses. The functionality of local sympathoimmune interactions depends on the microenvironment created by diverse signaling mechanisms involving integration between sympathetic nervous system neurotransmitters and neuromodulators; specific adrenergic receptors; and the presence or absence of immune cells, cytokines, and bacteria. Functional mechanisms contributing to the cholinergic anti-inflammatory pathway likely involve novel cholinergic-adrenergic interactions at peripheral sites, including autonomic ganglion and lymphoid targets. Immune cells express adrenergic and nicotinic receptors. Neurotransmitters released by sympathetic and parasympathetic nerve endings bind to their respective receptors located on the surface of immune cells and initiate immune-modulatory responses. Both sympathetic and parasympathetic arms of the autonomic nervous system are instrumental in orchestrating neuroimmune processes, although additional studies are required to understand dynamic and complex adrenergic-cholinergic interactions. Further understanding of regulatory mechanisms linking the sympathetic nervous, parasympathetic nervous, and immune systems is critical for understanding relationships between chronic disease

  13. Jam avoidance with autonomous systems

    CERN Document Server

    Tordeux, Antoine

    2016-01-01

    Many car-following models are developed for jam avoidance in highways. Two mechanisms are used to improve the stability: feedback control with autonomous models and increasing of the interaction within cooperative ones. In this paper, we compare the linear autonomous and collective optimal velocity (OV) models. We observe that the stability is significantly increased by adding predecessors in interaction with collective models. Yet autonomous and collective approaches are close when the speed difference term is taking into account. Within the linear OV models tested, the autonomous models including speed difference are sufficient to maximise the stability.

  14. Robotics and Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: Provides an environment for developing and evaluating intelligent software for both actual and simulated autonomous vehicles. Laboratory computers provide...

  15. Stereo-Based Visual Odometry for Autonomous Robot Navigation

    Directory of Open Access Journals (Sweden)

    Ioannis Kostavelis

    2016-02-01

    Full Text Available Mobile robots should possess accurate self-localization capabilities in order to be successfully deployed in their environment. A solution to this challenge may be derived from visual odometry (VO, which is responsible for estimating the robot's pose by analysing a sequence of images. The present paper proposes an accurate, computationally-efficient VO algorithm relying solely on stereo vision images as inputs. The contribution of this work is twofold. Firstly, it suggests a non-iterative outlier detection technique capable of efficiently discarding the outliers of matched features. Secondly, it introduces a hierarchical motion estimation approach that produces refinements to the global position and orientation for each successive step. Moreover, for each subordinate module of the proposed VO algorithm, custom non-iterative solutions have been adopted. The accuracy of the proposed system has been evaluated and compared with competent VO methods along DGPS-assessed benchmark routes. Experimental results of relevance to rough terrain routes, including both simulated and real outdoors data, exhibit remarkable accuracy, with positioning errors lower than 2%.

  16. Traffic safety effects of navigation systems

    NARCIS (Netherlands)

    Feenstra, P.J.; Hogema, J.H.; Vonk, T.

    2007-01-01

    Abstract— To investigate effects of navigation systems on traffic safety, a literature search, a damages database analysis, a user survey and an instrumented car study were conducted. This paper presents the instrumented car study to investigate the effects of a navigation system on driving behavior

  17. Navigation of autonomous mobile robot using different activation functions of wavelet neural network

    Directory of Open Access Journals (Sweden)

    Panigrahi Pratap Kumar

    2015-03-01

    Full Text Available An autonomous mobile robot is a robot which can move and act autonomously without the help of human assistance. Navigation problem of mobile robot in unknown environment is an interesting research area. This is a problem of deducing a path for the robot from its initial position to a given goal position without collision with the obstacles. Different methods such as fuzzy logic, neural networks etc. are used to find collision free path for mobile robot. This paper examines behavior of path planning of mobile robot using three activation functions of wavelet neural network i.e. Mexican Hat, Gaussian and Morlet wavelet functions by MATLAB. The simulation result shows that WNN has faster learning speed with respect to traditional artificial neural network.

  18. Autonomous optical navigation for interplanetary exploration based on information of earth-moon

    Institute of Scientific and Technical Information of China (English)

    吴伟仁; 田玉龙; 黄翔宇

    2003-01-01

    The image elements of earth-center and moon-center are obtained by processing the images of earthand moon, these image elements in combination with the inertial attitude information and the moon ephemerisare utilized to obtain the probe initial position relative to earth, and the Levenberg-Marquardt algorithm is usedto determine the accurate probe position relative to earth, and the probe orbit relative to earth is estimated by u-sing the extended Kalman filter. The autonomous optical navigation algorithm is validated using the digital simu-lation.

  19. Relative navigation for autonomous formation flying satellites using the state-dependent Riccati equation filter

    Science.gov (United States)

    Park, Han-Earl; Kim, Young-Rok

    2016-01-01

    A relative navigation method for autonomous formation flying using the state-dependent Riccati equation filter (SDREF) is presented. In the SDREF, nonlinear relative dynamics, including J2 perturbation, are parameterized into a state-dependent coefficient (SDC) form without any loss of nonlinearity. The relative navigation algorithm is established based on the carrier-phase differential GPS (CDGPS) and single-frequency GPS data, in which the SDREF is used as a nonlinear estimator. To evaluate the SDREF performance, two different extended Kalman filters (EKFR1 and EKFR2) are introduced. The dynamic models of all the filters are based on relative motion including J2 perturbation. However, the SDREF and the EKFR1 use linear state propagation, whereas EKFR2 employs nonlinear state propagation. The navigation simulation is performed for each filter using live GPS signals simulated by a GPS signal generator, and the result is analyzed in terms of estimation accuracy and computational load. As a result, the SDREF provides a relative navigation solution with 3-D RMS accuracies of 6.0 mm and 0.153 mm/s for position and velocity, respectively, for a separation of 50 km with a computation time of approximately 34 s. The simulation results demonstrate that the SDREF estimates the relative states as rapidly as the EKFR1 and as accurately as the EKFR2, which means that the developed SDREF combines the strong points of EKFR1 and EKFR2 and overcomes their disadvantages.

  20. Intelligent autonomous systems 12. Vol. 2. Proceedings

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sukhan [Sungkyunkwan Univ., Gyeonggi-Do (Korea, Republic of). College of Information and Communication Engineering; Yoon, Kwang-Joon [Konkuk Univ., Seoul (Korea, Republic of); Cho, Hyungsuck [Daegu Gyeongbuk Institute of Science and Technology, Daegu (Korea, Republic of); Lee, Jangmyung (eds.) [Pusan National Univ. (Korea, Republic of). Dept. of Electronics Engineering

    2013-02-01

    Recent research in Intelligent and Autonomous Systems. Volume 2 of the proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, jeju Island, Korea. Written by leading experts in the field. Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of ''Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 2 includes contributions devoted to Service Robotics and Human-Robot Interaction and Autonomous Multi-Agent Systems and Life Engineering.

  1. An intelligent hybrid behavior coordination system for an autonomous mobile robot

    Science.gov (United States)

    Luo, Chaomin; Krishnan, Mohan; Paulik, Mark; Fallouh, Samer

    2013-12-01

    In this paper, development of a low-cost PID controller with an intelligent behavior coordination system for an autonomous mobile robot is described that is equipped with IR sensors, ultrasonic sensors, regulator, and RC filters on the robot platform based on HCS12 microcontroller and embedded systems. A novel hybrid PID controller and behavior coordination system is developed for wall-following navigation and obstacle avoidance of an autonomous mobile robot. Adaptive control used in this robot is a hybrid PID algorithm associated with template and behavior coordination models. Software development contains motor control, behavior coordination intelligent system and sensor fusion. In addition, the module-based programming technique is adopted to improve the efficiency of integrating the hybrid PID and template as well as behavior coordination model algorithms. The hybrid model is developed to synthesize PID control algorithms, template and behavior coordination technique for wall-following navigation with obstacle avoidance systems. The motor control, obstacle avoidance, and wall-following navigation algorithms are developed to propel and steer the autonomous mobile robot. Experiments validate how this PID controller and behavior coordination system directs an autonomous mobile robot to perform wall-following navigation with obstacle avoidance. Hardware configuration and module-based technique are described in this paper. Experimental results demonstrate that the robot is successfully capable of being guided by the hybrid PID controller and behavior coordination system for wall-following navigation with obstacle avoidance.

  2. Global navigation satellite system; Jisedai kokoho senjo system

    Energy Technology Data Exchange (ETDEWEB)

    Kawano, S.; Suga, S. [Toshiba Corp., Tokyo (Japan)

    2000-05-01

    The safety of civil aviation relies on ground navigation aids. In areas where there are no ground aids and on oceanic air routes, aircraft must depend on their own navigation system. The predicted increase in civil aviation traffic in the near future will make it difficult for current navigation aids to support navigation in all phases of flights. To avoid this problem, the International Civil Aviation Organization (ICAO) is directing the establishment of standards for the global navigation satellite system (GNSS). GNSS employs navigation satellites, such as those of the global positioning system (GPS), to provide navigation capability throughout the world. In Japan, the Electronic Navigation Research Institute, the Ministry of Transport, and the Japan civil Aviation Promotion Foundation are carrying out research on this navigation system. Toshiba has been providing experimental equipment for this research. (author)

  3. Stereo Vision Based Terrain Mapping for Off-Road Autonomous Navigation

    Science.gov (United States)

    Rankin, Arturo L.; Huertas, Andres; Matthies, Larry H.

    2009-01-01

    Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as no-go regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

  4. Stereo Vision Based Terrain Mapping for Off-Road Autonomous Navigation

    Science.gov (United States)

    Rankin, Arturo L.; Huertas, Andres; Matthies, Larry H.

    2009-01-01

    Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as no-go regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

  5. Navigation of autonomous vehicles for oil spill cleaning in dynamic and uncertain environments

    Science.gov (United States)

    Jin, Xin; Ray, Asok

    2014-04-01

    In the context of oil spill cleaning by autonomous vehicles in dynamic and uncertain environments, this paper presents a multi-resolution algorithm that seamlessly integrates the concepts of local navigation and global navigation based on the sensory information; the objective here is to enable adaptive decision making and online replanning of vehicle paths. The proposed algorithm provides a complete coverage of the search area for clean-up of the oil spills and does not suffer from the problem of having local minima, which is commonly encountered in potential-field-based methods. The efficacy of the algorithm is tested on a high-fidelity player/stage simulator for oil spill cleaning in a harbour, where the underlying oil weathering process is modelled as 2D random-walk particle tracking. A preliminary version of this paper was presented by X. Jin and A. Ray as 'Coverage Control of Autonomous Vehicles for Oil Spill Cleaning in Dynamic and Uncertain Environments', Proceedings of the American Control Conference, Washington, DC, June 2013, pp. 2600-2605.

  6. Autonomous robot navigation based on the evolutionary multi-objective optimization of potential fields

    Science.gov (United States)

    Herrera Ortiz, Juan Arturo; Rodríguez-Vázquez, Katya; Padilla Castañeda, Miguel A.; Arámbula Cosío, Fernando

    2013-01-01

    This article presents the application of a new multi-objective evolutionary algorithm called RankMOEA to determine the optimal parameters of an artificial potential field for autonomous navigation of a mobile robot. Autonomous robot navigation is posed as a multi-objective optimization problem with three objectives: minimization of the distance to the goal, maximization of the distance between the robot and the nearest obstacle, and maximization of the distance travelled on each field configuration. Two decision makers were implemented using objective reduction and discrimination in performance trade-off. The performance of RankMOEA is compared with NSGA-II and SPEA2, including both decision makers. Simulation experiments using three different obstacle configurations and 10 different routes were performed using the proposed methodology. RankMOEA clearly outperformed NSGA-II and SPEA2. The robustness of this approach was evaluated with the simulation of different sensor masks and sensor noise. The scheme reported was also combined with the wavefront-propagation algorithm for global path planning.

  7. Autonomous intelligent cruise control system

    Science.gov (United States)

    Baret, Marc; Bomer, Thierry T.; Calesse, C.; Dudych, L.; L'Hoist, P.

    1995-01-01

    Autonomous intelligent cruise control (AICC) systems are not only controlling vehicles' speed but acting on the throttle and eventually on the brakes they could automatically maintain the relative speed and distance between two vehicles in the same lane. And more than just for comfort it appears that these new systems should improve the safety on highways. By applying a technique issued from the space research carried out by MATRA, a sensor based on a charge coupled device (CCD) was designed to acquire the reflected light on standard-mounted car reflectors of pulsed laser diodes emission. The CCD is working in a unique mode called flash during transfer (FDT) which allows identification of target patterns in severe optical environments. It provides high accuracy for distance and angular position of targets. The absence of moving mechanical parts ensures high reliability for this sensor. The large field of view and the high measurement rate give a global situation assessment and a short reaction time. Then, tracking and filtering algorithms have been developed in order to select the target, on which the equipped vehicle determines its safety distance and speed, taking into account its maneuvering and the behaviors of other vehicles.

  8. Requirement analysis for autonomous systems and intelligent ...

    African Journals Online (AJOL)

    ... analysis for autonomous systems and intelligent agents in future Danish electric power systems. ... International Journal of Engineering, Science and Technology ... Alternatively, you can download the PDF file directly to your computer, from ...

  9. Autonomous Systems Developments and Trends

    CERN Document Server

    Kyamaky, Kyandoghere; Kacprzyk, Janusz

    2012-01-01

    The Workshops on Autonomous Systems emanated from a gathering with the doctoral students of just three chairs at Fernuniversität in Hagen, which we organise twice per year for a number of years now. Their purpose is to discuss on-going research and to create a community spirit. Furthermore, they serve as a means of structuring the students' research processes. The workshop has grown and matured in several respects. The doctoral students presenting their work do not come from a single university anymore, but from three. Besides them and their supervisors, also other scientists became interested in the event and contribute to its programme. Following the model of Advanced Study Institutes, they are available on the premises for relaxed, informal discussions outside the formal sessions. Finally, with the co-sponsorship of Gesellschaft für Informatik, the German Computer Society, and this surprisingly comprehensive volume of contributions published by Springer-Verlag the workshop turned into a visible scientifi...

  10. Navigation System for Reusable Launch Vehicle

    OpenAIRE

    Schlotterer, Markus

    2008-01-01

    PHOENIX is a downscaled experimental vehicle to demonstrate automatic landing capabilities of future Reusable Launch Vehicles (RLVs). PHOENIX has flown in May 2004 at NEAT (North European Aerospace Test range) in Vidsel, Sweden. As the shape of the vehicle has been designed for re-entry, the dynamics are very high and almost unstable. This requires a fast and precise GNC system. This paper describes the navigation system and the navigation filter of PHOENIX. The system is introduced and the h...

  11. Sonar-based iceberg-relative navigation for autonomous underwater vehicles

    Science.gov (United States)

    Kimball, Peter; Rock, Stephen

    2011-06-01

    Iceberg-relative navigation for autonomous underwater vehicles (AUVs) will enable a new mode of data collection for studies of free-floating icebergs. Compared to current data collection methods, autonomous underwater vehicles offer substantially expanded coverage area and continuous sampling. However, because icebergs translate and rotate through inertial space, standard vehicle navigation methods which rely on inertial sensors are unable to provide iceberg-relative position estimates. Presented here is a new iceberg-relative vehicle navigation technique which is an extension of existing work in terrain-relative navigation. The technique comprises a mapping step and localization step, each of which is modified here to account for the translation and the rotation of free-floating icebergs. In the mapping step, the AUV circumnavigates the iceberg at a sequence of constant depths, collecting multibeam sonar imagery of the iceberg's submerged surface. A map is then generated in post-processing by projecting these sonar data from their corresponding vehicle positions (accounting for iceberg motion) in a frame that is fixed to the iceberg. Overlapping sonar data from the beginning and end of a circumnavigation provide the information necessary to enforce self-consistency of the iceberg map. In the localization step, the AUV uses the previously generated map to determine its position and orientation with respect to the iceberg by correlating incoming sonar ranges with the map. The estimator works by maintaining explicit estimates not only of the vehicle position and orientation, but also of the iceberg translation and rotation rates through inertial space. Results from a proof-of-concept field demonstration of this new iceberg-relative AUV navigation technique prove the feasibility of both generating a self-consistent three-dimensional map of a moving iceberg and localizing a vehicle's position with respect to that iceberg. The data for the experiment were collected

  12. IMPLEMENTATION OF AUTONOMOUS NAVIGATION ALGORITHMS ON TWO-WHEELED GROUND MOBILE ROBOT

    Directory of Open Access Journals (Sweden)

    Stephen Armah

    2014-01-01

    Full Text Available This study presents an effective navigation architecture that combines ‘go-to-goal’, ‘avoid-obstacle’ and ‘follow-wall’ controllers into a full navigation system. A MATLAB robot simulator is used to implement this navigation control algorithm. The robot in the simulator moves to a goal in the presence of convex and non-convex obstacles. Experiments are carried out using a ground mobile robot, Dr Robot X80SV, in a typical office environment to verify successful implementation of the navigation architecture algorithm programmed in MATLAB. The research paper also demonstrates algorithms to achieve tasks such as ‘move to a point’, ‘move to a pose’, ‘follow a line’, ‘move in a circle’ and ‘avoid obstacles’. These control algorithms are simulated using Simulink models.

  13. Model-aided Navigation with Sea Current Estimation for an Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Alain Martinez

    2015-07-01

    Full Text Available This paper presents a strategy to improve the navigation solution of the HRC-AUV by deploying a model-aided inertial navigation system (MA-INS. Based on a simpler three-DOF linear dynamic model (DM of the vehicle, and implemented through a Kalman filter (KF, the performance of the proposed MA-INS is compared to state-of-the-art solutions based on non-linear models. The model allows the online estimation of the sea current parameters before and during the navigation mission. Qualitative and quantitative evaluations as well as a statistical significance test are performed using both simulated and real data, demonstrating the usefulness of the proposed model-aided navigation.

  14. Model-Aided Navigation with Sea Current Estimation for an Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Alain Martinez

    2015-07-01

    Full Text Available This paper presents a strategy to improve the navigation solution of the HRC-AUV by deploying a model-aided inertial navigation system (MA-INS. Based on a simpler three-DOF linear dynamic model (DM of the vehicle, and implemented through a Kalman filter (KF, the performance of the proposed MA-INS is compared to state-of-the-art solutions based on non-linear models. The model allows the online estimation of the sea current parameters before and during the navigation mission. Qualitative and quantitative evaluations as well as a statistical significance test are performed using both simulated and real data, demonstrating the usefulness of the proposed model-aided navigation.

  15. Global navigation system with RFID tags

    Science.gov (United States)

    Tsukiyama, Toshifumi

    2002-02-01

    A new navigation system is described for a mobile robot moving around in man-made environments such as hallways in a building. The system is based on a commercial three-wheel mobile platform with the addition of a Linux-based laptop computer, a Radio Frequency Identification (RDID) tag sensor and a vision system. At critical junctions such as the intersection of two passages the navigation system must identify the robot's location on a given map. We propose a method using RFID tags as landmarks. Each RFID tag has a unique ID number corresponding to its location on the map. The navigation system can decide the next movement (left-turn, right-turn and so on) toward a given goal based on this number. The navigation system also can automatically follow walls using the vision system. Since the equipment setup is very simple and the navigation system is easily combined with general mobile robot systems, our proposed technique would be useful for real-world robotic applications such as intelligent navigation for motorized wheelchairs.

  16. 33 CFR 207.275 - McClellan-Kerr Arkansas River navigation system: use, administration, and navigation.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false McClellan-Kerr Arkansas River navigation system: use, administration, and navigation. 207.275 Section 207.275 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE NAVIGATION REGULATIONS §...

  17. A topological navigation system for indoor environments based on perception events

    Directory of Open Access Journals (Sweden)

    Clara Gomez

    2016-12-01

    Full Text Available The aim of the work presented in this article is to develop a navigation system that allows a mobile robot to move autonomously in an indoor environment using perceptions of multiple events. A topological navigation system based on events that imitates human navigation using sensorimotor abilities and sensorial events is presented. The increasing interest in building autonomous mobile systems makes the detection and recognition of perceptions a crucial task. The system proposed can be considered a perceptive navigation system as the navigation process is based on perception and recognition of natural and artificial landmarks, among others. The innovation of this work resides in the use of an integration interface to handle multiple events concurrently, leading to a more complete and advanced navigation system. The developed architecture enhances the integration of new elements due to its modularity and the decoupling between modules. Finally, experiments have been carried out in several mobile robots, and their results show the feasibility of the navigation system proposed and the effectiveness of the sensorial data integration managed as events.

  18. Plenoptic Imager for Automated Surface Navigation Project

    Data.gov (United States)

    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...

  19. Improving Car Navigation with a Vision-Based System

    Science.gov (United States)

    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.

  20. Improving CAR Navigation with a Vision-Based System

    Science.gov (United States)

    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.

  1. 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.

  2. 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.

  3. NFC Internal: An Indoor Navigation System

    Science.gov (United States)

    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

  4. NFC internal: an indoor navigation system.

    Science.gov (United States)

    Ozdenizci, Busra; Coskun, Vedat; Ok, Kerem

    2015-03-27

    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.

  5. Advanced Navigation System for Aircraft Applications

    Directory of Open Access Journals (Sweden)

    G. Satheesh Reddy

    2013-03-01

    Full Text Available Various forms of navigation are present in today’s world, leading from satellite based navigation to several archaic forms of navigation like star gazing. Now, lots of technologies are available to achieve this but with certain limitations. For example, FOG based navigation provides accuracy with in 0.10-100 range which is not sufficient for various military applications. Therefore, there is a need to design a system which will have better accuracy and thus requires development of ring laser gyro-based inertial systems. This paper concentrates on the aided navigation system based on ring laser gyro of 0.01 deg/hr class and GPS - GLONASS to further enhance the capability of system in terms of accuracy. The usage of such systems not only provides accurate results momentarily but it also persists for longer duration with the aid of GPS - GLONASS for applications like aircraft, ship and long range missiles. The system provides accuracy of the level of 1 Nm/hr in pure navigation and 30 m with the aid of GPS - GLONASS. Apart from this, the availability of gyro-compass and baro-inertial algorithms further enhances the system capabilities and made them self dependent to the major extent.Defence Science Journal, 2013, 63(2, pp.131-137, DOI:http://dx.doi.org/10.14429/dsj.63.4254

  6. An integrated platform for inertial navigation systems

    Science.gov (United States)

    Dumitrascu, Ana; Tamas, Razvan D.; Caruntu, George; Bobirca, Daniel

    2015-02-01

    In this paper we propose a new configuration for an inertial navigation system (INS), type strap down, designed to be used onboard a ship. The system consists of an inertial navigation unit (IMU), using a 9-axis inertial sensor and pressure and temperature sensors, a GPS module, various interfaces for optimal communication and command, a microcontroller for data processing and computing and a power supply.

  7. Intelligent control system of autonomous objects

    Science.gov (United States)

    Engel, E. A.; Kovalev, I. V.; Engel, N. E.; Brezitskaya, V. V.; Prohorovich, G. A.

    2017-02-01

    This paper presents an intelligent control system of autonomous objects as framework. The intelligent control framework includes two different layers: a reflexive layer and a reactive layer. The proposed multiagent adaptive fuzzy neuronet combines low-level reaction with high-level reasoning in an intelligent control framework. The formed as the multiagent adaptive fuzzy neuronet the intelligent control system on the base of autonomous object’s state, creates the effective control signal under random perturbations.

  8. Vision-aided inertial navigation system for robotic mobile mapping

    Science.gov (United States)

    Bayoud, Fadi; Skaloud, Jan

    2008-04-01

    A mapping system by vision-aided inertial navigation was developed for areas where GNSS signals are unreachable. In this framework, a methodology on the integration of vision and inertial sensors is presented, analysed and tested. The system employs the method of “SLAM: Simultaneous Localisation And Mapping” where the only external input available to the system at the beginning of the mapping mission is a number of features with known coordinates. SLAM is a term used in the robotics community to describe the problem of mapping the environment and at the same time using this map to determine the location of the mapping device. Differing from the robotics approach, the presented development stems from the frameworks of photogrammetry and kinematic geodesy that are merged in two filters that run in parallel: the Least-Squares Adjustment (LSA) for features coordinates determination and the Kalman filter (KF) for navigation correction. To test this approach, a mapping system-prototype comprising two CCD cameras and one Inertial Measurement Unit (IMU) is introduced. Conceptually, the outputs of the LSA photogrammetric resection are used as the external measurements for the KF that corrects the inertial navigation. The filtered position and orientation are subsequently employed in the photogrammetric intersection to map the surrounding features that are used as control points for the resection in the next epoch. We confirm empirically the dependency of navigation performance on the quality of the images and the number of tracked features, as well as on the geometry of the stereo-pair. Due to its autonomous nature, the SLAM's performance is further affected by the quality of IMU initialisation and the a-priory assumptions on error distribution. Using the example of the presented system we show that centimetre accuracy can be achieved in both navigation and mapping when the image geometry is optimal.

  9. Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

    Science.gov (United States)

    Steinhaus, Peter; Strand, Marcus; Dillmann, Rüdiger

    2007-12-01

    Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media) in Karlsruhe.

  10. Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot

    Directory of Open Access Journals (Sweden)

    Yuan Xu

    2014-01-01

    Full Text Available As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF which used the noise statistics estimator in the iterated extended Kalman (IEKF, and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS/wireless sensors networks (WSNs-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.

  11. Adaptive iterated extended Kalman filter and its application to autonomous integrated navigation for indoor robot.

    Science.gov (United States)

    Xu, Yuan; Chen, Xiyuan; Li, Qinghua

    2014-01-01

    As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF) which used the noise statistics estimator in the iterated extended Kalman (IEKF), and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS)/wireless sensors networks (WSNs)-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE) of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.

  12. Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

    Directory of Open Access Journals (Sweden)

    Rüdiger Dillmann

    2007-01-01

    Full Text Available Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media in Karlsruhe.

  13. Comparative anatomy of the autonomic nervous system.

    Science.gov (United States)

    Nilsson, Stefan

    2011-11-16

    This short review aims to point out the general anatomical features of the autonomic nervous systems of non-mammalian vertebrates. In addition it attempts to outline the similarities and also the increased complexity of the autonomic nervous patterns from fish to tetrapods. With the possible exception of the cyclostomes, perhaps the most striking feature of the vertebrate autonomic nervous system is the similarity between the vertebrate classes. An evolution of the complexity of the system can be seen, with the segmental ganglia of elasmobranchs incompletely connected longitudinally, while well developed paired sympathetic chains are present in teleosts and the tetrapods. In some groups the sympathetic chains may be reduced (dipnoans and caecilians), and have yet to be properly described in snakes. Cranial autonomic pathways are present in the oculomotor (III) and vagus (X) nerves of gnathostome fish and the tetrapods, and with the evolution of salivary and lachrymal glands in the tetrapods, also in the facial (VII) and glossopharyngeal (IX) nerves.

  14. Autonomic Nervous System Dysfunction in Parkinson's Disease.

    Science.gov (United States)

    Zesiewicz, Theresa A.; Baker, Matthew J.; Wahba, Mervat; Hauser, Robert A.

    2003-03-01

    Autonomic nervous system (ANS) dysfunction is common in Parkinson's disease (PD), affects 70% to 80% of patients, and causes significant morbidity and discomfort. Autonomic nervous system dysfunction symptoms in PD include sexual dysfunction, swallowing and gastrointestinal disorders, bowel and bladder abnormalities, sleep disturbances, and derangements of cardiovascular regulation, particularly, orthostatic hypotension. Autonomic nervous system dysfunction in PD may be caused by an underlying degenerative process that affects the autonomic ganglia, brainstem nuclei, and hypothalamic nuclei. Anti-parkinsonian medications can cause or worsen symptoms of ANS dysfunction. The care of a PD patient with ANS dysfunction relies on its recognition and directed treatment, including coordinated care between the neurologist and appropriate subspecialist. Pharmacotherapy may be useful to treat orthostasis, gastrointestinal, urinary, and sexual dysfunction.

  15. A Toolbox of Aiding Techniques for the HUGIN AUV Integrated Inertial Navigation System

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    2004-07-01

    Full Text Available Modern AUV designs must handle submerged autonomous operation for long periods of time. The state of the art solution embedded in the HUGIN AUVs is a Doppler Velocity Log (DVL aided Inertial Navigation System (INS that can integrate various forms of position measurement updates. In autonomous operations, position updates are only available in limited periods of time or space, thus the core velocity aided inertial navigation system must exhibit high accuracy However, position uncertainty of a DVL aided inertial navigation system will eventually drift off, compromising either mission operation or requirements for accurate positioning of payload data. To meet the requirements for a range of military and civilian AUV applications, the HUGIN vehicles come with a flexible and powerful set of navigation techniques. Methods for position updates include GPS surface fix, DGPS-USBL, Underwater Transponder Positioning (UTP and bathymetric terrain navigation. Based on synthetic aperture sonar technology, a potentially revolutionary accurate velocity measurement is under development. HUGIN also comes with a navigation post-processing system (NavLab, which can be applied to increase navigational integrity and maximize position accuracy.

  16. A Combination of Terrain Prediction and Correction for Search and Rescue Robot Autonomous Navigation

    Directory of Open Access Journals (Sweden)

    Yan Guo

    2009-09-01

    Full Text Available This paper presents a novel two-step autonomous navigation method for search and rescue robot. The algorithm based on the vision is proposed for terrain identification to give a prediction of the safest path with the support vector regression machine (SVRM trained off-line with the texture feature and color features. And correction algorithm of the prediction based the vibration information is developed during the robot traveling, using the judgment function given in the paper. The region with fault prediction will be corrected with the real traversability value and be used to update the SVRM. The experiment demonstrates that this method could help the robot to find the optimal path and be protected from the trap brought from the error between prediction and the real environment.

  17. Autonomous integrated GPS/INS navigation experiment for OMV. Phase 1: Feasibility study

    Science.gov (United States)

    Upadhyay, Triveni N.; Priovolos, George J.; Rhodehamel, Harley

    1990-01-01

    The phase 1 research focused on the experiment definition. A tightly integrated Global Positioning System/Inertial Navigation System (GPS/INS) navigation filter design was analyzed and was shown, via detailed computer simulation, to provide precise position, velocity, and attitude (alignment) data to support navigation and attitude control requirements of future NASA missions. The application of the integrated filter was also shown to provide the opportunity to calibrate inertial instrument errors which is particularly useful in reducing INS error growth during times of GPS outages. While the Orbital Maneuvering Vehicle (OMV) provides a good target platform for demonstration and for possible flight implementation to provide improved capability, a successful proof-of-concept ground demonstration can be obtained using any simulated mission scenario data, such as Space Transfer Vehicle, Shuttle-C, Space Station.

  18. The rotation modulation inertial navigation system for blackout area during hypersonic reentry

    Science.gov (United States)

    Li, Jin; Zhao, Jianhui; Sha, Xiaoqiang; Li, Fan

    2016-10-01

    Navigation of Hypersonic vehicles in the radio frequency (RF) blackout area during atmospheric reentry is challenging as the vehicles can only use the inertial navigation system (INS) as autonomous navigation method in this area. In this paper, strapdown inertial navigation system (SINS) based on the Fiber Optic Gyroscope (FOG) is used for navigation in blackout area. However, without external navigation measurement, the errors of SINS caused by the FOG drift and accelerometer bias would cumulate with time and degrade navigation accuracy. To solve this problem, single axis rotation modulation along with the azimuth axis of the body frame is adopted. The Generic Hypersonic Vehicle (GHV) model designed by NASA Langley Research Center is used to build the reentry fight model which can generate navigation information for simulation. Through derivation the error equations of FOG SINS in the North-East-Down (NED) navigation frame, the principle of error compensation by rotation modulation can be well understood. The simulation results show that rotation modulation can effectively decrease the impact of inertial sensor drift and improve the navigation accuracy in blackout area.

  19. Recognition of 3D objects for autonomous mobile robot's navigation in automated shipbuilding

    Science.gov (United States)

    Lee, Hyunki; Cho, Hyungsuck

    2007-10-01

    Nowadays many parts of shipbuilding process are automated, but the painting process is not, because of the difficulty of automated on-line painting quality measurement, harsh painting environment and the difficulty of robot navigation. However, the painting automation is necessary, because it can provide consistent performance of painting film thickness. Furthermore, autonomous mobile robots are strongly required for flexible painting work. However, the main problem of autonomous mobile robot's navigation is that there are many obstacles which are not expressed in the CAD data. To overcome this problem, obstacle detection and recognition are necessary to avoid obstacles and painting work effectively. Until now many object recognition algorithms have been studied, especially 2D object recognition methods using intensity image have been widely studied. However, in our case environmental illumination does not exist, so these methods cannot be used. To overcome this, to use 3D range data must be used, but the problem of using 3D range data is high computational cost and long estimation time of recognition due to huge data base. In this paper, we propose a 3D object recognition algorithm based on PCA (Principle Component Analysis) and NN (Neural Network). In the algorithm, the novelty is that the measured 3D range data is transformed into intensity information, and then adopts the PCA and NN algorithm for transformed intensity information to reduce the processing time and make the data easy to handle which are disadvantages of previous researches of 3D object recognition. A set of experimental results are shown to verify the effectiveness of the proposed algorithm.

  20. Autonomous Systems: Issues for Defence Policymakers

    Science.gov (United States)

    2015-09-30

    cavalrymen no longer fight with edged weapons, work the sails and rigging of ships, or ride horses , but the ethos embodied in their job specialties lives on...or emergent behaviour that was not directly predictable from an inspection of its code. An example would be a self-learning robot that taught...or merely the fear that other nations might develop autonomous weapon systems, could spark an autonomous weapons arms race . This potential

  1. Error Analysis System for Spacecraft Navigation Using the Global Positioning System (GPS)

    Science.gov (United States)

    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

  2. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-02-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  3. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-03-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  4. Foot mounted inertial system for pedestrian navigation

    Science.gov (United States)

    Godha, S.; Lachapelle, G.

    2008-07-01

    This paper discusses algorithmic concepts, design and testing of a system based on a low-cost MEMS-based inertial measurement unit (IMU) and high-sensitivity global positioning system (HSGPS) receivers for seamless personal navigation in a GPS signal degraded environment. The system developed here is mounted on a pedestrian shoe/foot and uses measurements based on the dynamics experienced by the inertial sensors on the user's foot. The IMU measurements are processed through a conventional inertial navigation system (INS) algorithm and are then integrated with HSGPS receiver measurements and dynamics derived constraint measurements using a tightly coupled integration strategy. The ability of INS to bridge the navigation solution is evaluated through field tests conducted indoors and in severely signal degraded forest environments. The specific focus is on evaluating system performance under challenging GPS conditions.

  5. Speech Recognition Technology Applied to Intelligent Mobile Navigation System

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    The capability of human-computer interaction reflects the intelligent degree of mobile navigation system.The navigation data and functions of mobile navigation system are divided into system commands and non-system commands in this paper.And then a group of speech commands are Abstracted.This paper applies speech recognition technology to intelligent mobile navigation system to process speech commands and does some deep research on the integration of speech recognition technology with mobile navigation system.The navigation operation can be performed by speech commands,which makes human-computer interaction easy during navigation.Speech command interface of navigation system is implemented by Dutty ++ Software,which is based on speech recognition system -Via Voice of IBM.Through navigation experiments,navigation can be done almost without keyboard,which proved that human-computer interaction is very convenient by speech commands and the reliability is also higher.

  6. Improved Modeling in a Matlab-Based Navigation System

    Science.gov (United States)

    Deutschmann, Julie; Bar-Itzhack, Itzhack; Harman, Rick; Larimore, Wallace E.

    1999-01-01

    An innovative approach to autonomous navigation is available for low earth orbit satellites. The system is developed in Matlab and utilizes an Extended Kalman Filter (EKF) to estimate the attitude and trajectory based on spacecraft magnetometer and gyro data. Preliminary tests of the system with real spacecraft data from the Rossi X-Ray Timing Explorer Satellite (RXTE) indicate the existence of unmodeled errors in the magnetometer data. Incorporating into the EKF a statistical model that describes the colored component of the effective measurement of the magnetic field vector could improve the accuracy of the trajectory and attitude estimates and also improve the convergence time. This model is identified as a first order Markov process. With the addition of the model, the EKF attempts to identify the non-white components of the noise allowing for more accurate estimation of the original state vector, i.e. the orbital elements and the attitude. Working in Matlab allows for easy incorporation of new models into the EKF and the resulting navigation system is generic and can easily be applied to future missions resulting in an alternative in onboard or ground-based navigation.

  7. Autonomous and autonomic systems with applications to NASA intelligent spacecraft operations and exploration systems

    CERN Document Server

    Truszkowski, Walt; Rouff, Christopher; Karlin, Jay; Rash, James; Hinchey, Michael; Sterritt, Roy

    2009-01-01

    This book provides an in-depth discussion of autonomous and autonomic systems, their interdependencies, differences and similarities. Current and pending issues in these evermore increasingly important subjects are highlighted and discussed. Concepts, ideas and experiences are explored in relation to real-life NASA systems in spacecraft control and in the exploration domain.

  8. Navigation system for a smart wheelchair

    Institute of Scientific and Technical Information of China (English)

    BONCI Andrea; LONGHI Sauro; MONTERI(U) Andrea; VACCARINI Massimo

    2005-01-01

    Recent results on the development of a navigation system for a smart wheelchair are presented in this paper. In order to reduce the development cost, a modular solution is designed by using commercial and low cost devices. The functionalities of the tracking control system are described. Experimental results of the proposed assistive system are also presented and discussed.

  9. Towards Autonomous Control of HVAC Systems

    DEFF Research Database (Denmark)

    Brath, P.

    This thesis considered development of an autonomous control system for heating ventilation and air conditioning applications. By including auto-tuning, adaptation, diagnosis and supervision functions in the control system used in the HVAC industry will move the control of HVAC systems towards...... autonomous control. Together with better tuned controllers and more dedicated control it would be possible to decrease the energy consumption, save money and increase the indoor air climate. A flexible HVAC test system was designed and implemented. Standard components and sensors were used in the design...

  10. Research on the airborne SINS/CNS integrated navigation system assisted by BD navigation system

    Science.gov (United States)

    Xie, Mei-lin; Yang, Xiao-xu; Han, Jun-feng; Wei, Yu; Yue, Peng; Deng, Xiao-guo; Huang, Wei

    2016-01-01

    When the star navigation system working during the day, the strong sky background radiation lead to a result that the detect target light is too weak, in the field of view, because of the limitation on the number of the navigation star, usually choose the single star navigation work mode. In order to improve the reliability of the airborne SINS/CNS integrated navigation system, meet the demand of the long-endurance and high precision navigation, use the tight combination way, single star patrol algorithm to get the position and attitude. There exists filtering divergence problem because of the model error and the system measurement noise is uncertain, put forward a new fuzzy adaptive kalman filtering algorithm. Adjust the size of measurement noise to prevent the filter divergence; the positioning accuracy of integrated navigation system can be improved through BeiDou satellite. Without the information of BeiDou satellite, based on the level of the virtual reference, the navigation precision of integrated navigation system can be ensured over a period of time.

  11. COST-EFFECTIVE STEREO VISION SYSTEM FOR MOBILE ROBOT NAVIGATION AND 3D MAP RECONSTRUCTION

    Directory of Open Access Journals (Sweden)

    Arjun B Krishnan

    2014-07-01

    Full Text Available The key component of a mobile robot system is the ability to localize itself accurately in an unknown environment and simultaneously build the map of the environment. Majority of the existing navigation systems are based on laser range finders, sonar sensors or artificial landmarks. Navigation systems using stereo vision are rapidly developing technique in the field of autonomous mobile robots. But they are less advisable in replacing the conventional approaches to build small scale autonomous robot because of their high implementation cost. This paper describes an experimental approach to build a cost- effective stereo vision system for autonomous mobile robots that avoid obstacles and navigate through indoor environments. The mechanical as well as the programming aspects of stereo vision system are documented in this paper. Stereo vision system adjunctively with ultrasound sensors was implemented on the mobile robot, which successfully navigated through different types of cluttered environments with static and dynamic obstacles. The robot was able to create two dimensional topological maps of unknown environments using the sensor data and three dimensional model of the same using stereo vision system.

  12. ON FIRST INTEGRALS OF POLYNOMIAL AUTONOMOUS SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    WANG Yuzhen; CHENG Daizhan; LI Chunwen

    2002-01-01

    Using Carleman linearization procedure, this paper investigates the problemof first integrals of polynomial autonomous systems and proposes a procedure to find thefirst integrals of polynomial family for the systems. A generalized eigenequation is obtainedand then the problem is reduced to the solvability of the eigenequation. The result is ageneralization of some known results.

  13. Requirement analysis for autonomous systems and intelligent ...

    African Journals Online (AJOL)

    user

    We evaluate application of autonomous systems and intelligent agents ... a record of 20% penetration of wind power (2007 data), and innovative control ... Danish Power System and a requirement analysis for the use of intelligent agents and ..... is a service responsible for message transportation between agents within a ...

  14. Advisory and autonomous cooperative driving systems

    NARCIS (Netherlands)

    Broek, T.H.A. van den; Ploeg, J.; Netten, B.D.

    2011-01-01

    In this paper, the traffic efficiency of an advisory cooperative driving system, Advisory Acceleration Control is examined and compared to the efficiency of an autonomous cooperative driving system, Cooperative Adaptive Cruise Control. The algorithms and implementation thereof are explained. The res

  15. Method and system for providing autonomous control of a platform

    Science.gov (United States)

    Seelinger, Michael J. (Inventor); Yoder, John-David (Inventor)

    2012-01-01

    The present application provides a system for enabling instrument placement from distances on the order of five meters, for example, and increases accuracy of the instrument placement relative to visually-specified targets. The system provides precision control of a mobile base of a rover and onboard manipulators (e.g., robotic arms) relative to a visually-specified target using one or more sets of cameras. The system automatically compensates for wheel slippage and kinematic inaccuracy ensuring accurate placement (on the order of 2 mm, for example) of the instrument relative to the target. The system provides the ability for autonomous instrument placement by controlling both the base of the rover and the onboard manipulator using a single set of cameras. To extend the distance from which the placement can be completed to nearly five meters, target information may be transferred from navigation cameras (used for long-range) to front hazard cameras (used for positioning the manipulator).

  16. 湖水环境下自主监测船的GPS导航设计%GPS Navigation Design of Autonomous Monitoring Ship in Lake Environment

    Institute of Scientific and Technical Information of China (English)

    黄艳岩; 金英连; 方水光; 王斌锐

    2012-01-01

    Location and navigation technologies are the key of autonomous ship in lakes. This paper establishes an autonomous ship navigation system, designs the global static coordinate and the local static coordinate, The ship dynamic coordinate and kinematics model. According to human driving technologies, a cruise navigation mode is designed and a region navigation mode is given for saving energy, and navigation strategies using if-then rules. Reasons of practical measurement location data noises of GPS and electronic compass are analyzed. In order to improve the precision of location, FIR digital filtering is designed using Hamming window function. Monitoring area calculating equation is derived. Navigation algorithms and interfaces are programmed based on VC++. And navigation experiments are accomplished on self-developed autonomous ship. Results show that effect of FIR filtering to electronic compass is better than to GPS signals, and the cruise mode can achieve a wide range of scanning and monitoring and the given region mode can achieve the monitoring of key areas using lesser energy consumption.%建立导航系统所需的全局静坐标系、局部静坐标系、船体动坐标系和自主船运动学模型.模拟人的驾驶技术,建立巡航和定区域节能2种导航模式,设计推理规则.分析实测的电子罗盘和GPS数据误差原因.为提高定位精度,设计海明窗FIR数字滤波器以及巡航面积计算方法.基于VC++开发导航软件,在自主研发的监测船上开展实验.结果表明,FIR对电子罗盘信号的滤波效果优于GPS信号,巡航模式可实现大范围监测,定区域模式对重点区域进行监测时能耗较低.

  17. An efficient navigation-control system for small unmanned aircraft

    Science.gov (United States)

    Girwar-Nath, Jonathan Alejandro

    Unmanned Aerial Vehicles have been research in the past decade for a broad range of tasks and application domains such as search and rescue, reconnaissance, traffic control, pipe line inspections, surveillance, border patrol, and communication bridging. This work describes the design and implementation of a lightweight Commercial-Off-The-Shelf (COTS) semi-autonomous Fixed-Wing Unmanned Aerial Vehicle (UAV). Presented here is a methodology for System Identification utilizing the Box-Jenkins model estimator on recorded flight data to characterize the system and develop a mathematical model of the aircraft. Additionally, a novel microprocessor, the XMOS, is utilized to navigate and maneuver the aircraft utilizing a PD control system. In this thesis is a description of the aircraft and the sensor suite utilized, as well as the flight data and supporting videos for the benefit of the UAV research community.

  18. Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

    Science.gov (United States)

    Zornetzer, Steve; Gage, Douglas

    2005-01-01

    Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

  19. Basic Mars Navigation System For Local Areas

    Science.gov (United States)

    Petitfils, E.-A.; Boche-Sauvan, L.; Foing, B. H.; Monaghan, E.; Crews, Eurogeomars

    2009-04-01

    Introduction: This project has been first set up as a basic solution in navigation during EVA (extra-vehicular activities) in the Mars Society Desert Research Station in the desert of Utah. The main idea is to keep the system as simple as possible so that it can be easily adaptable and portable. The purpose of such a device is to tell the astronauts in EVA where they roughly are and then letting them reaching different points in avoiding any risky way. Thus the precision needed has not to be really high: even if it is about 50m, every astronaut can then look on a map and be able to design a way to another point. This navigation system will improve the safety of the EVA as it is an added reliable orientating tool. Concept: To look at a simple way to localize oneself, one should have a look at what has been done by mankind on Earth. Today, everyone can think of the GPS because it's simple and very reliable. However the infrastructure for such a system is huge and will not be for sure available during the first missions. We can think of course of a basic GPS using the satellites being in orbit but this approach is not yet as simple as we would like. If we want to keep the sky in sight, we can use the stars and the moons of Mars. Yet this would be a good solution and we can even have a star tracker that would give a good position according to the time of the picture. This solution has to be kept in mind but a star tracker is quite big for an astronaut without any rover nearby and using the sky may not be as precise as one should expect. Another useful tool is the compass. It has been used for centuries by sailors but on Mars, without a good magnetic field for this purpose. But sailors also use lighthouses and some placemarks on the land to localize themselves. This is done with a compass, measuring the angle between a placemark and the magnetic North. With two angles, we can then have the position of the boat. The idea here is the same: measuring the angles between

  20. Vision aided inertial navigation system augmented with a coded aperture

    Science.gov (United States)

    Morrison, Jamie R.

    Navigation through a three-dimensional indoor environment is a formidable challenge for an autonomous micro air vehicle. A main obstacle to indoor navigation is maintaining a robust navigation solution (i.e. air vehicle position and attitude estimates) given the inadequate access to satellite positioning information. A MEMS (micro-electro-mechanical system) based inertial navigation system provides a small, power efficient means of maintaining a vehicle navigation solution; however, unmitigated error propagation from relatively noisy MEMS sensors results in the loss of a usable navigation solution over a short period of time. Several navigation systems use camera imagery to diminish error propagation by measuring the direction to features in the environment. Changes in feature direction provide information regarding direction for vehicle movement, but not the scale of movement. Movement scale information is contained in the depth to the features. Depth-from-defocus is a classic technique proposed to derive depth from a single image that involves analysis of the blur inherent in a scene with a narrow depth of field. A challenge to this method is distinguishing blurriness caused by the focal blur from blurriness inherent to the observed scene. In 2007, MIT's Computer Science and Artificial Intelligence Laboratory demonstrated replacing the traditional rounded aperture with a coded aperture to produce a complex blur pattern that is more easily distinguished from the scene. A key to measuring depth using a coded aperture then is to correctly match the blur pattern in a region of the scene with a previously determined set of blur patterns for known depths. As the depth increases from the focal plane of the camera, the observable change in the blur pattern for small changes in depth is generally reduced. Consequently, as the depth of a feature to be measured using a depth-from-defocus technique increases, the measurement performance decreases. However, a Fresnel zone

  1. Planetary exploration by a mobile robot: mission teleprogramming and autonomous navigation.

    Science.gov (United States)

    Chatila, R.; Lacroix, S.; Simeon, T.; Herrb, M.

    Sending mobile robots to accomplish planetary exploration missions is scientifically promising and technologically challenging. The authors present a complete approach that encompasses the major aspects involved in the design of a robotic system for planetary exploration. It includes mission teleprogramming and supervision at a ground station, and autonomous mission execution by the remote mobile robot. They have partially implemented and validated these concepts. Experimental results illustrate the approach and the results.

  2. The safety potential of navigation systems.

    NARCIS (Netherlands)

    Oei, H.-l.

    2002-01-01

    This study deals with the possible negative and positive effects of navigation systems on road safety. The literature shows that the human factors side is open for improvement: the design of the menu, possibility of manual programming during driving and shifting the attention of the driver from the

  3. A multimodal interaction system for navigation

    NARCIS (Netherlands)

    Hofs, Dennis; Akker, op den Rieks; Nijholt, Anton; Hondorp, Hendri; Kruijff-Korbayova, I.; Kosny, C.

    2003-01-01

    To help users find their way in a virtual theatre we developed a navigation agent. In natural language dialogue the agent assists users looking for the location of an object or room, and it shows routes between locations. The speech-based dialogue system allows users to ask questions such as “Where

  4. An Expert System for Autonomous Spacecraft Control

    Science.gov (United States)

    Sherwood, Rob; Chien, Steve; Tran, Daniel; Cichy, Benjamin; Castano, Rebecca; Davies, Ashley; Rabideau, Gregg

    2005-01-01

    The Autonomous Sciencecraft Experiment (ASE), part of the New Millennium Space Technology 6 Project, is flying onboard the Earth Orbiter 1 (EO-1) mission. The ASE software enables EO-1 to autonomously detect and respond to science events such as: volcanic activity, flooding, and water freeze/thaw. ASE uses classification algorithms to analyze imagery onboard to detect chang-e and science events. Detection of these events is then used to trigger follow-up imagery. Onboard mission planning software then develops a response plan that accounts for target visibility and operations constraints. This plan is then executed using a task execution system that can deal with run-time anomalies. In this paper we describe the autonomy flight software and how it enables a new paradigm of autonomous science and mission operations. We will also describe the current experiment status and future plans.

  5. Evolution of autonomous and semi-autonomous robotic surgical systems: a review of the literature.

    Science.gov (United States)

    Moustris, G P; Hiridis, S C; Deliparaschos, K M; Konstantinidis, K M

    2011-12-01

    Autonomous control of surgical robotic platforms may offer enhancements such as higher precision, intelligent manoeuvres, tissue-damage avoidance, etc. Autonomous robotic systems in surgery are largely at the experimental level. However, they have also reached clinical application. A literature review pertaining to commercial medical systems which incorporate autonomous and semi-autonomous features, as well as experimental work involving automation of various surgical procedures, is presented. Results are drawn from major databases, excluding papers not experimentally implemented on real robots. Our search yielded several experimental and clinical applications, describing progress in autonomous surgical manoeuvres, ultrasound guidance, optical coherence tomography guidance, cochlear implantation, motion compensation, orthopaedic, neurological and radiosurgery robots. Autonomous and semi-autonomous systems are beginning to emerge in various interventions, automating important steps of the operation. These systems are expected to become standard modality and revolutionize the face of surgery. Copyright © 2011 John Wiley & Sons, Ltd.

  6. Stochastic self-monitoring of autonomous systems

    OpenAIRE

    2012-01-01

    A probabilistic method is presented for high level task planning of autonomous, mobile systems under partial observability of states and partial knowledge of transition laws. Partial state observability is addressed by directed Markov fields which support the detection of relationships between pairs of observed variables in competition to other such pairs.

  7. Intelligent Autonomous Systems 11: IAS-11

    NARCIS (Netherlands)

    Christensen, H.I.; Groen, F.; Petriu, E.

    2010-01-01

    This volume contains the proceedings of the eleventh International Conference on Intelligent Autonomous Systems (IAS-11) at the University of Ottawa in Canada. As ever, the purpose of the IAS conference is to bring together leading international researchers with an interest in all aspects of the

  8. [Emotion, amygdala, and autonomic nervous system].

    Science.gov (United States)

    Ueyama, Takashi

    2012-10-01

    Emotion refers to the dynamic changes of feeling accompanied by the alteration of physical and visceral activities. Autonomic nervous system (sympathetic and parasympathetic) regulates the visceral activities. Therefore, monitoring and analyzing autonomic nervous activity help understand the emotional changes. To this end, the survey of the expression of immediate early genes (IEGs), such as c-Fos in the brain and target organs, and the viral transneuronal labeling method using the pseudorabies virus (PRV) have enabled the visualization of the neurocircuitry of emotion. By comparing c-Fos expression and data from PRV or other neuroanatomical labeling techniques, the central sites that regulate emotional stress-induced autonomic activation can be deduced. Such regions have been identified in the limbic system (e. g., the extended amygdaloid complex; lateral septum; and infralimbic, insular, and ventromedial temporal cortical regions), as well as in several hypothalamic and brainstem nuclei. The amygdala is structurally diverse and comprises several subnuclei, which play a role in emotional process via projections from the cortex and a variety of subcortical structures. All amygdaloid subnuclei receive psychological information from other limbic systems, while the lateral and central subnuclei receive peripheral and sensory information. Output to the hypothalamus and peripheral sympathetic system mainly originates from the medial amygdala. As estrogen receptor α, estrogen receptor β, and androgen receptor are expressed in the medial amygdala, sex steroids may modulate the autonomic nervous activities.

  9. Neurosurgical robotic arm drilling navigation system.

    Science.gov (United States)

    Lin, Chung-Chih; Lin, Hsin-Cheng; Lee, Wen-Yo; Lee, Shih-Tseng; Wu, Chieh-Tsai

    2017-09-01

    The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed. The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2). The system may be useful for neurosurgical robotic arm drilling navigation. Copyright © 2016 John Wiley & Sons, Ltd.

  10. Research on long-term autonomous orbit determination for navigation constellation using inter-satellite orientation observation information

    Science.gov (United States)

    Li, Bo; Xu, Bo; Wang, Hai-Hong

    2009-12-01

    Long-term autonomous orbit determination is one of the key techniques of autonomous navigation for navigation constellation. Based only on cross-link range observation, which is not able to overcome the defect of entire constellation rotation and translation relative to inertial reference frame, the accuracy of autonomous orbit determination is reduced with time. In order to solve this problem, the approach of using inter-satellite orientation observation is put forward to estimate the constellation rotation and translation with the benefit of absolute position information provided by stars. In view of the fact that most navigation satellites moving in near circular orbits, and also in order to reduce the calculation burden of onboard computer, nonsingular orbital elements are chosen as state variables and analytical method is used to calculate the transition matrix in this paper. In addition, the extended Kalman filter is designed to fuse information of satellite dynamic model, cross-link range observation and inter-satellite orientation observation to determine the orbit. The simulation results based on the IGS Final Products of GPS constellation indicate that, at the certain error condition of range and orientation measurement, the URE of constellation is better than 2 meters within 120 days.

  11. SCANNING VISION SYSTEM FOR VEHICLE NAVIGATION

    Directory of Open Access Journals (Sweden)

    O. Sergiyenko

    2012-01-01

    Full Text Available The new model of the scanning vision system for vehicles is offered. The questions of creation, functioning and interaction of the system units and elements are considered. The mathematical apparatus for processing digital information inside the system and for determining distances and an-gle standard in the offered system is worked out. Expected accuracy, functioning speed, range of ac-tion, energy consumption when using the system are determined. The possible areas of the developed automatic navigation system use are offered.

  12. Autonomous System Technologies for Resilient Airspace Operations

    Science.gov (United States)

    Houston, Vincent E.; Le Vie, Lisa R.

    2017-01-01

    Increasing autonomous systems within the aircraft cockpit begins with an effort to understand what autonomy is and developing the technology that encompasses it. Autonomy allows an agent, human or machine, to act independently within a circumscribed set of goals; delegating responsibility to the agent(s) to achieve overall system objective(s). Increasingly Autonomous Systems (IAS) are the highly sophisticated progression of current automated systems toward full autonomy. Working in concert with humans, these types of technologies are expected to improve the safety, reliability, costs, and operational efficiency of aviation. IAS implementation is imminent, which makes the development and the proper performance of such technologies, with respect to cockpit operation efficiency, the management of air traffic and data communication information, vital. A prototype IAS agent that attempts to optimize the identification and distribution of "relevant" air traffic data to be utilized by human crews during complex airspace operations has been developed.

  13. Simulation of Aircraft Sortie Generation Under an Autonomic Logistics System

    Science.gov (United States)

    2016-12-01

    SIMULATION OF AIRCRAFT SORTIE GENERATION UNDER AN AUTONOMIC LOGISTICS SYSTEM THESIS Gunduz...Government. AFIT-ENS-MS-16-D-052 SIMULATION OF AIRCRAFT SORTIE GENERATION UNDER AN AUTONOMIC LOGISTICS SYSTEM THESIS Presented to...DISTRIBUTION UNLIMITED. AFIT-ENS-MS-16-D-052 SIMULATION OF AIRCRAFT SORTIE GENERATION UNDER AN AUTONOMIC LOGISTICS SYSTEM THESIS

  14. Geometric formulations and variational integrators of discrete autonomous Birkhoff systems

    Institute of Scientific and Technical Information of China (English)

    Liu Shi-Xing; Liu Chang; Guo Yong-Xin

    2011-01-01

    The variational integrators of autonomous Birkhoff systems are obtained by the discrete variational principle. The geometric structure of the discrete autonomous Birkhoff system is formulated. The discretization of mathematical pendulum shows that the discrete variational method is as effective as symplectic scheme for the autonomous Birkhoff systems.

  15. 13th International Conference Intelligent Autonomous Systems

    CERN Document Server

    Michael, Nathan; Berns, Karsten; Yamaguchi, Hiroaki

    2016-01-01

    This book describes the latest research accomplishments, innovations, and visions in the field of robotics as presented at the 13th International Conference on Intelligent Autonomous Systems (IAS), held in Padua in July 2014, by leading researchers, engineers, and practitioners from across the world. The contents amply confirm that robots, machines, and systems are rapidly achieving intelligence and autonomy, mastering more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision making. A wide range of research results and applications are covered, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions have been selected through a rigorous peer-review process and contain many exciting and visionary ideas that will further galvanize the research community, spurring novel research directions. The series of biennial IAS conferences ...

  16. Autonomous microexplosives subsurface tracing system final report.

    Energy Technology Data Exchange (ETDEWEB)

    Engler, Bruce Phillip; Nogan, John; Melof, Brian Matthew; Uhl, James Eugene; Dulleck, George R., Jr.; Ingram, Brian V.; Grubelich, Mark Charles; Rivas, Raul R.; Cooper, Paul W.; Warpinski, Norman Raymond; Kravitz, Stanley H.

    2004-04-01

    The objective of the autonomous micro-explosive subsurface tracing system is to image the location and geometry of hydraulically induced fractures in subsurface petroleum reservoirs. This system is based on the insertion of a swarm of autonomous micro-explosive packages during the fracturing process, with subsequent triggering of the energetic material to create an array of micro-seismic sources that can be detected and analyzed using existing seismic receiver arrays and analysis software. The project included investigations of energetic mixtures, triggering systems, package size and shape, and seismic output. Given the current absence of any technology capable of such high resolution mapping of subsurface structures, this technology has the potential for major impact on petroleum industry, which spends approximately $1 billion dollar per year on hydraulic fracturing operations in the United States alone.

  17. An embedded underground navigation system

    CSIR Research Space (South Africa)

    Hlophe, K

    2011-11-01

    Full Text Available GPS. Our research interest is focused on using a lowcost off-the-shelf inertial measurement unit (IMU) to improve the Active Beacon Positioning System (ABPS) developed here at the CSIR. This paper proposes a novel pose estimator, for underground mines...

  18. Navigation System of Marks Areas - USACE IENC

    Data.gov (United States)

    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...

  19. A navigation system for the visually impaired using colored navigation lines and RFID tags.

    Science.gov (United States)

    Seto, First Tatsuya

    2009-01-01

    In this paper, we describe about a developed navigation system that supports the independent walking of the visually impaired in the indoor space. Our developed instrument consists of a navigation system and a map information system. These systems are installed on a white cane. Our navigation system can follow a colored navigation line that is set on the floor. In this system, a color sensor installed on the tip of a white cane senses the colored navigation line, and the system informs the visually impaired that he/she is walking along the navigation line by vibration. The color recognition system is controlled by a one-chip microprocessor and this system can discriminate 6 colored navigation lines. RFID tags and a receiver for these tags are used in the map information system. The RFID tags and the RFID tag receiver are also installed on a white cane. The receiver receives tag information and notifies map information to the user by mp3 formatted pre-recorded voice. Three normal subjects who were blindfolded with an eye mask were tested with this system. All of them were able to walk along the navigation line. The performance of the map information system was good. Therefore, our system will be extremely valuable in supporting the activities of the visually impaired.

  20. Autonomous Navigation Performance Evaluation Method Based on Trajectory Analysis%基于轨迹分析的自主导航性能评估方法

    Institute of Scientific and Technical Information of China (English)

    王勇鑫; 钱徽; 金卓军; 朱淼良

    2011-01-01

    在马尔可夫决策模型框架下,提出一种基于轨迹分析的计算评估方法,通过分析驾驶回报设置和车辆轨迹的特征期望衡量自主导航系统的性能.假定回报函数是回报特征的线性组合,通过逼近不同的车辆自主驾驶策略,求解应用于沙盒场景的回报设置,从而仿真导航轨迹的特征期望.实验结果表明,该方法能对自主导航系统的轨迹数据实现定性和定量评估.%This paper proposes a novel trajectory-analysis-based performance evaluation method, which assesses and compares the navigation performances by reward settings and feature expectations under Markov Decision Process(MDP) framework. Assuming that the reward function is a linear combination of known features, this method evaluates reward settings by approximating the driving styles of different land autonomous navigation systems. On this basis, reward settings are used to simulate the feature expectations of navigation trajectories in a standard land navigation environment called the sandbox. Experimental results show the validity of this method in both qualitative and quantitative performance evaluations.

  1. Beam Forming Property of Coded Acoustic Signal for Long-Range Acoustic Navigation of a Cruising Autonomous Underwater Vehicle

    Science.gov (United States)

    Yoshitaka Watanabe,; Hiroshi Ochi,; Takuya Shimura,; Takehito Hattori,

    2010-07-01

    The property of beam forming by a receiver array placed on the side surface of an autonomous underwater vehicle (AUV) is considered in this paper. The aim of this study is to develop a long-range acoustic navigation system for a cruising AUV on the basis of the estimation of the horizontal direction of arrival (DOA) of an acoustic signal from reference source. The acoustic signal is coded using a maximum length sequence code. The influence of multipath waves to the estimation of horizontal DOA was particularly studied. When there are several multipath waves from various vertical DOAs, even if the horizontal DOAs of all the waves are the same, the multipath waves are influential to the estimation of the horizontal DOA. Then, the coded signal is useful to avoid the influence of the multipath waves. An exploratory experiment on the propagation of the acoustic signal for distance of about 16.6 km was performed in Suruga Bay. By simulating the condition similar to the experiment, it was indicated that the accuracy of the estimation of the horizontal DOA is within zero point several degrees in the experiment.

  2. An Autonomous Control System for an Intra-Vehicular Spacecraft Mobile Monitor Prototype

    Science.gov (United States)

    Dorais, Gregory A.; Desiano, Salvatore D.; Gawdiak, Yuri; Nicewarner, Keith

    2003-01-01

    This paper presents an overview of an ongoing research and development effort at the NASA Ames Research Center to create an autonomous control system for an internal spacecraft autonomous mobile monitor. It primary functions are to provide crew support and perform intra- vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the mission roles and high-level functional requirements for an autonomous mobile monitor. The mobile monitor prototypes, of which two are operational and one is actively being designed, physical test facilities used to perform ground testing, including a 3D micro-gravity test facility, and simulators are briefly described. We provide an overview of the autonomy framework and describe each of its components, including those used for automated planning, goal-oriented task execution, diagnosis, and fault recovery. A sample mission test scenario is also described.

  3. Autonomous navigation and mapping of mobile robots based on 2D/3D cameras combination

    OpenAIRE

    Joochim, Chanin

    2011-01-01

    Aufgrund der tendenziell zunehmenden Nachfrage an Systemen zur Unterstützung des alltäglichen Lebens gibt es derzeit ein großes Interesse an autonomen Systemen. Autonome Systeme werden in Häusern, Büros, Museen sowie in Fabriken eingesetzt. Sie können verschiedene Aufgaben erledigen, beispielsweise beim Reinigen, als Helfer im Haushalt, im Bereich der Sicherheit und Bildung, im Supermarkt sowie im Empfang als Auskunft, weil sie dazu verwendet werden können, die Verarbeitungszeit zu kontrollie...

  4. The onboard control system of "Navigator" platform

    Science.gov (United States)

    Syrov, A. S.; Smirnov, V. V.; Sokolov, V. N.; Iodko, G. S.; Mischikhin, V. V.; Kosobokov, V. N.; Shatskii, M. A.; Dobrynin, D. A.

    2016-12-01

    A brief description of the design concept, structure and performance of the onboard control system (AOCS) of the "Navigator" satellite platform, on the basis of which the spacecraft "Electro-L' and "Spektr-R" are designed, is presented. The test-flight results of the AOCS attitude accuracy are given. Approaches to the further development of the onboard control equipment for advanced spacecraft are determined and presented.

  5. Omega Navigation System Course Book. Volume 2

    Science.gov (United States)

    1994-07-01

    GPS) - 0846 6. PCD ASSIGNMENT: None G.2.3 Hawaii 1. LETTER DESIGNATION: "C" 2. LQCATION: a. Geographic: Haiku Valley, Oahu Island, Hawaii, U.S.A. b...systems, 2-25, 12-27 inductively matching, 3-23 Haiku , 2-3, 2-11 2inertial navigation, 4-39HYDROLANT, 2-29 hard-copy coverage diagrams, 2-33 inertial

  6. Integrating Autonomous Load Controllers in Power Systems

    DEFF Research Database (Denmark)

    Douglass, Philip James

    violations of voltage constraints. This voltage-sensitive controller can also operate alone, without the frequency-sensitive controller, to provide voltage regulation service and increase load diversity in any distribution network where lower voltage level corresponds to higher load.The frequency......-sensitive and voltage-sensitive autonomous load are viable alternatives to conventional frequency and voltage control devices. When used in combination, they complement each other. In systems where the operator has centrally dispatchable resources to regulate frequency, these resources can be used to dispatch otherwise...... autonomous frequency-sensitive loads. Moreover, where centrally dispatchable frequency regulation resources can rapidly change operating points, such as in a micro-grid, the energy sources can be used as transmitters for a ultra-low-bandwidth uni-directional power line communication system....

  7. A Hybrid FPGA/Tilera Compute Element for Autonomous Hazard Detection and Navigation

    Science.gov (United States)

    Villalpando, Carlos Y.; Werner, Robert A.; Carson, John M., III; Khanoyan, Garen; Stern, Ryan A.; Trawny, Nikolas

    2013-01-01

    To increase safety for future missions landing on other planetary or lunar bodies, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is developing an integrated sensor for autonomous surface analysis and hazard determination. The ALHAT Hazard Detection System (HDS) consists of a Flash LIDAR for measuring the topography of the landing site, a gimbal to scan across the terrain, and an Inertial Measurement Unit (IMU), along with terrain analysis algorithms to identify the landing site and the local hazards. An FPGA and Manycore processor system was developed to interface all the devices in the HDS, to provide high-resolution timing to accurately measure system state, and to run the surface analysis algorithms quickly and efficiently. In this paper, we will describe how we integrated COTS components such as an FPGA evaluation board, a TILExpress64, and multi-threaded/multi-core aware software to build the HDS Compute Element (HDSCE). The ALHAT program is also working with the NASA Morpheus Project and has integrated the HDS as a sensor on the Morpheus Lander. This paper will also describe how the HDS is integrated with the Morpheus lander and the results of the initial test flights with the HDS installed. We will also describe future improvements to the HDSCE.

  8. A hybrid FPGA/Tilera compute element for autonomous hazard detection and navigation

    Science.gov (United States)

    Villalpando, C. Y.; Werner, R. A.; Carson, J. M.; Khanoyan, G.; Stern, R. A.; Trawny, N.

    To increase safety for future missions landing on other planetary or lunar bodies, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is developing an integrated sensor for autonomous surface analysis and hazard determination. The ALHAT Hazard Detection System (HDS) consists of a Flash LIDAR for measuring the topography of the landing site, a gimbal to scan across the terrain, and an Inertial Measurement Unit (IMU), along with terrain analysis algorithms to identify the landing site and the local hazards. An FPGA and Manycore processor system was developed to interface all the devices in the HDS, to provide high-resolution timing to accurately measure system state, and to run the surface analysis algorithms quickly and efficiently. In this paper, we will describe how we integrated COTS components such as an FPGA evaluation board, a TILExpress64, and multi-threaded/multi-core aware software to build the HDS Compute Element (HDSCE). The ALHAT program is also working with the NASA Morpheus Project and has integrated the HDS as a sensor on the Morpheus Lander. This paper will also describe how the HDS is integrated with the Morpheus lander and the results of the initial test flights with the HDS installed. We will also describe future improvements to the HDSCE.

  9. 基于 GPS 的太阳能平移式喷灌机自主导航系统设计与试验%Design and experiment of autonomous navigation system for solar powered linear move sprinkler machine based on GPS

    Institute of Scientific and Technical Information of China (English)

    刘柯楠; 吴普特; 朱德兰; 陈军; 郭浩

    2016-01-01

    achieve the autonomous navigation control of the solar-powered linear move sprinkler machine in the whole system. The path tracking experiments were operated and completed in Institute of Water Saving Agriculture in Arid Areas of China, Northwest A&F University (34°17′50′′N, 108°04′6′′E) in which the platform of the solar-powered linear move sprinkler machine based on GPS navigation was the research object on April 21, 2015. During the experiments, the running track of the solar-powered linear move sprinkler machine was recorded by a drop of water, and the walking deviation of a walking path and a predetermined path were measured every 30 cm. The results of path tracking experiments showed that the solar-powered linear move sprinkler machine automatic navigation control system could basically meet the irrigation requirements, and realized route trace well. In the process of a 30 m straight line tracking, the maximum lateral deviation was 17.3 cm and 18.4 cm at the speed of 0.4 and 0.8 m/min, showing a high reliability and stability. At last, the research above not only provides important information on the realization of the combination of agricultural machinery and solar energy technology, but also was the basis for the development of similar self-walking sprinkler irrigation machine.

  10. Autonomous Deicing System For Airplane Wing

    Science.gov (United States)

    Hickman, G. A.; Gerardi, J. J.

    1993-01-01

    Prototype autonomous deicing system for airplane includes network of electronic and electromechanical modules at various locations in wings and connected to central data-processing unit. Small, integrated solid-state device, using long coils installed under leading edge, exciting small vibrations to detect ice and larger vibrations to knock ice off. In extension of concept, outputs of vibration sensors and other sensors used to detect rivet-line fractures, fatigue cracks, and other potentially dangerous defects.

  11. Autonomous grain combine control system

    Science.gov (United States)

    Hoskinson, Reed L.; Kenney, Kevin L.; Lucas, James R.; Prickel, Marvin A.

    2013-06-25

    A system for controlling a grain combine having a rotor/cylinder, a sieve, a fan, a concave, a feeder, a header, an engine, and a control system. The feeder of the grain combine is engaged and the header is lowered. A separator loss target, engine load target, and a sieve loss target are selected. Grain is harvested with the lowered header passing the grain through the engaged feeder. Separator loss, sieve loss, engine load and ground speed of the grain combine are continuously monitored during the harvesting. If the monitored separator loss exceeds the selected separator loss target, the speed of the rotor/cylinder, the concave setting, the engine load target, or a combination thereof is adjusted. If the monitored sieve loss exceeds the selected sieve loss target, the speed of the fan, the size of the sieve openings, or the engine load target is adjusted.

  12. Autonomous systems for plant protection

    DEFF Research Database (Denmark)

    Griepentrog, Hans W.; Ruckelshausen, Arno; Jørgensen, Rasmus Nyholm

    2010-01-01

    Advances in automation are demanded by the market mainly as a response to high labor costs. Robotic outdoor systems are ready to allow not only economically viable operations but also increased efficiency in agriculture, horticulture and forestry. The aim of this chapter is to give examples of au...... and safe behaviors. In general the potential of saving e.g. of herbicides are huge when high precision targeting based on individual weed plant detections is used....

  13. Fiber optic gyroscopes for vehicle navigation systems

    Science.gov (United States)

    Kumagai, Tatsuya; Soekawa, Hirokazu; Yuhara, Toshiya; Kajioka, Hiroshi; Oho, Shigeru; Sonobe, Hisao

    1994-03-01

    Fiber optic gyroscopes (FOGs) have been developed for vehicle navigation systems and are used in Toyota Motor Corporation models Mark II, Chaser and Cresta in Japan. Use of FOGs in these systems requires high reliability under a wide range of conditions, especially in a temperature range between -40 and 85 degree(s)C. In addition, a high cost-performance ratio is needed. We have developed optical and electrical systems that are inexpensive and can perform well. They are ready to be mass-produced. FOGs have already been installed in luxury automobiles, and will soon be included in more basic vehicles. We have developed more inexpensive FOGs for this purpose.

  14. An Autonomous UAV with an Optical Flow Sensor for Positioning and Navigation

    Directory of Open Access Journals (Sweden)

    Nils Gageik

    2013-10-01

    Full Text Available A procedure to control all six DOF (degrees of freedom of a UAV (unmanned aerial vehicle without an external reference system and to enable fully autonomous flight is presented here. For 2D positioning the principle of optical flow is used. Together with the output of height estimation, fusing ultrasonic, infrared and inertial and pressure sensor data, the 3D position of the UAV can be computed, controlled and steered. All data processing is done on the UAV. An external computer with a pathway planning interface is for commanding purposes only. The presented system is part of the AQopterI8 project, which aims to develop an autonomous flying quadrocopter for indoor application. The focus of this paper is 2D positioning using an optical flow sensor. As a result of the performed evaluation, it can be concluded that for position hold, the standard deviation of the position error is 10cm and after landing the position error is about 30cm.

  15. Review of Static Compensation of Autonomous Systems

    Directory of Open Access Journals (Sweden)

    Ambarnath Banerji

    2012-01-01

    Full Text Available Abstract Deregulation of the electric power energy market has thrown open opportunities for tapping the large number of small pockets of renewable energy sources with the asynchronous generators. Whether the power is supplied by asynchronous generator or by the grid at the remote location, its quality has become an important aspect for consumers of electricity. Efforts have been made to improve the power quality using passive filters, active filters and the new concept of Custom Power. Use of Custom power devices ensures that a load do not pollute the power supply of the other loads. One such custom power device is the DSTATCOM (Distribution Static Compensator which is connected in shunt at the load end. The heart of the DSTATCOM is an inverter. The focus on the autonomous generation has increased in the recent years. The paper presents a comprehensive review of the DSTATCOM used for autonomous generation. It is aimed at providing a broad perspective on the status of DSTATCOM, used with Asynchronous generators, vis-à-vis its working principle, topology, solid state switching devices and technology, supply system, control methodologies and approaches, technical and economic considerations, etc. to researchers and application engineers dealing with power quality aspects of Autonomous Systems. Classified manner in which the references are presented in this paper will serve them as quick and useful reference.

  16. A New Navigation Strategy in Hypermedia Integral Ware Authoring System

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    After analyzing the general navigation mechanisms and discussing the knowledge point card linking model which is the base of the navigation mechanism used in the Hypermedia Integral ware Authoring System(HIAS), the paper presents a new navigation strategy in HIAS. And the application trend of HIAS is discussed at last.

  17. 火星探测接近段的光学自主导航研究%Research on Optical Autonomous Navigation for Approach Phase of Mars Exploration

    Institute of Scientific and Technical Information of China (English)

    崔文; 张少愚; 张树瑜; 宝音贺西

    2013-01-01

    The optical autonomous navigation has recently become one of the key topics in interplanetary space missions.According to the current research literature,most people only focused on the application of optical autonomous navigation for the cruise phase or the approach phase of asteroids exploration.The research for the approach phase of planets is rare.Based on the upcoming Mars exploration program of China,with the research of dynamics model,observation model and filtering algorithm,the process of the optical autonomous navigation during the Mars approach phase is studied.Through the observability analysis of the navigation system,the feasibility of using Mars optical information only for autonomous navigation is proved.Simulation result showed that the total time of the optical autonomous navigation for approach phase is about 40 hours.In the last 5 hours,the filtering results are becoming stable.The overall position error is less than 40 km,and the velocity error is 0.25m·s-1.The stability and accuracy of the results can meet the requirement of actual task,and is referencable for Chinese Mars exploration program.%目前光学自主导航技术已成为深空探测计划中的重点研究对象.已有研究多侧重于光学自主导航技术在深空探测巡航段或是对小行星探测接近段中的应用,而关于大行星探测接近段光学自主导航技术的研究比较少.结合中国即将开展的火星探测计划,研究了探测器在火星探测接近段中利用火星进行光学自主导航的整个过程,提出了适用于接近段的动力学模型、光学观测模型及自主导航滤波算法.通过对自主导航系统的可观测性分析,证明了仅利用火星光学信息进行自主导航的可行性.仿真计算结果表明,在接近段,整个光学自主导航的持续时间约为40 h.在自主导航的最后5h内,滤波结果稳定,探测器的总体位置误差在40 km以内,速度误差在0.25 m.s-1以内.计算结果的精度

  18. Navigational and Environmental Measurement System (NEMS)

    Science.gov (United States)

    Clem, T. D.

    1988-01-01

    The NEMS concept and design were initiated from the need to measure and record positional and environmental information during aircraft flights of developmental science research instrumentation. The unit was designed as a stand-alone system which could serve the needs of instruments whose developmental nature did not justify the cost and complexity of including these measurements within the instrument data system. Initially, the system was comprised of a Loran-C receiver and a portable IBM compatible computer recording position and time. Later, the system was interfaced with the Wallops aircraft inertial navigation system (INS), and various other sensors were supplied and shared by the Goddard science users. Real-time position mapping on video monitors was added for investigator's use and information. In 1987, the use of a Global Positioning System (GPS) receiver was included in some missions. A total configuration of the system and the various sensors which can be incorporated are shown.

  19. Autonomous Navigation Airborne Forward-Looking SAR High Precision Imaging with Combination of Pseudo-Polar Formatting and Overlapped Sub-Aperture Algorithm

    Directory of Open Access Journals (Sweden)

    Xueming Peng

    2013-11-01

    Full Text Available Autonomous navigation airborne forward-looking synthetic aperture radar (SAR observes the anterior inferior wide area with a short cross-track dimensional linear array as azimuth aperture. This is an application scenario that is drastically different from that of side-looking space-borne or air-borne SAR systems, which acquires azimuth synthetic aperture with along-track dimension platform movement. High precision imaging with a combination of pseudo-polar formatting and overlapped sub-aperture algorithm for autonomous navigation airborne forward-looking SAR imaging is presented. With the suggested imaging method, range dimensional imaging is operated with wide band signal compression. Then, 2D pseudo-polar formatting is operated. In the following, azimuth synthetic aperture is divided into several overlapped sub-apertures. Intra sub-aperture IFFT (Inverse Fast Fourier Transform, wave front curvature phase error compensation, and inter sub-aperture IFFT are operated sequentially to finish azimuth high precision imaging. The main advantage of the proposed algorithm is its extremely high precision and low memory cost. The effectiveness and performance of the proposed algorithm are demonstrated with outdoor GBSAR (Ground Based Synthetic Aperture Radar experiments, which possesses the same imaging geometry as the airborne forward-looking SAR (short azimuth aperture, wide azimuth swath. The profile response of the trihedral angle reflectors, placed in the imaging scene, reconstructed with the proposed imaging algorithm and back projection algorithm are compared and analyzed.

  20. Monitoring aquatic environments with autonomous systems

    DEFF Research Database (Denmark)

    Christensen, Jesper Philip Aagaard

    High frequency measurements from autonomous sensors have become a widely used tool among aquatic scientists. This report focus primarily on the use of ecosystem metabolism based on high frequency oxygen measurements and relates the calculations to spatial variation, biomass of the primary producers...... and in shallow systems the macrophytes can completely dominate primary production. This was despite the fact that the plants in the studied system were light-saturated most of the light hours and occasionally carbon limited. It was also shown that the GPP and the total phytoplankton biomass in a nutrient...

  1. Design and implementation of small navigation system on land vehicle

    Science.gov (United States)

    Ma, Shuaiqi

    2013-03-01

    This paper is focused on the problem of frame loss and truncation on multi-channel universal asynchronous receiver transmitter (UART) embedded in Integrated Navigation Systems, and it contains attitude heading reference system (AHRS) and global positioning system (GPS). An advanced design based on FPGA and ARM processor is discussed in this paper, in which FPGA would be used to coordinate with each logic modules, expand UART for GPS and AHRS, resolve navigation information, and save specify data to SD card, which can reduce the delay in data receiving and resolving, while ARM is applied in the area of parameters estimation and navigation algorithms. The experiment results show that this navigation system can use UART to receive, resolve data frames and save data while ARM execute parameter estimation and navigation algorithms in real time. This integrated navigation can effectively avoid the phenomenon of data frame loss or truncation in UART receiving, and can improve the navigation precision.

  2. Navigation system for neurosurgery with PC platform.

    Science.gov (United States)

    Akatsuka, Y; Shibasaki, T; Saito, A; Kosaka, A; Matsuzaki, H; Asano, T; Furuhashi, Y

    2000-01-01

    This paper presents a navigation system for a surgical microscope and an endoscope which can be used for neurosurgery. In this system, a wireframe model of a target tumor and other significant anatomical landmarks are superimposed in real-time onto live video images taken from the microscope and the endoscope. The wireframe model is generated from a CT/MRI slice images. Overlaid images are simultaneously displayed in the same monitor using the picture-in-picture function so that the surgeon can concentrate on the single monitor during the surgery. The system measures the position and orientation of the patient using specially designed non-contact sensing devices mounted on the microscope and the endoscope. Based on this real-time measurement, the system displays other useful information about the navigation as well as the rendered wireframe. The accuracy of registration between the wireframe model and the actual live view is less than 2 mm. We tested this system in actual surgery several times, and verified its performance and effectiveness.

  3. An interactive physics-based unmanned ground vehicle simulator leveraging open source gaming technology: progress in the development and application of the virtual autonomous navigation environment (VANE) desktop

    Science.gov (United States)

    Rohde, Mitchell M.; Crawford, Justin; Toschlog, Matthew; Iagnemma, Karl D.; Kewlani, Guarav; Cummins, Christopher L.; Jones, Randolph A.; Horner, David A.

    2009-05-01

    It is widely recognized that simulation is pivotal to vehicle development, whether manned or unmanned. There are few dedicated choices, however, for those wishing to perform realistic, end-to-end simulations of unmanned ground vehicles (UGVs). The Virtual Autonomous Navigation Environment (VANE), under development by US Army Engineer Research and Development Center (ERDC), provides such capabilities but utilizes a High Performance Computing (HPC) Computational Testbed (CTB) and is not intended for on-line, real-time performance. A product of the VANE HPC research is a real-time desktop simulation application under development by the authors that provides a portal into the HPC environment as well as interaction with wider-scope semi-automated force simulations (e.g. OneSAF). This VANE desktop application, dubbed the Autonomous Navigation Virtual Environment Laboratory (ANVEL), enables analysis and testing of autonomous vehicle dynamics and terrain/obstacle interaction in real-time with the capability to interact within the HPC constructive geo-environmental CTB for high fidelity sensor evaluations. ANVEL leverages rigorous physics-based vehicle and vehicle-terrain interaction models in conjunction with high-quality, multimedia visualization techniques to form an intuitive, accurate engineering tool. The system provides an adaptable and customizable simulation platform that allows developers a controlled, repeatable testbed for advanced simulations. ANVEL leverages several key technologies not common to traditional engineering simulators, including techniques from the commercial video-game industry. These enable ANVEL to run on inexpensive commercial, off-the-shelf (COTS) hardware. In this paper, the authors describe key aspects of ANVEL and its development, as well as several initial applications of the system.

  4. DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    2004-10-01

    Full Text Available The RDI WHN-600 Doppler Velocity Log (DVL is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV. HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is facilitated by a low drift velocity aided Inertial Navigation System (INS. Major factors determining the position error growth are the IMU and DVL error characteristics and the mission plan pattern_ For instance, low frequency DVL errors cause an approximately linear drift in a straight-line trajectory, while these errors tend to be cancelled out by a lawn mower pattern_ The paper focuses on the accuracy offered by the DVL. HUGIN 1000 is a permanent organic mine countermeasure (MCM capacity on the Royal Norwegian Navy MCM vessel KNM Karmoy. HUGIN 1000 will be part of the NATO force MCMFORNORTH in fall 2004.

  5. Target relative navigation results from hardware-in-the-loop tests using the sinplex navigation system

    NARCIS (Netherlands)

    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 com

  6. Target relative navigation results from hardware-in-the-loop tests using the sinplex navigation system

    NARCIS (Netherlands)

    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 com

  7. The Design of a Navigator for a Testbed Autonomous Underwater Vehicle

    Science.gov (United States)

    1989-12-01

    discussion of the AUV sonar simulation which will be used to evaluate the proposed navigator. B. OVERVIEW OF NAVIGATOR OPERATION This section provides...a Ya (3.10) -SOa cOaca cO aCO zaI 00 0 1_ The elements xa, Ya and za in this matrix refer to the location of the center of the AUV sonar scan...filtering used by the AUV navigator. The next chapter will present a description of the AUV sonar and navigation simulation, an operating manual for the

  8. SpaceNav - A high accuracy navigation system for space applications

    Science.gov (United States)

    Evers, H.-H.

    The technology of the SpaceNav-system is based on research performed by the Institute of Flight Guidance and Control at the Technical University of Braunschweig, Germany. In 1989 this institute gave the worlds first public demonstration of a fully automatic landing of an aircraft, using inertial and satellite informations exclusively. The SpaceNav device components are: Acceleration-/Gyro Sensor Package; Global Positioning System (GPS) Receiver/optional more than one; Time Reference Unit; CPU; Telemetry (optional); and Differential GPS (DGPS) Receiver (optional). The coupling of GPS receivers with inertial sensors provides an extremely accurate navigation data set in real time applications even in phases with high dynamic conditions. The update rate of this navigation information is up to 100 Hz with the same accuracy in 3D-position, velocity, acceleration, attitude and time. SpaceNav is an integrated navigation system, which operates according to the principle of combining the longterm stability and accuracy of GPS, and the high level of dynamic precision of conventional inertial navigation system (INS) strapdown systems. The system's design allows other aiding sensors e.g. GLONASS satellite navigation system, distance measuring equipment (DME), altimeter (radar and/or barometric), flux valve etc. to be connected, in order to increase the redundancy of the system. The advantage of such an upgraded system is the availability of more sensor information than necessary for a navigation solution. The resulting redundancy in range measurement allows real-time detection and identification of sensor signals that are incompatible with the other information. As a result you get Receiver Autonomous Integrity Monitoring (RAIM) as described in 'A Multi-Sensor Approach to Assuring GPS Integrity', presented by Alison Brown in the March/April 1990 issue of 'GPS World'. In this paper the author presents information about the principles of the Satellite Navigation System GPS, and

  9. Fault tolerant highly reliable inertial navigation system

    Science.gov (United States)

    Jeerage, Mahesh; Boettcher, Kevin

    This paper describes a development of failure detection and isolation (FDI) strategies for highly reliable inertial navigation systems. FDI strategies are developed based on the generalized likelihood ratio test (GLRT). A relationship between detection threshold and false alarm rate is developed in terms of the sensor parameters. A new method for correct isolation of failed sensors is presented. Evaluation of FDI performance parameters, such as false alarm rate, wrong isolation probability, and correct isolation probability, are presented. Finally a fault recovery scheme capable of correcting false isolation of good sensors is presented.

  10. Pulsar/CNS integrated navigation based on federated UKF

    Institute of Scientific and Technical Information of China (English)

    Jin Liu; Jie Ma; Jinwen Tian

    2010-01-01

    In order to improve the autonomous navigation capability of satellite,a pulsar/CNS(celestial navigation system)integrated navigation method based on federated unscented Kalman filter(UKF)is proposed.The celestial navigation is a mature and stable navigation method.However,its position determination performance is not satisfied due to the low accuracy of horizon sensor.Single pulsar navigation is a new navigation method,which can provide highly accurate range measurements.The major drawback of single pulsar navigation is that the system is completely unobservabie.As two methods are complementary to each other,the federated UKF is used here for fusing the navigation data from single pulsar navigation and CNS.Compared to the traditional celestial navigation method and single pulsar navigation,the integrated navigation method can provide better navigation performance.The simulation results demonstrate the feasibility and effectiveness of the navigation method.

  11. GPS-Aided Gyroscope-Free Inertial Navigation Systems

    OpenAIRE

    Park, Sungsu; Tan, Chin-Woo

    2002-01-01

    A gyroscope-free inertial navigation system uses only accelerometers to compute navigation trajectories. It is a low-cost navigation system, but its output error diverges at a rate that is an order faster than that of a conventional gyroscope-based system. So integration with an external reference system, such as the Global Positioning System, is necessary for long-term navigation applications. In this pa-per, an integrated GPS and gyroscope-free INS system is designed to achieve stable long-...

  12. Development of AR Surgical Navigation Systems for Multiple Surgical Regions.

    Science.gov (United States)

    Suzuki, Naoki; Hattori, Asaki; Iimura, Jiro; Otori, Nobuyoshi; Onda, Shinji; Okamoto, Tomoyoshi; Yanaga, Katsuhiko

    2014-01-01

    The purpose of our research is to develop surgical navigation systems to enhance surgical safety. Our systems make use of augmented reality technology to superimpose, on the surgery screen on a real time basis, patients' organ models reconstructed in 3D from their X-ray CT data taken before surgery. By doing so, the systems display anatomical risk materials, tumors and blood vessels which surgeons cannot see with their naked eyes. This will in turn lead to surgeons intuitively grasping the inner structures of the operational fields. We so far have been developing navigation systems that can conduct surgeries in various fields. The basic structure of the navigation systems are the same. The navigation systems uses different peripheral equipment and different methods to display navigation images which best meet the demands of each type of surgery. In this thesis, we report on our navigation systems for 2 types of surgery - endoscopic sinus surgery and hepatobilialy-pancreatic surgery.

  13. Gyroscopes for Orientation and Inertial Navigation Systems

    Directory of Open Access Journals (Sweden)

    Radovan Marjanović Kavanagh

    2007-05-01

    Full Text Available In this paper the main elements of gyro-theodolites and inertial navigation systems are provided. The main function principles of mechanical gyros are explained and the main difficulties in maintenance and sources of errors while measuring with gyros and gyro-theodolites are listed. The principles of RLG and FOG gyros and the principles of inertial navigation are explained. The main differences of a guided platform and a strap-down system are explained. A brief review of mathematical expressions for position coordinate- determination from double integration of acceleration measurements from accelerometers is given. It is indicated on difficulties in INS application during a long time period caused by insufficient knowledge of gravity acceleration due to locally gravity anomalies and gyro-drift. The necessity of INS signal correction using another positioning system like GNSS is pointed out, applying Kalman filter algorithms for interpolation between two measuring points so as position prediction of points which are not measured. 

  14. Malicious Hubs: Detecting Abnormally Malicious Autonomous Systems

    Energy Technology Data Exchange (ETDEWEB)

    Kalafut, Andrew J. [Indiana University; Shue, Craig A [ORNL; Gupta, Prof. Minaxi [Indiana University

    2010-01-01

    While many attacks are distributed across botnets, investigators and network operators have recently targeted malicious networks through high profile autonomous system (AS) de-peerings and network shut-downs. In this paper, we explore whether some ASes indeed are safe havens for malicious activity. We look for ISPs and ASes that exhibit disproportionately high malicious behavior using 12 popular blacklists. We find that some ASes have over 80% of their routable IP address space blacklisted and others account for large fractions of blacklisted IPs. Overall, we conclude that examining malicious activity at the AS granularity can unearth networks with lax security or those that harbor cybercrime.

  15. THE USE OF GENETIC ALGORITHM IN DIMENSIONING HYBRID AUTONOMOUS SYSTEMS

    Directory of Open Access Journals (Sweden)

    RUS T.

    2016-03-01

    Full Text Available In this paper is presented the working principle of genetic algorithms used to dimension autonomous hybrid systems. It is presented a study case in which is dimensioned and optimized an autonomous hybrid system for a residential house located in Cluj-Napoca. After the autonomous hybrid system optimization is performed, it is achieved a reduction of the total cost of system investment, a reduction of energy produced in excess and a reduction of CO2 emissions.

  16. Research on stereo vision path-planning algorithms for mobile robots autonomous navigation

    Institute of Scientific and Technical Information of China (English)

    ZHANG Guo-wei; LU Qiu-hong

    2009-01-01

    Using stereo vision for autonomous mobile robot path-planning is a hot technology. The environment mapping and path-planning algorithms were introduced, and they were applied in the autonomous mobile robot experiment platform. Through experiments in the robot platform, the effectiveness of these algorithms was verified.

  17. Increased Error Observability of an Inertial Pedestrian Navigation System by Rotating IMU

    Directory of Open Access Journals (Sweden)

    Khairi Abdulrahim

    2014-07-01

    Full Text Available Indoor pedestrian navigation suffers from the unavailability of useful GNSS signals for navigation. Often a low-cost non-GNSS inertial sensor is used to navigate indoors. However, using only a low-cost inertial sensor for the system degrades its performance due to the low observability of errors affecting such low-cost sensors. Of particular concern is the heading drift error, caused primarily by the unobservability of z-axis gyro bias errors, which results in a huge positioning error when navigating for more than a few seconds. In this paper, the observability of this error is increased by proposing a method of rotating the inertial sensor on its y-axis. The results from a field trial for the proposed innovative method are presented. The method was performed by rotating the sensor mechanically–mounted on a shoe–on a single axis. The method was shown to increase the observability of z-axis gyro bias errors of a low-cost sensor. This is very significant because no other integrated measurements from other sensors are required to increase error observability. This should potentially be very useful for autonomous low-cost inertial pedestrian navigation systems that require a long period of navigation time.

  18. Nutritional stimulation of the autonomic nervous system

    Institute of Scientific and Technical Information of China (English)

    Misha DP Luyer; Quirine Habes; Richard van Hak; Wim Buurman

    2011-01-01

    Disturbance of the inflammatory response in the gut is important in several clinical diseases ranging from inflammatory bowel disease to postoperative ileus. Several feedback mechanisms exist that control the inflammatory cascade and avoid collateral damage. In the gastrointestinal tract, it is of particular importance to control the immune response to maintain the balance that allows dietary uptake and utilization of nutrients on one hand, while preventing invasion of bacteria and toxins on the other hand. The process of digestion and absorption of nutrients requires a relative hyporesponsiveness of the immune cells in the gut to luminal contents which is not yet fully understood. Recently, the autonomic nervous system has been identified as an important pathway to control local and systemic inflammation and gut barrier integrity. Activation of the pathway is possible via electrical or via pharmacological interventions, but is also achieved in a physiological manner by ingestion of dietary lipids. Administration of dietary lipids has been shown to be very effective in reducing the inflammatory cascade and maintaining intestinal barrier integrity in several experimental studies. This beneficial effect of nutrition on the inflammatory inflammatory response and intestinal barrier integrity opens new therapeutic opportunities for treatment of certain gastrointestinal disorders. Furthermore, this neural feedback mechanism provides more insight in the relative hyporesponsiveness of the immune cells in the gut. Here, we will discuss the regulatory function of the autonomic nervous system on the inflammatory response and gut barrier function and the potential benefit in a clinical setting.

  19. Vision enhanced navigation for unmanned systems

    Science.gov (United States)

    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

  20. The Global Positioning System and its application in spacecraft navigation

    Science.gov (United States)

    Van Leeuwen, A.; Rosen, E.; Carrier, L. M.

    1979-01-01

    The paper presents an overview of the Global Positioning System (GPS) as well as a discussion of the user system parameters govering the design of a low-earth-orbit spacecraft GPS navigation system. A specific application, the Space Shuttle orbiter GPS navigation system, is discussed with particular attention given to its receiver/processor.

  1. File Transfer Algorithm for Autonomous Decentralized System

    Institute of Scientific and Technical Information of China (English)

    GUI Xun; TAN Yong-dong; Qian Qing-quan

    2008-01-01

    A file transfer algorithm based on ADP (autonomous decentralized protocol) was proposed to solve the problem that the ADS (autonomous decentralized system) middleware (NeXUS/Dlink) lacks of file transfer functions for Windows. The algorithm realizes the peer-to-peer file transfer, one-to-N inquiry/multi-response file transfer and one-to-N file distribution in the same data field based on communication patterns provided by the ADP. The peer-to-peer file transfer is implemented through a peer-to-peer communication path, one-to-N inquiry/multi-response file transfer and one-to-N file distribution are implemented through multicast commtmieation. In this algorithm, a file to be transferred is named with a GUID ( global unique identification), every data packet is marked with a sequence number, and file-receiving in parallel is implemented by caching DPOs (data processing objects) and multithread technologies. The algorithm is applied in a simulation system of the decentralized control platform, and the test results and long time stable mrming prove the feasibility of the algorithm.

  2. Systems and Methods for Determining Inertial Navigation System Faults

    Science.gov (United States)

    Bharadwaj, Raj Mohan (Inventor); Bageshwar, Vibhor L. (Inventor); Kim, Kyusung (Inventor)

    2017-01-01

    An inertial navigation system (INS) includes a primary inertial navigation system (INS) unit configured to receive accelerometer measurements from an accelerometer and angular velocity measurements from a gyroscope. The primary INS unit is further configured to receive global navigation satellite system (GNSS) signals from a GNSS sensor and to determine a first set of kinematic state vectors based on the accelerometer measurements, the angular velocity measurements, and the GNSS signals. The INS further includes a secondary INS unit configured to receive the accelerometer measurements and the angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the accelerometer measurements and the angular velocity measurements. A health management system is configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with the accelerometer or the gyroscope based on the comparison.

  3. The European Satellite Navigation System Galileo

    Institute of Scientific and Technical Information of China (English)

    G.W. Hein; T. Pany

    2003-01-01

    This paper starts with a brief discussion of the Galileo project status and with a description of the present Galileo architecture (space segment, ground segment, user segment). It focuses on explaining special features compared to the American GPS system. The presentation of the user segment comprises a discussion of the actual Galileo signal structure. The Galileo carrier frequency, modulation scheme and data rate of all 10 navigation signals are described as well as parameters of the search and rescue service. The navigation signals are used to realize three types of open services, the safety of life service, two types of commercial services and the public regulated service. The signal performance in terms of the pseudorange code error due to thermal noise and multipath is discussed as well as interference to and from other radionavigation services broadcasting in the E5 and E6 frequency band. The interoperability and compatibility of Galileo and GPS is realized by a properly chosen signal structures in E5a/L5 and E2-L1-E1 and compatible geodetic and time reference frames. Some new results on reciprocal GPS/Galileo signal degradation due to signal overlay are presented as well as basic requirements on the Galileo code sequences.

  4. Autonomic nervous system dysregulation in pediatric hypertension.

    Science.gov (United States)

    Feber, Janusz; Ruzicka, Marcel; Geier, Pavel; Litwin, Mieczyslaw

    2014-05-01

    Historically, primary hypertension (HTN) has been prevalent typically in adults. Recent data however, suggests an increasing number of children diagnosed with primary HTN, mainly in the setting of obesity. One of the factors considered in the etiology of HTN is the autonomous nervous system, namely its dysregulation. In the past, the sympathetic nervous system (SNS) was regarded as a system engaged mostly in buffering major acute changes in blood pressure (BP), in response to physical and emotional stressors. Recent evidence suggests that the SNS plays a much broader role in the regulation of BP, including the development and maintenance of sustained HTN by a chronically elevated central sympathetic tone in adults and children with central/visceral obesity. Consequently, attempts have been made to reduce the SNS hyperactivity, in order to intervene early in the course of the disease and prevent HTN-related complications later in life.

  5. Evaluating the Performance of an Integrated Navigation System.

    NARCIS (Netherlands)

    Lorga, J.F.M.; Chu, Q.P.; Mulder, J.A.; Halsema, D. van

    2005-01-01

    In this paper, the authors propose to introduce and describe a newly developed precise tightly-coupled integrated navigation system. The performed experiments with the purpose of evaluating the system performance are shown. A complete description of the integrated navigation system hardware, includi

  6. The Relationship between Vascular Function and the Autonomic Nervous System.

    Science.gov (United States)

    Amiya, Eisuke; Watanabe, Masafumi; Komuro, Issei

    2014-01-01

    Endothelial dysfunction and autonomic nervous system dysfunction are both risk factors for atherosclerosis. There is evidence demonstrating that there is a close interrelationship between these two systems. In hypertension, endothelial dysfunction affects the pathologic process through autonomic nervous pathways, and the pathophysiological process of autonomic neuropathy in diabetes mellitus is closely related with vascular function. However, detailed mechanisms of this interrelationship have not been clearly explained. In this review, we summarize findings concerning the interrelationship between vascular function and the autonomic nervous system from both experimental and clinical studies. The clarification of this interrelationship may provide more comprehensive risk stratification and a new effective therapeutic strategy against atherosclerosis.

  7. Nonlinear dynamics analysis of a new autonomous chaotic system

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    In this paper, a new nonlinear autonomous system introduced by Chlouverakis and Sprott is studied further, to present very rich and complex nonlinear dynamical behaviors. Some basic dynamical properties are studied either analytically or nuchaotic system with very high Lyapunov dimensions is constructed and investigated. Two new nonlinear autonomous systems can be changed into one another by adding or omitting some constant coefficients.

  8. Non-autonomous Degenerate KdV Systems

    OpenAIRE

    Turhan, Refik

    2002-01-01

    Non-autonomous degenerate KdV systems in (1+1) dimensions are considered for integrability classification. Integrability of the systems is associated with the existence of a recursion operator. Some new non-autonomous degenerate two-component KdV systems are found.

  9. Hybrid Guidance System for Relative Navigation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Future NASA architectures and missions will involve many distributed platforms that must work together. This in turn requires guidance, navigation and control...

  10. Omega Navigation System Course Book. Volume 1.

    Science.gov (United States)

    1994-07-01

    antenna must be about 15 percent taller . Figure 3.4-9 is a photograph of a grounded tower antenna systemn at the La Reuinion iransmittingy station. .3...provides the 0-30613 10-2-92 F Indicatec1 Inertial Craft Position + Navigation " Cora ected System Craft Position Position Indicated + Position Error...o0 o0 la Na % ;6 0i0~~oCOC~ H NNa oil r- corA t Cl~𔃺 A0A 9 co HQL (n oHI- HHH~~~~~~~~~~f ClllNMNllll~Nlll(JCi~llA CliC to w N0000000a000& 0’c", 100

  11. Semi-autonomous mobility assistance for power wheelchair users navigating crowded environments.

    Science.gov (United States)

    Ashley, Daniel; Ashley, Kyle; Alqasemi, Redwan; Dubey, Rajiv

    2017-07-01

    Power wheelchair users suffering from cognitive or physical impairment often face difficulties in maneuvering their wheelchairs through crowded environments. Currently, users need to be continuously aware of all traffic around them to actively avoid all collisions. This is an especially difficult task since many wheelchair users are unable to accurately view or perceive their surroundings. Additionally, imprecise joystick control, slowed reaction time, or imperfect interpretation of the environment can lead to unintended collisions with objects in the environment. This work looks to augment user's input with data gathered from an ultrasonic sensor ring to prevent accidental collisions. Using data gathered from the sensors, we detect objects within a certain radius of the chair. This sensor information is combined with the user input from a joystick to generate a potential field description for the intended motion of the wheelchair. An optimal motion vector is calculated which works to avoid collision with obstacles. Ultimately, this control method reduces the cognitive load on the user and enables them to navigate complex environments by providing simple and/or imprecise input to the system.

  12. Computation and design of autonomous intelligent systems

    Science.gov (United States)

    Fry, Robert L.

    2008-04-01

    This paper describes a theory of intelligent systems and its reduction to engineering practice. The theory is based on a broader theory of computation wherein information and control are defined within the subjective frame of a system. At its most primitive level, the theory describes what it computationally means to both ask and answer questions which, like traditional logic, are also Boolean. The logic of questions describes the subjective rules of computation that are objective in the sense that all the described systems operate according to its principles. Therefore, all systems are autonomous by construct. These systems include thermodynamic, communication, and intelligent systems. Although interesting, the important practical consequence is that the engineering framework for intelligent systems can borrow efficient constructs and methodologies from both thermodynamics and information theory. Thermodynamics provides the Carnot cycle which describes intelligence dynamics when operating in the refrigeration mode. It also provides the principle of maximum entropy. Information theory has recently provided the important concept of dual-matching useful for the design of efficient intelligent systems. The reverse engineered model of computation by pyramidal neurons agrees well with biology and offers a simple and powerful exemplar of basic engineering concepts.

  13. Super Short Baseline Underwater Acoustic Positioning Supported by Inertial Navigation Data Using Spread Spectrum Communication for Autonomous Underwater Vehicle and Error Analysis in Deep Water

    Science.gov (United States)

    Watanabe, Yoshitaka; Ochi, Hiroshi; Shimura, Takuya; Hattori, Takehito

    2009-07-01

    A tracking and positioning method achieved by integration of the super short baseline (SSBL) and inertial navigation system (INS) data for an autonomous underwater vehicle (AUV) is introduced. The proposed method uses a continuous acoustic signal as the response signal from the target AUV. The INS data obtained in the AUV is transmitted with the acoustic signal by the direct-sequence spread spectrum (DSSS) technique and the SSBL estimation is achieved using the same signal. The error of the SSBL, particularly the influence of a multipath, was analyzed. The use of a continuous signal showed that the multipath is influential even if its level is small relative to the direct wave. This influence was observed under actual conditions in an ocean experiment in a deep-water area. The proposed method was confirmed to be available and useful by simulations and experimental results.

  14. Ground Stereo Vision-Based Navigation for Autonomous Take-off and Landing of UAVs: A Chan-Vese Model Approach

    Directory of Open Access Journals (Sweden)

    Dengqing Tang

    2016-04-01

    Full Text Available This article aims at flying target detection and localization of a fixed-wing unmanned aerial vehicle (UAV autonomous take-off and landing within Global Navigation Satellite System (GNSS-denied environments. A Chan-Vese model–based approach is proposed and developed for ground stereo vision detection. Extended Kalman Filter (EKF is fused into state estimation to reduce the localization inaccuracy caused by measurement errors of object detection and Pan-Tilt unit (PTU attitudes. Furthermore, the region-of-interest (ROI setting up is conducted to improve the real-time capability. The present work contributes to real-time, accurate and robust features, compared with our previous works. Both offline and online experimental results validate the effectiveness and better performances of the proposed method against the traditional triangulation-based localization algorithm.

  15. The nature of the autonomic dysfunction in multiple system atrophy

    Science.gov (United States)

    Parikh, Samir M.; Diedrich, Andre; Biaggioni, Italo; Robertson, David

    2002-01-01

    The concept that multiple system atrophy (MSA, Shy-Drager syndrome) is a disorder of the autonomic nervous system is several decades old. While there has been renewed interest in the movement disorder associated with MSA, two recent consensus statements confirm the centrality of the autonomic disorder to the diagnosis. Here, we reexamine the autonomic pathophysiology in MSA. Whereas MSA is often thought of as "autonomic failure", new evidence indicates substantial persistence of functioning sympathetic and parasympathetic nerves even in clinically advanced disease. These findings help explain some of the previously poorly understood features of MSA. Recognition that MSA entails persistent, constitutive autonomic tone requires a significant revision of our concepts of its diagnosis and therapy. We will review recent evidence bearing on autonomic tone in MSA and discuss their therapeutic implications, particularly in terms of the possible development of a bionic baroreflex for better control of blood pressure.

  16. Autonomous Formations of Multi-Agent Systems

    Science.gov (United States)

    Dhali, Sanjana; Joshi, Suresh M.

    2013-01-01

    Autonomous formation control of multi-agent dynamic systems has a number of applications that include ground-based and aerial robots and satellite formations. For air vehicles, formation flight ("flocking") has the potential to significantly increase airspace utilization as well as fuel efficiency. This presentation addresses two main problems in multi-agent formations: optimal role assignment to minimize the total cost (e.g., combined distance traveled by all agents); and maintaining formation geometry during flock motion. The Kuhn-Munkres ("Hungarian") algorithm is used for optimal assignment, and consensus-based leader-follower type control architecture is used to maintain formation shape despite the leader s independent movements. The methods are demonstrated by animated simulations.

  17. The use of navigation systems in naturalistic driving.

    NARCIS (Netherlands)

    Knapper, A. Nes, C.N. van Christoph, M.W.T. Hagenzieker, M.P. & Brookhuis, K.A.

    2015-01-01

    In this study we assessed the use of portable navigation systems in everyday driving by applying in-vehicle naturalistic driving. Experienced users of navigation systems, seven female and fourteen male, were provided with a specially equipped vehicle for approximately one month. Their trips were rec

  18. The use of navigation systems in naturalistic driving

    NARCIS (Netherlands)

    Knapper, Allert; Van Nes, Nicole; Christoph, Michiel; Hagenzieker, Marjan; Brookhuis, Karel

    2016-01-01

    Objective: In this study, we assessed the use of portable navigation systems in everyday driving by applying in-vehicle naturalistic driving. Method: Experienced users of navigation systems, 7 females and 14 males, were provided with a specially equipped vehicle for approximately 1 month. Their trip

  19. The impact of navigation systems on traffic safety

    NARCIS (Netherlands)

    Rooijen, T. van; Vonk, T.

    2007-01-01

    This paper studies the impact of navigation systems on traffic safety in the Netherlands. This study consists of four analyses: a literature survey, a database analysis, a user survey and an instrumented vehicle study. The results of the four sections show that navigation systems have a positive eff

  20. The impact of navigation systems on traffic safety

    NARCIS (Netherlands)

    Rooijen, T. van; Vonk, T.

    2008-01-01

    This paper studies the impact of navigation systems on traffic safety in the Netherlands. This study consists of four analyses: a literature survey, a database analysis, a user survey and an instrumented vehicle study. The results of the four sections show that navigation systems have a positive eff

  1. Vibrotactile in-vehicle navigation system

    NARCIS (Netherlands)

    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 measu

  2. Vibrotactile in-vehicle navigation system

    NARCIS (Netherlands)

    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

  3. Networks for Autonomous Formation Flying Satellite Systems

    Science.gov (United States)

    Knoblock, Eric J.; Konangi, Vijay K.; Wallett, Thomas M.; Bhasin, Kul B.

    2001-01-01

    The performance of three communications networks to support autonomous multi-spacecraft formation flying systems is presented. All systems are comprised of a ten-satellite formation arranged in a star topology, with one of the satellites designated as the central or "mother ship." All data is routed through the mother ship to the terrestrial network. The first system uses a TCP/lP over ATM protocol architecture within the formation the second system uses the IEEE 802.11 protocol architecture within the formation and the last system uses both of the previous architectures with a constellation of geosynchronous satellites serving as an intermediate point-of-contact between the formation and the terrestrial network. The simulations consist of file transfers using either the File Transfer Protocol (FTP) or the Simple Automatic File Exchange (SAFE) Protocol. The results compare the IF queuing delay, and IP processing delay at the mother ship as well as application-level round-trip time for both systems, In all cases, using IEEE 802.11 within the formation yields less delay. Also, the throughput exhibited by SAFE is better than FTP.

  4. GNSS global navigation satellite systems : GPS, GLONASS, Galileo, and more

    CERN Document Server

    Hofmann-Wellenhof, Bernhard; Wasle, Elmar

    2008-01-01

    This book is an extension to the acclaimed scientific bestseller "GPS - Theory and Practice". It covers Global Navigation Satellite Systems (GNSS) and includes the Russian GLONASS, the European system Galileo, and additional systems.

  5. Anti-synchronization on autonomous and non-autonomous chaotic systems via adaptive feedback control

    Energy Technology Data Exchange (ETDEWEB)

    Li Ruihong [Department of Applied Mathematics, Northwestern Polytechnical University, Xi' an 710072 (China)], E-mail: llylrh8077@mail.nwpu.edu.cn; Xu Wei [Department of Applied Mathematics, Northwestern Polytechnical University, Xi' an 710072 (China)], E-mail: weixu@nwpu.edu.cn; Li Shuang [Department of Applied Mathematics, Northwestern Polytechnical University, Xi' an 710072 (China)

    2009-05-15

    In this paper, the anti-synchronization of a general class of chaotic systems is investigated. A simple adaptive feedback scheme is proposed to anti-synchronize many familiar chaotic systems, including autonomous systems and non-autonomous systems. Lyapunov analysis for the error system gives the asymptotic stability conditions based on the invariance principle of differential equations. The schemes are successfully applied to three groups of examples: the van der Pol-Duffing oscillator, the parametrically harmonically excited 4D system, and the additionally harmonically excited Murali-Lakshmanan-Chua circuit. Numerical results are presented to justify the theoretical analysis in this paper.

  6. An incremental-learning-by-navigation approach to vision-based autonomous land vehicle guidance in indoor environments using vertical line information and multiweighted generalized Hough transform technique.

    Science.gov (United States)

    Chen, G Y; Tsai, W H

    1998-01-01

    An incremental learning by navigation approach to vision based autonomous land vehicle (ALV) guidance in indoor environments is proposed. The approach consists of three stages: initial learning, navigation, and model updating. In the initial learning stage, the ALV is driven manually, and environment images and other status data are recorded automatically. Then, an offline procedure is performed to build an initial environment model. In the navigation stage, the ALV moves along the learned environment automatically, locates itself by model matching, and records necessary information for model updating. In the model updating stage, an offline procedure is performed to refine the learned model. A more precise model is obtained after each navigation-and-update iteration. Used environment features are vertical straight lines in camera views. A multiweighted generalized Hough transform is proposed for model matching. A real ALV was used as the testbed, and successful navigation experiments show the feasibility of the proposed approach.

  7. Digital Autonomous Terminal Access Communication (DATAC) system

    Science.gov (United States)

    Novacki, Stanley M., III

    1987-01-01

    In order to accommodate the increasing number of computerized subsystems aboard today's more fuel efficient aircraft, the Boeing Co. has developed the DATAC (Digital Autonomous Terminal Access Control) bus to minimize the need for point-to-point wiring to interconnect these various systems, thereby reducing total aircraft weight and maintaining an economical flight configuration. The DATAC bus is essentially a local area network providing interconnections for any of the flight management and control systems aboard the aircraft. The task of developing a Bus Monitor Unit was broken down into four subtasks: (1) providing a hardware interface between the DATAC bus and the Z8000-based microcomputer system to be used as the bus monitor; (2) establishing a communication link between the Z8000 system and a CP/M-based computer system; (3) generation of data reduction and display software to output data to the console device; and (4) development of a DATAC Terminal Simulator to facilitate testing of the hardware and software which transfer data between the DATAC's bus and the operator's console in a near real time environment. These tasks are briefly discussed.

  8. Autonomous Control of Space Reactor Systems

    Energy Technology Data Exchange (ETDEWEB)

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

    2007-11-30

    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.

  9. Vision/INS Integrated Navigation System for Poor Vision Navigation Environments

    Directory of Open Access Journals (Sweden)

    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.

  10. Damping strapdown inertial navigation system based on a Kalman filter

    Science.gov (United States)

    Zhao, Lin; Li, Jiushun; Cheng, Jianhua; Hao, Yong

    2016-11-01

    A damping strapdown inertial navigation system (DSINS) can effectively suppress oscillation errors of strapdown inertial navigation systems (SINSs) and improve the navigation accuracy of SINSs. Aiming at overcoming the disadvantages of traditional damping methods, a DSINS, based on a Kalman filter (KF), is proposed in this paper. Using the measurement data of accelerometers and calculated navigation parameters during the navigation process, the expression of the observation equation is derived. The calculation process of the observation in both the internal damping state and the external damping state is presented. Finally, system oscillation errors are compensated by a KF. Simulation and test results show that, compared with traditional damping methods, the proposed method can reduce system overshoot errors and shorten the convergence time of oscillation errors effectively.

  11. Comparative advantage between traditional and smart navigation systems

    Science.gov (United States)

    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).

  12. 12th International Conference on Intelligent Autonomous Systems

    CERN Document Server

    Cho, Hyungsuck; Yoon, Kwang-Joon; Lee, Jangmyung

    2013-01-01

    Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of “Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security ...

  13. Posture estimation for autonomous weeding robots navigation in nursery tree plantations

    DEFF Research Database (Denmark)

    Khot, Law Ramchandra; Tang, Lie; Blackmore, Simon

    2005-01-01

    The presented research aims at developing a sensor fusion technique for navigational posture estimation for a skid-steered mobile robot vehicle in nursery tree plantations. RTK-GPS and Fiber Optic Gyroscope sensors were used for determining the position and orientation of the robot vehicle...

  14. Research on Observability Analysis-Based Autonomous Navigation Method for Deep Space%基于可观测性分析的深空自主导航方法研究

    Institute of Scientific and Technical Information of China (English)

    崔平远; 常晓华; 崔祜涛

    2011-01-01

    In this paper, the autonomous navigation approaches for different observation models are studied based on observability analysis. Based on the observability analysis of the nonlinear system, the observability matrix is derived from the theory of differential geometry. Then, a method for measuring the observability index of the system is derived, and the analytical method of the observability index for state variable is given. The principle is applied in the autonomous navigation system for deep space. The observability indexes of navigation system corresponding to different observation models are studied, and the observability indexes of the orbital elements are investigated. The result of the observability analysis is used as a selection criterion of the observation model used in the navigation system. And then, the navigation approaches under different observation models are established by utilizing the extended Kalman filter. Finally, the autonomous navigation approach presented in the paper is validated by the practical data of a deep impact mission. The relation between the observability index of the navigation system and the estimation accuracy of orbit elements is verified, and the method of observability analysis is demonstrated to be feasible.%基于可观测性分析,研究了不同观测模型下的深空自主导航算法.从非线性系统的可观测性分析出发,利用微分几何理论求解出系统的可观测矩阵,并给出了系统的可观测度定义和状态变量的可观测度分析方法;将其应用于深空自主导航系统,分析了不同观测模型下导航系统以及轨道参数的可观测度,并将其作为观测模型的选取准则;根据可观测性分析结果,结合非线性扩展卡尔曼滤波,建立了不同观测模型对应的自主导航算法.最后,以深度撞击任务的实际飞行数据对文中的自主导航算法进行数值仿真,验证了导航系统可观测度与系统状态估计精度之间的关

  15. Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems.

    Science.gov (United States)

    Vetrella, Amedeo Rodi; Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio

    2016-12-17

    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.

  16. Regionalized Lunar South Pole Surface Navigation System Analysis

    Directory of Open Access Journals (Sweden)

    Bryan W. Welch

    2008-01-01

    Full Text Available Apollo missions utilized Earth-based assets for navigation, since the landings took place at lunar locations in constant view from the Earth. The new exploration campaign to the lunar South Pole region will have limited Earth visibility, but the extent to which a navigation system comprised solely of Earth-based tracking stations will provide adequate navigation solutions in this region is unknown. This article presents a dilution-of-precision-(DoP- based stationary surface navigation analysis of the performance of multiple lunar satellite constellations, Earth-based deep space network assets, and combinations thereof. Results show that kinematic and integrated solutions cannot be provided by the Earth-based deep space network stations. Also, the surface stationary navigation system needs to be operated as a two-way navigation system, or as a one-way navigation system with local terrain information, while integrating the position solution over a short duration of time with navigation signals being provided by a lunar satellite constellation.

  17. APDS: The Autonomous Pathogen Detection System

    Energy Technology Data Exchange (ETDEWEB)

    Hindson, B; Makarewicz, A; Setlur, U; Henderer, B; McBride, M; Dzenitis, J

    2004-10-04

    We have developed and tested a fully autonomous pathogen detection system (APDS) capable of continuously monitoring the environment for airborne biological threat agents. The system was developed to provide early warning to civilians in the event of a bioterrorism incident and can be used at high profile events for short-term, intensive monitoring or in major public buildings or transportation nodes for long-term monitoring. The APDS is completely automated, offering continuous aerosol sampling, in-line sample preparation fluidics, multiplexed detection and identification immunoassays, and nucleic-acid based polymerase chain reaction (PCR) amplification and detection. Highly multiplexed antibody-based and duplex nucleic acid-based assays are combined to reduce false positives to a very low level, lower reagent costs, and significantly expand the detection capabilities of this biosensor. This article provides an overview of the current design and operation of the APDS. Certain sub-components of the ADPS are described in detail, including the aerosol collector, the automated sample preparation module that performs multiplexed immunoassays with confirmatory PCR, and the data monitoring and communications system. Data obtained from an APDS that operated continuously for seven days in a major U.S. transportation hub is reported.

  18. Lightweight autonomous chemical identification system (LACIS)

    Science.gov (United States)

    Lozos, George; Lin, Hai; Burch, Timothy

    2012-06-01

    Smiths Detection and Intelligent Optical Systems have developed prototypes for the Lightweight Autonomous Chemical Identification System (LACIS) for the US Department of Homeland Security. LACIS is to be a handheld detection system for Chemical Warfare Agents (CWAs) and Toxic Industrial Chemicals (TICs). LACIS is designed to have a low limit of detection and rapid response time for use by emergency responders and could allow determination of areas having dangerous concentration levels and if protective garments will be required. Procedures for protection of responders from hazardous materials incidents require the use of protective equipment until such time as the hazard can be assessed. Such accurate analysis can accelerate operations and increase effectiveness. LACIS is to be an improved point detector employing novel CBRNE detection modalities that includes a militaryproven ruggedized ion mobility spectrometer (IMS) with an array of electro-resistive sensors to extend the range of chemical threats detected in a single device. It uses a novel sensor data fusion and threat classification architecture to interpret the independent sensor responses and provide robust detection at low levels in complex backgrounds with minimal false alarms. The performance of LACIS prototypes have been characterized in independent third party laboratory tests at the Battelle Memorial Institute (BMI, Columbus, OH) and indoor and outdoor field tests at the Nevada National Security Site (NNSS). LACIS prototypes will be entering operational assessment by key government emergency response groups to determine its capabilities versus requirements.

  19. An IR Navigation System for Pleural PDT

    Directory of Open Access Journals (Sweden)

    Timothy C Zhu

    2015-03-01

    Full Text Available Pleural photodynamic therapy (PDT has been used as an adjuvant treatment with lung-sparing surgical treatment for malignant pleural mesothelioma (MPM. In the current pleural PDT protocol, a moving fiber-based point source is used to deliver the light. The light fluences at multiple locations are monitored by several isotropic detectors placed in the pleural cavity. To improve the delivery of light fluence uniformity, an infrared (IR navigation system is used to track the motion of the light source in real-time at a rate of 20 - 60 Hz. A treatment planning system uses the laser source positions obtained from the IR camera to calculate light fluence distribution to monitor the light dose uniformity on the surface of the pleural cavity. A novel reconstruction algorithm is used to determine the pleural cavity surface contour. A dual-correction method is used to match the calculated fluences at detector locations to the detector readings. Preliminary data from a phantom shows superior light uniformity using this method. Light fluence uniformity from patient treatments is also shown with and without the correction method.

  20. An IR Navigation System for Pleural PDT.

    Science.gov (United States)

    Zhu, Timothy C; Liang, Xing; Kim, Michele M; Finlay, Jarod C; Dimofte, Andreea; Rodriguez, Carmen; Simone, Charles B; Friedberg, Joseph S; Cengel, Keith A

    2015-03-01

    Pleural photodynamic therapy (PDT) has been used as an adjuvant treatment with lung-sparing surgical treatment for malignant pleural mesothelioma (MPM). In the current pleural PDT protocol, a moving fiber-based point source is used to deliver the light. The light fluences at multiple locations are monitored by several isotropic detectors placed in the pleural cavity. To improve the delivery of light fluence uniformity, an infrared (IR) navigation system is used to track the motion of the light source in real-time at a rate of 20 - 60 Hz. A treatment planning system uses the laser source positions obtained from the IR camera to calculate light fluence distribution to monitor the light fluence uniformity on the surface of the pleural cavity. A novel reconstruction algorithm is used to determine the pleural cavity surface contour. A dual-correction method is used to match the calculated fluences at detector locations to the detector readings. Preliminary data from a phantom shows superior light uniformity using this method. Light fluence uniformity from patient treatments is also shown with and without the correction method.

  1. An IR Navigation System for Pleural PDT

    Science.gov (United States)

    Zhu, Timothy; Liang, Xing; Kim, Michele; Finlay, Jarod; Dimofte, Andreea; Rodriguez, Carmen; Simone, Charles; Friedberg, Joseph; Cengel, Keith

    2015-03-01

    Pleural photodynamic therapy (PDT) has been used as an adjuvant treatment with lung-sparing surgical treatment for malignant pleural mesothelioma (MPM). In the current pleural PDT protocol, a moving fiber-based point source is used to deliver the light. The light fluences at multiple locations are monitored by several isotropic detectors placed in the pleural cavity. To improve the delivery of light fluence uniformity, an infrared (IR) navigation system is used to track the motion of the light source in real-time at a rate of 20 - 60 Hz. A treatment planning system uses the laser source positions obtained from the IR camera to calculate light fluence distribution to monitor the light dose uniformity on the surface of the pleural cavity. A novel reconstruction algorithm is used to determine the pleural cavity surface contour. A dual-correction method is used to match the calculated fluences at detector locations to the detector readings. Preliminary data from a phantom shows superior light uniformity using this method. Light fluence uniformity from patient treatments is also shown with and without the correction method.

  2. An excellent navigation system and experience in craniomaxillofacial navigation surgery: a double-center study.

    Science.gov (United States)

    Dai, Jiewen; Wu, Jinyang; Wang, Xudong; Yang, Xudong; Wu, Yunong; Xu, Bing; Shi, Jun; Yu, Hongbo; Cai, Min; Zhang, Wenbin; Zhang, Lei; Sun, Hao; Shen, Guofang; Zhang, Shilei

    2016-06-16

    Numerous problems regarding craniomaxillofacial navigation surgery are not well understood. In this study, we performed a double-center clinical study to quantitatively evaluate the characteristics of our navigation system and experience in craniomaxillofacial navigation surgery. Fifty-six patients with craniomaxillofacial disease were included and randomly divided into experimental (using our AccuNavi-A system) and control (using Strker system) groups to compare the surgical effects. The results revealed that the average pre-operative planning time was 32.32 mins vs 29.74 mins between the experimental and control group, respectively (p > 0.05). The average operative time was 295.61 mins vs 233.56 mins (p > 0.05). The point registration orientation accuracy was 0.83 mm vs 0.92 mm. The maximal average preoperative navigation orientation accuracy was 1.03 mm vs 1.17 mm. The maximal average persistent navigation orientation accuracy was 1.15 mm vs 0.09 mm. The maximal average navigation orientation accuracy after registration recovery was 1.15 mm vs 1.39 mm between the experimental and control group. All patients healed, and their function and profile improved. These findings demonstrate that although surgeons should consider the patients' time and monetary costs, our qualified navigation surgery system and experience could offer an accurate guide during a variety of craniomaxillofacial surgeries.

  3. Autonomous mobile robots: Vehicles with cognitive control

    Energy Technology Data Exchange (ETDEWEB)

    Meystel, A.

    1987-01-01

    This book explores a new rapidly developing area of robotics. It describes the state-of-the-art intelligence control, applied machine intelligence, and research and initial stages of manufacturing of autonomous mobile robots. A complete account of the theoretical and experimental results obtained during the last two decades together with some generalizations on Autonomous Mobile Systems are included in this book. Contents: Introduction; Requirements and Specifications; State-of-the-art in Autonomous Mobile Robots Area; Structure of Intelligent Mobile Autonomous System; Planner, Navigator; Pilot; Cartographer; Actuation Control; Computer Simulation of Autonomous Operation; Testing the Autonomous Mobile Robot; Conclusions; Bibliography.

  4. On the equivalence classes of linear non-autonomous systems *

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    In this paper, the equivalence classification of the linear non-autonomous dynamic systems near singularities is given. Under some conditions their equivalence classes are the same as the autonomous ones. Using a series of linear and nonlinear transforms, the equivalence classification is proved.

  5. Positioning Navigation and Timing System Integration Laboratory (PNT SIL)

    Data.gov (United States)

    Federal Laboratory Consortium — ThePositioning Navigation and Timing System Integration Laboratory (PNT SIL)is currently used for a number of PNT system development test and evaluation activities...

  6. High Speed Lunar Navigation for Crewed and Remotely Piloted Vehicles

    Science.gov (United States)

    Pedersen, L.; Allan, M.; To, V.; Utz, H.; Wojcikiewicz, W.; Chautems, C.

    2010-01-01

    Increased navigation speed is desirable for lunar rovers, whether autonomous, crewed or remotely operated, but is hampered by the low gravity, high contrast lighting and rough terrain. We describe lidar based navigation system deployed on NASA's K10 autonomous rover and to increase the terrain hazard situational awareness of the Lunar Electric Rover crew.

  7. Mapping, Navigation, and Learning for Off-Road Traversal

    DEFF Research Database (Denmark)

    Konolige, Kurt; Agrawal, Motilal; Blas, Morten Rufus

    2009-01-01

    The challenge in the DARPA Learning Applied to Ground Robots (LAGR) project is to autonomously navigate a small robot using stereo vision as the main sensor. During this project, we demonstrated a complete autonomous system for off-road navigation in unstructured environments, using stereo vision...

  8. Cardiac autonomic nervous system activity in obesity.

    Science.gov (United States)

    Liatis, Stavros; Tentolouris, Nikolaos; Katsilambros, Nikolaos

    2004-08-01

    The development of obesity is caused by a disturbance of energy balance, with energy intake exceeding energy expenditure. As the autonomic nervous system (ANS) has a role in the regulation of both these variables, it has become a major focus of investigation in the fields of obesity pathogenesis. The enhanced cardiac sympathetic drive shown in most of the studies in obese persons might be due to an increase in their levels of circulating insulin. The role of leptin needs further investigation with studies in humans. There is a blunted response of the cardiac sympathetic nervous system (SNS) activity in obese subjects after consumption of a carbohydrate-rich meal as well as after insulin administration. This might be due to insulin resistance. It is speculated that increased SNS activity in obesity may contribute to the development of hypertension in genetically susceptible individuals. It is also speculated that the increase in cardiac SNS activity under fasting conditions in obesity may be associated with high cardiovascular morbidity and mortality.

  9. Vehicle Detection for RCTA/ANS (Autonomous Navigation System)

    Science.gov (United States)

    Brennan, Shane; Bajracharya, Max; Matthies, Larry H.; Howard, Andrew B.

    2012-01-01

    Using a stereo camera pair, imagery is acquired and processed through the JPLV stereo processing pipeline. From this stereo data, large 3D blobs are found. These blobs are then described and classified by their shape to determine which are vehicles and which are not. Prior vehicle detection algorithms are either targeted to specific domains, such as following lead cars, or are intensity- based methods that involve learning typical vehicle appearances from a large corpus of training data. In order to detect vehicles, the JPL Vehicle Detection (JVD) algorithm goes through the following steps: 1. Take as input a left disparity image and left rectified image from JPLV stereo. 2. Project the disparity data onto a two-dimensional Cartesian map. 3. Perform some post-processing of the map built in the previous step in order to clean it up. 4. Take the processed map and find peaks. For each peak, grow it out into a map blob. These map blobs represent large, roughly vehicle-sized objects in the scene. 5. Take these map blobs and reject those that do not meet certain criteria. Build descriptors for the ones that remain. Pass these descriptors onto a classifier, which determines if the blob is a vehicle or not. The probability of detection is the probability that if a vehicle is present in the image, is visible, and un-occluded, then it will be detected by the JVD algorithm. In order to estimate this probability, eight sequences were ground-truthed from the RCTA (Robotics Collaborative Technology Alliances) program, totaling over 4,000 frames with 15 unique vehicles. Since these vehicles were observed at varying ranges, one is able to find the probability of detection as a function of range. At the time of this reporting, the JVD algorithm was tuned to perform best at cars seen from the front, rear, or either side, and perform poorly on vehicles seen from oblique angles.

  10. Guidance and Navigation Software Architecture Design for the Autonomous Multi-Agent Physically Interacting Spacecraft (AMPHIS) Test Bed

    Science.gov (United States)

    2006-12-01

    class, the Jules Verne successfully completed the autonomous rendezvous and docking system in Europe’s largest ship hull test facility in September...replicate the 2007 Jules Verne mission. http://www.esa.int/SPECIALS/ATV/SEMWCEKKKSE_0.html. 23. Banke, K., Air Force XSS-10 Micro-Satellite Mission a

  11. ON THE LIMIT CYCLES OF PLANAR AUTONOMOUS SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    The authors investigate the global properties of general autonomous systems on the plane and establish criteria for the nonexistence, existence and uniqueness of limit cycles. As application examples, the limit cycles for some polynomial systems are studied.

  12. HCTNav: A Path Planning Algorithm for Low-Cost Autonomous Robot Navigation in Indoor Environments

    Directory of Open Access Journals (Sweden)

    Javier Garrido

    2013-08-01

    Full Text Available Low-cost robots are characterized by low computational resources and limited energy supply. Path planning algorithms aim to find the optimal path between two points so the robot consumes as little energy as possible. However, these algorithms were not developed considering computational limitations (i.e., processing and memory capacity. This paper presents the HCTNav path-planning algorithm (HCTLab research group’s navigation algorithm. This algorithm was designed to be run in low-cost robots for indoor navigation. The results of the comparison between HCTNav and the Dijkstra’s algorithms show that HCTNav’s memory peak is nine times lower than Dijkstra’s in maps with more than 150,000 cells.

  13. A Novel Relative Navigation Control Strategy Based on Relation Space Method for Autonomous Underground Articulated Vehicles

    Directory of Open Access Journals (Sweden)

    Fengqian Dou

    2016-01-01

    Full Text Available This paper proposes a novel relative navigation control strategy based on the relation space method (RSM for articulated underground trackless vehicles. In the RSM, a self-organizing, competitive neural network is used to identify the space around the vehicle, and the spatial geometric relationships of the identified space are used to determine the vehicle’s optimal driving direction. For driving control, the trajectories of the articulated vehicles are analyzed, and data-based steering and speed control modules are developed to reduce modeling complexity. Simulation shows that the proposed RSM can choose the correct directions for articulated vehicles in different tunnels. The effectiveness and feasibility of the resulting novel relative navigation control strategy are validated through experiments.

  14. Autonomous Navigation, Dynamic Path and Work Flow Planning in Multi-Agent Robotic Swarms Project

    Science.gov (United States)

    Falker, John; Zeitlin, Nancy; Leucht, Kurt; Stolleis, Karl

    2015-01-01

    Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots, called Swarmies, to be used as a ground-based research platform for in-situ resource utilization missions. The behavior of the robot swarm mimics the central-place foraging strategy of ants to find and collect resources in an unknown environment and return those resources to a central site.

  15. Autonomous Visual Navigation of an Indoor Environment Using a Parsimonious, Insect Inspired Familiarity Algorithm.

    Directory of Open Access Journals (Sweden)

    Douglas D Gaffin

    Full Text Available The navigation of bees and ants from hive to food and back has captivated people for more than a century. Recently, the Navigation by Scene Familiarity Hypothesis (NSFH has been proposed as a parsimonious approach that is congruent with the limited neural elements of these insects' brains. In the NSFH approach, an agent completes an initial training excursion, storing images along the way. To retrace the path, the agent scans the area and compares the current scenes to those previously experienced. By turning and moving to minimize the pixel-by-pixel differences between encountered and stored scenes, the agent is guided along the path without having memorized the sequence. An important premise of the NSFH is that the visual information of the environment is adequate to guide navigation without aliasing. Here we demonstrate that an image landscape of an indoor setting possesses ample navigational information. We produced a visual landscape of our laboratory and part of the adjoining corridor consisting of 2816 panoramic snapshots arranged in a grid at 12.7-cm centers. We show that pixel-by-pixel comparisons of these images yield robust translational and rotational visual information. We also produced a simple algorithm that tracks previously experienced routes within our lab based on an insect-inspired scene familiarity approach and demonstrate that adequate visual information exists for an agent to retrace complex training routes, including those where the path's end is not visible from its origin. We used this landscape to systematically test the interplay of sensor morphology, angles of inspection, and similarity threshold with the recapitulation performance of the agent. Finally, we compared the relative information content and chance of aliasing within our visually rich laboratory landscape to scenes acquired from indoor corridors with more repetitive scenery.

  16. Autonomous Visual Navigation of an Indoor Environment Using a Parsimonious, Insect Inspired Familiarity Algorithm.

    Science.gov (United States)

    Gaffin, Douglas D; Brayfield, Brad P

    2016-01-01

    The navigation of bees and ants from hive to food and back has captivated people for more than a century. Recently, the Navigation by Scene Familiarity Hypothesis (NSFH) has been proposed as a parsimonious approach that is congruent with the limited neural elements of these insects' brains. In the NSFH approach, an agent completes an initial training excursion, storing images along the way. To retrace the path, the agent scans the area and compares the current scenes to those previously experienced. By turning and moving to minimize the pixel-by-pixel differences between encountered and stored scenes, the agent is guided along the path without having memorized the sequence. An important premise of the NSFH is that the visual information of the environment is adequate to guide navigation without aliasing. Here we demonstrate that an image landscape of an indoor setting possesses ample navigational information. We produced a visual landscape of our laboratory and part of the adjoining corridor consisting of 2816 panoramic snapshots arranged in a grid at 12.7-cm centers. We show that pixel-by-pixel comparisons of these images yield robust translational and rotational visual information. We also produced a simple algorithm that tracks previously experienced routes within our lab based on an insect-inspired scene familiarity approach and demonstrate that adequate visual information exists for an agent to retrace complex training routes, including those where the path's end is not visible from its origin. We used this landscape to systematically test the interplay of sensor morphology, angles of inspection, and similarity threshold with the recapitulation performance of the agent. Finally, we compared the relative information content and chance of aliasing within our visually rich laboratory landscape to scenes acquired from indoor corridors with more repetitive scenery.

  17. Automatic land vehicle navigation using road map data

    Energy Technology Data Exchange (ETDEWEB)

    Schindwolf, R.

    1984-06-01

    A land navigation system has been developed that provides accurate navigation data while it is traveling on mapped roads. The system is autonomous and consists of a simple dead-reckoning navigator that is updated with stored road map data. Simulation and preliminary test results indicate that accuracies on the order of 50 feet can be achieved. Accuracy is independent of time.

  18. Development of an autonomous target tracking system

    Science.gov (United States)

    Gidda, Venkata Ramaiah

    In recent years, surveillance and border patrol have become one of the key research areas in UAV research. Increase in the computational capability of the computers and embedded electronics, coupled with compatibility of various commercial vision algorithms and commercial off the shelf (COTS) embedded electronics, and has further fuelled the research. The basic task in these applications is perception of environment through the available visual sensors like camera. Visual tracking, as the name implies, is tracking of objects using a camera. The process of autonomous target tracking starts with the selection of the target in a sequence of video frames transmitted from the on-board camera. We use an improved fast dynamic template matching algorithm coupled with Kalman Filter to track the selected target in consecutive video frames. The selected target is saved as a reference template. On the ground station computer, the reference template is overlaid on the live streaming video from the on-board system, starting from the upper left corner of the video frame. The template is slid pixel by pixel over the entire source image. A comparison of the pixels is performed between the template and source image. A confidence value R of the match is calculated at each pixel. Based on the method used to perform the template matching, the best match pixel location is found according to the highest or lowest confidence value R. The best match pixel location is communicated to the on-board gimbal controller over the wireless Xbee network. The software on the controller actuates the pan-tilt servos to continuously to hold the selected target at the center of the video frame. The complete system is a portable control system assembled from commercial off the shelf parts. The tracking system is tested on a target having several motion patterns.

  19. Evaluation of semiautonomous navigation assistance system for power wheelchairs with blindfolded nondisabled individuals

    Directory of Open Access Journals (Sweden)

    Vinod Sharma, PhD

    2010-12-01

    Full Text Available Some individuals with disabilities are denied powered mobility because they lack the visual, motor, and/or cognitive skills required to safely operate a power wheelchair. The Drive-Safe System (DSS is an add-on, distributed, shared-control navigation assistance system for power wheelchairs intended to provide safe and independent mobility to such individuals. The DSS is a human-machine system in which the user is responsible for high-level control of the wheelchair, such as choosing the destination, path planning, and basic navigation actions, while the DSS overrides unsafe maneuvers through autonomous collision avoidance, wall following, and door crossing. In this project, the DSS was clinically evaluated in a controlled laboratory with blindfolded, nondisabled individuals. Further, these individuals' performance with the DSS was compared with standard cane use for navigation assistance by people with visual impairments. Results indicate that compared with a cane, the DSS significantly reduced the number of collisions. Users rated the DSS favorably even though they took longer to navigate the same obstacle course than they would have using a standard long cane. Participants experienced less physical demand, effort, and frustration when using the DSS as compared with a cane. These findings suggest that the DSS can be a viable powered mobility solution for wheelchair users with visual impairments.

  20. Behaviour based Mobile Robot Navigation Technique using AI System: Experimental Investigation on Active Media Pioneer Robot

    Directory of Open Access Journals (Sweden)

    S. Parasuraman, V.Ganapathy

    2012-10-01

    Full Text Available A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system  (b Designing of the controller, which maps the sensors input to the motor output through model based Fuzzy Logic Inference System and (c Formulation of the decision-making process by using Alpha-level fuzzy logic system. The proposed method is applied to Active Media Pioneer Robot and the results are discussed and compared with most accepted methods. This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation. In this approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of a set of simple conditional statements composed of linguistic variables.Keywards: Mobile robot, behavior based control, fuzzy logic, alpha level fuzzy logic, obstacle avoidance behavior and goal seek behavior

  1. Advanced Integration of WiFi and Inertial Navigation Systems for Indoor Mobile Positioning

    Science.gov (United States)

    Evennou, Frédéric; Marx, François

    2006-12-01

    This paper presents an aided dead-reckoning navigation structure and signal processing algorithms for self localization of an autonomous mobile device by fusing pedestrian dead reckoning and WiFi signal strength measurements. WiFi and inertial navigation systems (INS) are used for positioning and attitude determination in a wide range of applications. Over the last few years, a number of low-cost inertial sensors have become available. Although they exhibit large errors, WiFi measurements can be used to correct the drift weakening the navigation based on this technology. On the other hand, INS sensors can interact with the WiFi positioning system as they provide high-accuracy real-time navigation. A structure based on a Kalman filter and a particle filter is proposed. It fuses the heterogeneous information coming from those two independent technologies. Finally, the benefits of the proposed architecture are evaluated and compared with the pure WiFi and INS positioning systems.

  2. Advanced Integration of WiFi and Inertial Navigation Systems for Indoor Mobile Positioning

    Directory of Open Access Journals (Sweden)

    Evennou Frédéric

    2006-01-01

    Full Text Available This paper presents an aided dead-reckoning navigation structure and signal processing algorithms for self localization of an autonomous mobile device by fusing pedestrian dead reckoning and WiFi signal strength measurements. WiFi and inertial navigation systems (INS are used for positioning and attitude determination in a wide range of applications. Over the last few years, a number of low-cost inertial sensors have become available. Although they exhibit large errors, WiFi measurements can be used to correct the drift weakening the navigation based on this technology. On the other hand, INS sensors can interact with the WiFi positioning system as they provide high-accuracy real-time navigation. A structure based on a Kalman filter and a particle filter is proposed. It fuses the heterogeneous information coming from those two independent technologies. Finally, the benefits of the proposed architecture are evaluated and compared with the pure WiFi and INS positioning systems.

  3. Evaluating the autonomic nervous system in patients with laryngopharyngeal reflux.

    Science.gov (United States)

    Huang, Wan-Ju; Shu, Chih-Hung; Chou, Kun-Ta; Wang, Yi-Fen; Hsu, Yen-Bin; Ho, Ching-Yin; Lan, Ming-Ying

    2013-06-01

    The pathogenesis of laryngopharyngeal reflux (LPR) remains unclear. It is linked to but distinct from gastroesophageal reflux disease (GERD), which has been shown to be related to disturbed autonomic regulation. The aim of this study is to investigate whether autonomic dysfunction also plays a role in the pathogenesis of LPR. Case-control study. Tertiary care center. Seventeen patients with LPR and 19 healthy controls, aged between 19 and 50 years, were enrolled in the study. The patients were diagnosed with LPR if they had a reflux symptom index (RSI) ≥ 13 and a reflux finding score (RFS) ≥ 7. Spectral analysis of heart rate variability (HRV) analysis was used to assess autonomic function. Anxiety and depression levels measured by the Beck Anxiety Inventory (BAI) and Beck Depression Inventory II (BDI-II) were also conducted. In HRV analysis, high frequency (HF) represents the parasympathetic activity of the autonomic nervous system, whereas low frequency (LF) represents the total autonomic activity. There were no significant differences in the LF power and HF power between the 2 groups. However, significantly lower HF% (P = .003) and a higher LF/HF ratio (P = .012) were found in patients with LPR, who demonstrated poor autonomic modulation and higher sympathetic activity. Anxiety was also frequently observed in the patient group. The study suggests that autonomic dysfunction seems to be involved in the pathogenesis of LPR. The potential beneficial effect of autonomic nervous system modulation as a therapeutic modality for LPR merits further investigation.

  4. Enhancement Performance of Road Recognition System of Autonomous Robots in Shadow Scenario

    Directory of Open Access Journals (Sweden)

    Olusanya Y. Agunbiade

    2013-12-01

    Full Text Available Road region recognition is a main feature that is g aining increasing attention from intellectuals beca use it helps autonomous vehicle to achieve a successful na vigation without accident. However, different techniques based on camera sensor have been used by various researchers and outstanding results have been achieved. Despite their success, environmental noise like shadow leads to inaccurate recognition of road region which eventually leads to accident for autonomous vehicle. In this research, we conducted an investigation on shadow and its effects, optimized the road region recognition system of autonomous vehicle by introducing an algorithm capable of dete cting and eliminating the effects of shadow. The experimental performance of our system was tested a nd compared using the following schemes: Total Positive Rate (TPR, False Negative Rate (FNR, Tot al Negative Rate (TNR, Error Rate (ERR and False Positive Rate (FPR. The performance result of the system improved on road recognition in shadow scenario and this advancement has added tremendousl y to successful navigation approaches for autonomous vehicle

  5. Intelligent personal navigator supported by knowledge-based systems for estimating dead reckoning navigation parameters

    Science.gov (United States)

    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

  6. A Generic Agent Organisation Framework for Autonomic Systems

    Science.gov (United States)

    Kota, Ramachandra; Gibbins, Nicholas; Jennings, Nicholas R.

    Autonomic computing is being advocated as a tool for managing large, complex computing systems. Specifically, self-organisation provides a suitable approach for developing such autonomic systems by incorporating self-management and adaptation properties into large-scale distributed systems. To aid in this development, this paper details a generic problem-solving agent organisation framework that can act as a modelling and simulation platform for autonomic systems. Our framework describes a set of service-providing agents accomplishing tasks through social interactions in dynamically changing organisations. We particularly focus on the organisational structure as it can be used as the basis for the design, development and evaluation of generic algorithms for self-organisation and other approaches towards autonomic systems.

  7. Research on integrated navigation method for AUV

    Institute of Scientific and Technical Information of China (English)

    GUO Zhen; SUN Feng

    2005-01-01

    The principles of the SINS/DVL integrated navigation system are introduced, and the compass status accuracy is compared. When the heading is changed, the dead reckoning algorithm using the heading information of the SINS (Strapdown inertial navigation systems) and DVL (doppler velocity log) is adopted to substitute the SINS/DVL integrated system. The simulation results show that the method can improve the accuracy of integrated navigation system when AUV (autonomous underwater vehicle) is in motion.

  8. Cardiac autonomic profile in rheumatoid arthritis and systemic lupus erythematosus.

    Science.gov (United States)

    Aydemir, M; Yazisiz, V; Basarici, I; Avci, A B; Erbasan, F; Belgi, A; Terzioglu, E

    2010-03-01

    Neurological involvement is a well-documented issue in patients with systemic lupus erythematosus (SLE) and rheumatoid arthritis (RA). However, little is known about the involvement of the autonomic nervous system. This study was conducted to investigate autonomic nervous system dysfunction in patients with RA and SLE. Twenty-six RA patients, 38 SLE patients and 40 healthy controls were recruited from our in- and out-patient departments. Heart rate variability (HRV) parameters (the power of the high- [HF] and low-frequency [LF] band of haemodynamic time series, the ratio between low- and high-frequency components [LF/HF ratio], the power spectral density), baroreflex sensitivity (BRS) and beat-to-beat blood pressures were assessed by a novel non-invasive haemodynamic monitoring tool (Task Force Monitor [TFM], CNSystems Medizintechnik GmbH, Graz, Austria). Autonomic nervous system dysfunction was determined according to classical Ewing autonomic test battery. Furthermore, we implemented a secondary autonomic test score by modifying the Ewing test battery with additional criteria. Both the classical and modified Ewing test batteries have revealed that the frequencies of autonomic neuropathy were significantly higher in patient groups compared with controls (p disease duration, disease activity and autoantibody positivity. Consequently, we believe that further large-scale studies investigating cardiovascular autonomic neuropathy in rheumatic diseases should be carried out to verify our findings and manifest clinical consequences beyond these results.

  9. An integrated autonomous rendezvous and docking system architecture using Centaur modern avionics

    Science.gov (United States)

    Nelson, Kurt

    1991-01-01

    The avionics system for the Centaur upper stage is in the process of being modernized with the current state-of-the-art in strapdown inertial guidance equipment. This equipment includes an integrated flight control processor with a ring laser gyro based inertial guidance system. This inertial navigation unit (INU) uses two MIL-STD-1750A processors and communicates over the MIL-STD-1553B data bus. Commands are translated into load activation through a Remote Control Unit (RCU) which incorporates the use of solid state relays. Also, a programmable data acquisition system replaces separate multiplexer and signal conditioning units. This modern avionics suite is currently being enhanced through independent research and development programs to provide autonomous rendezvous and docking capability using advanced cruise missile image processing technology and integrated GPS navigational aids. A system concept was developed to combine these technologies in order to achieve a fully autonomous rendezvous, docking, and autoland capability. The current system architecture and the evolution of this architecture using advanced modular avionics concepts being pursued for the National Launch System are discussed.

  10. Method and System for Gamma-Ray Localization Induced Spacecraft Navigation Using Celestial Gamma-Ray Sources

    Science.gov (United States)

    Sheikh, Suneel I. (Inventor); Hisamoto, Chuck (Inventor); Arzoumanian, Zaven (Inventor)

    2015-01-01

    A method and system for spacecraft navigation using distant celestial gamma-ray bursts which offer detectable, bright, high-energy events that provide well-defined characteristics conducive to accurate time-alignment among spatially separated spacecraft. Utilizing assemblages of photons from distant gamma-ray bursts, relative range between two spacecraft can be accurately computed along the direction to each burst's source based upon the difference in arrival time of the burst emission at each spacecraft's location. Correlation methods used to time-align the high-energy burst profiles are provided. The spacecraft navigation may be carried out autonomously or in a central control mode of operation.

  11. Indoor dynamic positioning system based on strapdown inertial navigation technology

    Science.gov (United States)

    Xing, YaDong; Wu, Hong

    2011-11-01

    Strapdown inertial navigation technology, which is widely used in aerospace, is a navigation technology in which the gyros sensor and accelerometers sensor are rigidly attached to the body of the object. This article describes an application of strapdown inertial navigation technology in indoor dynamic positioning system. The hardware design of the node include the master controller, data collection, sensors, antenna and related peripheral circuit. Positioning algorithm, data acquisition and transmission are done by software programming based on the hardware circuit. The strapdown inertial navigation composed of the hardware and the software could calculate the position of the object. Simulation software(matlab) is used to confirm the correctness of the positioning algorithm which is implemented by software programming in the system. The system uses the wireless sensor network to expand the range of the positioning. The system of which the information transmission is reliable and the mobility is strongly can satisfy the requirements of the emergency.

  12. Navigation sensors and systems in GNSS degraded and denied environments

    Institute of Scientific and Technical Information of China (English)

    George T. Schmidt

    2015-01-01

    Position, velocity, and timing (PVT) signals from the Global Positioning System (GPS) are used throughout the world but the availability and reliability of these signals in all environments has become a subject of concern for both civilian and military applications. This presentation sum-marizes recent advances in navigation sensor technology, including GPS, inertial, and other navi-gation aids that address these concerns. Also addressed are developments in sensor integration technology with several examples described, including the Bluefin-21 system mechanization.

  13. Navigation sensors and systems in GNSS degraded and denied environments

    Directory of Open Access Journals (Sweden)

    George T. Schmidt

    2015-02-01

    Full Text Available Position, velocity, and timing (PVT signals from the Global Positioning System (GPS are used throughout the world but the availability and reliability of these signals in all environments has become a subject of concern for both civilian and military applications. This presentation summarizes recent advances in navigation sensor technology, including GPS, inertial, and other navigation aids that address these concerns. Also addressed are developments in sensor integration technology with several examples described, including the Bluefin-21 system mechanization.

  14. Router-level community structure of the Internet Autonomous Systems

    CERN Document Server

    Beiró, Mariano G; Alvarez-Hamelin, J Ignacio

    2015-01-01

    The Internet is composed of routing devices connected between them and organized into independent administrative entities: the Autonomous Systems. The existence of different types of Autonomous Systems (like large connectivity providers, Internet Service Providers or universities) together with geographical and economical constraints, turns the Internet into a complex modular and hierarchical network. This organization is reflected in many properties of the Internet topology, like its high degree of clustering and its robustness. In this work, we study the modular structure of the Internet router-level graph in order to assess to what extent the Autonomous Systems satisfy some of the known notions of community structure. We show that the modular structure of the Internet is much richer than what can be captured by the current community detection methods, which are severely affected by resolution limits and by the heterogeneity of the Autonomous Systems. Here we overcome this issue by using a multiresolution d...

  15. Engineering satellite-based navigation and timing global navigation satellite systems, signals, and receivers

    CERN Document Server

    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...

  16. Control strategy design for car autonomous navigation using adaptive dynamic programming%基于自适应动态规划算法的小车自主导航控制策略设计

    Institute of Scientific and Technical Information of China (English)

    方啸; 郑德忠

    2014-01-01

    小车自主导航系统是路径规划领域研究的难点问题。本文利用自适应动态规划算法对小车自主寻路、避障的控制策略进行了设计。介绍了仿真过程中小车检测环境状态量的方法,提出了小车通过连续型奖励/惩罚信号自主学习寻路、避障的控制策略,并结合虚拟现实技术创建了不同路径和不同障碍物状态的仿真环境。通过不同路径状态的仿真实验,验证了自适应动态规划算法在解决小车自主导航避障控制策略问题上的可靠性和稳定性。%The car autonomous navigation system has been a hot topic in path planning. This paper focuses on control strategy design for car autonomous navigation with obstacles avoidance by using adaptive dynamic programming (ADP) approach. First, the method for car observing the environment in simulation process is introduced. Second, a continuous reward/punishmen signal for car autonomous learning the control strategy is proposed. Third, the different simulation environment with different obstacles' states are established by virtual reality (VR) technology. The simulation results show that the ADP approach provides the suitable reliability and stability for control strategy design on autonomous navigation problem.

  17. Cooperative navigation for multiple autonomous underwater vehicles based on two hydrophones%基于双水听器的多自主水下航行器协同导航方法

    Institute of Scientific and Technical Information of China (English)

    张立川; 徐德民; 刘明雍

    2011-01-01

    Cooperative navigation of multiple autonomous underwater vehicles (MAUVs) is the key problem for underwater group missions. An algorithm based on acoustic modem for MAUVs is presented. In the master-slaver structure, the master AUV is equipped with high precision navigation system, and the slaver AUV is equipped with low precision navigation system. The slaver AUV is equipped with acoustic device to measure the relative distance and azimuth angle. Additionally with the accurate position of master AUV, an algorithm is designed, which fuses the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy is improved effectively by using the cooperative navigation and localization method.%协同导航定位是实现多自主水下航行器(multiple autonomous underwater vehicles,MAUVs)协同作业必须解决的关键问题.针对主从式MAUVs,提出了一种基于双水听器信号的MAUVs协同定位方法.在主从式结构中,主AUV内部装备高精度导航设备,从AUV内部装备低精度导航设备,外部均装备水声装置测量相对位置关系,从AUV通过水声测量确定出相对距离和相对方位角,再辅以主AUV精确位置,得到从AUV精确位置.研究结果表明,利用主AUV作为协同导航定位,可以显著提高群体的导航定位精度.

  18. Physics Simulation Software for Autonomous Propellant Loading and Gas House Autonomous System Monitoring

    Science.gov (United States)

    Regalado Reyes, Bjorn Constant

    2015-01-01

    1. Kennedy Space Center (KSC) is developing a mobile launching system with autonomous propellant loading capabilities for liquid-fueled rockets. An autonomous system will be responsible for monitoring and controlling the storage, loading and transferring of cryogenic propellants. The Physics Simulation Software will reproduce the sensor data seen during the delivery of cryogenic fluids including valve positions, pressures, temperatures and flow rates. The simulator will provide insight into the functionality of the propellant systems and demonstrate the effects of potential faults. This will provide verification of the communications protocols and the autonomous system control. 2. The High Pressure Gas Facility (HPGF) stores and distributes hydrogen, nitrogen, helium and high pressure air. The hydrogen and nitrogen are stored in cryogenic liquid state. The cryogenic fluids pose several hazards to operators and the storage and transfer equipment. Constant monitoring of pressures, temperatures and flow rates are required in order to maintain the safety of personnel and equipment during the handling and storage of these commodities. The Gas House Autonomous System Monitoring software will be responsible for constantly observing and recording sensor data, identifying and predicting faults and relaying hazard and operational information to the operators.

  19. An Image-Based Sensor System for Autonomous Rendez-Vous with Uncooperative Satellites

    CERN Document Server

    Miravet, Carlos; Krouch, Eloise; del Cura, Juan Manuel

    2008-01-01

    In this paper are described the image processing algorithms developed by SENER, Ingenieria y Sistemas to cope with the problem of image-based, autonomous rendez-vous (RV) with an orbiting satellite. The methods developed have a direct application in the OLEV (Orbital Life Extension Extension Vehicle) mission. OLEV is a commercial mission under development by a consortium formed by Swedish Space Corporation, Kayser-Threde and SENER, aimed to extend the operational life of geostationary telecommunication satellites by supplying them control, navigation and guidance services. OLEV is planned to use a set of cameras to determine the angular position and distance to the client satellite during the complete phases of rendez-vous and docking, thus enabling the operation with satellites not equipped with any specific navigational aid to provide support during the approach. The ability to operate with un-equipped client satellites significantly expands the range of applicability of the system under development, compar...

  20. Autonomic system modification in Zen practitioners.

    Science.gov (United States)

    Fiorentini, Alessandra; Ora, Josuel; Tubani, Luigi

    2013-01-01

    Meditation in its various forms is a traditional exercise with a potential benefit on well-being and health. On a psychosomatic level these exercises seem to improve the salutogenetic potential in man.Especially the cardiorespiratory interaction seems to play an important role since most meditation techniques make use of special low frequency breathing patterns regardless of whether they result from a deliberate guidance of breathing or other mechanisms, for example, the recitation of specific verse. During the different exercises of Zen meditation the depth and the duration of each respiratory cycle is determined only by the process of breathing. Respiratory manoeuvres during Zazen meditation may produce HR variability changes similar to those produces during biofeedback. Recognition that the respiratory sinus arrhythmia (RSA) was mediated by efferent vagal activity acting on the sinus node led investigators to attempt to quantify the fluctuations in R-R intervals that were related to breathing. Nine Zen practitioners with five years of experience took part in the study. Autonomic nervous system function was evaluated by heart rate variability (HRV) analysis during 24-hours ECG recording during zen meditation and at rest. The data of this small observational study confirm that ZaZen breathing falls within the range of low frequency HR spectral bands. Our data suggest that the modification of HR spectral power remained also in normal day when the subject have a normal breathing. We suggest that the changes in the breathing rate might modify the chemoreflex and the continuous practice in slow breathing can reduce chemoreflex. This change in the automonic control of respiration can be permanent with a resetting of endogenous circulatory rhythms.

  1. Integrated Navigation System for the Second Generation Reusable Launch Vehicle

    Science.gov (United States)

    2002-01-01

    An array of components in a laboratory at NASA's Marshall Space Flight Center (MSFC) is being tested by the Flight Mechanics Office to develop an integrated navigation system for the second generation reusable launch vehicle. The laboratory is testing Global Positioning System (GPS) components, a satellite-based location and navigation system, and Inertial Navigation System (INS) components, sensors on a vehicle that determine angular velocity and linear acceleration at various points. The GPS and INS components work together to provide a space vehicle with guidance and navigation, like the push of the OnStar button in your car assists you with directions to a specific address. The integration will enable the vehicle operating system to track where the vehicle is in space and define its trajectory. The use of INS components for navigation is not new to space technology. The Space Shuttle currently uses them. However, the Space Launch Initiative is expanding the technology to integrate GPS and INS components to allow the vehicle to better define its position and more accurately determine vehicle acceleration and velocity. This advanced technology will lower operational costs and enhance the safety of reusable launch vehicles by providing a more comprehensive navigation system with greater capabilities. In this photograph, Dr. Jason Chuang of MSFC inspects an INS component in the laboratory.

  2. 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.

  3. Autonomous Underwater Munitions and Explosives of Concern Detection System

    Science.gov (United States)

    2015-03-01

    MR-201002) Autonomous Underwater Munitions and Explosives of Concern Detection System March 2015 This document has been... Autonomous Underwater Munitions and Explosives of Concern Detection System 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR...Certification Program (ESTCP), 4800 Mark Center Drive , Suite 17D08,Alexandria,VA,22350-3605 8. PERFORMING ORGANIZATION REPORT NUMBER 9. SPONSORING

  4. The Autonomous Pathogen Detection System (APDS)

    Energy Technology Data Exchange (ETDEWEB)

    Morris, J; Dzenitis, J

    2004-09-22

    Shaped like a mailbox on wheels, it's been called a bioterrorism ''smoke detector.'' It can be found in transportation hubs such as airports and subways, and it may be coming to a location near you. Formally known as the Autonomous Pathogen Detection System, or APDS, this latest tool in the war on bioterrorism was developed at Lawrence Livermore National Laboratory to continuously sniff the air for airborne pathogens and toxins such as anthrax or plague. The APDS is the modern day equivalent of the canaries miners took underground with them to test for deadly carbon dioxide gas. But this canary can test for numerous bacteria, viruses, and toxins simultaneously, report results every hour, and confirm positive samples and guard against false positive results by using two different tests. The fully automated system collects and prepares air samples around the clock, does the analysis, and interprets the results. It requires no servicing or human intervention for an entire week. Unlike its feathered counterpart, when an APDS unit encounters something deadly in the air, that's when it begins singing, quietly. The APDS unit transmits a silent alert and sends detailed data to public health authorities, who can order evacuation and begin treatment of anyone exposed to toxic or biological agents. It is the latest in a series of biodefense detectors developed at DOE/NNSA national laboratories. The manual predecessor to APDS, called BASIS (for Biological Aerosol Sentry and Information System), was developed jointly by Los Alamos and Lawrence Livermore national laboratories. That system was modified to become BioWatch, the Department of Homeland Security's biological urban monitoring program. A related laboratory instrument, the Handheld Advanced Nucleic Acid Analyzer (HANAA), was first tested successfully at LLNL in September 1997. Successful partnering with private industry has been a key factor in the rapid advancement and deployment of

  5. An indoor navigation system to support the visually impaired.

    Science.gov (United States)

    Riehle, T H; Lichter, P; Giudice, N A

    2008-01-01

    Indoor navigation technology is needed to support seamless mobility for the visually impaired. A small portable personal navigation device that provides current position, useful contextual wayfinding information about the indoor environment and directions to a destination would greatly improve access and independence for people with low vision. This paper describes the construction of such a device which utilizes a commercial Ultra-Wideband (UWB) asset tracking system to support real-time location and navigation information. Human trials were conducted to assess the efficacy of the system by comparing target-finding performance between blindfolded subjects using the navigation system for real-time guidance, and blindfolded subjects who only received speech information about their local surrounds but no route guidance information (similar to that available from a long cane or guide dog). A normal vision control condition was also run. The time and distance traveled was measured in each trial and a point-back test was performed after goal completion to assess cognitive map development. Statistically significant differences were observed between the three conditions in time and distance traveled; with the navigation system and the visual condition yielding the best results, and the navigation system dramatically outperforming the non-guided condition.

  6. In-motion initial alignment and positioning with INS/CNS/ODO integrated navigation system for lunar rovers

    Science.gov (United States)

    Lu, Jiazhen; Lei, Chaohua; Yang, Yanqiang; Liu, Ming

    2017-06-01

    Many countries have been paying great attention to space exploration, especially about the Moon and the Mars. Autonomous and high-accuracy navigation systems are needed for probers and rovers to accomplish missions. Inertial navigation system (INS)/celestial navigation system (CNS) based navigation system has been used widely on the lunar rovers. Initialization is a particularly important step for navigation. This paper presents an in-motion alignment and positioning method for lunar rovers by INS/CNS/odometer integrated navigation. The method can estimate not only the position and attitude errors, but also the biases of the accelerometers and gyros using the standard Kalman filter. The differences between the platform star azimuth, elevation angles and the computed star azimuth, elevation angles, and the difference between the velocity measured by odometer and the velocity measured by inertial sensors are taken as measurements. The semi-physical experiments are implemented to demonstrate that the position error can reduce to 10 m and attitude error is within 2″ during 5 min. The experiment results prove that it is an effective and attractive initialization approach for lunar rovers.

  7. Sensors and sensor systems for guidance and navigation II; Proceedings of the Meeting, Orlando, FL, Apr. 22, 23, 1992

    Science.gov (United States)

    Welch, Sharon S. (Editor)

    1992-01-01

    Topics discussed in this volume include aircraft guidance and navigation, optics for visual guidance of aircraft, spacecraft and missile guidance and navigation, lidar and ladar systems, microdevices, gyroscopes, cockpit displays, and automotive displays. Papers are presented on optical processing for range and attitude determination, aircraft collision avoidance using a statistical decision theory, a scanning laser aircraft surveillance system for carrier flight operations, star sensor simulation for astroinertial guidance and navigation, autonomous millimeter-wave radar guidance systems, and a 1.32-micron long-range solid state imaging ladar. Attention is also given to a microfabricated magnetometer using Young's modulus changes in magnetoelastic materials, an integrated microgyroscope, a pulsed diode ring laser gyroscope, self-scanned polysilicon active-matrix liquid-crystal displays, the history and development of coated contrast enhancement filters for cockpit displays, and the effect of the display configuration on the attentional sampling performance.

  8. 一种用于自律搬运车导航的混合式视觉方法%A Hybrid Vision Method for Autonomous Guided Vehicle Navigation

    Institute of Scientific and Technical Information of China (English)

    吕健; 池田博康; 滨岛京子

    2006-01-01

    For the autonomous guided vehicle (AGV) used mainly in unfixed work fields, a machine vision method was proposed for the navigation system, in which a series of navigation-signs are placed along the travel route. The navigation system detects and recognizes these signs, and accordingly informs the travel control system. In order for the navigation to have balanced ability of 1) covering a large area and 2) recognizing details of the sign, the proposed vision method was designed to be a hybrid one, using both the stereo vision and the traditional 2D template matching. The former implemented a coarse recognition function for above 1), and the later implemented a fine recognition function for above 2). The results from the coarse recognition were used in the fine recognition for the gaze control to input suitable 2D image of the signs. Experiments on a prototype system show the feasibility of the proposed hybrid method in achieving the objective specifications for a typical AGV.

  9. Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing

    Science.gov (United States)

    Xu, Yuan; Chen, Xiyuan; Li, Qinghua

    2013-01-01

    In order to reduce the estimated errors of the inertial navigation system (INS)/Wireless sensor network (WSN)-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS) utilizing inertial measuring units (IMUs) and an ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF) is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS) to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes.

  10. Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing

    Directory of Open Access Journals (Sweden)

    Yuan Xu

    2013-11-01

    Full Text Available In order to reduce the estimated errors of the inertial navigation system (INS/Wireless sensor network (WSN-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS utilizing inertial measuring units (IMUs and an ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes.

  11. Architecture analysis of the simplified libration point satellite navigation system

    Science.gov (United States)

    Zhang, Lei; Xu, Bo

    2016-10-01

    The libration point satellite navigation system is a novel navigation architecture that consists of satellites located in periodic orbits around the Earth-Moon libration points. Superiorities of the proposed system lie in its autonomy and extended navigation capability, which have been proved in our previous works. Based on the candidate architectures obtained before, a detailed analysis of the simplified libration point satellite navigation system, i.e. the Earth-Moon L1,2 two-satellite constellation, is conducted in this work. Firstly, relation between orbits amplitude is derived for the candidate two-satellite constellations to ensure continuous crosslink measurements between libration point satellites. Then, with the use of a reference lunar exploration mission scenario, navigation performances of different constellation configurations are evaluated by Monte-Carlo simulations. The simulation results indicate that the amplitude and initial phase combinations of libration point orbits have direct effect on the performance of the two-satellite constellations. By using a cooperative evolutionary algorithm for configuration parameter optimization, some optimal constellations are finally obtained for the simplified navigation architecture. The results obtained in this paper may be a reference for future system design.

  12. Reliable Global Navigation System using Flower Constellation

    Directory of Open Access Journals (Sweden)

    Daniele Mortari

    2013-03-01

    Full Text Available For many space missions using satellite constellations, symmetry of satellites distribution plays usually a key role. Symmetry may be considered in space and/or in time distribution. Examples of required symmetry in space distribution are in Earth observation missions (either, for local or global as well as in navigation systems. It is intuitive that to optimally observe the Earth a satellite constellation should be synchronized with the Earth rotation rate. If a satellite constellation must be designed to constitute a communication network between Earth and Jupiter, then the orbital period of the constellation satellites should be synchronized with both Earth and Jupiter periods of revolution around the Sun. Another example is to design satellite constellations to optimally observe specific Earth sites or regions. Again, this satellites constellation should be synchronized with Earth’s rotational period and (since the time gap between two subsequent observations of the site should be constant also implies time symmetry in satellites distribution. Obtaining this result will allow to design operational constellations for observing targets (sites, borders, regions with persistence or assigned revisit times, while minimizing the number of satellites required. Constellations of satellites for continuous global or zonal Earth coverage have been well studied over the last twenty years, are well known and have been well documented [1], [2], [7], [8], [11], [13]. A symmetrical, inclined constellation, such as a Walker constellation [1], [2] provides excellent global coverage for remote sensing missions; however, applications where target revisit time or persistent observation are important lead to required variations of traditional designs [7], [8]. Also, few results are available that affect other figures of merit, such as continuous regional coverage and the systematic use of eccentric orbit constellations to optimize“hang time” over regions of

  13. An Electerophisioligic Study Of Autonomic Nervous System In Diabetic Patients

    Directory of Open Access Journals (Sweden)

    Noorolahi Moghaddam H

    2003-11-01

    Full Text Available Autonomic nervous system dysfunction in diabetics can occur apart from peripheral sensorimotor polyneuropathy and sometimes leads to complaints which may be diagnosed by electrodiagnostic methods. Moreover glycemic control of these patients may prevent such a complications."nMaterials and Methods: 30 diabetic patients were compared to the same number of age and sex-matched controls regarding to electrophysiologic findings of autonomic nervous system. Symptoms referable to autonomic disorder including nightly diarrhea, dizziness, urinary incontinence, constipation, nausea, and mouth dryness were recorded in all diabetic patients. Palmar and plantar SSR and expiration to inspiration ratio (E: I and Valsalva ratio were recorded in all diabetics and control individuals by electromyography device. In addition NCS was performed on two sensory and two motor nerves in diabetic patients."nResults: There was no relation between age of diabetics and abnormal D: I ratio, Valsalva ratio and degree of electrophysiologic autonomic impairment. Also no relation between peripheral sensorimotor polyneuropathy and electrophysiologic autonomic impairment was found. Plantar SSR was absent in 80% of diabetics with orthostatic hypotension (p~ 0.019. Palmar and plantar SSR were absent in many diabetics in comparison to control group (for palmar SSR p~ 0.00 and for plantar SSR p< 0.015. There was no relation between diabetes duration since diagnosis and electrophysiologic autonomic impairment."nConclusion: According to the above mentioned findings diabetic autonomic neuropathy develops apart from peripheral sensorimotor polyneuropathy and probably with different mechanisms. Remarkable absence of palmar SSR in diabetics with orthostatic hypotension can be due to its sympathetic origin. Absence of any relation between diabetes duration and electrophysiologic autonomic impairment can be due to late diagnosis of type 2 diabetes or no pathophysiologic relation between chronic

  14. Implementation of autonomous navigation and mapping using a laser line scanner on a tactical unmanned aerial vehicle

    OpenAIRE

    Ardhaoui, Mejdi Ben.

    2011-01-01

    The objective of this thesis is to investigate greater levels of autonomy in unmanned vehicles. This is accomplished by reviewing past literature about the developing of components of software architecture that are necessary for unmanned systems to achieve greater autonomy. The thesis presents implementation studies of existing sensor-based robotic navigation and mapping algorithms in both software and hardware, including a laser range finder, on a quadrotor unmanned aerial vehicle platfo...

  15. Navigation autonome en environnement dynamique utilisant des modèles probabilistes de perception et de prédiction du risque de collision.

    OpenAIRE

    Fulgenzi, Chiara

    2009-01-01

    In this document we address the problem of autonomous navigation in dynamic unknown environ- ments. The key of the problem is to guarantee safety for all the agents moving in the space (people, vehicles and the robot itself) while moving toward a predefined goal. In contrast with static or controlled environments, high dynamic environments present many difficult issues: the detection and tracking of moving obstacles, the prediction of the future state of the world and the on-line motion plann...

  16. Pico-satellite Autonomous Navigation with Magnetometer and Sun Sensor Data

    Institute of Scientific and Technical Information of China (English)

    HAN Ke; WANG Hao; TU Binjie; JIN Zhonghe

    2011-01-01

    This article presents a near-Earth satellite orbit estimation method for pico-satellite applications with light-weight and low-power requirements.The method provides orbit information autonomously from magnetometer and sun sensor, with an extended Kalman filter (EKF).Real-time position/velocity parameters are estimated with attitude independently from two quantities: the measured magnitude of the Earth's magnetic field, and the measured dot product of the magnetic field vector and the sun vector.To guarantee the filter's effectiveness, it is recommended that the sun sensor should at least have the same level of accuracy as magnetometer.Furthermore, to reduce filter's computation expense, simplification methods in EKF's Jacobian calculations are introduced and testified, and a polynomial model for fast magnetic field calculation is developed.With these methods,50% of the computation expense in dynamic model propagation and 80% of the computation burden in measurement model calculation can be reduced.Tested with simulation data and compared with original magnetometer-only methods, filter achieves faster convergence and higher accuracy by 75% and 30% respectively, and the suggested simplification methods are proved to be harmless to filter's estimation performance.

  17. Targeting the autonomic nervous system: measuring autonomic function and novel devices for heart failure management.

    Science.gov (United States)

    Patel, Hitesh C; Rosen, Stuart D; Lindsay, Alistair; Hayward, Carl; Lyon, Alexander R; di Mario, Carlo

    2013-12-10

    Neurohumoral activation, in which enhanced activity of the autonomic nervous system (ANS) is a key component, plays a pivotal role in heart failure. The neurohumoral system affects several organs and currently our knowledge of the molecular and systemic pathways involved in the neurohumoral activation is incomplete. All the methods of assessing the degree of activation of the autonomic system have limitations and they are not interchangeable. The methods considered include noradrenaline spillover, microneurography, radiotracer imaging and analysis of heart rate and blood pressure (heart rate variability, baroreceptor sensitivity, heart rate turbulence). Despite the difficulties, medications that affect the ANS have been shown to improve mortality in heart failure and the mechanism is related to attenuation of the sympathetic nervous system (SNS) and stimulation of the parasympathetic nervous system. However, limitations of compliance with medication, side effects and inadequate SNS attenuation are issues of concern with the pharmacological approach. The newer device based therapies for sympathetic modulation are showing encouraging results. As they directly influence the autonomic nervous system, more mechanistic information can be gleaned if appropriate investigations are performed at the time of the outcome trials. However, clinicians should be reminded that the ANS is an evolutionary survival mechanism and therefore there is a need to proceed with caution when trying to completely attenuate its effects. So our enthusiasm for the application of these devices in heart failure should be controlled, especially as none of the devices have trial data powered to assess effects on mortality or cardiovascular events. © 2013.

  18. Implementation of a vector-based tracking loop receiver in a pseudolite navigation system.

    Science.gov (United States)

    So, Hyoungmin; Lee, Taikjin; Jeon, Sanghoon; Kim, Chongwon; Kee, Changdon; Kim, Taehee; Lee, Sanguk

    2010-01-01

    We propose a vector tracking loop (VTL) algorithm for an asynchronous pseudolite navigation system. It was implemented in a software receiver and experiments in an indoor navigation system were conducted. Test results show that the VTL successfully tracks signals against the near-far problem, one of the major limitations in pseudolite navigation systems, and could improve positioning availability by extending pseudolite navigation coverage.

  19. Design and implementation of a GPS-aided inertial navigation system for a helicopter UAV

    Science.gov (United States)

    Kastelan, David R.

    Helicopter unmanned aerial vehicles (UAVs) benefit from vertical takeoff and landing, hover, low-speed, and cruising flight capabilities. This versatility has the expense of nonlinear, unstable, and underactuated system dynamics. These challenges and numerous potential applications make the helicopter UAV an interesting testbed for nonlinear control. A platform for such development has been established in the Applied Nonlinear Controls Lab (ANCL). A miniature helicopter was augmented with a manual/autonomous takeover system and the ANCL Avionics. This payload contains a global positioning system (GPS) receiver, inertial sensors, and communications and computing hardware. Allan variance analysis of inertial sensor data enabled the derivation of a GPS-aided inertial navigation system that was implemented on the ANCL Avionics. This extended Kalman filter (EKF)-based algorithm estimates vehicle position, velocity, and attitude necessary for system identification tasks and control system feedback. Performance validation of this algorithm was demonstrated in simulation and in experimental ground and flight tests.

  20. Global Navigation Satellite System Software Defined Radio

    Science.gov (United States)

    2010-03-01

    Hein, Guenter W., Thomas Pany, Stefan Wallner, and Jong-Hoon Won. “Plat- forms for a Future GNSS Receiver”. 1(2):56–62, March 2006. 18. Hong , Jin Seok...Applications, 2008. ISSSTA ’08., 32–36. Aug. 2008. 24. Qingxi, Zeng, Wang Qing, Pan Shuguo, and Li Chuanjun. “A GPS L1 Software Receiver Implementation on a...COUNT). 26. Sun, Chih -Cheng and Shau-Shiun Jan. “GNSS signal acquisition and tracking using a parallel approach”. Position Location and Navigation