Inertial Pocket Navigation System: Unaided 3D Positioning

Science.gov (United States)

Munoz Diaz, Estefania

2015-01-01

Inertial navigation systems use dead-reckoning to estimate the pedestrian's position. There are two types of pedestrian dead-reckoning, the strapdown algorithm and the step-and-heading approach. Unlike the strapdown algorithm, which consists of the double integration of the three orthogonal accelerometer readings, the step-and-heading approach lacks the vertical displacement estimation. We propose the first step-and-heading approach based on unaided inertial data solving 3D positioning. We present a step detector for steps up and down and a novel vertical displacement estimator. Our navigation system uses the sensor introduced in the front pocket of the trousers, a likely location of a smartphone. The proposed algorithms are based on the opening angle of the leg or pitch angle. We analyzed our step detector and compared it with the state-of-the-art, as well as our already proposed step length estimator. Lastly, we assessed our vertical displacement estimator in a real-world scenario. We found that our algorithms outperform the literature step and heading algorithms and solve 3D positioning using unaided inertial data. Additionally, we found that with the pitch angle, five activities are distinguishable: standing, sitting, walking, walking up stairs and walking down stairs. This information complements the pedestrian location and is of interest for applications, such as elderly care. PMID:25897501

Correction of Navigational Information Supplied to Biomimetic Autonomous Underwater Vehicle

Directory of Open Access Journals (Sweden)

Praczyk Tomasz

2018-03-01

Full Text Available In order to autonomously transfer from one point of the environment to the other, Autonomous Underwater Vehicles (AUV need a navigational system. While navigating underwater the vehicles usually use a dead reckoning method which calculates vehicle movement on the basis of the information about velocity (sometimes also acceleration and course (heading provided by on-board devicesl ike Doppler Velocity Logs and Fibre Optical Gyroscopes. Due to inaccuracies of the devices and the influence of environmental forces, the position generated by the dead reckoning navigational system (DRNS is not free from errors, moreover the errors grow exponentially in time. The problem becomes even more serious when we deal with small AUVs which do not have any speedometer on board and whose course measurement device is inaccurate. To improve indications of the DRNS the vehicle can emerge onto the surface from time to time, record its GPS position, and measure position error which can be further used to estimate environmental influence and inaccuracies caused by mechanisms of the vehicle. This paper reports simulation tests which were performed to determine the most effective method for correction of DRNS designed for a real Biomimetic AUV.

An Outdoor Navigation Platform with a 3D Scanner and Gyro-assisted Odometry

Science.gov (United States)

Yoshida, Tomoaki; Irie, Kiyoshi; Koyanagi, Eiji; Tomono, Masahiro

This paper proposes a light-weight navigation platform that consists of gyro-assisted odometry, a 3D laser scanner and map-based localization for human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. The map-based localization is robust and computationally inexpensive by utilizing a particle filter on a 2D grid map generated by projecting 3D points on to the ground. The system uses small and low-cost sensors, and can be applied to a variety of mobile robots in human-scale environments. Outdoor navigation experiments were conducted at the Tsukuba Challenge held in 2009 and 2010, which is an open proving ground for human-scale robots. Our robot successfully navigated the assigned 1-km courses in a fully autonomous mode multiple times.

Magnetic, Acceleration Fields and Gyroscope Quaternion (MAGYQ-Based Attitude Estimation with Smartphone Sensors for Indoor Pedestrian Navigation

Directory of Open Access Journals (Sweden)

Valérie Renaudin

2014-12-01

Full Text Available The dependence of proposed pedestrian navigation solutions on a dedicated infrastructure is a limiting factor to the deployment of location based services. Consequently self-contained Pedestrian Dead-Reckoning (PDR approaches are gaining interest for autonomous navigation. Even if the quality of low cost inertial sensors and magnetometers has strongly improved, processing noisy sensor signals combined with high hand dynamics remains a challenge. Estimating accurate attitude angles for achieving long term positioning accuracy is targeted in this work. A new Magnetic, Acceleration fields and GYroscope Quaternion (MAGYQ-based attitude angles estimation filter is proposed and demonstrated with handheld sensors. It benefits from a gyroscope signal modelling in the quaternion set and two new opportunistic updates: magnetic angular rate update (MARU and acceleration gradient update (AGU. MAGYQ filter performances are assessed indoors, outdoors, with dynamic and static motion conditions. The heading error, using only the inertial solution, is found to be less than 10° after 1.5 km walking. The performance is also evaluated in the positioning domain with trajectories computed following a PDR strategy.

Visual navigation in insects: coupling of egocentric and geocentric information

OpenAIRE

Wehner, R; Michel, B; Antonsen, P

1996-01-01

Social hymenopterans such as bees and ants are central-place foragers; they regularly depart from and return to fixed positions in their environment. In returning to the starting point of their foraging excursion or to any other point, they could resort to two fundamentally different ways of navigation by using either egocentric or geocentric systems of reference. In the first case, they would rely on information continuously collected en route (path integration, dead reckoning), i.e. integra...

Visual navigation in insects: coupling of egocentric and geocentric information

Science.gov (United States)

Wehner; Michel; Antonsen

1996-01-01

Social hymenopterans such as bees and ants are central-place foragers; they regularly depart from and return to fixed positions in their environment. In returning to the starting point of their foraging excursion or to any other point, they could resort to two fundamentally different ways of navigation by using either egocentric or geocentric systems of reference. In the first case, they would rely on information continuously collected en route (path integration, dead reckoning), i.e. integrate all angles steered and all distances covered into a mean home vector. In the second case, they are expected, at least by some authors, to use a map-based system of navigation, i.e. to obtain positional information by virtue of the spatial position they occupy within a larger environmental framework. In bees and ants, path integration employing a skylight compass is the predominant mechanism of navigation, but geocentred landmark-based information is used as well. This information is obtained while the animal is dead-reckoning and, hence, added to the vector course. For example, the image of the horizon skyline surrounding the nest entrance is retinotopically stored while the animal approaches the goal along its vector course. As shown in desert ants (genus Cataglyphis), there is neither interocular nor intraocular transfer of landmark information. Furthermore, this retinotopically fixed, and hence egocentred, neural snapshot is linked to an external (geocentred) system of reference. In this way, geocentred information might more and more complement and potentially even supersede the egocentred information provided by the path-integration system. In competition experiments, however, Cataglyphis never frees itself of its homeward-bound vector - its safety-line, so to speak - by which it is always linked to home. Vector information can also be transferred to a longer-lasting (higher-order) memory. There is no need to invoke the concept of the mental analogue of a topographic

Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain Based Navigation

Directory of Open Access Journals (Sweden)

Andrew eStuntz

2016-04-01

Full Text Available Effective study of ocean processes requires sampling over the duration of long (weeks to months oscillation patterns. Such sampling requires persistent, autonomous underwater vehicles, that have a similarly long deployment duration. The spatiotemporal dynamics of the ocean environment, coupled with limited communication capabilities, make navigation and localization difficult, especially in coastal regions where the majority of interesting phenomena occur. In this paper, we consider the combination of two methods for reducing navigation and localization error; a predictive approach based on ocean model predictions and a prior information approach derived from terrain-based navigation. The motivation for this work is not only for real-time state estimation, but also for accurately reconstructing the actual path that the vehicle traversed to contextualize the gathered data, with respect to the science question at hand. We present an application for the practical use of priors and predictions for large-scale ocean sampling. This combined approach builds upon previous works by the authors, and accurately localizes the traversed path of an underwater glider over long-duration, ocean deployments. The proposed method takes advantage of the reliable, short-term predictions of an ocean model, and the utility of priors used in terrain-based navigation over areas of significant bathymetric relief to bound uncertainty error in dead-reckoning navigation. This method improves upon our previously published works by 1 demonstrating the utility of our terrain-based navigation method with multiple field trials, and 2 presenting a hybrid algorithm that combines both approaches to bound navigational error and uncertainty for long-term deployments of underwater vehicles. We demonstrate the approach by examining data from actual field trials with autonomous underwater gliders, and demonstrate an ability to estimate geographical location of an underwater glider to 2

A New PDR Navigation Device for Challenging Urban Environments

Directory of Open Access Journals (Sweden)

Miguel Ortiz

2017-01-01

Full Text Available The motivations, the design, and some applications of the new Pedestrian Dead Reckoning (PDR navigation device, ULISS (Ubiquitous Localization with Inertial Sensors and Satellites, are presented in this paper. It is an original device conceived to follow the European recommendation of privacy by design to protect location data which opens new research toward self-contained pedestrian navigation approaches. Its application is presented with an enhanced PDR algorithm to estimate pedestrian’s footpaths in an autonomous manner irrespective of the handheld device carrying mode: texting or swinging. An analysis of real-time coding issues toward a demonstrator is also conducted. Indoor experiments, conducted with 3 persons, give a 5.8% mean positioning error over the 3 km travelled distances.

Enhanced Pedestrian Navigation Based on Course Angle Error Estimation Using Cascaded Kalman Filters.

Science.gov (United States)

Song, Jin Woo; Park, Chan Gook

2018-04-21

An enhanced pedestrian dead reckoning (PDR) based navigation algorithm, which uses two cascaded Kalman filters (TCKF) for the estimation of course angle and navigation errors, is proposed. The proposed algorithm uses a foot-mounted inertial measurement unit (IMU), waist-mounted magnetic sensors, and a zero velocity update (ZUPT) based inertial navigation technique with TCKF. The first stage filter estimates the course angle error of a human, which is closely related to the heading error of the IMU. In order to obtain the course measurements, the filter uses magnetic sensors and a position-trace based course angle. For preventing magnetic disturbance from contaminating the estimation, the magnetic sensors are attached to the waistband. Because the course angle error is mainly due to the heading error of the IMU, and the characteristic error of the heading angle is highly dependent on that of the course angle, the estimated course angle error is used as a measurement for estimating the heading error in the second stage filter. At the second stage, an inertial navigation system-extended Kalman filter-ZUPT (INS-EKF-ZUPT) method is adopted. As the heading error is estimated directly by using course-angle error measurements, the estimation accuracy for the heading and yaw gyro bias can be enhanced, compared with the ZUPT-only case, which eventually enhances the position accuracy more efficiently. The performance enhancements are verified via experiments, and the way-point position error for the proposed method is compared with those for the ZUPT-only case and with other cases that use ZUPT and various types of magnetic heading measurements. The results show that the position errors are reduced by a maximum of 90% compared with the conventional ZUPT based PDR algorithms.

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments.

Science.gov (United States)

Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

2015-07-10

A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies-INS and LiDAR SLAM-into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform-NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment.

A Qualitative Approach to Mobile Robot Navigation Using RFID

International Nuclear Information System (INIS)

Hossain, M; Rashid, M M; Bhuiyan, M M I; Ahmed, S; Akhtaruzzaman, M

2013-01-01

Radio Frequency Identification (RFID) system allows automatic identification of items with RFID tags using radio-waves. As the RFID tag has its unique identification number, it is also possible to detect a specific region where the RFID tag lies in. Recently it is widely been used in mobile robot navigation, localization, and mapping both in indoor and outdoor environment. This paper represents a navigation strategy for autonomous mobile robot using passive RFID system. Conventional approaches, such as landmark or dead-reckoning with excessive number of sensors, have complexities in establishing the navigation and localization process. The proposed method satisfies less complexity in navigation strategy as well as estimation of not only the position but also the orientation of the autonomous robot. In this research, polar coordinate system is adopted on the navigation surface where RFID tags are places in a grid with constant displacements. This paper also presents the performance comparisons among various grid architectures through simulation to establish a better solution of the navigation system. In addition, some stationary obstacles are introduced in the navigation environment to satisfy the viability of the navigation process of the autonomous mobile robot

Aerobasics–An Introduction to Aeronautics

Indian Academy of Sciences (India)

Home; Journals; Resonance – Journal of Science Education; Volume 15; Issue 4. Aerobasics-An Introduction to Aeronautics - Air Navigation ... Keywords. Dead reckoning; celestial navigation; radio aids to navigation; instrument landing system (ILS); inertial navigation system (INS); global positioning system (GPS).

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments

Directory of Open Access Journals (Sweden)

Jian Tang

2015-07-01

Full Text Available A new scan that matches an aided Inertial Navigation System (INS with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR and Simultaneous Localization and Mapping (SLAM technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies—INS and LiDAR SLAM—into one navigation frame with a loosely coupled Extended Kalman Filter (EKF to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV platform—NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment.

Improving inertial Pedestrian Dead-Reckoning by detecting unmodified switched-on lamps in buildings.

Science.gov (United States)

Jiménez, Antonio R; Zampella, Francisco; Seco, Fernando

2014-01-03

This paper explores how inertial Pedestrian Dead-Reckoning (PDR) location systems can be improved with the use of a light sensor to measure the illumination gradients created when a person walks under ceiling-mounted unmodified indoor lights. The process of updating the inertial PDR estimates with the information provided by light detections is a new concept that we have named Light-matching (LM). The displacement and orientation change of a person obtained by inertial PDR is used by the LM method to accurately propagate the location hypothesis, and vice versa; the LM approach benefits the PDR approach by obtaining an absolute localization and reducing the PDR-alone drift. Even from an initially unknown location and orientation, whenever the person passes below a switched-on light spot, the location likelihood is iteratively updated until it potentially converges to a unimodal probability density function. The time to converge to a unimodal position hypothesis depends on the number of lights detected and the asymmetries/irregularities of the spatial distribution of lights. The proposed LM method does not require any intensity illumination calibration, just the pre-storage of the position and size of all lights in a building, irrespective of their current on/off state. This paper presents a detailed description of the light-matching concept, the implementation details of the LM-assisted PDR fusion scheme using a particle filter, and several simulated and experimental tests, using a light sensor-equipped Galaxy S3 smartphone and an external foot-mounted inertial sensor. The evaluation includes the LM-assisted PDR approach as well as the fusion with other signals of opportunity (WiFi, RFID, Magnetometers or Map-matching) in order to compare their contribution in obtaining high accuracy indoor localization. The integrated solution achieves a localization error lower than 1 m in most of the cases.

Improving Inertial Pedestrian Dead-Reckoning by Detecting Unmodified Switched-on Lamps in Buildings

Directory of Open Access Journals (Sweden)

Antonio R. Jiménez

2014-01-01

Full Text Available This paper explores how inertial Pedestrian Dead-Reckoning (PDR location systems can be improved with the use of a light sensor to measure the illumination gradients created when a person walks under ceiling-mounted unmodified indoor lights. The process of updating the inertial PDR estimates with the information provided by light detections is a new concept that we have named Light-matching (LM. The displacement and orientation change of a person obtained by inertial PDR is used by the LM method to accurately propagate the location hypothesis, and vice versa; the LM approach benefits the PDR approach by obtaining an absolute localization and reducing the PDR-alone drift. Even from an initially unknown location and orientation, whenever the person passes below a switched-on light spot, the location likelihood is iteratively updated until it potentially converges to a unimodal probability density function. The time to converge to a unimodal position hypothesis depends on the number of lights detected and the asymmetries/irregularities of the spatial distribution of lights. The proposed LM method does not require any intensity illumination calibration, just the pre-storage of the position and size of all lights in a building, irrespective of their current on/off state. This paper presents a detailed description of the light-matching concept, the implementation details of the LM-assisted PDR fusion scheme using a particle filter, and several simulated and experimental tests, using a light sensor-equipped Galaxy S3 smartphone and an external foot-mounted inertial sensor. The evaluation includes the LM-assisted PDR approach as well as the fusion with other signals of opportunity (WiFi, RFID, Magnetometers or Map-matching in order to compare their contribution in obtaining high accuracy indoor localization. The integrated solution achieves a localization error lower than 1 m in most of the cases.

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.

Cerebellum Augmented Rover Development

Science.gov (United States)

King, Matthew

2005-01-01

Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

ARIES Navigation System Accuracy and Track Following

National Research Council Canada - National Science Library

Nguyen, Thanh

2002-01-01

.... Dead reckoning is unreliable because of current conditions and random errors in the the velocity measurement that can be integrated and propagated in position calculations for long distance submerged travel...

A State-of-the-Art Survey of Indoor Positioning and Navigation Systems and Technologies

Directory of Open Access Journals (Sweden)

Wilson Sakpere

2017-12-01

Full Text Available The research and use of positioning and navigation technologies outdoors has seen a steady and exponential growth. Based on this success, there have been attempts to implement these technologies indoors, leading to numerous studies. Most of the algorithms, techniques and technologies used have been implemented outdoors. However, how they fare indoors is different altogether. Thus, several technologies have been proposed and implemented to improve positioning and navigation indoors. Among them are Infrared (IR, Ultrasound, Audible Sound, Magnetic, Optical and Vision, Radio Frequency (RF, Visible Light, Pedestrian Dead Reckoning (PDR/Inertial Navigation System (INS and Hybrid. The RF technologies include Bluetooth, Ultra-wideband (UWB, Wireless Sensor Network (WSN, Wireless Local Area Network (WLAN, Radio-Frequency Identification (RFID and Near Field Communication (NFC. In addition, positioning techniques applied in indoor positioning systems include the signal properties and positioning algorithms. The prevalent signal properties are Angle of Arrival (AOA, Time of Arrival (TOA, Time Difference of Arrival (TDOA and Received Signal Strength Indication (RSSI, while the positioning algorithms are Triangulation, Trilateration, Proximity and Scene Analysis/ Fingerprinting. This paper presents a state-of-the-art survey of indoor positioning and navigation systems and technologies, and their use in various scenarios. It analyses distinct positioning technology metrics such as accuracy, complexity, cost, privacy, scalability and usability. This paper has profound implications for future studies of positioning and navigation.

Map matching and heuristic elimination of gyro drift for personal navigation systems in GPS-denied conditions

International Nuclear Information System (INIS)

Aggarwal, Priyanka; Thomas, David; Ojeda, Lauro; Borenstein, Johann

2011-01-01

This paper introduces a method for the substantial reduction of heading errors in inertial navigation systems used under GPS-denied conditions. Presumably, the method is applicable for both vehicle-based and personal navigation systems, but experiments were performed only with a personal navigation system called 'personal dead reckoning' (PDR). In order to work under GPS-denied conditions, the PDR system uses a foot-mounted inertial measurement unit (IMU). However, gyro drift in this IMU can cause large heading errors after just a few minutes of walking. To reduce these errors, the map-matched heuristic drift elimination (MAPHDE) method was developed, which estimates gyro drift errors by comparing IMU-derived heading to the direction of the nearest street segment in a database of street maps. A heuristic component in this method provides tolerance to short deviations from walking along the street, such as when crossing streets or intersections. MAPHDE keeps heading errors almost at zero, and, as a result, position errors are dramatically reduced. In this paper, MAPHDE was used in a variety of outdoor walks, without any use of GPS. This paper explains the MAPHDE method in detail and presents experimental results

Celestial Navigation Fix Based on Particle Swarm Optimization

Directory of Open Access Journals (Sweden)

Tsou Ming-Cheng

2015-09-01

Full Text Available A technique for solving celestial fix problems is proposed in this study. This method is based on Particle Swarm Optimization from the field of swarm intelligence, utilizing its superior optimization and searching abilities to obtain the most probable astronomical vessel position. In addition to being applicable to two-body fix, multi-body fix, and high-altitude observation problems, it is also less reliant on the initial dead reckoning position. Moreover, by introducing spatial data processing and display functions in a Geographical Information System, calculation results and chart work used in Circle of Position graphical positioning can both be integrated. As a result, in addition to avoiding tedious and complicated computational and graphical procedures, this work has more flexibility and is more robust when compared to other analytical approaches.

Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System

Directory of Open Access Journals (Sweden)

Yinsong Wang

2012-01-01

Full Text Available This paper presents a lane-level positioning method by trajectory reckoning without Global Positioning System (GPS equipment in the environment of Cooperative Vehicle-Infrastructure System (CVIS. Firstly, the accuracy requirements of vehicle position in CVIS applications and the applicability of GPS positioning methods were analyzed. Then, a trajectory reckoning method based on speed and steering data from vehicle’s Control Area Network (CAN and roadside calibration facilities was proposed, which consists of three critical models, including real-time estimation of steering angle and vehicle direction, vehicle movement reckoning, and wireless calibration. Finally, the proposed method was validated through simulation and field tests under a variety of traffic conditions. Results show that the accuracy of the reckoned vehicle position can reach the lane level and match the requirements of common CVIS applications.

A High-Rate Virtual Instrument of Marine Vehicle Motions for Underwater Navigation and Ocean Remote Sensing

CERN Document Server

Gelin, Chrystel

2013-01-01

Dead-Reckoning aided with Doppler velocity measurement has been the most common method for underwater navigation for small vehicles. Unfortunately DR requires frequent position recalibrations and underwater vehicle navigation systems are limited to periodic position update when they surface. Finally standard Global Positioning System (GPS) receivers are unable to provide the rate or precision required when used on a small vessel. To overcome this, a low cost high rate motion measurement system for an Unmanned Surface Vehicle (USV) with underwater and oceanographic purposes is proposed. The proposed onboard system for the USV consists of an Inertial Measurement Unit (IMU) with accelerometers and rate gyros, a GPS receiver, a flux-gate compass, a roll and tilt sensor and an ADCP. Interfacing all the sensors proved rather challenging because of their different characteristics. The proposed data fusion technique integrates the sensors and develops an embeddable software package, using real time data fusion method...

Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV

Directory of Open Access Journals (Sweden)

Bo Xu

2014-01-01

Full Text Available As one of the most promising research directions, cooperative location with high precision and low-cost IMU is becoming an emerging research topic in many positioning fields. Low-cost MEMS/DVL is a preferred solution for dead-reckoning in multi-USV cooperative network. However, large misalignment angles and large gyro drift coexist in low-cost MEMS that leads to the poor observability. Based on cubature Kalman filter (CKF algorithm that has access to high accuracy and relative small computation, dual-model filtering scheme is proposed. It divides the whole process into two subsections that cut off the coupling relations and improve the observability of MEMS errors: it first estimates large misalignment angle and then estimates the gyro drift. Furthermore, to improve the convergence speed of large misalignment angle estimated in the first subsection, “time reversion” concept is introduced. It uses a short period time to forward and backward several times to improve convergence speed effectively. Finally, simulation analysis and experimental verification is conducted. Simulation and experimental results show that the algorithm can effectively improve the cooperative navigation performance.

A Short Tutorial on Inertial Navigation System and Global Positioning System Integration

Science.gov (United States)

Smalling, Kyle M.; Eure, Kenneth W.

2015-01-01

The purpose of this document is to describe a simple method of integrating Inertial Navigation System (INS) information with Global Positioning System (GPS) information for an improved estimate of vehicle attitude and position. A simple two dimensional (2D) case is considered. The attitude estimates are derived from sensor data and used in the estimation of vehicle position and velocity through dead reckoning within the INS. The INS estimates are updated with GPS estimates using a Kalman filter. This tutorial is intended for the novice user with a focus on bringing the reader from raw sensor measurements to an integrated position and attitude estimate. An application is given using a remotely controlled ground vehicle operating in assumed 2D environment. The theory is developed first followed by an illustrative example.

Integrating GPS, GYRO, vehicle speed sensor, and digital map to provide accurate and real-time position in an intelligent navigation system

Science.gov (United States)

Li, Qingquan; Fang, Zhixiang; Li, Hanwu; Xiao, Hui

2005-10-01

The global positioning system (GPS) has become the most extensively used positioning and navigation tool in the world. Applications of GPS abound in surveying, mapping, transportation, agriculture, military planning, GIS, and the geosciences. However, the positional and elevation accuracy of any given GPS location is prone to error, due to a number of factors. The applications of Global Positioning System (GPS) positioning is more and more popular, especially the intelligent navigation system which relies on GPS and Dead Reckoning technology is developing quickly for future huge market in China. In this paper a practical combined positioning model of GPS/DR/MM is put forward, which integrates GPS, Gyro, Vehicle Speed Sensor (VSS) and digital navigation maps to provide accurate and real-time position for intelligent navigation system. This model is designed for automotive navigation system making use of Kalman filter to improve position and map matching veracity by means of filtering raw GPS and DR signals, and then map-matching technology is used to provide map coordinates for map displaying. In practical examples, for illustrating the validity of the model, several experiments and their results of integrated GPS/DR positioning in intelligent navigation system will be shown for the conclusion that Kalman Filter based GPS/DR integrating position approach is necessary, feasible and efficient for intelligent navigation application. Certainly, this combined positioning model, similar to other model, can not resolve all situation issues. Finally, some suggestions are given for further improving integrated GPS/DR/MM application.

Cellular-based preemption system

Science.gov (United States)

Bachelder, Aaron D. (Inventor)

2011-01-01

A cellular-based preemption system that uses existing cellular infrastructure to transmit preemption related data to allow safe passage of emergency vehicles through one or more intersections. A cellular unit in an emergency vehicle is used to generate position reports that are transmitted to the one or more intersections during an emergency response. Based on this position data, the one or more intersections calculate an estimated time of arrival (ETA) of the emergency vehicle, and transmit preemption commands to traffic signals at the intersections based on the calculated ETA. Additional techniques may be used for refining the position reports, ETA calculations, and the like. Such techniques include, without limitation, statistical preemption, map-matching, dead-reckoning, augmented navigation, and/or preemption optimization techniques, all of which are described in further detail in the above-referenced patent applications.

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.

Use of swath data in realtime navigation by pattern recognition

Digital Repository Service at National Institute of Oceanography (India)

Sivakholundu, K.M.; Prabaharan, N.

A new method is proposed with the aim of reducing dead reckoning error (DRE) during multibeam echosounding survey in deep ocean. Bathymetric data is used in this method to estimate DRE in position fixing. This method can be activated at any desired...

The small Maya AUV – Initial field results

Digital Repository Service at National Institute of Oceanography (India)

Desa, E.; Madhan, R.; Maurya, P.; Navelkar, G.; Mascarenhas, A.A.M.Q.; Prabhudesai, S.; Afzulpurkar, S.; Bandodkar, S.N.

with little or no changes in the control settings. 5 Simple Line of Sight (LOS) way point guidance scheme was used in guidance of the craft, and Navigation is done using a GPS when vehicle is on surface and dead reckoning under water using a Doppler...

Blind MuseumTourer: A System for Self-Guided Tours in Museums and Blind Indoor Navigation

Directory of Open Access Journals (Sweden)

Apostolos Meliones

2018-01-01

Full Text Available Notably valuable efforts have focused on helping people with special needs. In this work, we build upon the experience from the BlindHelper smartphone outdoor pedestrian navigation app and present Blind MuseumTourer, a system for indoor interactive autonomous navigation for blind and visually impaired persons and groups (e.g., pupils, which has primarily addressed blind or visually impaired (BVI accessibility and self-guided tours in museums. A pilot prototype has been developed and is currently under evaluation at the Tactual Museum with the collaboration of the Lighthouse for the Blind of Greece. This paper describes the functionality of the application and evaluates candidate indoor location determination technologies, such as wireless local area network (WLAN and surface-mounted assistive tactile route indications combined with Bluetooth low energy (BLE beacons and inertial dead-reckoning functionality, to come up with a reliable and highly accurate indoor positioning system adopting the latter solution. The developed concepts, including map matching, a key concept for indoor navigation, apply in a similar way to other indoor guidance use cases involving complex indoor places, such as in hospitals, shopping malls, airports, train stations, public and municipality buildings, office buildings, university buildings, hotel resorts, passenger ships, etc. The presented Android application is effectively a Blind IndoorGuide system for accurate and reliable blind indoor navigation.

Satawal 島における伝統的航海術 : その基本的知識の記述と分析

OpenAIRE

秋道, 智彌; アキミチ, トモヤ; Tomoya, Akimichi

1981-01-01

This paper describes some of the basic information aboutnavigational knowledge employed by the navigators of SatawalIsland, in the Central Caroline Islands of Micronesia.Most navigational knowledge covers various aspects of naturaland supernatural phenomenon, such as stars and constellations,waves, winds, sea currents, birds, fish and the like, and itfunctions, more precisely, as an operational and cognitive devicefor dead reckoning, spatial and temporal orientation, land-finding,and weather ...

Estimating Uncertainties of Ship Course and Speed in Early Navigations using ICOADS3.0

Science.gov (United States)

Chan, D.; Huybers, P. J.

2017-12-01

Information on ship position and its uncertainty is potentially important for mapping out climatologists and changes in SSTs. Using the 2-hourly ship reports from the International Comprehensive Ocean Atmosphere Dataset 3.0 (ICOADS 3.0), we estimate the uncertainties of ship course, ship speed, and latitude/longitude corrections during 1870-1900. After reviewing the techniques used in early navigations, we build forward navigation model that uses dead reckoning technique, celestial latitude corrections, and chronometer longitude corrections. The modeled ship tracks exhibit jumps in longitude and latitude, when a position correction is applied. These jumps are also seen in ICOADS3.0 observations. In this model, position error at the end of each day increases following a 2D random walk; the latitudinal/longitude errors are reset when a latitude/longitude correction is applied.We fit the variance of the magnitude of latitude/longitude corrections in the observation against model outputs, and estimate that the standard deviation of uncertainty is 5.5 degree for ship course, 32% for ship speed, 22km for latitude correction, and 27km for longitude correction. The estimates here are informative priors for Bayesian methods that quantify position errors of individual tracks.

NA-241_Quarterly Report_SBLibby - 12.31.2017_v2

Energy Technology Data Exchange (ETDEWEB)

Libby, Stephen B. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States). Physics Dept.

2018-01-22

This is an evaluation of candidate navigation solutions for GPS free inspection tools that can be used in tours of large building interiors. In principle, COTS portable inertial motion unit (IMU) sensors with satisfactory accuracy, SWAP (size, weight, power), low error, and bias drift can provide sufficiently accurate dead reckoning navigation in a large building in the absence of GPS. To explore this assumption, the capabilities of representative IMU navigation sensors to meet these requirements will be evaluated, starting with a market survey, and then carrying out a basic analysis of these sensors using LLNL’s navigation codes.

A Grounded Theory of Moral Reckoning in Nursing

Directory of Open Access Journals (Sweden)

Alvita K. Nathaniel, DSN, APRN, BC

2004-11-01

Full Text Available Moral distress is a pervasive problem in nursing, contributing to nurses’ emotional and physical health problems, loss of nurses’ ethical integrity,dissatisfaction with the work of nursing, and loss of nurses from the workforce. The purpose of this research was twofold: 1 to further elucidate the experiences and consequences of professional nurses’ moral distress and 2 to formulate a logical, systematic, and explanatory theory of moral distress and its consequences. METHOD: This Glaserian grounded theory study utilizedvolunteer and purposive sampling to recruit 21 registered nurses. Analysis of the data resulted in an original substantive theory of moral reckoning in nursing, which reaches further than the concept of moral distress, identifying a critical juncture in nurses’ lives and better explaining a process that affects nurses and the health care that they deliver. Results: Moral reckoning in nursing consists of a three-stage process. After a novice period, the nurse experiences a Stage of Ease in which there is comfort in the workplace and congruence of internal and external values. Unexpectedly, a situational bind occurs in which the nurse’s core beliefs come into irreconcilable conflict with social norms. This forces the nurse out of the Stage of Ease into the Stage of Resolution, in which the nurseeither gives up or makes a stand. The nurse then moves into the Stage of Reflection in which beliefs, values, and actions are iteratively examined. The nurse tries to make sense of experiences through remembering, telling the story, examining conflicts, and living with the consequences. Implications: In today’s complex health care system, nurses find themselves faced with morally troubling situations which if not resolved can lead to serious consequences for nurses, patients, and the health care system as a whole. This study sets the stage for further investigation on the human consequences of moral distress. Further, since moral

Efficacy of navigation may be influenced by retrosplenial cortex-mediated learning of landmark stability.

Science.gov (United States)

Auger, Stephen D; Zeidman, Peter; Maguire, Eleanor A

2017-09-01

Human beings differ considerably in their ability to orient and navigate within the environment, but it has been difficult to determine specific causes of these individual differences. Permanent, stable landmarks are thought to be crucial for building a mental representation of an environment. Poor, compared to good, navigators have been shown to have difficulty identifying permanent landmarks, with a concomitant reduction in functional MRI (fMRI) activity in the retrosplenial cortex. However, a clear association between navigation ability and the learning of permanent landmarks has not been established. Here we tested for such a link. We had participants learn a virtual reality environment by repeatedly moving through it during fMRI scanning. The environment contained landmarks of which participants had no prior experience, some of which remained fixed in their locations while others changed position each time they were seen. After the fMRI learning phase, we divided participants into good and poor navigators based on their ability to find their way in the environment. The groups were closely matched on a range of cognitive and structural brain measures. Examination of the learning phase during scanning revealed that, while good and poor navigators learned to recognise the environment's landmarks at a similar rate, poor navigators were impaired at registering whether landmarks were stable or transient, and this was associated with reduced engagement of the retrosplenial cortex. Moreover, a mediation analysis showed that there was a significant effect of landmark permanence learning on navigation performance mediated through retrosplenial cortex activity. We conclude that a diminished ability to process landmark permanence may be a contributory factor to sub-optimal navigation, and could be related to the level of retrosplenial cortex engagement. Copyright © 2017 The Author(s). Published by Elsevier Ltd.. All rights reserved.

Application of artificial intelligence in Geodesy - A review of theoretical foundations and practical examples

Science.gov (United States)

Reiterer, Alexander; Egly, Uwe; Vicovac, Tanja; Mai, Enrico; Moafipoor, Shahram; Grejner-Brzezinska, Dorota A.; Toth, Charles K.

2010-12-01

Artificial Intelligence (AI) is one of the key technologies in many of today's novel applications. It is used to add knowledge and reasoning to systems. This paper illustrates a review of AI methods including examples of their practical application in Geodesy like data analysis, deformation analysis, navigation, network adjustment, and optimization of complex measurement procedures. We focus on three examples, namely, a geo-risk assessment system supported by a knowledge-base, an intelligent dead reckoning personal navigator, and evolutionary strategies for the determination of Earth gravity field parameters. Some of the authors are members of IAG Sub-Commission 4.2 - Working Group 4.2.3, which has the main goal to study and report on the application of AI in Engineering Geodesy.

Navigation system for a mobile robot with a visual sensor using a fish-eye lens

Science.gov (United States)

Kurata, Junichi; Grattan, Kenneth T. V.; Uchiyama, Hironobu

1998-02-01

Various position sensing and navigation systems have been proposed for the autonomous control of mobile robots. Some of these systems have been installed with an omnidirectional visual sensor system that proved very useful in obtaining information on the environment around the mobile robot for position reckoning. In this article, this type of navigation system is discussed. The sensor is composed of one TV camera with a fish-eye lens, using a reference target on a ceiling and hybrid image processing circuits. The position of the robot, with respect to the floor, is calculated by integrating the information obtained from a visual sensor and a gyroscope mounted in the mobile robot, and the use of a simple algorithm based on PTP control for guidance is discussed. An experimental trial showed that the proposed system was both valid and useful for the navigation of an indoor vehicle.

High accuracy navigation information estimation for inertial system using the multi-model EKF fusing adams explicit formula applied to underwater gliders.

Science.gov (United States)

Huang, Haoqian; Chen, Xiyuan; Zhang, Bo; Wang, Jian

2017-01-01

The underwater navigation system, mainly consisting of MEMS inertial sensors, is a key technology for the wide application of underwater gliders and plays an important role in achieving high accuracy navigation and positioning for a long time of period. However, the navigation errors will accumulate over time because of the inherent errors of inertial sensors, especially for MEMS grade IMU (Inertial Measurement Unit) generally used in gliders. The dead reckoning module is added to compensate the errors. In the complicated underwater environment, the performance of MEMS sensors is degraded sharply and the errors will become much larger. It is difficult to establish the accurate and fixed error model for the inertial sensor. Therefore, it is very hard to improve the accuracy of navigation information calculated by sensors. In order to solve the problem mentioned, the more suitable filter which integrates the multi-model method with an EKF approach can be designed according to different error models to give the optimal estimation for the state. The key parameters of error models can be used to determine the corresponding filter. The Adams explicit formula which has an advantage of high precision prediction is simultaneously fused into the above filter to achieve the much more improvement in attitudes estimation accuracy. The proposed algorithm has been proved through theory analyses and has been tested by both vehicle experiments and lake trials. Results show that the proposed method has better accuracy and effectiveness in terms of attitudes estimation compared with other methods mentioned in the paper for inertial navigation applied to underwater gliders. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Pseudolinear Model Based Solution to the SLAM Problem of Nonholonomic Mobile Robots

Science.gov (United States)

Pathiranage, Chandima Dedduwa; Watanabe, Keigo; Izumi, Kiyotaka

This paper describes an improved solution to the simultaneous localization and mapping (SLAM) problem based on pseudolinear models. Accurate estimation of vehicle and landmark states is one of the key issues for successful mobile robot navigation if the configuration of the environment and initial robot location are unknown. A state estimator which can be designed to use the nonlinearity as it is coming from the original model has always been invaluable in which high accuracy is expected. Thus to accomplish the above highlighted point, pseudolinear model based Kalman filter (PLKF) state estimator is introduced. A less error prone vehicle process model is proposed to improve the accuracy and the faster convergence of state estimation. Evolution of vehicle motion is modeled using vehicle frame translation derived from successive dead reckoned poses as a control input. A measurement model with two sensor frames is proposed to improve the data association. The PLKF-based SLAM algorithm is simulated using Matlab for vehicle-landmarks system and results show that the proposed approach performs much accurately compared to the well known extended Kalman filter (EKF).

Localisation de véhicules routiers autonomes en utilisant des mesures de satellites et de caméra sur des marquages au sol

OpenAIRE

Tao , Zui

2016-01-01

Estimating the pose (position and attitude) in real-time is a key function for road autonomous vehicles. This thesis aims at studying vehicle localization performance using low cost automotive sensors. Three kinds of sensors are considered : dead reckoning (DR) sensors that already exist in modern vehicles, mono-frequency GNSS (Global navigation satellite system) receivers with patch antennas and a frontlooking lane detection camera. Highly accurate maps enhanced with road features are also k...

Primstav and Apocalypse : Time and its Reckoning in Medieval Scandinavia

OpenAIRE

Powell, Avery Myers

2011-01-01

This work is intended as an exploration of methods of time-reckoning and conception in Medieval Scandinavia. In the main this is tied to the dynamism between a duality: that of the cyclical and linear models of time’s progression. Involved in this study are sources verbal and pictoral.

Fast Light Optical Gyroscopes

Science.gov (United States)

Smith, David D.

2015-01-01

Next-generation space missions are currently constrained by existing spacecraft navigation systems which are not fully autonomous. These systems suffer from accumulated dead-reckoning errors and must therefore rely on periodic corrections provided by supplementary technologies that depend on line-of-sight signals from Earth, satellites, or other celestial bodies for absolute attitude and position determination, which can be spoofed, incorrectly identified, occluded, obscured, attenuated, or insufficiently available. These dead-reckoning errors originate in the ring laser gyros themselves, which constitute inertial measurement units. Increasing the time for standalone spacecraft navigation therefore requires fundamental improvements in gyroscope technologies. One promising solution to enhance gyro sensitivity is to place an anomalous dispersion or fast light material inside the gyro cavity. The fast light essentially provides a positive feedback to the gyro response, resulting in a larger measured beat frequency for a given rotation rate as shown in figure 1. Game Changing Development has been investing in this idea through the Fast Light Optical Gyros (FLOG) project, a collaborative effort which began in FY 2013 between NASA Marshall Space Flight Center (MSFC), the U.S. Army Aviation and Missile Research, Development, and Engineering Center (AMRDEC), and Northwestern University. MSFC and AMRDEC are working on the development of a passive FLOG (PFLOG), while Northwestern is developing an active FLOG (AFLOG). The project has demonstrated new benchmarks in the state of the art for scale factor sensitivity enhancement. Recent results show cavity scale factor enhancements of approx.100 for passive cavities.

University of Michigan -- 1994-5 performance review of D ampersand D activities. Annual report, June 1, 1994--May 31, 1995

International Nuclear Information System (INIS)

Wehe, D.K.

1995-01-01

In accordance with work proposed to the ORNL D ampersand D Program, UM navigation group has conducted research in two areas: (1) Theoretical and experimental work for the improvement of dead-reckoning accuracy in mobile robots and (2) a comprehensive literature survey on positioning methods for mobile robots. The radiation imaging group has conducted research in: (1) assessing the existing requirements for gamma ray imagers, (2) hot testing of existing gamma ray imagers, and (3) design and testing of a prototype rotating aperture camera for improved signal/noise ratios and sensitivity

Use of Earth's magnetic field for mitigating gyroscope errors regardless of magnetic perturbation.

Science.gov (United States)

Afzal, Muhammad Haris; Renaudin, Valérie; Lachapelle, Gérard

2011-01-01

Most portable systems like smart-phones are equipped with low cost consumer grade sensors, making them useful as Pedestrian Navigation Systems (PNS). Measurements of these sensors are severely contaminated by errors caused due to instrumentation and environmental issues rendering the unaided navigation solution with these sensors of limited use. The overall navigation error budget associated with pedestrian navigation can be categorized into position/displacement errors and attitude/orientation errors. Most of the research is conducted for tackling and reducing the displacement errors, which either utilize Pedestrian Dead Reckoning (PDR) or special constraints like Zero velocity UPdaTes (ZUPT) and Zero Angular Rate Updates (ZARU). This article targets the orientation/attitude errors encountered in pedestrian navigation and develops a novel sensor fusion technique to utilize the Earth's magnetic field, even perturbed, for attitude and rate gyroscope error estimation in pedestrian navigation environments where it is assumed that Global Navigation Satellite System (GNSS) navigation is denied. As the Earth's magnetic field undergoes severe degradations in pedestrian navigation environments, a novel Quasi-Static magnetic Field (QSF) based attitude and angular rate error estimation technique is developed to effectively use magnetic measurements in highly perturbed environments. The QSF scheme is then used for generating the desired measurements for the proposed Extended Kalman Filter (EKF) based attitude estimator. Results indicate that the QSF measurements are capable of effectively estimating attitude and gyroscope errors, reducing the overall navigation error budget by over 80% in urban canyon environment.

Adaptive Landmark-Based Navigation System Using Learning Techniques

DEFF Research Database (Denmark)

Zeidan, Bassel; Dasgupta, Sakyasingha; Wörgötter, Florentin

2014-01-01

The goal-directed navigational ability of animals is an essential prerequisite for them to survive. They can learn to navigate to a distal goal in a complex environment. During this long-distance navigation, they exploit environmental features, like landmarks, to guide them towards their goal. In...... hexapod robots. As a result, it allows the robots to successfully learn to navigate to distal goals in complex environments.......The goal-directed navigational ability of animals is an essential prerequisite for them to survive. They can learn to navigate to a distal goal in a complex environment. During this long-distance navigation, they exploit environmental features, like landmarks, to guide them towards their goal....... Inspired by this, we develop an adaptive landmark-based navigation system based on sequential reinforcement learning. In addition, correlation-based learning is also integrated into the system to improve learning performance. The proposed system has been applied to simulated simple wheeled and more complex...

Integrating GPS with Dead Reckoning Sensors

DEFF Research Database (Denmark)

Cederholm, Jens Peter

2000-01-01

A vehicle positioning system comprising a GPS receiver, a digital compass, and an odometer was tested on a 2.8-km stretch in Aalborg, Denmark. The system, which merges observations from the three instruments using a Kalman filter, has an update rate of 1 Hz and is intended for use in both urban a...

An Accurate GPS-IMU/DR Data Fusion Method for Driverless Car Based on a Set of Predictive Models and Grid Constraints.

Science.gov (United States)

Wang, Shiyao; Deng, Zhidong; Yin, Gang

2016-02-24

A high-performance differential global positioning system (GPS)  receiver with real time kinematics provides absolute localization for driverless cars. However, it is not only susceptible to multipath effect but also unable to effectively fulfill precise error correction in a wide range of driving areas. This paper proposes an accurate GPS-inertial measurement unit (IMU)/dead reckoning (DR) data fusion method based on a set of predictive models and occupancy grid constraints. First, we employ a set of autoregressive and moving average (ARMA) equations that have different structural parameters to build maximum likelihood models of raw navigation. Second, both grid constraints and spatial consensus checks on all predictive results and current measurements are required to have removal of outliers. Navigation data that satisfy stationary stochastic process are further fused to achieve accurate localization results. Third, the standard deviation of multimodal data fusion can be pre-specified by grid size. Finally, we perform a lot of field tests on a diversity of real urban scenarios. The experimental results demonstrate that the method can significantly smooth small jumps in bias and considerably reduce accumulated position errors due to DR. With low computational complexity, the position accuracy of our method surpasses existing state-of-the-arts on the same dataset and the new data fusion method is practically applied in our driverless car.

An Accurate GPS-IMU/DR Data Fusion Method for Driverless Car Based on a Set of Predictive Models and Grid Constraints

Directory of Open Access Journals (Sweden)

Shiyao Wang

2016-02-01

Full Text Available A high-performance differential global positioning system (GPS  receiver with real time kinematics provides absolute localization for driverless cars. However, it is not only susceptible to multipath effect but also unable to effectively fulfill precise error correction in a wide range of driving areas. This paper proposes an accurate GPS–inertial measurement unit (IMU/dead reckoning (DR data fusion method based on a set of predictive models and occupancy grid constraints. First, we employ a set of autoregressive and moving average (ARMA equations that have different structural parameters to build maximum likelihood models of raw navigation. Second, both grid constraints and spatial consensus checks on all predictive results and current measurements are required to have removal of outliers. Navigation data that satisfy stationary stochastic process are further fused to achieve accurate localization results. Third, the standard deviation of multimodal data fusion can be pre-specified by grid size. Finally, we perform a lot of field tests on a diversity of real urban scenarios. The experimental results demonstrate that the method can significantly smooth small jumps in bias and considerably reduce accumulated position errors due to DR. With low computational complexity, the position accuracy of our method surpasses existing state-of-the-arts on the same dataset and the new data fusion method is practically applied in our driverless car.

SLS Model Based Design: A Navigation Perspective

Science.gov (United States)

Oliver, T. Emerson; Anzalone, Evan; Park, Thomas; Geohagan, Kevin

2018-01-01

The SLS Program has implemented a Model-based Design (MBD) and Model-based Requirements approach for managing component design information and system requirements. This approach differs from previous large-scale design efforts at Marshall Space Flight Center where design documentation alone conveyed information required for vehicle design and analysis and where extensive requirements sets were used to scope and constrain the design. The SLS Navigation Team is responsible for the Program-controlled Design Math Models (DMMs) which describe and represent the performance of the Inertial Navigation System (INS) and the Rate Gyro Assemblies (RGAs) used by Guidance, Navigation, and Controls (GN&C). The SLS Navigation Team is also responsible for navigation algorithms. The navigation algorithms are delivered for implementation on the flight hardware as a DMM. For the SLS Block 1B design, the additional GPS Receiver hardware model is managed as a DMM at the vehicle design level. This paper describes the models, and discusses the processes and methods used to engineer, design, and coordinate engineering trades and performance assessments using SLS practices as applied to the GN&C system, with a particular focus on the navigation components.

A dead reckoning localization system for mobile robots using inertial sensors and wheel revolution encoding

Energy Technology Data Exchange (ETDEWEB)

Cho, Bong Su; Moon, Woo Sung; Seo, Woo Jin; Baek, Kwang Ryul [Pusan National University, Busan (Korea, Republic of)

2011-11-15

Inertial navigation systems (INS) are composed of inertial sensors, such as accelerometers and gyroscopes. An INS updates its orientation and position automatically; it has an acceptable stability over the short term, however this stability deteriorates over time. Odometry, used to estimate the position of a mobile robot, employs encoders attached to the robot's wheels. However, errors occur caused by the integrative nature of the rotating speed and the slippage between the wheel and the ground. In this paper, we discuss mobile robot position estimation without using external signals in indoor environments. In order to achieve optimal solutions, a Kalman filter that estimates the orientation and velocity of mobile robots has been designed. The proposed system combines INS and odometry and delivers more accurate position information than standalone odometry.

A fuzzy logic based navigation for mobile robot

International Nuclear Information System (INIS)

Adel Ali S Al-Jumaily; Shamsudin M Amin; Mohamed Khalil

1998-01-01

The main issue of intelligent robot is how to reach its goal safely in real time when it moves in unknown environment. The navigational planning is becoming the central issue in development of real-time autonomous mobile robots. Behaviour based robots have been successful in reacting with dynamic environment but still there are some complexity and challenging problems. Fuzzy based behaviours present as powerful method to solve the real time reactive navigation problems in unknown environment. We shall classify the navigation generation methods, five some characteristics of these methods, explain why fuzzy logic is suitable for the navigation of mobile robot and automated guided vehicle, and describe a reactive navigation that is flexible to react through their behaviours to the change of the environment. Some simulation results will be presented to show the navigation of the robot. (Author)

SLS Navigation Model-Based Design Approach

Science.gov (United States)

Oliver, T. Emerson; Anzalone, Evan; Geohagan, Kevin; Bernard, Bill; Park, Thomas

2018-01-01

The SLS Program chose to implement a Model-based Design and Model-based Requirements approach for managing component design information and system requirements. This approach differs from previous large-scale design efforts at Marshall Space Flight Center where design documentation alone conveyed information required for vehicle design and analysis and where extensive requirements sets were used to scope and constrain the design. The SLS Navigation Team has been responsible for the Program-controlled Design Math Models (DMMs) which describe and represent the performance of the Inertial Navigation System (INS) and the Rate Gyro Assemblies (RGAs) used by Guidance, Navigation, and Controls (GN&C). The SLS Navigation Team is also responsible for the navigation algorithms. The navigation algorithms are delivered for implementation on the flight hardware as a DMM. For the SLS Block 1-B design, the additional GPS Receiver hardware is managed as a DMM at the vehicle design level. This paper provides a discussion of the processes and methods used to engineer, design, and coordinate engineering trades and performance assessments using SLS practices as applied to the GN&C system, with a particular focus on the Navigation components. These include composing system requirements, requirements verification, model development, model verification and validation, and modeling and analysis approaches. The Model-based Design and Requirements approach does not reduce the effort associated with the design process versus previous processes used at Marshall Space Flight Center. Instead, the approach takes advantage of overlap between the requirements development and management process, and the design and analysis process by efficiently combining the control (i.e. the requirement) and the design mechanisms. The design mechanism is the representation of the component behavior and performance in design and analysis tools. The focus in the early design process shifts from the development and

Head of all years astronomy and calendars at Qumran in their ancient context

CERN Document Server

Ben-Dov, Jonathan

2008-01-01

Covering a wide array of sources from ancient Mesopotamia to the Dead Sea Scrolls, this volume offers a different perspective on Jewish apocalyptic time-reckoning during the Second Temple period, based on a calendar year of 364 days.

Dynamic optimum dead time in piezoelectric transformer-based switch-mode power supplies

DEFF Research Database (Denmark)

Ekhtiari, Marzieh; Andersen, Thomas; Andersen, Michael A. E.

2016-01-01

to charge and discharge the input capacitance of piezoelectric transformers in order to achieve zero-voltage switching. This paper proposes a method for detecting the optimum dead time in piezoelectric transformer-based switch-mode power supplies. The provision of sufficient dead time in every cycle......Soft switching is required to attain high efficiency in high-frequency power converters. Piezoelectric transformerbased converters can benefit from soft switching in terms of significantly diminished switching losses and stresses. Adequate dead time is needed in order to deliver sufficient energy...

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...

ANALYSIS OF FREE ROUTE AIRSPACE AND PERFORMANCE BASED NAVIGATION IMPLEMENTATION IN THE EUROPEAN AIR NAVIGATION SYSTEM

Directory of Open Access Journals (Sweden)

Svetlana Pavlova

2014-12-01

Full Text Available European Air Traffic Management system requires continuous improvements as air traffic is increasingday by day. For this purpose it was developed by international organizations Free Route Airspace and PerformanceBased Navigation concepts that allow to offer a required level of safety, capacity, environmental performance alongwith cost-effectiveness. The aim of the article is to provide detailed analysis of Free Route Airspace and PerformanceBased Navigation implementation status within European region including Ukrainian air navigation system.

Correlated-Data Fusion and Cooperative Aiding in GNSS-Stressed or Denied Environments

Science.gov (United States)

Mokhtarzadeh, Hamid

A growing number of applications require continuous and reliable estimates of position, velocity, and orientation. Price requirements alone disqualify most traditional navigation or tactical-grade sensors and thus navigation systems based on automotive or consumer-grade sensors aided by Global Navigation Satellite Systems (GNSS), like the Global Positioning System (GPS), have gained popularity. The heavy reliance on GPS in these navigation systems is a point of concern and has created interest in alternative or back-up navigation systems to enable robust navigation through GPS-denied or stressed environments. This work takes advantage of current trends for increased sensing capabilities coupled with multilayer connectivity to propose a cooperative navigation-based aiding system as a means to limit dead reckoning error growth in the absence of absolute measurements like GPS. Each vehicle carries a dead reckoning navigation system which is aided by relative measurements, like range, to neighboring vehicles together with information sharing. Detailed architectures and concepts of operation are described for three specific applications: commercial aviation, Unmanned Aerial Vehicles (UAVs), and automotive applications. Both centralized and decentralized implementations of cooperative navigation-based aiding systems are described. The centralized system is based on a single Extended Kalman Filter (EKF). A decentralized implementation suited for applications with very limited communication bandwidth is discussed in detail. The presence of unknown correlation between the a priori state and measurement errors makes the standard Kalman filter unsuitable. Two existing estimators for handling this unknown correlation are Covariance Intersection (CI) and Bounded Covariance Inflation (BCInf) filters. A CI-based decentralized estimator suitable for decentralized cooperative navigation implementation is proposed. A unified derivation is presented for the Kalman filter, CI filter

Christian reckoning of time

Directory of Open Access Journals (Sweden)

Ks. Tomasz Stempa

2014-12-01

Full Text Available The issue of the liturgical calendar of the Orthodox Church is one of the topics currently being discussed. Using thejulian or neojulian liturgical calendar raises in faithful not only dilemmas or doubts, but also confusion, as shown by discussionson some social networking sites.The author of this text wants to bring closer reader to the problems of this issue and clarify the liturgical and calendarduality. This paper also develops such topics as the history of the christian calendar, reckoning of years, creation of calendars:julian, gregorian and neojulian, as well as problems arising from using two calendars within one local Church.This work shows that the use of one kind or another calendar is not a violation of dogma, but may lead to a breach ofa rule, established at the time of the Ecumenical Councils. You should be aware that the julian calendar was not strictlya calendar set up for the liturgical aims, but it was adapted for formulating the liturgical order.Experience of the liturgical life shows that, even though type of calendar is not a dogma, entering neojulian calendarpermanently divided some local Orthodox communities. Introduction of neojulian calendar was not necessary, and theevents at the beginning of the twentieth century is warning to refrain from taking radical action to reform liturgical life.Certainly this is a difficult issue that requires common action under the providence of Grace of the Holy Spirit.

Design Issues for MEMS-Based Pedestrian Inertial Navigation Systems

Directory of Open Access Journals (Sweden)

P. S. Marinushkin

2015-01-01

Full Text Available The paper describes design issues for MEMS-based pedestrian inertial navigation systems. By now the algorithms to estimate navigation parameters for strap-down inertial navigation systems on the basis of plural observations have been already well developed. At the same time mathematical and software processing of information in the case of pedestrian inertial navigation systems has its specificity, due to the peculiarities of their functioning and exploitation. Therefore, there is an urgent task to enhance existing fusion algorithms for use in pedestrian navigation systems. For this purpose the article analyzes the characteristics of the hardware composition and configuration of existing systems of this class. The paper shows advantages of various technical solutions. Relying on their main features it justifies a choice of the navigation system architecture and hardware composition enabling improvement of the estimation accuracy of user position as compared to the systems using only inertial sensors. The next point concerns the development of algorithms for complex processing of heterogeneous information. To increase an accuracy of the free running pedestrian inertial navigation system we propose an adaptive algorithm for joint processing of heterogeneous information based on the fusion of inertial info rmation with magnetometer measurements using EKF approach. Modeling of the algorithm was carried out using a specially developed functional prototype of pedestrian inertial navigation system, implemented as a hardware/software complex in Matlab environment. The functional prototype tests of the developed system demonstrated an improvement of the navigation parameters estimation compared to the systems based on inertial sensors only. It enables to draw a conclusion that the synthesized algorithm provides satisfactory accuracy for calculating the trajectory of motion even when using low-grade inertial MEMS sensors. The developed algorithm can be

Love the dead, fear the dead

DEFF Research Database (Denmark)

Seebach, Sophie Hooge

2017-01-01

The dead are everywhere in the landscape in Acholi, northern Uganda. In the homes, the dead are present through their gravesites, situated next to houses and huts, and as spiritual presences in their family’s daily lives. In the bush, the dead are present as a constant potentiality, in the form...

A Behaviour-Based Architecture for Mapless Navigation Using Vision

Directory of Open Access Journals (Sweden)

Mehmet Serdar Guzel

2012-04-01

Full Text Available Autonomous robots operating in an unknown and uncertain environment must be able to cope with dynamic changes to that environment. For a mobile robot in a cluttered environment to navigate successfully to a goal while avoiding obstacles is a challenging problem. This paper presents a new behaviour-based architecture design for mapless navigation. The architecture is composed of several modules and each module generates behaviours. A novel method, inspired from a visual homing strategy, is adapted to a monocular vision-based system to overcome goal-based navigation problems. A neural network-based obstacle avoidance strategy is designed using a 2-D scanning laser. To evaluate the performance of the proposed architecture, the system has been tested using Microsoft Robotics Studio (MRS, which is a very powerful 3D simulation environment. In addition, real experiments to guide a Pioneer 3-DX mobile robot, equipped with a pan-tilt-zoom camera in a cluttered environment are presented. The analysis of the results allows us to validate the proposed behaviour-based navigation strategy.

Ego-motion based on EM for bionic navigation

Science.gov (United States)

Yue, Xiaofeng; Wang, L. J.; Liu, J. G.

2015-12-01

Researches have proved that flying insects such as bees can achieve efficient and robust flight control, and biologists have explored some biomimetic principles regarding how they control flight. Based on those basic studies and principles acquired from the flying insects, this paper proposes a different solution of recovering ego-motion for low level navigation. Firstly, a new type of entropy flow is provided to calculate the motion parameters. Secondly, EKF, which has been used for navigation for some years to correct accumulated error, and estimation-Maximization, which is always used to estimate parameters, are put together to determine the ego-motion estimation of aerial vehicles. Numerical simulation on MATLAB has proved that this navigation system provides more accurate position and smaller mean absolute error than pure optical flow navigation. This paper has done pioneering work in bionic mechanism to space navigation.

On higher ground: how well can dynamic body acceleration determine speed in variable terrain?

Directory of Open Access Journals (Sweden)

Owen R Bidder

Full Text Available INTRODUCTION: Animal travel speed is an ecologically significant parameter, with implications for the study of energetics and animal behaviour. It is also necessary for the calculation of animal paths by dead-reckoning. Dead-reckoning uses heading and speed to calculate an animal's path through its environment on a fine scale. It is often used in aquatic environments, where transmission telemetry is difficult. However, its adoption for tracking terrestrial animals is limited by our ability to measure speed accurately on a fine scale. Recently, tri-axial accelerometers have shown promise for estimating speed, but their accuracy appears affected by changes in substrate and surface gradients. The purpose of the present study was to evaluate four metrics of acceleration; Overall dynamic body acceleration (ODBA, vectorial dynamic body acceleration (VDBA, acceleration peak frequency and acceleration peak amplitude, as proxies for speed over hard, soft and inclined surfaces, using humans as a model species. RESULTS: A general linear model (GLM showed a significant difference in the relationships between the metrics and speed depending on substrate or surface gradient. When the data from all surface types were considered together, VeDBA had the highest coefficient of determination. CONCLUSIONS: All of the metrics showed some variation in their relationship with speed according to the surface type. This indicates that changes in the substrate or surface gradient during locomotion by animals would produce errors in speed estimates, and also in dead-reckoned tracks if they were calculated from speeds based entirely on a priori calibrations. However, we describe a method by which the relationship between acceleration metrics and speed can be corrected ad hoc, until tracks accord with periodic ground truthed positions, obtained via a secondary means (e.g. VHF or GPS telemetry. In this way, dead-reckoning provides a means to obtain fine scale movement data

Simulation-based camera navigation training in laparoscopy-a randomized trial

DEFF Research Database (Denmark)

Nilsson, Cecilia; Sørensen, Jette Led; Konge, Lars

2017-01-01

patient safety. The objectives of this trial were to examine how to train laparoscopic camera navigation and to explore the transfer of skills to the operating room. MATERIALS AND METHODS: A randomized, single-center superiority trial with three groups: The first group practiced simulation-based camera...... navigation tasks (camera group), the second group practiced performing a simulation-based cholecystectomy (procedure group), and the third group received no training (control group). Participants were surgical novices without prior laparoscopic experience. The primary outcome was assessment of camera.......033), had a higher score. CONCLUSIONS: Simulation-based training improves the technical skills required for camera navigation, regardless of practicing camera navigation or the procedure itself. Transfer to the clinical setting could, however, not be demonstrated. The control group demonstrated higher...

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

A Low-Cost Vehicle Anti-Theft System Using Obsolete Smartphone

Directory of Open Access Journals (Sweden)

Bang Liu

2018-01-01

Full Text Available In modern society, vehicle theft has become an increasing problem to the general public. Deploying onboard anti-theft systems could relieve this problem, but it often requires extra investment for vehicle owners. In this paper, we propose the idea of PhoneInside, which does not need a special device but leverages an obsolete smartphone to build a low-cost vehicle anti-theft system. After being fixed in the vehicle body with a car charger, the smartphone can detect vehicle movement and adaptively use GPS, cellular/WiFi localization, and dead reckoning to locate the vehicle during driving. Especially, a novel Velocity-Aware Dead Reckoning (VA-DR method is presented, which utilizes map knowledge and vehicle’s turns at road curves and intersections to estimate velocity for trajectory computation. Compared to traditional dead reckoning, it reduces accumulated errors and achieves great improvement in localization accuracy. Furthermore, based on the learning of the driving history, our system can establish individual mobility model for a vehicle and distinguish abnormal driving behaviors by a Long Short Term Memory (LSTM network. With the help of ad hoc authentication, the system can identify vehicle theft and send out timely alarming and tracking messages for rapid recovery. The realistic experiments running on Android smartphones prove that our system can detect vehicle theft effectively and locate a stolen vehicle accurately, with average errors less than the sight range.

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.

Ultrasound-based tumor movement compensation during navigated laparoscopic liver interventions.

Science.gov (United States)

Shahin, Osama; Beširević, Armin; Kleemann, Markus; Schlaefer, Alexander

2014-05-01

Image-guided navigation aims to provide better orientation and accuracy in laparoscopic interventions. However, the ability of the navigation system to reflect anatomical changes and maintain high accuracy during the procedure is crucial. This is particularly challenging in soft organs such as the liver, where surgical manipulation causes significant tumor movements. We propose a fast approach to obtain an accurate estimation of the tumor position throughout the procedure. Initially, a three-dimensional (3D) ultrasound image is reconstructed and the tumor is segmented. During surgery, the position of the tumor is updated based on newly acquired tracked ultrasound images. The initial segmentation of the tumor is used to automatically detect the tumor and update its position in the navigation system. Two experiments were conducted. First, a controlled phantom motion using a robot was performed to validate the tracking accuracy. Second, a needle navigation scenario based on pseudotumors injected into ex vivo porcine liver was studied. In the robot-based evaluation, the approach estimated the target location with an accuracy of 0.4 ± 0.3 mm. The mean navigation error in the needle experiment was 1.2 ± 0.6 mm, and the algorithm compensated for tumor shifts up to 38 mm in an average time of 1 s. We demonstrated a navigation approach based on tracked laparoscopic ultrasound (LUS), and focused on the neighborhood of the tumor. Our experimental results indicate that this approach can be used to quickly and accurately compensate for tumor movements caused by surgical manipulation during laparoscopic interventions. The proposed approach has the advantage of being based on the routinely used LUS; however, it upgrades its functionality to estimate the tumor position in 3D. Hence, the approach is repeatable throughout surgery, and enables high navigation accuracy to be maintained.

Dead time of dual detector tools

International Nuclear Information System (INIS)

Czubek, J.A.

1994-01-01

A theory of the dead time for the dual detector nuclear tool with the analogue signal transmission is given in the paper. At least two different times exist in such tools: the dead time of detectors (for final computation they assumed identical to each other) and the dead time of the signal transmission set-up. A method of two radioactive sources is proposed to measure these two different dead times. When the times used for measuring every countrate needed in the dead time determination algorithm are taken into account, the statistical accuracy of the dead time determination can be obtained. These estimations are performed by the computer simulation method. Two codes have been designed: DEADT2D (DEAD Time for 2 Detectors) and DEADT2DS (DEAD Time for 2 Detectors with Statistics). The first code calculates the dead time based on the recorded countrates only, the second is doing a 'simulation job' and provides information on the statistical distribution of the observed dead times. The theory and the numerical solutions were checked both by the simulation calculations and by the experiments performed with the ODSN-102 tool (the experiments were performed by T. Zorski). (Author)

GNSS-based receiver autonomous integrity monitoring for aircraft navigation

NARCIS (Netherlands)

Imparato, D.

2016-01-01

Nowadays, GNSS-based navigation is moving more and more to critical applications. Global Navigation Satellite Systems (GNSS), which in the past used to be represented by the American GPS and the Russian GLONASS are now growing in number and performance. The European systemGalileo and the Chinese

PERFORMANCE CHARACTERISTIC MEMS-BASED IMUs FOR UAVs NAVIGATION

Directory of Open Access Journals (Sweden)

H. A. Mohamed

2015-08-01

Full Text Available Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK, and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS signal outage.

Model-base visual navigation of a mobile robot

International Nuclear Information System (INIS)

Roening, J.

1992-08-01

The thesis considers the problems of visual guidance of a mobile robot. A visual navigation system is formalized consisting of four basic components: world modelling, navigation sensing, navigation and action. According to this formalization an experimental system is designed and realized enabling real-world navigation experiments. A priori knowledge of the world is used for global path finding, aiding scene analysis and providing feedback information to the close the control loop between planned and actual movements. Two world models were developed. The first approach was a map-based model especially designed for low-level description of indoor environments. The other was a higher level and more symbolic representation of the surroundings utilizing the spatial graph concept. Two passive vision approaches were developed to extract navigation information. With passive three- camera stereovision a sparse depth map of the scene was produced. Another approach employed a fish-eye lens to map the entire scene of the surroundings without camera scanning. The local path planning of the system is supported by three-dimensional scene interpreter providing a partial understanding of scene contents. The interpreter consists of data-driven low-level stages and a model-driven high-level stage. Experiments were carried out in a simulator and test vehicle constructed in the laboratory. The test vehicle successfully navigated indoors

Performance Characteristic Mems-Based IMUs for UAVs Navigation

Science.gov (United States)

Mohamed, H. A.; Hansen, J. M.; Elhabiby, M. M.; El-Sheimy, N.; Sesay, A. B.

2015-08-01

Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs) are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS) or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK), and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS) signal outage.

Pedestrian dead reckoning employing simultaneous activity recognition cues

International Nuclear Information System (INIS)

Altun, Kerem; Barshan, Billur

2012-01-01

We consider the human localization problem using body-worn inertial/magnetic sensor units. Inertial sensors are characterized by a drift error caused by the integration of their rate output to obtain position information. Because of this drift, the position and orientation data obtained from inertial sensors are reliable over only short periods of time. Therefore, position updates from externally referenced sensors are essential. However, if the map of the environment is known, the activity context of the user can provide information about his position. In particular, the switches in the activity context correspond to discrete locations on the map. By performing localization simultaneously with activity recognition, we detect the activity context switches and use the corresponding position information as position updates in a localization filter. The localization filter also involves a smoother that combines the two estimates obtained by running the zero-velocity update algorithm both forward and backward in time. We performed experiments with eight subjects in indoor and outdoor environments involving walking, turning and standing activities. Using a spatial error criterion, we show that the position errors can be decreased by about 85% on the average. We also present the results of two 3D experiments performed in realistic indoor environments and demonstrate that it is possible to achieve over 90% error reduction in position by performing localization simultaneously with activity recognition. (paper)

Screen Miniatures as Icons for Backward Navigation in Content-Based Software.

Science.gov (United States)

Boling, Elizabeth; Ma, Guoping; Tao, Chia-Wen; Askun, Cengiz; Green, Tim; Frick, Theodore; Schaumburg, Heike

Users of content-based software programs, including hypertexts and instructional multimedia, rely on the navigation functions provided by the designers of those program. Typical navigation schemes use abstract symbols (arrows) to label basic navigational functions like moving forward or backward through screen displays. In a previous study, the…

Distributed Ship Navigation Control System Based on Dual Network

Science.gov (United States)

Yao, Ying; Lv, Wu

2017-10-01

Navigation system is very important for ship’s normal running. There are a lot of devices and sensors in the navigation system to guarantee ship’s regular work. In the past, these devices and sensors were usually connected via CAN bus for high performance and reliability. However, as the development of related devices and sensors, the navigation system also needs the ability of high information throughput and remote data sharing. To meet these new requirements, we propose the communication method based on dual network which contains CAN bus and industrial Ethernet. Also, we import multiple distributed control terminals with cooperative strategy based on the idea of synchronizing the status by multicasting UDP message contained operation timestamp to make the system more efficient and reliable.

Ground-Based Global Navigation Satellite System GLONASS (GLObal NAvigation Satellite System) Combined Broadcast Ephemeris Data (daily files) from NASA CDDIS

Data.gov (United States)

National Aeronautics and Space Administration — This dataset consists of ground-based Global Navigation Satellite System (GNSS) GLONASS Combined Broadcast Ephemeris Data (daily files of all distinct navigation...

The use of x-ray pulsar-based navigation method for interplanetary flight

Science.gov (United States)

Yang, Bo; Guo, Xingcan; Yang, Yong

2009-07-01

As interplanetary missions are increasingly complex, the existing unique mature interplanetary navigation method mainly based on radiometric tracking techniques of Deep Space Network can not meet the rising demands of autonomous real-time navigation. This paper studied the applications for interplanetary flights of a new navigation technology under rapid development-the X-ray pulsar-based navigation for spacecraft (XPNAV), and valued its performance with a computer simulation. The XPNAV is an excellent autonomous real-time navigation method, and can provide comprehensive navigation information, including position, velocity, attitude, attitude rate and time. In the paper the fundamental principles and time transformation of the XPNAV were analyzed, and then the Delta-correction XPNAV blending the vehicles' trajectory dynamics with the pulse time-of-arrival differences at nominal and estimated spacecraft locations within an Unscented Kalman Filter (UKF) was discussed with a background mission of Mars Pathfinder during the heliocentric transferring orbit. The XPNAV has an intractable problem of integer pulse phase cycle ambiguities similar to the GPS carrier phase navigation. This article innovatively proposed the non-ambiguity assumption approach based on an analysis of the search space array method to resolve pulse phase cycle ambiguities between the nominal position and estimated position of the spacecraft. The simulation results show that the search space array method are computationally intensive and require long processing time when the position errors are large, and the non-ambiguity assumption method can solve ambiguity problem quickly and reliably. It is deemed that autonomous real-time integrated navigation system of the XPNAV blending with DSN, celestial navigation, inertial navigation and so on will be the development direction of interplanetary flight navigation system in the future.

Interaction Between Hippocampus and Cerebellum Crus I in Sequence-Based but not Place-Based Navigation

Science.gov (United States)

Iglói, Kinga; Doeller, Christian F.; Paradis, Anne-Lise; Benchenane, Karim; Berthoz, Alain; Burgess, Neil; Rondi-Reig, Laure

2015-01-01

To examine the cerebellar contribution to human spatial navigation we used functional magnetic resonance imaging and virtual reality. Our findings show that the sensory-motor requirements of navigation induce activity in cerebellar lobules and cortical areas known to be involved in the motor loop and vestibular processing. By contrast, cognitive aspects of navigation mainly induce activity in a different cerebellar lobule (VIIA Crus I). Our results demonstrate a functional link between cerebellum and hippocampus in humans and identify specific functional circuits linking lobule VIIA Crus I of the cerebellum to medial parietal, medial prefrontal, and hippocampal cortices in nonmotor aspects of navigation. They further suggest that Crus I belongs to 2 nonmotor loops, involved in different strategies: place-based navigation is supported by coherent activity between left cerebellar lobule VIIA Crus I and medial parietal cortex along with right hippocampus activity, while sequence-based navigation is supported by coherent activity between right lobule VIIA Crus I, medial prefrontal cortex, and left hippocampus. These results highlight the prominent role of the human cerebellum in both motor and cognitive aspects of navigation, and specify the cortico-cerebellar circuits by which it acts depending on the requirements of the task. PMID:24947462

Navigation studies based on the ubiquitous positioning technologies

Science.gov (United States)

Ye, Lei; Mi, Weijie; Wang, Defeng

2007-11-01

This paper summarized the nowadays positioning technologies, such as absolute positioning methods and relative positioning methods, indoor positioning and outdoor positioning, active positioning and passive positioning. Global Navigation Satellite System (GNSS) technologies were introduced as the omnipresent out-door positioning technologies, including GPS, GLONASS, Galileo and BD-1/2. After analysis of the shortcomings of GNSS, indoor positioning technologies were discussed and compared, including A-GPS, Cellular network, Infrared, Electromagnetism, Computer Vision Cognition, Embedded Pressure Sensor, Ultrasonic, RFID (Radio Frequency IDentification), Bluetooth, WLAN etc.. Then the concept and characteristics of Ubiquitous Positioning was proposed. After the ubiquitous positioning technologies contrast and selection followed by system engineering methodology, a navigation system model based on Incorporate Indoor-Outdoor Positioning Solution was proposed. And this model was simulated in the Galileo Demonstration for World Expo Shanghai project. In the conclusion, the prospects of ubiquitous positioning based navigation were shown, especially to satisfy the public location information acquiring requirement.

Gamifying Navigation in Location-Based Applications

DEFF Research Database (Denmark)

Nadarajah, Stephanie Githa; Overgaard, Benjamin Nicholas; Pedersen, Peder Walz

2017-01-01

Location-based games entertain players usually by interactions at points of interest (POIs). Navigation between POIs often involve the use of either a physical or digital map, not taking advantage of the opportunity available to engage users in activities between POIs. The paper presents riddle s...

Task partitioning in a robot swarm: object retrieval as a sequence of subtasks with direct object transfer.

Science.gov (United States)

Pini, Giovanni; Brutschy, Arne; Scheidler, Alexander; Dorigo, Marco; Birattari, Mauro

2014-01-01

We study task partitioning in the context of swarm robotics. Task partitioning is the decomposition of a task into subtasks that can be tackled by different workers. We focus on the case in which a task is partitioned into a sequence of subtasks that must be executed in a certain order. This implies that the subtasks must interface with each other, and that the output of a subtask is used as input for the subtask that follows. A distinction can be made between task partitioning with direct transfer and with indirect transfer. We focus our study on the first case: The output of a subtask is directly transferred from an individual working on that subtask to an individual working on the subtask that follows. As a test bed for our study, we use a swarm of robots performing foraging. The robots have to harvest objects from a source, situated in an unknown location, and transport them to a home location. When a robot finds the source, it memorizes its position and uses dead reckoning to return there. Dead reckoning is appealing in robotics, since it is a cheap localization method and it does not require any additional external infrastructure. However, dead reckoning leads to errors that grow in time if not corrected periodically. We compare a foraging strategy that does not make use of task partitioning with one that does. We show that cooperation through task partitioning can be used to limit the effect of dead reckoning errors. This results in improved capability of locating the object source and in increased performance of the swarm. We use the implemented system as a test bed to study benefits and costs of task partitioning with direct transfer. We implement the system with real robots, demonstrating the feasibility of our approach in a foraging scenario.

Navigation with a passive brain based interface

NARCIS (Netherlands)

Erp, J.B.F. van; Werkhoven, P.J.; Thurlings, M.E.; Brouwer, A.-M.

2009-01-01

In this paper, we describe a Brain Computer Interface (BCI) for navigation. The system is based on detecting brain signals that are elicited by tactile stimulation on the torso indicating the desired direction.

Internet-Based Indoor Navigation Services

OpenAIRE

Zeinalipour-Yazti, Demetrios; Laoudias, Christos; Georgiou, Kyriakos

2017-01-01

Smartphone advances are leading to a class of Internet-based Indoor Navigation services. IIN services rely on geolocation databases that store indoor models, comprising floor maps and points of interest, along with wireless, light, and magnetic signals for localizing users. Developing IIN services creates new information management challenges - such as crowdsourcing indoor models, acquiring and fusing big data velocity signals, localization algorithms, and custodians' location privacy. Here, ...

Integrated WiFi/PDR/Smartphone Using an Unscented Kalman Filter Algorithm for 3D Indoor Localization.

Science.gov (United States)

Chen, Guoliang; Meng, Xiaolin; Wang, Yunjia; Zhang, Yanzhe; Tian, Peng; Yang, Huachao

2015-09-23

Because of the high calculation cost and poor performance of a traditional planar map when dealing with complicated indoor geographic information, a WiFi fingerprint indoor positioning system cannot be widely employed on a smartphone platform. By making full use of the hardware sensors embedded in the smartphone, this study proposes an integrated approach to a three-dimensional (3D) indoor positioning system. First, an improved K-means clustering method is adopted to reduce the fingerprint database retrieval time and enhance positioning efficiency. Next, with the mobile phone's acceleration sensor, a new step counting method based on auto-correlation analysis is proposed to achieve cell phone inertial navigation positioning. Furthermore, the integration of WiFi positioning with Pedestrian Dead Reckoning (PDR) obtains higher positional accuracy with the help of the Unscented Kalman Filter algorithm. Finally, a hybrid 3D positioning system based on Unity 3D, which can carry out real-time positioning for targets in 3D scenes, is designed for the fluent operation of mobile terminals.

Integrated WiFi/PDR/Smartphone Using an Unscented Kalman Filter Algorithm for 3D Indoor Localization

Directory of Open Access Journals (Sweden)

Guoliang Chen

2015-09-01

Full Text Available Because of the high calculation cost and poor performance of a traditional planar map when dealing with complicated indoor geographic information, a WiFi fingerprint indoor positioning system cannot be widely employed on a smartphone platform. By making full use of the hardware sensors embedded in the smartphone, this study proposes an integrated approach to a three-dimensional (3D indoor positioning system. First, an improved K-means clustering method is adopted to reduce the fingerprint database retrieval time and enhance positioning efficiency. Next, with the mobile phone’s acceleration sensor, a new step counting method based on auto-correlation analysis is proposed to achieve cell phone inertial navigation positioning. Furthermore, the integration of WiFi positioning with Pedestrian Dead Reckoning (PDR obtains higher positional accuracy with the help of the Unscented Kalman Filter algorithm. Finally, a hybrid 3D positioning system based on Unity 3D, which can carry out real-time positioning for targets in 3D scenes, is designed for the fluent operation of mobile terminals.

DEF: an automated dead-end filling approach based on quasi-endosymbiosis.

Science.gov (United States)

Liu, Lili; Zhang, Zijun; Sheng, Taotao; Chen, Ming

2017-02-01

Gap filling for the reconstruction of metabolic networks is to restore the connectivity of metabolites via finding high-confidence reactions that could be missed in target organism. Current methods for gap filling either fall into the network topology or have limited capability in finding missing reactions that are indirectly related to dead-end metabolites but of biological importance to the target model. We present an automated dead-end filling (DEF) approach, which is derived from the wisdom of endosymbiosis theory, to fill gaps by finding the most efficient dead-end utilization paths in a constructed quasi-endosymbiosis model. The recalls of reactions and dead ends of DEF reach around 73% and 86%, respectively. This method is capable of finding indirectly dead-end-related reactions with biological importance for the target organism and is applicable to any given metabolic model. In the E. coli iJR904 model, for instance, about 42% of the dead-end metabolites were fixed by our proposed method. DEF is publicly available at http://bis.zju.edu.cn/DEF/. mchen@zju.edu.cn Supplementary data are available at Bioinformatics online.

Sensorless Control Technology for PMSG base on the Dead-time Compensation voltage

Directory of Open Access Journals (Sweden)

Yang Li-yong

2015-01-01

Full Text Available In order to improve the speed sensorless-control system of PMSG in low speed performance, this paper introduces a novel Dead-time compensation control method .Mathematical model is established according to the Dead-zone of the influence of the voltage source type inverter output voltage. At the same time, the given value of current regulator output voltage has been fixed based on the established model. Then the stator voltage after compensationed is applied to the flux estimation, which improves the performance of flux estimation. Finally, the position and speed of the rotor is estimated based on Back-Electromotive Force, which has Simple algorithm and good robustness. In order to verify the correctness of theoretical analysis, the experiment was done according to the new control method. The results proved the correctness and feasibility of this control method.

Dead pixel replacement in LWIR microgrid polarimeters.

Science.gov (United States)

Ratliff, Bradley M; Tyo, J Scott; Boger, James K; Black, Wiley T; Bowers, David L; Fetrow, Matthew P

2007-06-11

LWIR imaging arrays are often affected by nonresponsive pixels, or "dead pixels." These dead pixels can severely degrade the quality of imagery and often have to be replaced before subsequent image processing and display of the imagery data. For LWIR arrays that are integrated with arrays of micropolarizers, the problem of dead pixels is amplified. Conventional dead pixel replacement (DPR) strategies cannot be employed since neighboring pixels are of different polarizations. In this paper we present two DPR schemes. The first is a modified nearest-neighbor replacement method. The second is a method based on redundancy in the polarization measurements.We find that the redundancy-based DPR scheme provides an order-of-magnitude better performance for typical LWIR polarimetric data.

Adaptive Human aware Navigation based on Motion Pattern Analysis

DEFF Research Database (Denmark)

Tranberg, Søren; Svenstrup, Mikael; Andersen, Hans Jørgen

2009-01-01

Respecting people’s social spaces is an important prerequisite for acceptable and natural robot navigation in human environments. In this paper, we describe an adaptive system for mobile robot navigation based on estimates of whether a person seeks to interact with the robot or not. The estimates...... are based on run-time motion pattern analysis compared to stored experience in a database. Using a potential field centered around the person, the robot positions itself at the most appropriate place relative to the person and the interaction status. The system is validated through qualitative tests...

Image processing and applications based on visualizing navigation service

Science.gov (United States)

Hwang, Chyi-Wen

2015-07-01

When facing the "overabundant" of semantic web information, in this paper, the researcher proposes the hierarchical classification and visualizing RIA (Rich Internet Application) navigation system: Concept Map (CM) + Semantic Structure (SS) + the Knowledge on Demand (KOD) service. The aim of the Multimedia processing and empirical applications testing, was to investigating the utility and usability of this visualizing navigation strategy in web communication design, into whether it enables the user to retrieve and construct their personal knowledge or not. Furthermore, based on the segment markets theory in the Marketing model, to propose a User Interface (UI) classification strategy and formulate a set of hypermedia design principles for further UI strategy and e-learning resources in semantic web communication. These research findings: (1) Irrespective of whether the simple declarative knowledge or the complex declarative knowledge model is used, the "CM + SS + KOD navigation system" has a better cognition effect than the "Non CM + SS + KOD navigation system". However, for the" No web design experience user", the navigation system does not have an obvious cognition effect. (2) The essential of classification in semantic web communication design: Different groups of user have a diversity of preference needs and different cognitive styles in the CM + SS + KOD navigation system.

Navigating ‘riskscapes’

DEFF Research Database (Denmark)

Gee, Stephanie; Skovdal, Morten

2017-01-01

This paper draws on interview data to examine how international health care workers navigated risk during the unprecedented Ebola outbreak in West Africa. It identifies the importance of place in risk perception, including how different spatial localities give rise to different feelings of threat...... or safety, some from the construction of physical boundaries, and others mediated through aspects of social relations, such as trust, communication and team dynamics. Referring to these spatial localities as ‘riskscapes’, the paper calls for greater recognition of the role of place in understanding risk...... perception, and how people navigate risk....

Uranium loans: Delaying the day of reckoning

International Nuclear Information System (INIS)

Anon.

1993-01-01

Spot market volume so far this year, by NUKEM's estimates, comes to just under 11 million lbs. It appears that existing loans are either being extended, or paid back with material borrowed from other sources. Therefore, there has been no significant amount of purchases on the spot market to pay back borrowed uranium. How do we know the loans have not been paid back with spot purchases? For one thing, the amount of uranium loans outstanding has increased. According to our current survey, there may now be as much as 32 million lbs U3O8 equivalent in outstanding loans. At current prices, it's cheaper to borrow than to buy uranium. So borrowers are gambling that prices will remain low for some time, allowing them to delay repayment of the loans. Borrowers then, in essence, are delaying the day of reckoning on these loans. How long they can do so is anyone's guess. As long as uranium is in abundance and utilities remain willing to lend it out, loan activity will likely remain at or near current levels. But when supplies tighten and the market swings in a more positive direction, borrowers may get caught scrambling to repay their loans as quickly as possible

Advanced Navigation Aids System based on Augmented Reality

Directory of Open Access Journals (Sweden)

Jaeyong OH

2016-12-01

Full Text Available Many maritime accidents have been caused by human-error including such things as inadequate watch keeping and/or mistakes in ship handling. Also, new navigational equipment has been developed using Information Technology (IT technology to provide various kinds of information for safe navigation. Despite these efforts, the reduction of maritime accidents has not occurred to the degree expected because, navigational equipment provides too much information, and this information is not well organized, such that users feel it to be complicated rather than helpful. In this point of view, the method of representation of navigational information is more important than the quantity of that information and research is required on the representation of information to make that information more easily understood and to allow decisions to be made correctly and promptly. In this paper, we adopt Augmented Reality (AR technologies for the representation of information. AR is a 3D computer graphics technology that blends virtual reality and the real world. Recently, this technology has been widely applied in our daily lives because it can provide information more effectively to users. Therefore, we propose a new concept, a navigational system based on AR technology; we review experimental results from a ship-handling simulator and from an open sea test to verify the efficiency of the proposed system.

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 ...

Implementation of a mobile base with evasion of obstacles using ROS navigation

International Nuclear Information System (INIS)

Arauz Villegas, Carolina

2013-01-01

A mobile base is implemented with evasion of obstacles using ROS Navigation. The simulation of that mobile base is performed with the 2D Stage simulator, firstly; and once understanded the operation of Navigation has proceeded to build the mobile base. The mobile base has had two DC motors, an Asus Xtion sensor, a netbook and a stm32f4-discovery microcontroller. ROS in the netbook was installed and then serial communication over USB was achieved between the netbook and the microcontroller. The microcontroller has received the velocity data sent by move_base of navigation through that communication and sends the odometry data back. A PWM control is implemented for the driving and for the speed of the motors having a control PI for the cycle of work of the same. The encoder interface of the microcontroller was used for the data acquisition of odometry. The communication between ROS and the mobile base was integrated to the navigation, which has allowed to generate mapping, location and move safely from a starting point to a point of arrival sending speed messages. (author) [es

A 3D Model Based Imdoor Navigation System for Hubei Provincial Museum

Science.gov (United States)

Xu, W.; Kruminaite, M.; Onrust, B.; Liu, H.; Xiong, Q.; Zlatanova, S.

2013-11-01

3D models are more powerful than 2D maps for indoor navigation in a complicate space like Hubei Provincial Museum because they can provide accurate descriptions of locations of indoor objects (e.g., doors, windows, tables) and context information of these objects. In addition, the 3D model is the preferred navigation environment by the user according to the survey. Therefore a 3D model based indoor navigation system is developed for Hubei Provincial Museum to guide the visitors of museum. The system consists of three layers: application, web service and navigation, which is built to support localization, navigation and visualization functions of the system. There are three main strengths of this system: it stores all data needed in one database and processes most calculations on the webserver which make the mobile client very lightweight, the network used for navigation is extracted semi-automatically and renewable, the graphic user interface (GUI), which is based on a game engine, has high performance of visualizing 3D model on a mobile display.

Image-based path planning for automated virtual colonoscopy navigation

Science.gov (United States)

Hong, Wei

2008-03-01

Virtual colonoscopy (VC) is a noninvasive method for colonic polyp screening, by reconstructing three-dimensional models of the colon using computerized tomography (CT). In virtual colonoscopy fly-through navigation, it is crucial to generate an optimal camera path for efficient clinical examination. In conventional methods, the centerline of the colon lumen is usually used as the camera path. In order to extract colon centerline, some time consuming pre-processing algorithms must be performed before the fly-through navigation, such as colon segmentation, distance transformation, or topological thinning. In this paper, we present an efficient image-based path planning algorithm for automated virtual colonoscopy fly-through navigation without the requirement of any pre-processing. Our algorithm only needs the physician to provide a seed point as the starting camera position using 2D axial CT images. A wide angle fisheye camera model is used to generate a depth image from the current camera position. Two types of navigational landmarks, safe regions and target regions are extracted from the depth images. Camera position and its corresponding view direction are then determined using these landmarks. The experimental results show that the generated paths are accurate and increase the user comfort during the fly-through navigation. Moreover, because of the efficiency of our path planning algorithm and rendering algorithm, our VC fly-through navigation system can still guarantee 30 FPS.

Towards Safe Navigation by Formalizing Navigation Rules

Directory of Open Access Journals (Sweden)

Arne Kreutzmann

2013-06-01

Full Text Available One crucial aspect of safe navigation is to obey all navigation regulations applicable, in particular the collision regulations issued by the International Maritime Organization (IMO Colregs. Therefore, decision support systems for navigation need to respect Colregs and this feature should be verifiably correct. We tackle compliancy of navigation regulations from a perspective of software verification. One common approach is to use formal logic, but it requires to bridge a wide gap between navigation concepts and simple logic. We introduce a novel domain specification language based on a spatio-temporal logic that allows us to overcome this gap. We are able to capture complex navigation concepts in an easily comprehensible representation that can direcly be utilized by various bridge systems and that allows for software verification.

Determination of detection equipment dead time

International Nuclear Information System (INIS)

Sacha, J.

1980-01-01

A method is described of determining dead time by short-lived source measurement. It is based on measuring the sample count rates in different time intervals when only dead time correction is changed with the changing count of recorded pulses. The dead time may be determined from the measured values by a numerical-graphical method. The method is described. The advantage of the method is the minimization of errors and inaccuracies; the disadvantage is that the half-life of the source used should very accurately be known. (J.P.)

Autonomous Robot Navigation based on Visual Landmarks

DEFF Research Database (Denmark)

Livatino, Salvatore

2005-01-01

The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully a...... automatically learn and store visual landmarks, and later recognize these landmarks from arbitrary positions and thus estimate robot position and heading.......The use of landmarks for robot navigation is a popular alternative to having a geometrical model of the environment through which to navigate and monitor self-localization. If the landmarks are defined as special visual structures already in the environment then we have the possibility of fully...... autonomous navigation and self-localization using automatically selected landmarks. The thesis investigates autonomous robot navigation and proposes a new method which benefits from the potential of the visual sensor to provide accuracy and reliability to the navigation process while relying on naturally...

Dead-wood addition promotes non-saproxylic epigeal arthropods but effects are mediated by canopy openness

Science.gov (United States)

Sebastian Seibold; Claus Bässler; Petr Baldrian; Lena Reinhard; Simon Thorn; Michael D. Ulyshen; Ingmar Weiß; Jörg Müller

2016-01-01

Restoring dead-wood amounts in forests is an increasingly and successfully applied conservation measure to counteract negative effects of intensive logging on biodiversity of saproxylic taxa. By contrast, if and how dead-wood addition benefits the vast number of non-saproxylic forest taxa, and how this varies with contextual factors like canopy openness, remains poorly...

Love letters to the dead: resurrecting an epistolary art.

Science.gov (United States)

Lander, Dorothy A; Graham-Pole, John R

This article explores the art of letter-writing, specifically to our beloved dead, as a form of autoethnographic research, pedagogy, and care work. As university teachers and qualitative researchers in palliative and end-of-life care, we review the literature and history of epistolary communications with the deceased, as a prelude to writing our own letters. John writes to his long-dead mother and Dorothy to her recently deceased spouse Patrick, each letter followed by a reflective dialogue between us. Through this dialogue, we highlight the potential application of this art, or handcraft, to formal and informal palliative care, and the implications for practice, pedagogy, policy, and research. We propose that such direct, non-mediated, communications can offer a valuable form of healing for bereaved people. The therapeutic potential of letter writing and the abundance of literary and popular culture exemplars of responses from the dead are also largely unexplored in death education and research.

Mobile Robot Navigation Based on Q-Learning Technique

Directory of Open Access Journals (Sweden)

Lazhar Khriji

2011-03-01

Full Text Available This paper shows how Q-learning approach can be used in a successful way to deal with the problem of mobile robot navigation. In real situations where a large number of obstacles are involved, normal Q-learning approach would encounter two major problems due to excessively large state space. First, learning the Q-values in tabular form may be infeasible because of the excessive amount of memory needed to store the table. Second, rewards in the state space may be so sparse that with random exploration they will only be discovered extremely slowly. In this paper, we propose a navigation approach for mobile robot, in which the prior knowledge is used within Q-learning. We address the issue of individual behavior design using fuzzy logic. The strategy of behaviors based navigation reduces the complexity of the navigation problem by dividing them in small actions easier for design and implementation. The Q-Learning algorithm is applied to coordinate between these behaviors, which make a great reduction in learning convergence times. Simulation and experimental results confirm the convergence to the desired results in terms of saved time and computational resources.

Parametric Covariance Model for Horizon-Based Optical Navigation

Science.gov (United States)

Hikes, Jacob; Liounis, Andrew J.; Christian, John A.

2016-01-01

This Note presents an entirely parametric version of the covariance for horizon-based optical navigation measurements. The covariance can be written as a function of only the spacecraft position, two sensor design parameters, the illumination direction, the size of the observed planet, the size of the lit arc to be used, and the total number of observed horizon points. As a result, one may now more clearly understand the sensitivity of horizon-based optical navigation performance as a function of these key design parameters, which is insight that was obscured in previous (and nonparametric) versions of the covariance. Finally, the new parametric covariance is shown to agree with both the nonparametric analytic covariance and results from a Monte Carlo analysis.

Convolutional Neural Network-Based Robot Navigation Using Uncalibrated Spherical Images.

Science.gov (United States)

Ran, Lingyan; Zhang, Yanning; Zhang, Qilin; Yang, Tao

2017-06-12

Vision-based mobile robot navigation is a vibrant area of research with numerous algorithms having been developed, the vast majority of which either belong to the scene-oriented simultaneous localization and mapping (SLAM) or fall into the category of robot-oriented lane-detection/trajectory tracking. These methods suffer from high computational cost and require stringent labelling and calibration efforts. To address these challenges, this paper proposes a lightweight robot navigation framework based purely on uncalibrated spherical images. To simplify the orientation estimation, path prediction and improve computational efficiency, the navigation problem is decomposed into a series of classification tasks. To mitigate the adverse effects of insufficient negative samples in the "navigation via classification" task, we introduce the spherical camera for scene capturing, which enables 360° fisheye panorama as training samples and generation of sufficient positive and negative heading directions. The classification is implemented as an end-to-end Convolutional Neural Network (CNN), trained on our proposed Spherical-Navi image dataset, whose category labels can be efficiently collected. This CNN is capable of predicting potential path directions with high confidence levels based on a single, uncalibrated spherical image. Experimental results demonstrate that the proposed framework outperforms competing ones in realistic applications.

Convolutional Neural Network-Based Robot Navigation Using Uncalibrated Spherical Images

Directory of Open Access Journals (Sweden)

Lingyan Ran

2017-06-01

Full Text Available Vision-based mobile robot navigation is a vibrant area of research with numerous algorithms having been developed, the vast majority of which either belong to the scene-oriented simultaneous localization and mapping (SLAM or fall into the category of robot-oriented lane-detection/trajectory tracking. These methods suffer from high computational cost and require stringent labelling and calibration efforts. To address these challenges, this paper proposes a lightweight robot navigation framework based purely on uncalibrated spherical images. To simplify the orientation estimation, path prediction and improve computational efficiency, the navigation problem is decomposed into a series of classification tasks. To mitigate the adverse effects of insufficient negative samples in the “navigation via classification” task, we introduce the spherical camera for scene capturing, which enables 360° fisheye panorama as training samples and generation of sufficient positive and negative heading directions. The classification is implemented as an end-to-end Convolutional Neural Network (CNN, trained on our proposed Spherical-Navi image dataset, whose category labels can be efficiently collected. This CNN is capable of predicting potential path directions with high confidence levels based on a single, uncalibrated spherical image. Experimental results demonstrate that the proposed framework outperforms competing ones in realistic applications.

Heading-vector navigation based on head-direction cells and path integration.

Science.gov (United States)

Kubie, John L; Fenton, André A

2009-05-01

Insect navigation is guided by heading vectors that are computed by path integration. Mammalian navigation models, on the other hand, are typically based on map-like place representations provided by hippocampal place cells. Such models compute optimal routes as a continuous series of locations that connect the current location to a goal. We propose a "heading-vector" model in which head-direction cells or their derivatives serve both as key elements in constructing the optimal route and as the straight-line guidance during route execution. The model is based on a memory structure termed the "shortcut matrix," which is constructed during the initial exploration of an environment when a set of shortcut vectors between sequential pairs of visited waypoint locations is stored. A mechanism is proposed for calculating and storing these vectors that relies on a hypothesized cell type termed an "accumulating head-direction cell." Following exploration, shortcut vectors connecting all pairs of waypoint locations are computed by vector arithmetic and stored in the shortcut matrix. On re-entry, when local view or place representations query the shortcut matrix with a current waypoint and goal, a shortcut trajectory is retrieved. Since the trajectory direction is in head-direction compass coordinates, navigation is accomplished by tracking the firing of head-direction cells that are tuned to the heading angle. Section 1 of the manuscript describes the properties of accumulating head-direction cells. It then shows how accumulating head-direction cells can store local vectors and perform vector arithmetic to perform path-integration-based homing. Section 2 describes the construction and use of the shortcut matrix for computing direct paths between any pair of locations that have been registered in the shortcut matrix. In the discussion, we analyze the advantages of heading-based navigation over map-based navigation. Finally, we survey behavioral evidence that nonhippocampal

Improved GPS-based Satellite Relative Navigation Using Femtosecond Laser Relative Distance Measurements

Directory of Open Access Journals (Sweden)

Hyungjik Oh

2016-03-01

Full Text Available This study developed an approach for improving Carrier-phase Differential Global Positioning System (CDGPS based realtime satellite relative navigation by applying laser baseline measurement data. The robustness against the space operational environment was considered, and a Synthetic Wavelength Interferometer (SWI algorithm based on a femtosecond laser measurement model was developed. The phase differences between two laser wavelengths were combined to measure precise distance. Generated laser data were used to improve estimation accuracy for the float ambiguity of CDGPS data. Relative navigation simulations in real-time were performed using the extended Kalman filter algorithm. The GPS and laser-combined relative navigation accuracy was compared with GPS-only relative navigation solutions to determine the impact of laser data on relative navigation. In numerical simulations, the success rate of integer ambiguity resolution increased when laser data was added to GPS data. The relative navigational errors also improved five-fold and two-fold, relative to the GPS-only error, for 250 m and 5 km initial relative distances, respectively. The methodology developed in this study is suitable for application to future satellite formation-flying missions.

A New Approach to High-accuracy Road Orthophoto Mapping Based on Wavelet Transform

Directory of Open Access Journals (Sweden)

Ming Yang

2011-12-01

Full Text Available Existing orthophoto map based on satellite photography and aerial photography is not precise enough for road marking. This paper proposes a new approach to high-accuracy orthophoto mapping. The approach uses inverse perspective transformation to process the image information and generates the orthophoto fragment. The offline interpolation algorithm is used to process the location information. It processes the dead reckoning and the EKF location information, and uses the result to transform the fragments to the global coordinate system. At last it uses wavelet transform to divides the image to two frequency bands and uses weighted median algorithm to deal with them separately. The result of experiment shows that the map produced with this method has high accuracy.

Improved artificial bee colony algorithm based gravity matching navigation method.

Science.gov (United States)

Gao, Wei; Zhao, Bo; Zhou, Guang Tao; Wang, Qiu Ying; Yu, Chun Yang

2014-07-18

Gravity matching navigation algorithm is one of the key technologies for gravity aided inertial navigation systems. With the development of intelligent algorithms, the powerful search ability of the Artificial Bee Colony (ABC) algorithm makes it possible to be applied to the gravity matching navigation field. However, existing search mechanisms of basic ABC algorithms cannot meet the need for high accuracy in gravity aided navigation. Firstly, proper modifications are proposed to improve the performance of the basic ABC algorithm. Secondly, a new search mechanism is presented in this paper which is based on an improved ABC algorithm using external speed information. At last, modified Hausdorff distance is introduced to screen the possible matching results. Both simulations and ocean experiments verify the feasibility of the method, and results show that the matching rate of the method is high enough to obtain a precise matching position.

Another method of dead time correction

International Nuclear Information System (INIS)

Sabol, J.

1988-01-01

A new method of the correction of counting losses caused by a non-extended dead time of pulse detection systems is presented. The approach is based on the distribution of time intervals between pulses at the output of the system. The method was verified both experimentally and by using the Monte Carlo simulations. The results show that the suggested technique is more reliable and accurate than other methods based on a separate measurement of the dead time. (author) 5 refs

Dual-EKF-Based Real-Time Celestial Navigation for Lunar Rover

Directory of Open Access Journals (Sweden)

Li Xie

2012-01-01

Full Text Available A key requirement of lunar rover autonomous navigation is to acquire state information accurately in real-time during its motion and set up a gradual parameter-based nonlinear kinematics model for the rover. In this paper, we propose a dual-extended-Kalman-filter- (dual-EKF- based real-time celestial navigation (RCN method. The proposed method considers the rover position and velocity on the lunar surface as the system parameters and establishes a constant velocity (CV model. In addition, the attitude quaternion is considered as the system state, and the quaternion differential equation is established as the state equation, which incorporates the output of angular rate gyroscope. Therefore, the measurement equation can be established with sun direction vector from the sun sensor and speed observation from the speedometer. The gyro continuous output ensures the algorithm real-time operation. Finally, we use the dual-EKF method to solve the system equations. Simulation results show that the proposed method can acquire the rover position and heading information in real time and greatly improve the navigation accuracy. Our method overcomes the disadvantage of the cumulative error in inertial navigation.

Interference and deception detection technology of satellite navigation based on deep learning

Science.gov (United States)

Chen, Weiyi; Deng, Pingke; Qu, Yi; Zhang, Xiaoguang; Li, Yaping

2017-10-01

Satellite navigation system plays an important role in people's daily life and war. The strategic position of satellite navigation system is prominent, so it is very important to ensure that the satellite navigation system is not disturbed or destroyed. It is a critical means to detect the jamming signal to avoid the accident in a navigation system. At present, the detection technology of jamming signal in satellite navigation system is not intelligent , mainly relying on artificial decision and experience. For this issue, the paper proposes a method based on deep learning to monitor the interference source in a satellite navigation. By training the interference signal data, and extracting the features of the interference signal, the detection sys tem model is constructed. The simulation results show that, the detection accuracy of our detection system can reach nearly 70%. The method in our paper provides a new idea for the research on intelligent detection of interference and deception signal in a satellite navigation system.

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...

Who's Counting Dead Wood ?

OpenAIRE

Woodall, C. W.; Verkerk, H.; Rondeux, Jacques; Ståhl, G.

2009-01-01

Dead wood in forests is a critical component of biodiversity, carbon and nutrient cycles, stand structure, and fuel loadings. Until recently, very few countries have conducted systematic inventories of dead wood resources across their forest lands. This may be changing as an increasing number of countries implement dead wood inventories. A recent survey looks at the status and attributes of forest dead wood inventories in over 60 countries. About 13 percent of countries inventory dead wood gl...

A Novel Augmented Reality Navigation System for Endoscopic Sinus and Skull Base Surgery: A Feasibility Study

Science.gov (United States)

Li, Liang; Yang, Jian; Chu, Yakui; Wu, Wenbo; Xue, Jin; Liang, Ping; Chen, Lei

2016-01-01

Objective To verify the reliability and clinical feasibility of a self-developed navigation system based on an augmented reality technique for endoscopic sinus and skull base surgery. Materials and Methods In this study we performed a head phantom and cadaver experiment to determine the display effect and accuracy of our navigational system. We compared cadaver head-based simulated operations, the target registration error, operation time, and National Aeronautics and Space Administration Task Load Index scores of our navigation system to conventional navigation systems. Results The navigation system developed in this study has a novel display mode capable of fusing endoscopic images to three-dimensional (3-D) virtual images. In the cadaver head experiment, the target registration error was 1.28 ± 0.45 mm, which met the accepted standards of a navigation system used for nasal endoscopic surgery. Compared with conventional navigation systems, the new system was more effective in terms of operation time and the mental workload of surgeons, which is especially important for less experienced surgeons. Conclusion The self-developed augmented reality navigation system for endoscopic sinus and skull base surgery appears to have advantages that outweigh those of conventional navigation systems. We conclude that this navigational system will provide rhinologists with more intuitive and more detailed imaging information, thus reducing the judgment time and mental workload of surgeons when performing complex sinus and skull base surgeries. Ultimately, this new navigational system has potential to increase the quality of surgeries. In addition, the augmented reality navigational system could be of interest to junior doctors being trained in endoscopic techniques because it could speed up their learning. However, it should be noted that the navigation system serves as an adjunct to a surgeon’s skills and knowledge, not as a substitute. PMID:26757365

A Novel Augmented Reality Navigation System for Endoscopic Sinus and Skull Base Surgery: A Feasibility Study.

Directory of Open Access Journals (Sweden)

Liang Li

Full Text Available To verify the reliability and clinical feasibility of a self-developed navigation system based on an augmented reality technique for endoscopic sinus and skull base surgery.In this study we performed a head phantom and cadaver experiment to determine the display effect and accuracy of our navigational system. We compared cadaver head-based simulated operations, the target registration error, operation time, and National Aeronautics and Space Administration Task Load Index scores of our navigation system to conventional navigation systems.The navigation system developed in this study has a novel display mode capable of fusing endoscopic images to three-dimensional (3-D virtual images. In the cadaver head experiment, the target registration error was 1.28 ± 0.45 mm, which met the accepted standards of a navigation system used for nasal endoscopic surgery. Compared with conventional navigation systems, the new system was more effective in terms of operation time and the mental workload of surgeons, which is especially important for less experienced surgeons.The self-developed augmented reality navigation system for endoscopic sinus and skull base surgery appears to have advantages that outweigh those of conventional navigation systems. We conclude that this navigational system will provide rhinologists with more intuitive and more detailed imaging information, thus reducing the judgment time and mental workload of surgeons when performing complex sinus and skull base surgeries. Ultimately, this new navigational system has potential to increase the quality of surgeries. In addition, the augmented reality navigational system could be of interest to junior doctors being trained in endoscopic techniques because it could speed up their learning. However, it should be noted that the navigation system serves as an adjunct to a surgeon's skills and knowledge, not as a substitute.

An IBeacon-Based Location System for Smart Home Control.

Science.gov (United States)

Liu, Qinghe; Yang, Xinshuang; Deng, Lizhen

2018-06-11

Indoor location and intelligent control system can bring convenience to people’s daily life. In this paper, an indoor control system is designed to achieve equipment remote control by using low-energy Bluetooth (BLE) beacon and Internet of Things (IoT) technology. The proposed system consists of five parts: web server, home gateway, smart terminal, smartphone app and BLE beacons. In the web server, fingerprint matching based on RSSI stochastic characteristic and posture recognition model based on geomagnetic sensing are used to establish a more efficient equipment control system, combined with Pedestrian Dead Reckoning (PDR) technology to improve the accuracy of location. A personalized menu of remote “one-click” control is finally offered to users in a smartphone app. This smart home control system has been implemented by hardware, and precision and stability tests have been conducted, which proved the practicability and good user experience of this solution.

Extra and intracellular synthesis of nickel oxide nanoparticles mediated by dead fungal biomass.

Directory of Open Access Journals (Sweden)

Marcia Regina Salvadori

Full Text Available The use of dead biomass of the fungus Hypocrea lixii as a biological system is a new, effective and environmentally friendly bioprocess for the production and uptake of nickel oxide nanoparticles (NPs, which has become a promising field in nanobiotechnology. Dead biomass of the fungus was successfully used to convert nickel ions into nickel oxide NPs in aqueous solution. These NPs accumulated intracellularly and extracellularly on the cell wall surface through biosorption. The average size, morphology and location of the NPs were characterized by transmission electron microscopy, high-resolution transmission electron microscopy, scanning electron microscopy, and energy dispersive X-ray spectroscopy. The NPs were mainly spherical and extra and intracellular NPs had an average size of 3.8 nm and 1.25 nm, respectively. X-ray photoelectron spectroscopy analysis confirmed the formation of nickel oxide NPs. Infrared spectroscopy detected the presence of functional amide groups, which are probable involved in particle binding to the biomass. The production of the NPs by dead biomass was analyzed by determining physicochemical parameters and equilibrium concentrations. The present study opens new perspectives for the biosynthesis of nanomaterials, which could become a potential biosorbent for the removal of toxic metals from polluted sites.

Cascades of pile-up and dead time

International Nuclear Information System (INIS)

Pomme, S.

2008-01-01

Count loss through a cascade of pile-up and dead time is studied. Time interval density-distribution functions and throughput factors are presented for counters with a series arrangement of pile-up and extending or non-extending dead time. A counter is considered, where an artificial dead time is imposed on every counted event, in order to control the length and type of dead time. For such a system, it is relatively easy to determine an average count-loss correction factor via a live-time clock gated by the imposed dead-time signal ('live-time mode'), or otherwise to apply a correction factor based on the inversion of the throughput function ('real-time mode'). However, these techniques do not account for additional loss through pulse pile-up. In this work, counting errors associated with neglecting cascade effects are calculated for measurements in live-time and real-time mode

Nonparametric Second-Order Theory of Error Propagation on Motion Groups.

Science.gov (United States)

Wang, Yunfeng; Chirikjian, Gregory S

2008-01-01

Error propagation on the Euclidean motion group arises in a number of areas such as in dead reckoning errors in mobile robot navigation and joint errors that accumulate from the base to the distal end of kinematic chains such as manipulators and biological macromolecules. We address error propagation in rigid-body poses in a coordinate-free way. In this paper we show how errors propagated by convolution on the Euclidean motion group, SE(3), can be approximated to second order using the theory of Lie algebras and Lie groups. We then show how errors that are small (but not so small that linearization is valid) can be propagated by a recursive formula derived here. This formula takes into account errors to second-order, whereas prior efforts only considered the first-order case. Our formulation is nonparametric in the sense that it will work for probability density functions of any form (not only Gaussians). Numerical tests demonstrate the accuracy of this second-order theory in the context of a manipulator arm and a flexible needle with bevel tip.

Accuracy of Positioning Autonomous Biomimetic Underwater Vehicle Using Additional Measurement of Distances

Directory of Open Access Journals (Sweden)

Naus Krzysztof

2016-12-01

Full Text Available The article describes a study of problem of estimating the position coordinates of Autonomous Biomimetic Underwater Vehicle (ABUV using two methods: dead reckoning (DR and extended Kalman filter (EKF. In the first part of the paper, navigation system of ABUV is described and scientific problem with underwater positioning is formulated. The main part describes a way of estimating the position coordinates using DR and EKF and a numerical experiment involving motion of ABUV along the predetermined test distance. The final part of the paper contains a comparative statistical analysis of the results, carried out for assessing the accuracy of estimation of the position coordinates using DR and EKF methods. It presents the generalized conclusions from the research and the problems relating to the proper placement of the components of the system measuring distances.

Evaluation of a Hospital-Based Pneumonia Nurse Navigator Program.

Science.gov (United States)

Seldon, Lisa E; McDonough, Kelly; Turner, Barbara; Simmons, Leigh Ann

2016-12-01

The aim of this study is to evaluate the effectiveness of a hospital-based pneumonia nurse navigator program. This study used a retrospective, formative evaluation. Data of patients admitted from January 2012 through December 2014 to a large community hospital with a primary or secondary diagnosis of pneumonia, excluding aspiration pneumonia, were used. Data included patient demographics, diagnoses, insurance coverage, core measures, average length of stay (ALOS), disposition, readmission rate, financial outcomes, and patient barriers to care were collected. Descriptive statistics and parametric testing were used to analyze data. Core measure performance was sustained at the 90th percentile 2 years after the implementation of the navigator program. The ALOS did not decrease to established benchmarks; however, the SD for ALOS decreased by nearly half after implementation of the navigator program, suggesting the program decreased the number and length of extended stays. Charges per case decreased by 21% from 2012 to 2014. Variable costs decreased by 4% over a 2-year period, which increased net profit per case by 5%. Average readmission payments increased by 8% from 2012 to 2014, and the net revenue per case increased by 8.3%. The pneumonia nurse navigator program may improve core measures, reduce ALOS, and increase net revenue. Future evaluations are necessary to substantiate these findings and optimize the cost and quality performance of navigator programs.

Image-based navigation for a robotized flexible endoscope

NARCIS (Netherlands)

van der Stap, N.; Slump, Cornelis H.; Broeders, Ivo Adriaan Maria Johannes; van der Heijden, Ferdinand; Luo, Xiongbiao; Reichl, Tobias; Mirota, Daniel; Soper, Timothy

2014-01-01

Robotizing flexible endoscopy enables image-based control of endoscopes. Especially during high-throughput procedures, such as a colonoscopy, navigation support algorithms could improve procedure turnaround and ergonomics for the endoscopist. In this study, we have developed and implemented a

ATON (Autonomous Terrain-based Optical Navigation) for exploration missions: recent flight test results

Science.gov (United States)

Theil, S.; Ammann, N.; Andert, F.; Franz, T.; Krüger, H.; Lehner, H.; Lingenauber, M.; Lüdtke, D.; Maass, B.; Paproth, C.; Wohlfeil, J.

2018-03-01

Since 2010 the German Aerospace Center is working on the project Autonomous Terrain-based Optical Navigation (ATON). Its objective is the development of technologies which allow autonomous navigation of spacecraft in orbit around and during landing on celestial bodies like the Moon, planets, asteroids and comets. The project developed different image processing techniques and optical navigation methods as well as sensor data fusion. The setup—which is applicable to many exploration missions—consists of an inertial measurement unit, a laser altimeter, a star tracker and one or multiple navigation cameras. In the past years, several milestones have been achieved. It started with the setup of a simulation environment including the detailed simulation of camera images. This was continued by hardware-in-the-loop tests in the Testbed for Robotic Optical Navigation (TRON) where images were generated by real cameras in a simulated downscaled lunar landing scene. Data were recorded in helicopter flight tests and post-processed in real-time to increase maturity of the algorithms and to optimize the software. Recently, two more milestones have been achieved. In late 2016, the whole navigation system setup was flying on an unmanned helicopter while processing all sensor information onboard in real time. For the latest milestone the navigation system was tested in closed-loop on the unmanned helicopter. For that purpose the ATON navigation system provided the navigation state for the guidance and control of the unmanned helicopter replacing the GPS-based standard navigation system. The paper will give an introduction to the ATON project and its concept. The methods and algorithms of ATON are briefly described. The flight test results of the latest two milestones are presented and discussed.

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.

Raising the Dead without a Red Sea-Dead Sea project? Hydro-economics and governance

Directory of Open Access Journals (Sweden)

D. E. Rosenberg

2011-04-01

Full Text Available Seven decades of extractions have dramatically reduced Jordan River flows, lowered the Dead Sea level, opened sink holes, and caused other environmental problems. The fix Jordan, Israel, and the Palestinians propose would build an expensive multipurpose conveyance project from the Red Sea to the Dead Sea that would also generate hydropower and desalinate water. This paper compares the Red-Dead project to alternatives that may also raise the Dead Sea level. Hydro-economic model results for the Jordan-Israel-Palestinian inter-tied water systems show two restoration alternatives are more economically viable than the proposed Red-Dead project. Many decentralized new supply, wastewater reuse, conveyance, conservation, and leak reduction projects and programs in each country can together increase economic benefits and reliably deliver up to 900 MCM yr⁻¹ to the Dead Sea. Similarly, a smaller Red-Dead project that only generates hydropower can deliver large flows to the Dead Sea when the sale price of generated electricity is sufficiently high. However, for all restoration options, net benefits fall and water scarcity rises as flows to the Dead Sea increase. This finding suggests (i each country has no individual incentive to return water to the Dead Sea, and (ii outside institutions that seek to raise the Dead must also offer countries direct incentives to deliver water to the Sea besides building the countries new infrastructure.

76 FR 65540 - National Space-Based Positioning, Navigation, and Timing (PNT) Advisory Board; Meeting

Science.gov (United States)

2011-10-21

.... L. 92-463, as amended), and the President's 2004 U.S. Space-Based Positioning, Navigation, and...-Based Positioning, Navigation and Timing Policy and Global Positioning System (GPS) modernization. Explore opportunities for enhancing the interoperability of GPS with other emerging international Global...

Measurement-based modeling of bromine chemistry in the boundary layer: 1. Bromine chemistry at the Dead Sea

Science.gov (United States)

Tas, E.; Peleg, M.; Pedersen, D. U.; Matveev, V.; Pour Biazar, A.; Luria, M.

2006-12-01

The Dead Sea is an excellent natural laboratory for the investigation of Reactive Bromine Species (RBS) chemistry, due to the high RBS levels observed in this area, combined with anthropogenic air pollutants up to several ppb. The present study investigated the basic chemical mechanism of RBS at the Dead Sea using a numerical one-dimensional chemical model. Simulations were based on data obtained from comprehensive measurements performed at sites along the Dead Sea. The simulations showed that the high BrO levels measured frequently at the Dead Sea could only partially be attributed to the highly concentrated Br- present in the Dead Sea water. Furthermore, the RBS activity at the Dead Sea cannot solely be explained by a pure gas phase mechanism. This paper presents a chemical mechanism which can account for the observed chemical activity at the Dead Sea, with the addition of only two heterogeneous processes: the "Bromine Explosion" mechanism and the heterogeneous decomposition of BrONO2. Ozone frequently dropped below a threshold value of ~1 to 2 ppbv at the Dead Sea evaporation ponds, and in such cases, O3 became a limiting factor for the production of BrOx (BrO+Br). The entrainment of O3 fluxes into the evaporation ponds was found to be essential for the continuation of RBS activity, and to be the main reason for the jagged diurnal pattern of BrO observed in the Dead Sea area, and for the positive correlation observed between BrO and O3 at low O3 concentrations. The present study has shown that the heterogeneous decomposition of BrONO2 has a great potential to affect the RBS activity in areas influenced by anthropogenic emissions, mainly due to the positive correlation between the rate of this process and the levels of NO2. Further investigation of the influence of the decomposition of BrONO2 may be especially important in understanding the RBS activity at mid-latitudes.

Measurement-based modeling of bromine chemistry in the boundary layer: 1. Bromine chemistry at the Dead Sea

Directory of Open Access Journals (Sweden)

E. Tas

2006-01-01

Full Text Available The Dead Sea is an excellent natural laboratory for the investigation of Reactive Bromine Species (RBS chemistry, due to the high RBS levels observed in this area, combined with anthropogenic air pollutants up to several ppb. The present study investigated the basic chemical mechanism of RBS at the Dead Sea using a numerical one-dimensional chemical model. Simulations were based on data obtained from comprehensive measurements performed at sites along the Dead Sea. The simulations showed that the high BrO levels measured frequently at the Dead Sea could only partially be attributed to the highly concentrated Br− present in the Dead Sea water. Furthermore, the RBS activity at the Dead Sea cannot solely be explained by a pure gas phase mechanism. This paper presents a chemical mechanism which can account for the observed chemical activity at the Dead Sea, with the addition of only two heterogeneous processes: the "Bromine Explosion" mechanism and the heterogeneous decomposition of BrONO2. Ozone frequently dropped below a threshold value of ~1 to 2 ppbv at the Dead Sea evaporation ponds, and in such cases, O3 became a limiting factor for the production of BrOx (BrO+Br. The entrainment of O3 fluxes into the evaporation ponds was found to be essential for the continuation of RBS activity, and to be the main reason for the jagged diurnal pattern of BrO observed in the Dead Sea area, and for the positive correlation observed between BrO and O3 at low O3 concentrations. The present study has shown that the heterogeneous decomposition of BrONO2 has a great potential to affect the RBS activity in areas influenced by anthropogenic emissions, mainly due to the positive correlation between the rate of this process and the levels of NO2. Further investigation of the influence of the decomposition of BrONO2 may be especially important in understanding the RBS activity at mid-latitudes.

Image-based particle filtering for navigation in a semi-structured agricultural environment

NARCIS (Netherlands)

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

2014-01-01

Autonomous navigation of field robots in an agricultural environment is a difficult task due to the inherent uncertainty in the environment. The drawback of existing systems is the lack of robustness to these uncertainties. In this study we propose a vision-based navigation method to address these

Enriching location-based games with navigational game activities

DEFF Research Database (Denmark)

Nadarajah, Stephanie Githa; Overgaard, Benjamin Nicholas; Pedersen, Peder Walz

2016-01-01

Mobile location-based games are experiences that entertain its players by requiring interactions mainly at points of interest (POIs). Navigation between POIs often involve the use of either a physical or digital map, not taking advantage of the opportunity available to engage users in activities...

The Indultados of Tescua: Criminal Rebellion and Judicial Reckoning during the War of the Supremes

Directory of Open Access Journals (Sweden)

Joshua M. Rosenthal

2012-07-01

Full Text Available In 1841 the public of Bogota followed the trial of 22 prisoners charged with the crime of rebellion during the War of the Supremes. Captured while serving as officers at the battle of Tescua, the accused claimed they had been forced to serve in the rebel army. This excuse was ignored and 21 of the defendants were sentenced to death, only to be spared by decrees of indulto in the following months. This article examines the logic behind such judicial reckoning, the narrative strategies employed by the accused in their defense, and the meaning of clemency in the early republic.

Sensor-based control with digital maps association for global navigation: a real application for autonomous vehicles

OpenAIRE

Alves De Lima , Danilo; Corrêa Victorino , Alessandro

2015-01-01

International audience; This paper presents a sensor-based control strategy applied in the global navigation of autonomous vehicles in urban environments. Typically, sensor-based control performs local navigation tasks regarding some features perceived from the environment. However, when there is more than one possibility to go, like in road intersection, the vehicle control fails to accomplish its global navigation. In order to solve this problem, we propose the vehicle global navigation bas...

Image matching navigation based on fuzzy information

Institute of Scientific and Technical Information of China (English)

田玉龙; 吴伟仁; 田金文; 柳健

2003-01-01

In conventional image matching methods, the image matching process is mostly based on image statistic information. One aspect neglected by all these methods is that there is much fuzzy information contained in these images. A new fuzzy matching algorithm based on fuzzy similarity for navigation is presented in this paper. Because the fuzzy theory is of the ability of making good description of the fuzzy information contained in images, the image matching method based on fuzzy similarity would look forward to producing good performance results. Experimental results using matching algorithm based on fuzzy information also demonstrate its reliability and practicability.

Autonomous vision-based navigation for proximity operations around binary asteroids

Science.gov (United States)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-06-01

Future missions to small bodies demand higher level of autonomy in the Guidance, Navigation and Control system for higher scientific return and lower operational costs. Different navigation strategies have been assessed for ESA's asteroid impact mission (AIM). The main objective of AIM is the detailed characterization of binary asteroid Didymos. The trajectories for the proximity operations shall be intrinsically safe, i.e., no collision in presence of failures (e.g., spacecraft entering safe mode), perturbations (e.g., non-spherical gravity field), and errors (e.g., maneuver execution error). Hyperbolic arcs with sufficient hyperbolic excess velocity are designed to fulfil the safety, scientific, and operational requirements. The trajectory relative to the asteroid is determined using visual camera images. The ground-based trajectory prediction error at some points is comparable to the camera Field Of View (FOV). Therefore, some images do not contain the entire asteroid. Autonomous navigation can update the state of the spacecraft relative to the asteroid at higher frequency. The objective of the autonomous navigation is to improve the on-board knowledge compared to the ground prediction. The algorithms shall fit in off-the-shelf, space-qualified avionics. This note presents suitable image processing and relative-state filter algorithms for autonomous navigation in proximity operations around binary asteroids.

Simulating detectors dead time

International Nuclear Information System (INIS)

Rustom, Ibrahim Farog Ibrahim

2015-06-01

Nuclear detectors are used in all aspects of nuclear measurements. All nuclear detectors are characterized by their dead time i.e. the time needed by a detector to recover from a previous incident. A detector dead time influences measurements taken by a detector and specially when measuring high decay rate (>) where is the detector dead time. Two models are usually used to correct for the dead time effect: the paralayzable and the non-paralayzable models. In the current work we use Monte Carlo simulation techniques to simulate radioactivity and the effect of dead time and the count rate of a detector with a dead time =5x10 - 5s assuming the non-paralayzable model. The simulation indicates that assuming a non -paralayzable model could be used to correct for decay rate measured by a detector. The reliability of the non-paralayzable model to correct the measured decay rate could be gauged using the Monte Carlo simulation. (Author)

Geomagnetic storm effects on GPS based navigation

Directory of Open Access Journals (Sweden)

P. V. S. Rama Rao

2009-05-01

Full Text Available The energetic events on the sun, solar wind and subsequent effects on the Earth's geomagnetic field and upper atmosphere (ionosphere comprise space weather. Modern navigation systems that use radio-wave signals, reflecting from or propagating through the ionosphere as a means of determining range or distance, are vulnerable to a variety of effects that can degrade the performance of the navigational systems. In particular, the Global Positioning System (GPS that uses a constellation of earth orbiting satellites are affected due to the space weather phenomena.

Studies made during two successive geomagnetic storms that occurred during the period from 8 to 12 November 2004, have clearly revealed the adverse affects on the GPS range delay as inferred from the Total Electron Content (TEC measurements made from a chain of seven dual frequency GPS receivers installed in the Indian sector. Significant increases in TEC at the Equatorial Ionization anomaly crest region are observed, resulting in increased range delay during the periods of the storm activity. Further, the storm time rapid changes occurring in TEC resulted in a number of phase slips in the GPS signal compared to those on quiet days. These phase slips often result in the loss of lock of the GPS receivers, similar to those that occur during strong(>10 dB L-band scintillation events, adversely affecting the GPS based navigation.

Dead time corrections using the backward extrapolation method

Energy Technology Data Exchange (ETDEWEB)

Gilad, E., E-mail: gilade@bgu.ac.il [The Unit of Nuclear Engineering, Ben-Gurion University of the Negev, Beer-Sheva 84105 (Israel); Dubi, C. [Department of Physics, Nuclear Research Center NEGEV (NRCN), Beer-Sheva 84190 (Israel); Geslot, B.; Blaise, P. [DEN/CAD/DER/SPEx/LPE, CEA Cadarache, Saint-Paul-les-Durance 13108 (France); Kolin, A. [Department of Physics, Nuclear Research Center NEGEV (NRCN), Beer-Sheva 84190 (Israel)

2017-05-11

Dead time losses in neutron detection, caused by both the detector and the electronics dead time, is a highly nonlinear effect, known to create high biasing in physical experiments as the power grows over a certain threshold, up to total saturation of the detector system. Analytic modeling of the dead time losses is a highly complicated task due to the different nature of the dead time in the different components of the monitoring system (e.g., paralyzing vs. non paralyzing), and the stochastic nature of the fission chains. In the present study, a new technique is introduced for dead time corrections on the sampled Count Per Second (CPS), based on backward extrapolation of the losses, created by increasingly growing artificially imposed dead time on the data, back to zero. The method has been implemented on actual neutron noise measurements carried out in the MINERVE zero power reactor, demonstrating high accuracy (of 1–2%) in restoring the corrected count rate. - Highlights: • A new method for dead time corrections is introduced and experimentally validated. • The method does not depend on any prior calibration nor assumes any specific model. • Different dead times are imposed on the signal and the losses are extrapolated to zero. • The method is implemented and validated using neutron measurements from the MINERVE. • Result show very good correspondence to empirical results.

Visual map and instruction-based bicycle navigation: a comparison of effects on behaviour.

Science.gov (United States)

de Waard, Dick; Westerhuis, Frank; Joling, Danielle; Weiland, Stella; Stadtbäumer, Ronja; Kaltofen, Leonie

2017-09-01

Cycling with a classic paper map was compared with navigating with a moving map displayed on a smartphone, and with auditory, and visual turn-by-turn route guidance. Spatial skills were found to be related to navigation performance, however only when navigating from a paper or electronic map, not with turn-by-turn (instruction based) navigation. While navigating, 25% of the time cyclists fixated at the devices that present visual information. Navigating from a paper map required most mental effort and both young and older cyclists preferred electronic over paper map navigation. In particular a turn-by-turn dedicated guidance device was favoured. Visual maps are in particular useful for cyclists with higher spatial skills. Turn-by-turn information is used by all cyclists, and it is useful to make these directions available in all devices. Practitioner Summary: Electronic navigation devices are preferred over a paper map. People with lower spatial skills benefit most from turn-by-turn guidance information, presented either auditory or on a dedicated device. People with higher spatial skills perform well with all devices. It is advised to keep in mind that all users benefit from turn-by-turn information when developing a navigation device for cyclists.

From Self-Assessment to Frustration, A Small Step Towards Autonomy in Robotic Navigation.

Directory of Open Access Journals (Sweden)

Adrien eJauffret

2013-10-01

Full Text Available Autonomy and self-improvement capabilities are still challenging in the fields of robotics and machine learning. Allowing a robot to autonomously navigate in wide and unknown environments not only requires a repertoire of robust strategies to cope with miscellaneous situations, but also needs mechanisms of self-assessment for guiding learning and for monitoring strategies. Monitoring strategies requires feedbacks on the behavior’s quality, from a given fitness system in order to take correct decisions.In this work, we focus on how a second-order controller can be used to (1 manage behaviors according to the situation and (2 seek for human interactions to improve skills. Following an incremental and constructivist approach, we present a generic neural architecture, based on an online novelty detection algorithm that may be able to self-evaluate any sensory-motor strategies. This architecture learns contingencies between sensations and actions, giving the expected sensation from the previous perception. Prediction error, coming from surprising events, provides a measure of the quality of the underlying sensory-motor contingencies. We show how a simple second-order controller (emotional system based on the prediction progress allows the system to regulate its behavior to solve complex navigation tasks and also succeeds in asking for help if it detects dead-lock situations.We propose that this model could be a key structure toward self-assessment and autonomy. We made several experiments that can account for such properties for two different strategies (road following and place cells based navigation in different situations.

Bio-robots automatic navigation with graded electric reward stimulation based on Reinforcement Learning.

Science.gov (United States)

Zhang, Chen; Sun, Chao; Gao, Liqiang; Zheng, Nenggan; Chen, Weidong; Zheng, Xiaoxiang

2013-01-01

Bio-robots based on brain computer interface (BCI) suffer from the lack of considering the characteristic of the animals in navigation. This paper proposed a new method for bio-robots' automatic navigation combining the reward generating algorithm base on Reinforcement Learning (RL) with the learning intelligence of animals together. Given the graded electrical reward, the animal e.g. the rat, intends to seek the maximum reward while exploring an unknown environment. Since the rat has excellent spatial recognition, the rat-robot and the RL algorithm can convergent to an optimal route by co-learning. This work has significant inspiration for the practical development of bio-robots' navigation with hybrid intelligence.

Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

OpenAIRE

Kia, Chua; Arshad, Mohd Rizal

2006-01-01

This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system ...

A Navigation/Positioning Service Based on Pseudolites Installed on Stratospheric Airships

OpenAIRE

辻井, 利昭; TSUJII, Toshiaki; 張替, 正敏; HARIGAE, Masatoshi

2002-01-01

Transmitters of GPS-like signals, called pseudolites (PL) or "pseudo-satellites" have been widely investigated as an additional ranging source for performance enhancement of GPS. Ground-based GPS augmentation systems using pseudolites have been investigated for several applications such as vehicle navigation in downtown urban canyons, positioning in deep open-cut pits and mines and precision landing of aircraft. The concept of an innovative GPS navigation/ positioning system augmented by airs...

Sensory bases of navigation.

Science.gov (United States)

Gould, J L

1998-10-08

Navigating animals need to know both the bearing of their goal (the 'map' step), and how to determine that direction (the 'compass' step). Compasses are typically arranged in hierarchies, with magnetic backup as a last resort when celestial information is unavailable. Magnetic information is often essential to calibrating celestial cues, though, and repeated recalibration between celestial and magnetic compasses is important in many species. Most magnetic compasses are based on magnetite crystals, but others make use of induction or paramagnetic interactions between short-wavelength light and visual pigments. Though odors may be used in some cases, most if not all long-range maps probably depend on magnetite. Magnetitebased map senses are used to measure only latitude in some species, but provide the distance and direction of the goal in others.

Smith predictor-based multiple periodic disturbance compensation for long dead-time processes

Science.gov (United States)

Tan, Fang; Li, Han-Xiong; Shen, Ping

2018-05-01

Many disturbance rejection methods have been proposed for processes with dead-time, while these existing methods may not work well under multiple periodic disturbances. In this paper, a multiple periodic disturbance rejection is proposed under the Smith predictor configuration for processes with long dead-time. One feedback loop is added to compensate periodic disturbance while retaining the advantage of the Smith predictor. With information of the disturbance spectrum, the added feedback loop can remove multiple periodic disturbances effectively. The robust stability can be easily maintained through the rigorous analysis. Finally, simulation examples demonstrate the effectiveness and robustness of the proposed method for processes with long dead-time.

X-Ray Pulsar Based Navigation and Time Determination, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — DARPA recently initiated the XNAV program to undertake development of GPS independent, precision navigation and time determination based on observations of certain...

Dead sea transform fault system reviews

CERN Document Server

Garfunkel, Zvi; Kagan, Elisa

2014-01-01

The Dead Sea transform is an active plate boundary connecting the Red Sea seafloor spreading system to the Arabian-Eurasian continental collision zone. Its geology and geophysics provide a natural laboratory for investigation of the surficial, crustal and mantle processes occurring along transtensional and transpressional transform fault domains on a lithospheric scale and related to continental breakup. There have been many detailed and disciplinary studies of the Dead Sea transform fault zone during the last?20 years and this book brings them together.This book is an updated comprehensive coverage of the knowledge, based on recent studies of the tectonics, structure, geophysics, volcanism, active tectonics, sedimentology and paleo and modern climate of the Dead Sea transform fault zone. It puts together all this new information and knowledge in a coherent fashion.

The detection of annual hypoxia in a low latitude freshwater reservoir in Kerala, India, using the small AUV Maya

Digital Repository Service at National Institute of Oceanography (India)

Desa, E.S.; Madhan, R.; Maurya, P.K.; Navelkar, G.S.; Mascarenhas, A.A.M.Q.; Prabhudesai, S.; Afzulpurkar, S.; Desa, E.; Pascoal, A.M.; Nambiar, M.

dead reckoning methods that involve the integration of the DVL velocities in an inertial frame of reference. The underwater Z coordinate is not estimated but set equal to the pressure transducer output in meters. Simple Line of Sight (LOS) way...

Coincidence-counting corrections for accidental coincidences, set dead time and intrinsic dead time

International Nuclear Information System (INIS)

Wyllie, H.A.

1998-01-01

An equation is derived for calculating the radioactivity of a source from the results of coincidence counting, taking into account dead-time losses and accidental coincidences. The corrections allow for the extension of the set dead time in the p channel by the intrinsic dead time. Experimental verification shows improvement over a previous equation. (author)

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

Directory of Open Access Journals (Sweden)

Amedeo Rodi Vetrella

2016-12-01

Full Text Available Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS receivers and Micro-Electro-Mechanical Systems (MEMS-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information.

Image Based Solution to Occlusion Problem for Multiple Robots Navigation

Directory of Open Access Journals (Sweden)

Taj Mohammad Khan

2012-04-01

Full Text Available In machine vision, occlusions problem is always a challenging issue in image based mapping and navigation tasks. This paper presents a multiple view vision based algorithm for the development of occlusion-free map of the indoor environment. The map is assumed to be utilized by the mobile robots within the workspace. It has wide range of applications, including mobile robot path planning and navigation, access control in restricted areas, and surveillance systems. We used wall mounted fixed camera system. After intensity adjustment and background subtraction of the synchronously captured images, the image registration was performed. We applied our algorithm on the registered images to resolve the occlusion problem. This technique works well even in the existence of total occlusion for a longer period.

IMPROVING CAR NAVIGATION WITH A VISION-BASED SYSTEM

Directory of Open Access Journals (Sweden)

H. Kim

2015-08-01

Full Text Available The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the position and attitude of the camera and thus those of the car. This image georeferencing results are combined with other sensory data under the sensor fusion framework for more accurate estimation of the positions using an extended Kalman filter. The proposed system estimated the positions with an accuracy of 15 m although GPS signals are not available at all during the entire test drive of 15 minutes. The proposed vision based system can be effectively utilized for the low-cost but high-accurate and reliable navigation systems required for intelligent or autonomous vehicles.

Improving Car Navigation with a Vision-Based System

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.

Memristive device based learning for navigation in robots.

Science.gov (United States)

Sarim, Mohammad; Kumar, Manish; Jha, Rashmi; Minai, Ali A

2017-11-08

Biomimetic robots have gained attention recently for various applications ranging from resource hunting to search and rescue operations during disasters. Biological species are known to intuitively learn from the environment, gather and process data, and make appropriate decisions. Such sophisticated computing capabilities in robots are difficult to achieve, especially if done in real-time with ultra-low energy consumption. Here, we present a novel memristive device based learning architecture for robots. Two terminal memristive devices with resistive switching of oxide layer are modeled in a crossbar array to develop a neuromorphic platform that can impart active real-time learning capabilities in a robot. This approach is validated by navigating a robot vehicle in an unknown environment with randomly placed obstacles. Further, the proposed scheme is compared with reinforcement learning based algorithms using local and global knowledge of the environment. The simulation as well as experimental results corroborate the validity and potential of the proposed learning scheme for robots. The results also show that our learning scheme approaches an optimal solution for some environment layouts in robot navigation.

X-Ray Pulsar Based Navigation and Time Determination, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — Microcosm will build on the Phase I X-ray pulsar-based navigation and timing (XNAV) feasibility assessment to develop a detailed XNAV simulation capability to...

Dead wood inventory and assessment in South Korea

Science.gov (United States)

Jong-Su Yim; Rae Hyun Kim; Sun-Jeong Lee; Yeongmo. Son

2015-01-01

Dead wood (DW) plays a critical role not only in maintaining biodiversity but also in stocking carbon under UNFCCC. From the 5th national forest inventory (NFI5; 2006-2010) in South Korea, field data relevant to the DW including standing and downed dead trees by four decay class, etc. were collected. Based on the NFI5 data,...

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.

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.

Ground-Based Global Navigation Satellite System Combined Broadcast Ephemeris Data (daily files) from NASA CDDIS

Data.gov (United States)

National Aeronautics and Space Administration — This dataset consists of ground-based Global Navigation Satellite System (GNSS) Combined Broadcast Ephemeris Data (daily files of all distinct navigation messages...

Exploring User Engagement in Information Networks: Behavioural – based Navigation Modelling, Ideas and Directions

Directory of Open Access Journals (Sweden)

Vesna Kumbaroska

2017-04-01

Full Text Available Revealing an endless array of user behaviors in an online environment is a very good indicator of the user’s interests either in the process of browsing or in purchasing. One such behavior is the navigation behavior, so detected user navigation patterns are able to be used for practical purposes such as: improving user engagement, turning most browsers into buyers, personalize content or interface, etc. In this regard, our research represents a connection between navigation modelling and user engagement. A usage of the Generalized Stochastic Petri Nets concept for stochastic behavioral-based modelling of the navigation process is proposed for measuring user engagement components. Different types of users are automatically identified and clustered according to their navigation behaviors, thus the developed model gives great insight into the navigation process. As part of this study, Peterson’s model for measuring the user engagement is explored and a direct calculation of its components is illustrated. At the same time, asssuming that several user sessions/visits are initialized in a certain time frame, following the Petri Nets dynamics is indicating that the proposed behavioral – based model could be used for user engagement metrics calculation, thus some basic ideas are discussed, and initial directions are given.

In silico Interrogation of Insect Central Complex Suggests Computational Roles for the Ellipsoid Body in Spatial Navigation

Directory of Open Access Journals (Sweden)

Vincenzo G. Fiore

2017-08-01

Full Text Available The central complex in the insect brain is a composite of midline neuropils involved in processing sensory cues and mediating behavioral outputs to orchestrate spatial navigation. Despite recent advances, however, the neural mechanisms underlying sensory integration and motor action selections have remained largely elusive. In particular, it is not yet understood how the central complex exploits sensory inputs to realize motor functions associated with spatial navigation. Here we report an in silico interrogation of central complex-mediated spatial navigation with a special emphasis on the ellipsoid body. Based on known connectivity and function, we developed a computational model to test how the local connectome of the central complex can mediate sensorimotor integration to guide different forms of behavioral outputs. Our simulations show integration of multiple sensory sources can be effectively performed in the ellipsoid body. This processed information is used to trigger continuous sequences of action selections resulting in self-motion, obstacle avoidance and the navigation of simulated environments of varying complexity. The motor responses to perceived sensory stimuli can be stored in the neural structure of the central complex to simulate navigation relying on a collective of guidance cues, akin to sensory-driven innate or habitual behaviors. By comparing behaviors under different conditions of accessible sources of input information, we show the simulated insect computes visual inputs and body posture to estimate its position in space. Finally, we tested whether the local connectome of the central complex might also allow the flexibility required to recall an intentional behavioral sequence, among different courses of actions. Our simulations suggest that the central complex can encode combined representations of motor and spatial information to pursue a goal and thus successfully guide orientation behavior. Together, the observed

In silico Interrogation of Insect Central Complex Suggests Computational Roles for the Ellipsoid Body in Spatial Navigation.

Science.gov (United States)

Fiore, Vincenzo G; Kottler, Benjamin; Gu, Xiaosi; Hirth, Frank

2017-01-01

The central complex in the insect brain is a composite of midline neuropils involved in processing sensory cues and mediating behavioral outputs to orchestrate spatial navigation. Despite recent advances, however, the neural mechanisms underlying sensory integration and motor action selections have remained largely elusive. In particular, it is not yet understood how the central complex exploits sensory inputs to realize motor functions associated with spatial navigation. Here we report an in silico interrogation of central complex-mediated spatial navigation with a special emphasis on the ellipsoid body. Based on known connectivity and function, we developed a computational model to test how the local connectome of the central complex can mediate sensorimotor integration to guide different forms of behavioral outputs. Our simulations show integration of multiple sensory sources can be effectively performed in the ellipsoid body. This processed information is used to trigger continuous sequences of action selections resulting in self-motion, obstacle avoidance and the navigation of simulated environments of varying complexity. The motor responses to perceived sensory stimuli can be stored in the neural structure of the central complex to simulate navigation relying on a collective of guidance cues, akin to sensory-driven innate or habitual behaviors. By comparing behaviors under different conditions of accessible sources of input information, we show the simulated insect computes visual inputs and body posture to estimate its position in space. Finally, we tested whether the local connectome of the central complex might also allow the flexibility required to recall an intentional behavioral sequence, among different courses of actions. Our simulations suggest that the central complex can encode combined representations of motor and spatial information to pursue a goal and thus successfully guide orientation behavior. Together, the observed computational features

Laser-based Relative Navigation Using GPS Measurements for Spacecraft Formation Flying

Science.gov (United States)

Lee, Kwangwon; Oh, Hyungjik; Park, Han-Earl; Park, Sang-Young; Park, Chandeok

2015-12-01

This study presents a precise relative navigation algorithm using both laser and Global Positioning System (GPS) measurements in real time. The measurement model of the navigation algorithm between two spacecraft is comprised of relative distances measured by laser instruments and single differences of GPS pseudo-range measurements in spherical coordinates. Based on the measurement model, the Extended Kalman Filter (EKF) is applied to smooth the pseudo-range measurements and to obtain the relative navigation solution. While the navigation algorithm using only laser measurements might become inaccurate because of the limited accuracy of spacecraft attitude estimation when the distance between spacecraft is rather large, the proposed approach is able to provide an accurate solution even in such cases by employing the smoothed GPS pseudo-range measurements. Numerical simulations demonstrate that the errors of the proposed algorithm are reduced by more than about 12% compared to those of an algorithm using only laser measurements, as the accuracy of angular measurements is greater than 0.001° at relative distances greater than 30 km.

The PPP Precision Analysis Based on BDS Regional Navigation System

Directory of Open Access Journals (Sweden)

ZHU Yongxing

2015-04-01

Full Text Available BeiDou navigation satellite system(BDS has opened service in most of the Asia-Pacific region, it offers the possibility to break the technological monopoly of GPS in the field of high-precision applications, so its performance of precise point positioning (PPP has been a great concern. Firstly, the constellation of BeiDou regional navigation system and BDS/GPS tracking network is introduced. Secondly, the precise ephemeris and clock offset accuracy of BeiDou satellite based on domestic tracking network is analyzed. Finally, the static and kinematic PPP accuracy is studied, and compared with the GPS. The actual measured numerical example shows that the static and kinematic PPP based on BDS can achieve centimeter-level and decimeter-level respectively, reaching the current level of GPS precise point positioning.

Particle Filter Based Fault-tolerant ROV Navigation using Hydro-acoustic Position and Doppler Velocity Measurements

DEFF Research Database (Denmark)

Zhao, Bo; Blanke, Mogens; Skjetne, Roger

2012-01-01

This paper presents a fault tolerant navigation system for a remotely operated vehicle (ROV). The navigation system uses hydro-acoustic position reference (HPR) and Doppler velocity log (DVL) measurements to achieve an integrated navigation. The fault tolerant functionality is based on a modied...... particle lter. This particle lter is able to run in an asynchronous manner to accommodate the measurement drop out problem, and it overcomes the measurement outliers by switching observation models. Simulations with experimental data show that this fault tolerant navigation system can accurately estimate...

Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration

CERN Document Server

Noureldin, Aboelmagd; Georgy, Jacques

2013-01-01

Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.

Inosine Released from Dying or Dead Cells Stimulates Cell Proliferation via Adenosine Receptors

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Yi Zhao

2017-04-01

Full Text Available IntroductionMany antitumor therapies induce apoptotic cell death in order to cause tumor regression. Paradoxically, apoptotic cells are also known to promote wound healing, cell proliferation, and tumor cell repopulation in multicellular organisms. We aimed to characterize the nature of the regenerative signals concentrated in the micromilieu of dead and dying cells.MethodsCultures of viable melanoma B16F10 cells, mouse fibroblasts, and primary human fibroblast-like synoviocytes (FLS in the presence of dead and dying cells, their supernatants (SNs, or purified agonists and antagonists were used to evaluate the stimulation of proliferation. Viable cell quantification was performed by either flow cytometry of harvested cells or by crystal violet staining of adherent cells. High-performance liquid chromatography and liquid chromatography coupled with mass spectrometry of cell SNs were deployed to identify the nature of growth-promoting factors. Coimplantation of living cells in the presence of SNs collected from dead and dying cells and specific agonists was used to evaluate tumor growth in vivo.ResultsThe stimulation of proliferation of few surviving cells by bystander dead cells was confirmed for melanoma cells, mouse fibroblasts, and primary FLS. We found that small soluble molecules present in the protein-free fraction of SNs of dead and dying cells were responsible for the promotion of proliferation. The nucleoside inosine released by dead and dying cells acting via adenosine receptors was identified as putative inducer of proliferation of surviving tumor cells after irradiation and heat treatment.ConclusionInosine released by dead and dying cells mediates tumor cell proliferation via purinergic receptors. Therapeutic strategies surmounting this pathway may help to reduce the rate of recurrence after radio- and chemotherapy.

Microbial and chemical characterization of underwater fresh water springs in the Dead Sea.

Directory of Open Access Journals (Sweden)

Danny Ionescu

Full Text Available Due to its extreme salinity and high Mg concentration the Dead Sea is characterized by a very low density of cells most of which are Archaea. We discovered several underwater fresh to brackish water springs in the Dead Sea harboring dense microbial communities. We provide the first characterization of these communities, discuss their possible origin, hydrochemical environment, energetic resources and the putative biogeochemical pathways they are mediating. Pyrosequencing of the 16S rRNA gene and community fingerprinting methods showed that the spring community originates from the Dead Sea sediments and not from the aquifer. Furthermore, it suggested that there is a dense Archaeal community in the shoreline pore water of the lake. Sequences of bacterial sulfate reducers, nitrifiers iron oxidizers and iron reducers were identified as well. Analysis of white and green biofilms suggested that sulfide oxidation through chemolitotrophy and phototrophy is highly significant. Hyperspectral analysis showed a tight association between abundant green sulfur bacteria and cyanobacteria in the green biofilms. Together, our findings show that the Dead Sea floor harbors diverse microbial communities, part of which is not known from other hypersaline environments. Analysis of the water's chemistry shows evidence of microbial activity along the path and suggests that the springs supply nitrogen, phosphorus and organic matter to the microbial communities in the Dead Sea. The underwater springs are a newly recognized water source for the Dead Sea. Their input of microorganisms and nutrients needs to be considered in the assessment of possible impact of dilution events of the lake surface waters, such as those that will occur in the future due to the intended establishment of the Red Sea-Dead Sea water conduit.

A low dead time vernier delay line TDC implemented in an Actel flash-based FPGA

International Nuclear Information System (INIS)

Qin Xi; Feng Changqing; Zhang Deliang; Zhao Lei; Liu Shubin; An Qi

2013-01-01

In this paper, a high precision vernier delay line (VDL) TDC (Time-to-Digital Converter) in an Actel flash-based Field-Programmable-Gate-Arrays A3PE1500 is implemented, achieving a resolution of 16.4-ps root mean square value or 42-ps averaged bin size. The TDC has a dead time of about 200 ns while the dynamic range is 655.36 Vs. The double delay lines method is employed to cut the dead time in half to improve its performance. As the bin size of the TDC is dependent on temperature, a compensation algorithm is adopted as temperature drift correction, and the TDC shows satisfying performance in a temperature range from -5℃ to +55℃. (authors)

E-navigation Services for Non-SOLAS Ships

Directory of Open Access Journals (Sweden)

Kwang An

2016-06-01

Full Text Available It is clearly understood that the main benefits of e-navigation are improved safety and better protection of the environment through the promotion of standards of navigational system and a reduction in human error. In order to meet the expectations on the benefit of e-navigation, e-navigation services should be more focused on non-SOLAS ships. The purpose of this paper is to present necessary e-navigation services for non-SOLAS ships in order to prevent marine accidents in Korean coastal waters. To meet the objectives of the study, an examination on the present navigation and communication system for non-SOLAS ships was performed. Based on the IMO's e-navigation Strategy Implementation Plan (SIP and Korea's national SIP for e-navigation, future trends for the development and implementation of e-navigation were discussed. Consequently, Electronic Navigational Chart (ENC download and ENC up-date service, ENC streaming service, route support service and communication support service based on Maritime Cloud were presented as essential e-navigation services for non-SOLAS ships. This study will help for the planning and designing of the Korean e-navigation system. It is expected that the further researches on the navigation support systems based on e-navigation will be carried out in order to implement the essential e-navigation services for non-SOLAS ships.

Dead Man or Dead Hand?

DEFF Research Database (Denmark)

Ringe, Wolf-Georg

and potential takeover bids. Recent Delaware case-law suggests that the most extreme, ‘dead hand’ version of such clauses might violate directors’ fiduciary duties. This short article develops some initial thoughts on the phenomenon and evaluates how the new poison pills would be handled under European takeover...

Automatic Barometric Updates from Ground-Based Navigational Aids

Science.gov (United States)

1990-03-12

ro fAutomatic Barometric Updates US Department from of Transportation Ground-Based Federal Aviation Administration Navigational Aids Office of Safety...tighter vertical spacing controls , particularly for operations near Terminal Control Areas (TCAs), Airport Radar Service Areas (ARSAs), military climb and...E.F., Ruth, J.C., and Williges, B.H. (1987). Speech Controls and Displays. In Salvendy, G., E. Handbook of Human Factors/Ergonomics, New York, John

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application.

Science.gov (United States)

Vivacqua, Rafael; Vassallo, Raquel; Martins, Felipe

2017-10-16

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle's backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation.

Ground-Based Global Navigation Satellite System (GNSS) GLONASS Broadcast Ephemeris Data (hourly files) from NASA CDDIS

Data.gov (United States)

National Aeronautics and Space Administration — This dataset consists of ground-based Global Navigation Satellite System (GNSS) GLObal NAvigation Satellite System (GLONASS) Broadcast Ephemeris Data (hourly files)...

A navigator-based rigid body motion correction for magnetic resonance imaging

International Nuclear Information System (INIS)

Ullisch, Marcus Goerge

2012-01-01

A novel three-dimensional navigator k-space trajectory for rigid body motion detection for Magnetic Resonance Imaging (MRI) - the Lissajous navigator - was developed and quantitatively compared to the existing spherical navigator trajectory [1]. The spherical navigator cannot sample the complete spherical surface due to slew rate limitations of the scanner hardware. By utilizing a two dimensional Lissajous figure which is projected onto the spherical surface, the Lissajous navigator overcomes this limitation. The complete sampling of the sphere consequently leads to rotation estimates with higher and more isotropic accuracy. Simulations and phantom measurements were performed for both navigators. Both simulations and measurements show a significantly higher overall accuracy of the Lissajous navigator and a higher isotropy of the rotation estimates. Measured under identical conditions with identical postprocessing, the measured mean absolute error of the rotation estimates for the Lissajous navigator was 38% lower (0.3 ) than for the spherical navigator (0.5 ). The maximum error of the Lissajous navigator was reduced by 48% relative to the spherical navigator. The Lissajous navigator delivers higher accuracy of rotation estimation and a higher degree of isotropy than the spherical navigator with no evident drawbacks; these are two decisive advantages, especially for high-resolution anatomical imaging.

A navigator-based rigid body motion correction for magnetic resonance imaging

Energy Technology Data Exchange (ETDEWEB)

Ullisch, Marcus Goerge

2012-01-24

A novel three-dimensional navigator k-space trajectory for rigid body motion detection for Magnetic Resonance Imaging (MRI) - the Lissajous navigator - was developed and quantitatively compared to the existing spherical navigator trajectory [1]. The spherical navigator cannot sample the complete spherical surface due to slew rate limitations of the scanner hardware. By utilizing a two dimensional Lissajous figure which is projected onto the spherical surface, the Lissajous navigator overcomes this limitation. The complete sampling of the sphere consequently leads to rotation estimates with higher and more isotropic accuracy. Simulations and phantom measurements were performed for both navigators. Both simulations and measurements show a significantly higher overall accuracy of the Lissajous navigator and a higher isotropy of the rotation estimates. Measured under identical conditions with identical postprocessing, the measured mean absolute error of the rotation estimates for the Lissajous navigator was 38% lower (0.3 ) than for the spherical navigator (0.5 ). The maximum error of the Lissajous navigator was reduced by 48% relative to the spherical navigator. The Lissajous navigator delivers higher accuracy of rotation estimation and a higher degree of isotropy than the spherical navigator with no evident drawbacks; these are two decisive advantages, especially for high-resolution anatomical imaging.

Dead zone characteristics of a gas counter

International Nuclear Information System (INIS)

Nohtomi, Akihiro; Sakae, Takeji; Matoba, Masaru; Koori, Norihiko.

1990-01-01

The dead zone was recently defined as the product of dead length and dead time in order to describe the characteristics of the self-quenching streamer (SQS) mode of a gas counter. Investigation of the dead zone characteristics has been extended for the proportional and GM modes, and the measured dead zone has been compared with that of the SQS mode. Accurate values for the dead zone could be determined by means of a newly developed method with a pulse interval time to amplitude converter. Each operation mode indicates distinct dead zone characteristics. Properties of gas counters for high counting rates may be improved on the basis of measurements of the dead zone. (author)

The prevalence and challenges of abandoned dead neonates in an ...

African Journals Online (AJOL)

parents/caregivers' attitudes toward dead neonates. Hospital-based postbereavement programs should be organized to ... Dead neonates at the Neonatal Intensive Care Units,. Pediatric Emergency Department, Pediatric Surgical .... interventions and newborn survival. Niger J Med 2006; 15:108–114. 3 Kalkofen RW. After a ...

Neural systems analysis of decision making during goal-directed navigation.

Science.gov (United States)

Penner, Marsha R; Mizumori, Sheri J Y

2012-01-01

The ability to make adaptive decisions during goal-directed navigation is a fundamental and highly evolved behavior that requires continual coordination of perceptions, learning and memory processes, and the planning of behaviors. Here, a neurobiological account for such coordination is provided by integrating current literatures on spatial context analysis and decision-making. This integration includes discussions of our current understanding of the role of the hippocampal system in experience-dependent navigation, how hippocampal information comes to impact midbrain and striatal decision making systems, and finally the role of the striatum in the implementation of behaviors based on recent decisions. These discussions extend across cellular to neural systems levels of analysis. Not only are key findings described, but also fundamental organizing principles within and across neural systems, as well as between neural systems functions and behavior, are emphasized. It is suggested that studying decision making during goal-directed navigation is a powerful model for studying interactive brain systems and their mediation of complex behaviors. Copyright © 2011. Published by Elsevier Ltd.

Neural-network-based depth computation for blind navigation

Science.gov (United States)

Wong, Farrah; Nagarajan, Ramachandran R.; Yaacob, Sazali

2004-12-01

A research undertaken to help blind people to navigate autonomously or with minimum assistance is termed as "Blind Navigation". In this research, an aid that could help blind people in their navigation is proposed. Distance serves as an important clue during our navigation. A stereovision navigation aid implemented with two digital video cameras that are spaced apart and fixed on a headgear to obtain the distance information is presented. In this paper, a neural network methodology is used to obtain the required parameters of the camera which is known as camera calibration. These parameters are not known but obtained by adjusting the weights in the network. The inputs to the network consist of the matching features in the stereo pair images. A back propagation network with 16-input neurons, 3 hidden neurons and 1 output neuron, which gives depth, is created. The distance information is incorporated into the final processed image as four gray levels such as white, light gray, dark gray and black. Preliminary results have shown that the percentage errors fall below 10%. It is envisaged that the distance provided by neural network shall enable blind individuals to go near and pick up an object of interest.

Ratbot automatic navigation by electrical reward stimulation based on distance measurement in unknown environments.

Science.gov (United States)

Gao, Liqiang; Sun, Chao; Zhang, Chen; Zheng, Nenggan; Chen, Weidong; Zheng, Xiaoxiang

2013-01-01

Traditional automatic navigation methods for bio-robots are constrained to configured environments and thus can't be applied to tasks in unknown environments. With no consideration of bio-robot's own innate living ability and treating bio-robots in the same way as mechanical robots, those methods neglect the intelligence behavior of animals. This paper proposes a novel ratbot automatic navigation method in unknown environments using only reward stimulation and distance measurement. By utilizing rat's habit of thigmotaxis and its reward-seeking behavior, this method is able to incorporate rat's intrinsic intelligence of obstacle avoidance and path searching into navigation. Experiment results show that this method works robustly and can successfully navigate the ratbot to a target in the unknown environment. This work might put a solid base for application of ratbots and also has significant implication of automatic navigation for other bio-robots as well.

Indoor Pedestrian Navigation Based on Hybrid Route Planning and Location Modeling

DEFF Research Database (Denmark)

Schougaard, Kari Rye; Grønbæk, Kaj; Scharling, Tejs

2012-01-01

This paper introduces methods and services called PerPosNav for development of custom indoor pedestrian navigation applications to be deployed on a variety of platforms. PerPosNav combines symbolic and geometry based modeling of buildings, and in turn combines graph-based and geometric route...

Electronic fingerprinting of the dead.

Science.gov (United States)

Rutty, G N; Stringer, K; Turk, E E

2008-01-01

To date, a number of methods exist for the capture of fingerprints from cadavers that can then be used in isolation as a primary method for the identification of the dead. We report the use of a handheld, mobile wireless unit used in conjunction with a personal digital assistant (PDA) device for the capture of fingerprints from the dead. We also consider a handheld single-digit fingerprint scanner that utilises a USB laptop connection for the electronic capture of cadaveric fingerprints. Both are single-operator units that, if ridge detail is preserved, can collect a 10-set of finger pad prints in approximately 45 and 90 s, respectively. We present our observations on the restrictions as to when such devices can be used with cadavers. We do, however, illustrate that the images are of sufficient quality to allow positive identification from finger pad prints of the dead. With the development of mobile, handheld, biometric, PDA-based units for the police, we hypothesize that, under certain circumstances, devices such as these could be used for the accelerated acquisition of fingerprint identification data with the potential for rapid near-patient identification in the future.

Lunar Navigation Architecture Design Considerations

Science.gov (United States)

D'Souza, Christopher; Getchius, Joel; Holt, Greg; Moreau, Michael

2009-01-01

The NASA Constellation Program is aiming to establish a long-term presence on the lunar surface. The Constellation elements (Orion, Altair, Earth Departure Stage, and Ares launch vehicles) will require a lunar navigation architecture for navigation state updates during lunar-class missions. Orion in particular has baselined earth-based ground direct tracking as the primary source for much of its absolute navigation needs. However, due to the uncertainty in the lunar navigation architecture, the Orion program has had to make certain assumptions on the capabilities of such architectures in order to adequately scale the vehicle design trade space. The following paper outlines lunar navigation requirements, the Orion program assumptions, and the impacts of these assumptions to the lunar navigation architecture design. The selection of potential sites was based upon geometric baselines, logistical feasibility, redundancy, and abort support capability. Simulated navigation covariances mapped to entry interface flightpath- angle uncertainties were used to evaluate knowledge errors. A minimum ground station architecture was identified consisting of Goldstone, Madrid, Canberra, Santiago, Hartebeeshoek, Dongora, Hawaii, Guam, and Ascension Island (or the geometric equivalent).

Digital waterway construction based on inland electronic navigation chart

Science.gov (United States)

Wang, Xue; Pan, Junfeng; Zhu, Weiwei

2015-12-01

With advantages of large capacity, long distance, low energy consumption, low cost, less land occupation and light pollution, inland waterway transportation becomes one of the most important constituents of the comprehensive transportation system and comprehensive water resources utilization in China. As one of "three elements" of navigation, waterway is the important basis for the development of water transportation and plays a key supporting role in shipping economic. The paper discuss how to realize the informatization and digitization of waterway management based on constructing an integrated system of standard inland electronic navigation chart production, waterway maintenance, navigation mark remote sensing and control, ship dynamic management, and water level remote sensing and report, which can also be the foundation of the intelligent waterway construction. Digital waterway construction is an information project and also has a practical meaning for waterway. It can not only meet the growing high assurance and security requirements for waterway, but also play a significant advantage in improving transport efficiency, reducing costs, promoting energy conservation and so on. This study lays a solid foundation on realizing intelligent waterway and building a smooth, efficient, safe, green modern inland waterway system, and must be considered as an unavoidable problem for the coordinated development between "low carbon" transportation and social economic.

Research on robot navigation vision sensor based on grating projection stereo vision

Science.gov (United States)

Zhang, Xiaoling; Luo, Yinsheng; Lin, Yuchi; Zhu, Lei

2016-10-01

A novel visual navigation method based on grating projection stereo vision for mobile robot in dark environment is proposed. This method is combining with grating projection profilometry of plane structured light and stereo vision technology. It can be employed to realize obstacle detection, SLAM (Simultaneous Localization and Mapping) and vision odometry for mobile robot navigation in dark environment without the image match in stereo vision technology and without phase unwrapping in the grating projection profilometry. First, we research the new vision sensor theoretical, and build geometric and mathematical model of the grating projection stereo vision system. Second, the computational method of 3D coordinates of space obstacle in the robot's visual field is studied, and then the obstacles in the field is located accurately. The result of simulation experiment and analysis shows that this research is useful to break the current autonomous navigation problem of mobile robot in dark environment, and to provide the theoretical basis and exploration direction for further study on navigation of space exploring robot in the dark and without GPS environment.

NAVIGATION IN LARGE-FORMAT BUILDINGS BASED ON RFID SENSORS AND QR AND AR MARKERS

Directory of Open Access Journals (Sweden)

Tomasz Szymczyk

2016-09-01

Full Text Available The authors address the problem of passive navigation in large buildings. Based on the example of several interconnected buildings housing departments of the Lublin University of Technology, as well as the conceptual navigation system, the paper presents one of the possible ways of leading the user from the entrance of the building to a particular room. An analysis of different types of users is made and different (best for them ways of navigating the intricate corridors are proposed. Three ways of user localisation are suggested: RFID, AR and QR markers. A graph of connections between specific rooms was made and weights proposed, representing “the difficulty of covering a given distance”. In the process of navigation Dijkstra’s algorithm was used. The road is indicated as multimedia information: a voice-over or animated arrow showing the direction displayed on the smart phone screen with proprietary software installed. It is also possible to inform the user of the position of the location in which he currently is, based on the static information stored in the QR code.

Resonant power converter comprising adaptive dead-time control

DEFF Research Database (Denmark)

2017-01-01

The invention relates in a first aspect to a resonant power converter comprising: a first power supply rail for receipt of a positive DC supply voltage and a second power supply rail for receipt of a negative DC supply voltage. The resonant power converter comprises a resonant network with an input...... terminal for receipt of a resonant input voltage from a driver circuit. The driver circuit is configured for alternatingly pulling the resonant input voltage towards the positive and negative DC supply voltages via first and second semiconductor switches, respectively, separated by intervening dead......-time periods in accordance with one or more driver control signals. A dead-time controller is configured to adaptively adjusting the dead-time periods based on the resonant input voltage....

Towards a Sign-Based Indoor Navigation System for People with Visual Impairments.

Science.gov (United States)

Rituerto, Alejandro; Fusco, Giovanni; Coughlan, James M

2016-10-01

Navigation is a challenging task for many travelers with visual impairments. While a variety of GPS-enabled tools can provide wayfinding assistance in outdoor settings, GPS provides no useful localization information indoors. A variety of indoor navigation tools are being developed, but most of them require potentially costly physical infrastructure to be installed and maintained, or else the creation of detailed visual models of the environment. We report development of a new smartphone-based navigation aid, which combines inertial sensing, computer vision and floor plan information to estimate the user's location with no additional physical infrastructure and requiring only the locations of signs relative to the floor plan. A formative study was conducted with three blind volunteer participants demonstrating the feasibility of the approach and highlighting the areas needing improvement.

Spectral classifying base on color of live corals and dead corals covered with algae

Science.gov (United States)

Nurdin, Nurjannah; Komatsu, Teruhisa; Barille, Laurent; Akbar, A. S. M.; Sawayama, Shuhei; Fitrah, Muh. Nur; Prasyad, Hermansyah

2016-05-01

Pigments in the host tissues of corals can make a significant contribution to their spectral signature and can affect their apparent color as perceived by a human observer. The aim of this study is classifying the spectral reflectance of corals base on different color. It is expected that they can be used as references in discriminating between live corals, dead coral covered with algae Spectral reflectance data was collected in three small islands, Spermonde Archipelago, Indonesia by using a hyperspectral radiometer underwater. First and second derivative analysis resolved the wavelength locations of dominant features contributing to reflectance in corals and support the distinct differences in spectra among colour existed. Spectral derivative analysis was used to determine the specific wavelength regions ideal for remote identification of substrate type. The analysis results shown that yellow, green, brown and violet live corals are spectrally separable from each other, but they are similar with dead coral covered with algae spectral.

Practicing on Newly Dead

Directory of Open Access Journals (Sweden)

Jewel Abraham

2015-07-01

Full Text Available A newly dead cadaver simulation is practiced on the physical remains of the dead before the onset of rigor mortis. This technique has potential benefits for providing real-life in-situ experience for novice providers in health care practices. Evolving ethical views in health care brings into question some of the ethical aspects associated with newly dead cadaver simulation in terms of justification for practice, autonomy, consent, and the need of disclosure. A clear statement of policies and procedures on newly dead cadaver simulation has yet to be implemented. Although there are benefits and disadvantages to an in-situ cadaver simulation, such practices should not be carried out in secrecy as there is no compelling evidence that suggests such training as imperative. Secrecy in these practices is a violation of honor code of nursing ethics. As health care providers, practitioners are obliged to be ethically honest and trustworthy to their patients. The author explores the ethical aspects of using newly dead cadaver simulation in training novice nursing providers to gain competency in various lifesaving skills, which otherwise cannot be practiced on a living individual. The author explores multiple views on cadaver simulation in relation to ethical theories and practices such as consent and disclosure to family.

Discrete-State-Based Vision Navigation Control Algorithm for One Bipedal Robot

Directory of Open Access Journals (Sweden)

Dunwen Wei

2015-01-01

Full Text Available Navigation with the specific objective can be defined by specifying desired timed trajectory. The concept of desired direction field is proposed to deal with such navigation problem. To lay down a principled discussion of the accuracy and efficiency of navigation algorithms, strictly quantitative definitions of tracking error, actuator effect, and time efficiency are established. In this paper, one vision navigation control method based on desired direction field is proposed. This proposed method uses discrete image sequences to form discrete state space, which is especially suitable for bipedal walking robots with single camera walking on a free-barrier plane surface to track the specific objective without overshoot. The shortest path method (SPM is proposed to design such direction field with the highest time efficiency. However, one improved control method called canonical piecewise-linear function (PLF is proposed. In order to restrain the noise disturbance from the camera sensor, the band width control method is presented to significantly decrease the error influence. The robustness and efficiency of the proposed algorithm are illustrated through a number of computer simulations considering the error from camera sensor. Simulation results show that the robustness and efficiency can be balanced by choosing the proper controlling value of band width.

Live and Dead Nodes

DEFF Research Database (Denmark)

Jørgensen, Sune Lehman; Jackson, A. D.

2005-01-01

In this paper, we explore the consequences of a distinction between `live' and `dead' network nodes; `live' nodes are able to acquire new links whereas `dead' nodes are static. We develop an analytically soluble growing network model incorporating this distinction and show that it can provide...

Assessment and management of dead-wood habitat

Science.gov (United States)

Hagar, Joan

2007-01-01

The Bureau of Land Management (BLM) is in the process of revising its resource management plans for six districts in western and southern Oregon as the result of the settlement of a lawsuit brought by the American Forest Resource Council. A range of management alternatives is being considered and evaluated including at least one that will minimize reserves on O&C lands. In order to develop the bases for evaluating management alternatives, the agency needs to derive a reasonable range of objectives for key issues and resources. Dead-wood habitat for wildlife has been identified as a key resource for which decision-making tools and techniques need to be refined and clarified. Under the Northwest Forest Plan, reserves were to play an important role in providing habitat for species associated with dead wood (U.S. Department of Agriculture Forest Service and U.S. Department of the Interior Bureau of Land Management, 1994). Thus, the BLM needs to: 1) address the question of how dead wood will be provided if reserves are not included as a management strategy in the revised Resource Management Plan, and 2) be able to evaluate the effects of alternative land management approaches. Dead wood has become an increasingly important conservation issue in managed forests, as awareness of its function in providing wildlife habitat and in basic ecological processes has dramatically increased over the last several decades (Laudenslayer et al., 2002). A major concern of forest managers is providing dead wood habitat for terrestrial wildlife. Wildlife in Pacific Northwest forests have evolved with disturbances that create large amounts of dead wood; so, it is not surprising that many species are closely associated with standing (snags) or down, dead wood. In general, the occurrence or abundance of one-quarter to one-third of forest-dwelling vertebrate wildlife species, is strongly associated with availability of suitable dead-wood habitat (Bunnell et al., 1999; Rose et al., 2001). In

Examining care navigation: librarian participation in a team-based approach?

Science.gov (United States)

Nix, A Tyler; Huber, Jeffrey T; Shapiro, Robert M; Pfeifle, Andrea

2016-04-01

This study investigated responsibilities, skill sets, degrees, and certifications required of health care navigators in order to identify areas of potential overlap with health sciences librarianship. The authors conducted a content analysis of health care navigator position announcements and developed and assigned forty-eight category terms to represent the sample's responsibilities and skill sets. Coordination of patient care and a bachelor's degree were the most common responsibility and degree requirements, respectively. Results also suggest that managing and providing health information resources is an area of overlap between health care navigators and health sciences librarians, and that librarians are well suited to serve on navigation teams. Such overlap may provide an avenue for collaboration between navigators and health sciences librarians.

Iconic memory-based omnidirectional route panorama navigation.

Science.gov (United States)

Yagi, Yasushi; Imai, Kousuke; Tsuji, Kentaro; Yachida, Masahiko

2005-01-01

A route navigation method for a mobile robot with an omnidirectional image sensor is described. The route is memorized from a series of consecutive omnidirectional images of the horizon when the robot moves to its goal. While the robot is navigating to the goal point, input is matched against the memorized spatio-temporal route pattern by using dual active contour models and the exact robot position and orientation is estimated from the converged shape of the active contour models.

A New Algorithm for ABS/GPS Integration Based on Fuzzy-Logic in Vehicle Navigation System

Directory of Open Access Journals (Sweden)

Ali Amin Zadeh

2011-10-01

Full Text Available GPS based vehicle navigation systems have difficulties in tracking vehicles in urban canyons due to poor satellite availability. ABS (Antilock Brake System Navigation System consists of self-contained optical encoders mounted on vehicle wheels that can continuously provide accurate short-term positioning information. In this paper, a new concept regarding GPS/ABS integration, based on Fuzzy Logic is presented. The proposed algorithm is used to identify GPS position accuracy based on environment and vehicle dynamic knowledge. The GPS is used as reference during the time it is in a good condition and replaced by ABS positioning system when GPS information is unreliable. We compare our proposed algorithm with other common algorithm in real environment. Our results show that the proposed algorithm can significantly improve the stability and reliability of ABS/GPS navigation system.

Automated Functional Testing based on the Navigation of Web Applications

Directory of Open Access Journals (Sweden)

Boni García

2011-08-01

Full Text Available Web applications are becoming more and more complex. Testing such applications is an intricate hard and time-consuming activity. Therefore, testing is often poorly performed or skipped by practitioners. Test automation can help to avoid this situation. Hence, this paper presents a novel approach to perform automated software testing for web applications based on its navigation. On the one hand, web navigation is the process of traversing a web application using a browser. On the other hand, functional requirements are actions that an application must do. Therefore, the evaluation of the correct navigation of web applications results in the assessment of the specified functional requirements. The proposed method to perform the automation is done in four levels: test case generation, test data derivation, test case execution, and test case reporting. This method is driven by three kinds of inputs: i UML models; ii Selenium scripts; iii XML files. We have implemented our approach in an open-source testing framework named Automatic Testing Platform. The validation of this work has been carried out by means of a case study, in which the target is a real invoice management system developed using a model-driven approach.

The Dead Sea

Science.gov (United States)

2006-01-01

The Dead Sea is the lowest point on Earth at 418 meters below sea level, and also one of the saltiest bodies of water on Earth with a salinity of about 300 parts-per-thousand (nine times greater than ocean salinity). It is located on the border between Jordan and Israel, and is fed by the Jordan River. The Dead Sea is located in the Dead Sea Rift, formed as a result of the Arabian tectonic plate moving northward away from the African Plate. The mineral content of the Dead Sea is significantly different from that of ocean water, consisting of approximately 53% magnesium chloride, 37% potassium chloride and 8% sodium chloride. In the early part of the 20th century, the Dead Sea began to attract interest from chemists who deduced that the Sea was a natural deposit of potash and bromine. From the Dead Sea brine, Israel and Jordan produce 3.8 million tons potash, 200,000 tons elemental bromine, 45,000 tons caustic soda, 25, 000 tons magnesium metal, and sodium chloride. Both countries use extensive salt evaporation pans that have essentially diked the entire southern end of the Dead Sea. With its 14 spectral bands from the visible to the thermal infrared wavelength region, and its high spatial resolution of 15 to 90 meters (about 50 to 300 feet), ASTER images Earth to map and monitor the changing surface of our planet. ASTER is one of five Earth-observing instruments launched December 18, 1999, on NASA's Terra satellite. The instrument was built by Japan's Ministry of Economy, Trade and Industry. A joint U.S./Japan science team is responsible for validation and calibration of the instrument and the data products. The broad spectral coverage and high spectral resolution of ASTER provides scientists in numerous disciplines with critical information for surface mapping, and monitoring of dynamic conditions and temporal change. Example applications are: monitoring glacial advances and retreats; monitoring potentially active volcanoes; identifying crop stress; determining

Solar-based navigation for robotic explorers

Science.gov (United States)

Shillcutt, Kimberly Jo

2000-12-01

This thesis introduces the application of solar position and shadowing information to robotic exploration. Power is a critical resource for robots with remote, long-term missions, so this research focuses on the power generation capabilities of robotic explorers during navigational tasks, in addition to power consumption. Solar power is primarily considered, with the possibility of wind power also contemplated. Information about the environment, including the solar ephemeris, terrain features, time of day, and surface location, is incorporated into a planning structure, allowing robots to accurately predict shadowing and thus potential costs and gains during navigational tasks. By evaluating its potential to generate and expend power, a robot can extend its lifetime and accomplishments. The primary tasks studied are coverage patterns, with a variety of plans developed for this research. The use of sun, terrain and temporal information also enables new capabilities of identifying and following sun-synchronous and sun-seeking paths. Digital elevation maps are combined with an ephemeris algorithm to calculate the altitude and azimuth of the sun from surface locations, and to identify and map shadows. Solar navigation path simulators use this information to perform searches through two-dimensional space, while considering temporal changes. Step by step simulations of coverage patterns also incorporate time in addition to location. Evaluations of solar and wind power generation, power consumption, area coverage, area overlap, and time are generated for sets of coverage patterns, with on-board environmental information linked to the simulations. This research is implemented on the Nomad robot for the Robotic Antarctic Meteorite Search. Simulators have been developed for coverage pattern tests, as well as for sun-synchronous and sun-seeking path searches. Results of field work and simulations are reported and analyzed, with demonstrated improvements in efficiency

Formal safety assessment based on relative risks model in ship navigation

Energy Technology Data Exchange (ETDEWEB)

Hu Shenping [Merchant Marine College, Shanghai Maritime University, 1550, Pudong Dadao, Shanghai 200135 (China)]. E-mail: sphu@mmc.shmtu.edu.cn; Fang Quangen [Merchant Marine College, Shanghai Maritime University, 1550, Pudong Dadao, Shanghai 200135 (China)]. E-mail: qgfang@mmc.shmtu.edu.cn; Xia Haibo [Merchant Marine College, Shanghai Maritime University, 1550, Pudong Dadao, Shanghai 200135 (China)]. E-mail: hbxia@mmc.shmtu.edu.cn; Xi Yongtao [Merchant Marine College, Shanghai Maritime University, 1550, Pudong Dadao, Shanghai 200135 (China)]. E-mail: xiyt@mmc.shmtu.edu.cn

2007-03-15

Formal safety assessment (FSA) is a structured and systematic methodology aiming at enhancing maritime safety. It has been gradually and broadly used in the shipping industry nowadays around the world. On the basis of analysis and conclusion of FSA approach, this paper discusses quantitative risk assessment and generic risk model in FSA, especially frequency and severity criteria in ship navigation. Then it puts forward a new model based on relative risk assessment (MRRA). The model presents a risk-assessment approach based on fuzzy functions and takes five factors into account, including detailed information about accident characteristics. It has already been used for the assessment of pilotage safety in Shanghai harbor, China. Consequently, it can be proved that MRRA is a useful method to solve the problems in the risk assessment of ship navigation safety in practice.

Formal safety assessment based on relative risks model in ship navigation

International Nuclear Information System (INIS)

Hu Shenping; Fang Quangen; Xia Haibo; Xi Yongtao

2007-01-01

Formal safety assessment (FSA) is a structured and systematic methodology aiming at enhancing maritime safety. It has been gradually and broadly used in the shipping industry nowadays around the world. On the basis of analysis and conclusion of FSA approach, this paper discusses quantitative risk assessment and generic risk model in FSA, especially frequency and severity criteria in ship navigation. Then it puts forward a new model based on relative risk assessment (MRRA). The model presents a risk-assessment approach based on fuzzy functions and takes five factors into account, including detailed information about accident characteristics. It has already been used for the assessment of pilotage safety in Shanghai harbor, China. Consequently, it can be proved that MRRA is a useful method to solve the problems in the risk assessment of ship navigation safety in practice

9 CFR 314.8 - Dead animal carcasses.

Science.gov (United States)

2010-01-01

... 9 Animals and Animal Products 2 2010-01-01 2010-01-01 false Dead animal carcasses. 314.8 Section... Dead animal carcasses. (a) With the exception of dead livestock which have died en route and are received with livestock for slaughter at an official establishment, no dead animal or part of the carcass...

A Secure and Privacy-Preserving Navigation Scheme Using Spatial Crowdsourcing in Fog-Based VANETs

Science.gov (United States)

Wang, Lingling; Liu, Guozhu; Sun, Lijun

2017-01-01

Fog-based VANETs (Vehicular ad hoc networks) is a new paradigm of vehicular ad hoc networks with the advantages of both vehicular cloud and fog computing. Real-time navigation schemes based on fog-based VANETs can promote the scheme performance efficiently. In this paper, we propose a secure and privacy-preserving navigation scheme by using vehicular spatial crowdsourcing based on fog-based VANETs. Fog nodes are used to generate and release the crowdsourcing tasks, and cooperatively find the optimal route according to the real-time traffic information collected by vehicles in their coverage areas. Meanwhile, the vehicle performing the crowdsourcing task can get a reasonable reward. The querying vehicle can retrieve the navigation results from each fog node successively when entering its coverage area, and follow the optimal route to the next fog node until it reaches the desired destination. Our scheme fulfills the security and privacy requirements of authentication, confidentiality and conditional privacy preservation. Some cryptographic primitives, including the Elgamal encryption algorithm, AES, randomized anonymous credentials and group signatures, are adopted to achieve this goal. Finally, we analyze the security and the efficiency of the proposed scheme. PMID:28338620

A Secure and Privacy-Preserving Navigation Scheme Using Spatial Crowdsourcing in Fog-Based VANETs.

Science.gov (United States)

Wang, Lingling; Liu, Guozhu; Sun, Lijun

2017-03-24

Fog-based VANETs (Vehicular ad hoc networks) is a new paradigm of vehicular ad hoc networks with the advantages of both vehicular cloud and fog computing. Real-time navigation schemes based on fog-based VANETs can promote the scheme performance efficiently. In this paper, we propose a secure and privacy-preserving navigation scheme by using vehicular spatial crowdsourcing based on fog-based VANETs. Fog nodes are used to generate and release the crowdsourcing tasks, and cooperatively find the optimal route according to the real-time traffic information collected by vehicles in their coverage areas. Meanwhile, the vehicle performing the crowdsourcing task can get a reasonable reward. The querying vehicle can retrieve the navigation results from each fog node successively when entering its coverage area, and follow the optimal route to the next fog node until it reaches the desired destination. Our scheme fulfills the security and privacy requirements of authentication, confidentiality and conditional privacy preservation. Some cryptographic primitives, including the Elgamal encryption algorithm, AES, randomized anonymous credentials and group signatures, are adopted to achieve this goal. Finally, we analyze the security and the efficiency of the proposed scheme.

Comparison of three filters in asteroid-based autonomous navigation

International Nuclear Information System (INIS)

Cui Wen; Zhu Kai-Jian

2014-01-01

At present, optical autonomous navigation has become a key technology in deep space exploration programs. Recent studies focus on the problem of orbit determination using autonomous navigation, and the choice of filter is one of the main issues. To prepare for a possible exploration mission to Mars, the primary emphasis of this paper is to evaluate the capability of three filters, the extended Kalman filter (EKF), unscented Kalman filter (UKF) and weighted least-squares (WLS) algorithm, which have different initial states during the cruise phase. One initial state is assumed to have high accuracy with the support of ground tracking when autonomous navigation is operating; for the other state, errors are set to be large without this support. In addition, the method of selecting asteroids that can be used for navigation from known lists of asteroids to form a sequence is also presented in this study. The simulation results show that WLS and UKF should be the first choice for optical autonomous navigation during the cruise phase to Mars

Vision Based Navigation for Autonomous Cooperative Docking of CubeSats

Science.gov (United States)

Pirat, Camille; Ankersen, Finn; Walker, Roger; Gass, Volker

2018-05-01

A realistic rendezvous and docking navigation solution applicable to CubeSats is investigated. The scalability analysis of the ESA Autonomous Transfer Vehicle Guidance, Navigation & Control (GNC) performances and the Russian docking system, shows that the docking of two CubeSats would require a lateral control performance of the order of 1 cm. Line of sight constraints and multipath effects affecting Global Navigation Satellite System (GNSS) measurements in close proximity prevent the use of this sensor for the final approach. This consideration and the high control accuracy requirement led to the use of vision sensors for the final 10 m of the rendezvous and docking sequence. A single monocular camera on the chaser satellite and various sets of Light-Emitting Diodes (LEDs) on the target vehicle ensure the observability of the system throughout the approach trajectory. The simple and novel formulation of the measurement equations allows differentiating unambiguously rotations from translations between the target and chaser docking port and allows a navigation performance better than 1 mm at docking. Furthermore, the non-linear measurement equations can be solved in order to provide an analytic navigation solution. This solution can be used to monitor the navigation filter solution and ensure its stability, adding an extra layer of robustness for autonomous rendezvous and docking. The navigation filter initialization is addressed in detail. The proposed method is able to differentiate LEDs signals from Sun reflections as demonstrated by experimental data. The navigation filter uses a comprehensive linearised coupled rotation/translation dynamics, describing the chaser to target docking port motion. The handover, between GNSS and vision sensor measurements, is assessed. The performances of the navigation function along the approach trajectory is discussed.

A Leapfrog Navigation System

Science.gov (United States)

Opshaug, Guttorm Ringstad

There are times and places where conventional navigation systems, such as the Global Positioning System (GPS), are unavailable due to anything from temporary signal occultations to lack of navigation system infrastructure altogether. The goal of the Leapfrog Navigation System (LNS) is to provide localized positioning services for such cases. The concept behind leapfrog navigation is to advance a group of navigation units teamwise into an area of interest. In a practical 2-D case, leapfrogging assumes known initial positions of at least two currently stationary navigation units. Two or more mobile units can then start to advance into the area of interest. The positions of the mobiles are constantly being calculated based on cross-range distance measurements to the stationary units, as well as cross-ranges among the mobiles themselves. At some point the mobile units stop, and the stationary units are released to move. This second team of units (now mobile) can then overtake the first team (now stationary) and travel even further towards the common goal of the group. Since there always is one stationary team, the position of any unit can be referenced back to the initial positions. Thus, LNS provides absolute positioning. I developed navigation algorithms needed to solve leapfrog positions based on cross-range measurements. I used statistical tools to predict how position errors would grow as a function of navigation unit geometry, cross-range measurement accuracy and previous position errors. Using this knowledge I predicted that a 4-unit Leapfrog Navigation System using 100 m baselines and 200 m leap distances could travel almost 15 km before accumulating absolute position errors of 10 m (1sigma). Finally, I built a prototype leapfrog navigation system using 4 GPS transceiver ranging units. I placed the 4 units in the vertices a 10m x 10m square, and leapfrogged the group 20 meters forwards, and then back again (40 m total travel). Average horizontal RMS position

7 CFR 322.29 - Dead bees.

Science.gov (United States)

2010-01-01

... 7 Agriculture 5 2010-01-01 2010-01-01 false Dead bees. 322.29 Section 322.29 Agriculture..., DEPARTMENT OF AGRICULTURE BEES, BEEKEEPING BYPRODUCTS, AND BEEKEEPING EQUIPMENT Importation and Transit of Restricted Articles § 322.29 Dead bees. (a) Dead bees imported into or transiting the United States must be...

Measurement of the Dead-Time in a Multichannel Analyser

DEFF Research Database (Denmark)

Mortensen, L.; Olsen, J.

1973-01-01

By means of two simple measurements three different dead-times are determined: the normal dead-time, a dead-time coming from the pile-up, and a dead-time due to the finite width of the timing pulses.......By means of two simple measurements three different dead-times are determined: the normal dead-time, a dead-time coming from the pile-up, and a dead-time due to the finite width of the timing pulses....

Navigating Evidence-Based Practice Projects: The Faculty Role.

Science.gov (United States)

Moch, Susan D; Quinn-Lee, Lisa; Gallegos, Cara; Sortedahl, Charlotte K

: An innovative way to facilitate evidence-based practice (EBP) learning and to get evidence into practice is through academic-clinical agency projects involving faculty, undergraduate students, and agency staff. The central role of the faculty is key to successful academic-clinical agency partnerships. Faculty navigate the often difficult process of focusing students and engaging busy staff through initiating, maintaining, and evaluating projects. Students learn valuable EBP skills, staff become engaged in EBP, and the projects are rated highly by agency administrators.

Optimal motion planning using navigation measure

Science.gov (United States)

Vaidya, Umesh

2018-05-01

We introduce navigation measure as a new tool to solve the motion planning problem in the presence of static obstacles. Existence of navigation measure guarantees collision-free convergence at the final destination set beginning with almost every initial condition with respect to the Lebesgue measure. Navigation measure can be viewed as a dual to the navigation function. While the navigation function has its minimum at the final destination set and peaks at the obstacle set, navigation measure takes the maximum value at the destination set and is zero at the obstacle set. A linear programming formalism is proposed for the construction of navigation measure. Set-oriented numerical methods are utilised to obtain finite dimensional approximation of this navigation measure. Application of the proposed navigation measure-based theoretical and computational framework is demonstrated for a motion planning problem in a complex fluid flow.

Usability Testing of Two Ambulatory EHR Navigators.

Science.gov (United States)

Hultman, Gretchen; Marquard, Jenna; Arsoniadis, Elliot; Mink, Pamela; Rizvi, Rubina; Ramer, Tim; Khairat, Saif; Fickau, Keri; Melton, Genevieve B

2016-01-01

Despite widespread electronic health record (EHR) adoption, poor EHR system usability continues to be a significant barrier to effective system use for end users. One key to addressing usability problems is to employ user testing and user-centered design. To understand if redesigning an EHR-based navigation tool with clinician input improved user performance and satisfaction. A usability evaluation was conducted to compare two versions of a redesigned ambulatory navigator. Participants completed tasks for five patient cases using the navigators, while employing a think-aloud protocol. The tasks were based on Meaningful Use (MU) requirements. The version of navigator did not affect perceived workload, and time to complete tasks was longer in the redesigned navigator. A relatively small portion of navigator content was used to complete the MU-related tasks, though navigation patterns were highly variable across participants for both navigators. Preferences for EHR navigation structures appeared to be individualized. This study demonstrates the importance of EHR usability assessments to evaluate group and individual performance of different interfaces and preferences for each design.

Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

Directory of Open Access Journals (Sweden)

Chua Kia

2005-09-01

Full Text Available This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.

Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

Directory of Open Access Journals (Sweden)

Chua Kia

2008-11-01

Full Text Available This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.

Flight Test Result for the Ground-Based Radio Navigation System Sensor with an Unmanned Air Vehicle.

Science.gov (United States)

Jang, Jaegyu; Ahn, Woo-Guen; Seo, Seungwoo; Lee, Jang Yong; Park, Jun-Pyo

2015-11-11

The Ground-based Radio Navigation System (GRNS) is an alternative/backup navigation system based on time synchronized pseudolites. It has been studied for some years due to the potential vulnerability issue of satellite navigation systems (e.g., GPS or Galileo). In the framework of our study, a periodic pulsed sequence was used instead of the randomized pulse sequence recommended as the RTCM (radio technical commission for maritime services) SC (special committee)-104 pseudolite signal, as a randomized pulse sequence with a long dwell time is not suitable for applications requiring high dynamics. This paper introduces a mathematical model of the post-correlation output in a navigation sensor, showing that the aliasing caused by the additional frequency term of a periodic pulsed signal leads to a false lock (i.e., Doppler frequency bias) during the signal acquisition process or in the carrier tracking loop of the navigation sensor. We suggest algorithms to resolve the frequency false lock issue in this paper, relying on the use of a multi-correlator. A flight test with an unmanned helicopter was conducted to verify the implemented navigation sensor. The results of this analysis show that there were no false locks during the flight test and that outliers stem from bad dilution of precision (DOP) or fluctuations in the received signal quality.

An Analysis of CONUS Based Deployment of Pseudolites for Positioning, Navigation and Timing (PNT) Systems

Science.gov (United States)

2015-09-17

incorporate a master “ time - keeper ” or reference transmitter that other receiver/transmitters can synchronize with. Currently, GPS provides about 1 m...AN ANALYSIS OF CONUS BASED DEPLOYMENT OF PSEUDOLITES FOR POSITIONING, NAVIGATION AND TIMING (PNT...NAVIGATION AND TIMING (PNT) SYSTEMS THESIS Presented to the Faculty Department of Systems Engineering and Management Graduate School of

The attack navigator

DEFF Research Database (Denmark)

Probst, Christian W.; Willemson, Jan; Pieters, Wolter

2016-01-01

The need to assess security and take protection decisions is at least as old as our civilisation. However, the complexity and development speed of our interconnected technical systems have surpassed our capacity to imagine and evaluate risk scenarios. This holds in particular for risks...... that are caused by the strategic behaviour of adversaries. Therefore, technology-supported methods are needed to help us identify and manage these risks. In this paper, we describe the attack navigator: a graph-based approach to security risk assessment inspired by navigation systems. Based on maps of a socio...

Design of all-weather celestial navigation system

Science.gov (United States)

Sun, Hongchi; Mu, Rongjun; Du, Huajun; Wu, Peng

2018-03-01

In order to realize autonomous navigation in the atmosphere, an all-weather celestial navigation system is designed. The research of celestial navigation system include discrimination method of comentropy and the adaptive navigation algorithm based on the P value. The discrimination method of comentropy is studied to realize the independent switching of two celestial navigation modes, starlight and radio. Finally, an adaptive filtering algorithm based on P value is proposed, which can greatly improve the disturbance rejection capability of the system. The experimental results show that the accuracy of the three axis attitude is better than 10″, and it can work all weather. In perturbation environment, the position accuracy of the integrated navigation system can be increased 20% comparing with the traditional method. It basically meets the requirements of the all-weather celestial navigation system, and it has the ability of stability, reliability, high accuracy and strong anti-interference.

Occurrence of termites (Isoptera on living and standing dead trees in a tropical dry forest in Mexico

Directory of Open Access Journals (Sweden)

Nancy Calderón-Cortés

2018-05-01

Full Text Available Termites play a key role as ecosystem engineers in numerous ecological processes though their role in the dynamics of wood degradation in tropical dry forests, particularly at the level of the crown canopy, has been little studied. In this study, we analysed the occurrence of termites in the forest canopy by evaluating the density and proportion of living and standing dead trees associated with termites in deciduous and riparian habitats of the tropical dry forest in Chamela, Mexico. The results indicated that 60–98% of standing dead trees and 23–59% of living trees in Chamela were associated with termites. In particular, we found that the density of standing dead trees was higher in deciduous forests (0.057–0.066 trees/m2 than in riparian forests (0.022 and 0.027 trees/m2, even though the proportion of trees was not significantly different among habitats. Additionally, we found a higher density of trees associated with termites in trees of smaller size classes (0.01–0.09 trees/m2 than in larger class sizes (0–0.02 trees/m2. Interestingly, 72% of variation in the density of trees associated with termites is explained by the density of standing dead trees. Overall, these results indicate that standing dead tree availability might be the main factor regulating termite populations in Chamela forest and suggest that termites could play a key role in the decomposition of above-ground dead wood, mediating the incorporation of suspended and standing dead wood into the soil.

Occurrence of termites (Isoptera) on living and standing dead trees in a tropical dry forest in Mexico.

Science.gov (United States)

Calderón-Cortés, Nancy; Escalera-Vázquez, Luis H; Oyama, Ken

2018-01-01

Termites play a key role as ecosystem engineers in numerous ecological processes though their role in the dynamics of wood degradation in tropical dry forests, particularly at the level of the crown canopy, has been little studied. In this study, we analysed the occurrence of termites in the forest canopy by evaluating the density and proportion of living and standing dead trees associated with termites in deciduous and riparian habitats of the tropical dry forest in Chamela, Mexico. The results indicated that 60-98% of standing dead trees and 23-59% of living trees in Chamela were associated with termites. In particular, we found that the density of standing dead trees was higher in deciduous forests (0.057-0.066 trees/m 2 ) than in riparian forests (0.022 and 0.027 trees/m 2 ), even though the proportion of trees was not significantly different among habitats. Additionally, we found a higher density of trees associated with termites in trees of smaller size classes (0.01-0.09 trees/m 2 ) than in larger class sizes (0-0.02 trees/m 2 ). Interestingly, 72% of variation in the density of trees associated with termites is explained by the density of standing dead trees. Overall, these results indicate that standing dead tree availability might be the main factor regulating termite populations in Chamela forest and suggest that termites could play a key role in the decomposition of above-ground dead wood, mediating the incorporation of suspended and standing dead wood into the soil.

32 CFR 632.4 - Deadly force.

Science.gov (United States)

2010-07-01

..., is substantially important to national security. (See paragraph (b) of this section.) (iii) Escape of... security or an essential national defense mission. (2) Substantially important to national security based... INVESTIGATIONS USE OF FORCE BY PERSONNEL ENGAGED IN LAW ENFORCEMENT AND SECURITY DUTIES § 632.4 Deadly force. (a...

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots.

Science.gov (United States)

Sherwin, Tyrone; Easte, Mikala; Chen, Andrew Tzer-Yeu; Wang, Kevin I-Kai; Dai, Wenbin

2018-02-14

Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots

Directory of Open Access Journals (Sweden)

Tyrone Sherwin

2018-02-01

Full Text Available Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.

Squeezeposenet: Image Based Pose Regression with Small Convolutional Neural Networks for Real Time Uas Navigation

Science.gov (United States)

Müller, M. S.; Urban, S.; Jutzi, B.

2017-08-01

The number of unmanned aerial vehicles (UAVs) is increasing since low-cost airborne systems are available for a wide range of users. The outdoor navigation of such vehicles is mostly based on global navigation satellite system (GNSS) methods to gain the vehicles trajectory. The drawback of satellite-based navigation are failures caused by occlusions and multi-path interferences. Beside this, local image-based solutions like Simultaneous Localization and Mapping (SLAM) and Visual Odometry (VO) can e.g. be used to support the GNSS solution by closing trajectory gaps but are computationally expensive. However, if the trajectory estimation is interrupted or not available a re-localization is mandatory. In this paper we will provide a novel method for a GNSS-free and fast image-based pose regression in a known area by utilizing a small convolutional neural network (CNN). With on-board processing in mind, we employ a lightweight CNN called SqueezeNet and use transfer learning to adapt the network to pose regression. Our experiments show promising results for GNSS-free and fast localization.

Combined CT-based and image-free navigation systems in TKA reduces postoperative outliers of rotational alignment of the tibial component.

Science.gov (United States)

Mitsuhashi, Shota; Akamatsu, Yasushi; Kobayashi, Hideo; Kusayama, Yoshihiro; Kumagai, Ken; Saito, Tomoyuki

2018-02-01

Rotational malpositioning of the tibial component can lead to poor functional outcome in TKA. Although various surgical techniques have been proposed, precise rotational placement of the tibial component was difficult to accomplish even with the use of a navigation system. The purpose of this study is to assess whether combined CT-based and image-free navigation systems replicate accurately the rotational alignment of tibial component that was preoperatively planned on CT, compared with the conventional method. We compared the number of outliers for rotational alignment of the tibial component using combined CT-based and image-free navigation systems (navigated group) with those of conventional method (conventional group). Seventy-two TKAs were performed between May 2012 and December 2014. In the navigated group, the anteroposterior axis was prepared using CT-based navigation system and the tibial component was positioned under control of the navigation. In the conventional group, the tibial component was placed with reference to the Akagi line that was determined visually. Fisher's exact probability test was performed to evaluate the results. There was a significant difference between the two groups with regard to the number of outliers: 3 outliers in the navigated group compared with 12 outliers in the conventional group (P image-free navigation systems decreased the number of rotational outliers of tibial component, and was helpful for the replication of the accurate rotational alignment of the tibial component that was preoperatively planned.

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

Semiotic resources for navigation

DEFF Research Database (Denmark)

Due, Brian Lystgaard; Lange, Simon Bierring

2018-01-01

This paper describes two typical semiotic resources blind people use when navigating in urban areas. Everyone makes use of a variety of interpretive semiotic resources and senses when navigating. For sighted individuals, this especially involves sight. Blind people, however, must rely on everything...... else than sight, thereby substituting sight with other modalities and distributing the navigational work to other semiotic resources. Based on a large corpus of fieldwork among blind people in Denmark, undertaking observations, interviews, and video recordings of their naturally occurring practices...... of walking and navigating, this paper shows how two prototypical types of semiotic resources function as helpful cognitive extensions: the guide dog and the white cane. This paper takes its theoretical and methodological perspective from EMCA multimodal interaction analysis....

A Damping Grid Strapdown Inertial Navigation System Based on a Kalman Filter for Ships in Polar Regions.

Science.gov (United States)

Huang, Weiquan; Fang, Tao; Luo, Li; Zhao, Lin; Che, Fengzhu

2017-07-03

The grid strapdown inertial navigation system (SINS) used in polar navigation also includes three kinds of periodic oscillation errors as common SINS are based on a geographic coordinate system. Aiming ships which have the external information to conduct a system reset regularly, suppressing the Schuler periodic oscillation is an effective way to enhance navigation accuracy. The Kalman filter based on the grid SINS error model which applies to the ship is established in this paper. The errors of grid-level attitude angles can be accurately estimated when the external velocity contains constant error, and then correcting the errors of the grid-level attitude angles through feedback correction can effectively dampen the Schuler periodic oscillation. The simulation results show that with the aid of external reference velocity, the proposed external level damping algorithm based on the Kalman filter can suppress the Schuler periodic oscillation effectively. Compared with the traditional external level damping algorithm based on the damping network, the algorithm proposed in this paper can reduce the overshoot errors when the state of grid SINS is switched from the non-damping state to the damping state, and this effectively improves the navigation accuracy of the system.

Vivitron dead section pumping tests

International Nuclear Information System (INIS)

Heugel, J.; Bayet, J.P.; Brandt, C.; Delhomme, C.; Krieg, C.; Kustner, F.; Meiss, R.; Riehl, R.; Roth, C.; Schlewer, B.; Six, P.; Weber, A.

1990-10-01

Pumping tests have been conducted on a simulated accelerator dead section. The behavior of different pump types are compared and analyzed. Vacuum conditions to be expected in the Vivitron are reached and several parameters are verified. Selection of a pump for the Vivitron dead section is confirmed

Evolving earth-based and in-situ satellite network architectures for Mars communications and navigation support

Science.gov (United States)

Hastrup, Rolf; Weinberg, Aaron; McOmber, Robert

1991-09-01

Results of on-going studies to develop navigation/telecommunications network concepts to support future robotic and human missions to Mars are presented. The performance and connectivity improvements provided by the relay network will permit use of simpler, lower performance, and less costly telecom subsystems for the in-situ mission exploration elements. Orbiting relay satellites can serve as effective navigation aids by supporting earth-based tracking as well as providing Mars-centered radiometric data for mission elements approaching, in orbit, or on the surface of Mars. The relay satellite orbits may be selected to optimize navigation aid support and communication coverage for specific mission sets.

And the Dead Remain Behind

Directory of Open Access Journals (Sweden)

Peter Read

2013-08-01

Full Text Available In most cultures the dead and their living relatives are held in a dialogic relationship. The dead have made it clear, while living, what they expect from their descendants. The living, for their part, wish to honour the tombs of their ancestors; at the least, to keep the graves of the recent dead from disrepair. Despite the strictures, the living can fail their responsibilities, for example, by migration to foreign countries. The peripatetic Chinese are one of the few cultures able to overcome the dilemma of the wanderer or the exile. With the help of a priest, an Australian Chinese migrant may summon the soul of an ancestor from an Asian grave to a Melbourne temple, where the spirit, though removed from its earthly vessel, will rest and remain at peace. Amongst cultures in which such practices are not culturally appropriate, to fail to honour the family dead can be exquisitely painful. Violence is the cause of most failure.

Integrated navigation method of a marine strapdown inertial navigation system using a star sensor

International Nuclear Information System (INIS)

Wang, Qiuying; Diao, Ming; Gao, Wei; Zhu, Minghong; Xiao, Shu

2015-01-01

This paper presents an integrated navigation method of the strapdown inertial navigation system (SINS) using a star sensor. According to the principle of SINS, its own navigation information contains an error that increases with time. Hence, the inertial attitude matrix from the star sensor is introduced as the reference information to correct the SINS increases error. For the integrated navigation method, the vehicle’s attitude can be obtained in two ways: one is calculated from SINS; the other, which we have called star sensor attitude, is obtained as the product between the SINS position and the inertial attitude matrix from the star sensor. Therefore, the SINS position error is introduced in the star sensor attitude error. Based on the characteristics of star sensor attitude error and the mathematical derivation, the SINS navigation errors can be obtained by the coupling calculation between the SINS attitude and the star sensor attitude. Unlike several current techniques, the navigation process of this method is non-radiating and invulnerable to jamming. The effectiveness of this approach was demonstrated by simulation and experimental study. The results show that this integrated navigation method can estimate the attitude error and the position error of SINS. Therefore, the SINS navigation accuracy is improved. (paper)

Teaching Young Adults with Intellectual and Developmental Disabilities Community-Based Navigation Skills to Take Public Transportation.

Science.gov (United States)

Price, Richard; Marsh, Abbie J; Fisher, Marisa H

2018-03-01

Facilitating the use of public transportation enhances opportunities for independent living and competitive, community-based employment for individuals with intellectual and developmental disabilities (IDD). Four young adults with IDD were taught through total-task chaining to use the Google Maps application, a self-prompting, visual navigation system, to take the bus to locations around a college campus and the community. Three of four participants learned to use Google Maps to independently navigate public transportation. Google Maps may be helpful in supporting independent travel, highlighting the importance of future research in teaching navigation skills. Learning to independently use public transportation increases access to autonomous activities, such as opportunities to work and to attend postsecondary education programs on large college campuses.Individuals with IDD can be taught through chaining procedures to use the Google Maps application to navigate public transportation.Mobile map applications are an effective and functional modern tool that can be used to teach community navigation.

Landmark Agnosia: Evaluating the Definition of Landmark-based Navigation Impairment.

Science.gov (United States)

van der Ham, Ineke J M; Martens, Marieke A G; Claessen, Michiel H G; van den Berg, Esther

2017-06-01

Landmark agnosia is a rare type of navigation impairment, for which various definitions have been presented. From a clinical as well as theoretical perspective, consensus on the characteristics of landmark agnosia would be valuable. In the current study we review the literature concerning landmark agnosia and present a new case study. Existing literature highlights the importance of examining familiar as well as novel landmark processing and substantial variation in performance patterns of individual patients. We performed a case study with patient KS, a 53-year-old male, suffering from landmark agnosia, making use of elaborate neuropsychological screening and virtual reality-based tests of navigation ability. Our extensive examination of his impairment shows that landmark agnosia can be very narrow; in KS it is restricted to recognition of newly learned landmarks only. Also, he has no trouble recognizing familiar landmarks that are not part of a navigated route. The literature review shows that the right temporal lobe, and the right hippocampus in particular are the main lesion sites for landmark agnosia. Furthermore, our case study substantiates that this disorder can occur for both familiar and novel landmarks, and can affect novel landmarks in isolation from familiar landmarks. Moreover, it can occur in isolation from problems with processing route information. © The Author 2017. Published by Oxford University Press. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

"What a Long, Strange Trip It's Been": The Grateful Dead, the Deadheads, and the Refiguration of Subculture."

Science.gov (United States)

Lane, Philip J.

The relationship between mass mediated symbol systems and the development of subculture were studied through an analysis of the "hardcore" followers of the rock group, the Grateful Dead, i.e., the "Deadheads." As a way of compiling a "thick description" of the kind proposed by Clifford Geertz (1973), several key areas…

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU

Science.gov (United States)

Dou, Lihua; Su, Zhong; Liu, Ning

2018-01-01

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot’s motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot’s motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot’s navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots. PMID:29547515

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU.

Science.gov (United States)

Zhao, Xu; Dou, Lihua; Su, Zhong; Liu, Ning

2018-03-16

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot's motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot's motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot's navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

Tourism development challenges on the Dead Sea shore

Directory of Open Access Journals (Sweden)

Wendt Jan A.

2016-12-01

Full Text Available The Dead Sea along with Jerusalem belongs to one of the most well-known spots visited by tourists in Israel. Because of many factors, such as the water level of the Dead Sea at a depth of 430 m b.s.l. (in 2015, average salinity of 26%, hot springs and many healing salts located there, it is a unique tourist attraction on a global level. Its attractiveness is heightened by its proximity to other sites of interest, such as the Jewish fortress at Masada, Jericho, Qumran, where the Dead Sea Scrolls were found, as well as Petra, Madaba and Al-Karak on the Jordanian side of the Dead Sea. High salinity and a microclimate create perfect conditions for the development of health resorts and medical tourism. Extracting healing salts from its waters for the needs of the chemical industry is important for both the economy and medical tourism. However, as a consequence of the agricultural and urban use of the waters of the River Jordan, which flows into the Dead Sea, a persistent decrease in the lake water level has been observed over the last century. This has created a number of economic and political issues. The problems which still have to be resolved are associated with the Red Sea-Dead Sea Conduit (Canal, the division of Jordan’s water resources, conservation of the unique reservoir of the Dead Sea and the threat of hindering the development of tourism within the region. The presentation of these issues is the main aim of this research paper. The study is based on the analysis of changes in tourism flows, results of research studies and the prognosis of changes in the water level of the Dead Sea. It presents an assessment of the effects of this phenomenon on the tourist economy. At the current level of tourism flows within the region, the tourist capacity of local beaches will be exceeded in areas where the most popular tourist resorts are located. Increased expenditure on development of tourism infrastructure in the coastal zone can also be observed

FPGA-based real-time embedded system for RISS/GPS integrated navigation.

Science.gov (United States)

Abdelfatah, Walid Farid; Georgy, Jacques; Iqbal, Umar; Noureldin, Aboelmagd

2012-01-01

Navigation algorithms integrating measurements from multi-sensor systems overcome the problems that arise from using GPS navigation systems in standalone mode. Algorithms which integrate the data from 2D low-cost reduced inertial sensor system (RISS), consisting of a gyroscope and an odometer or wheel encoders, along with a GPS receiver via a Kalman filter has proved to be worthy in providing a consistent and more reliable navigation solution compared to standalone GPS receivers. It has been also shown to be beneficial, especially in GPS-denied environments such as urban canyons and tunnels. The main objective of this paper is to narrow the idea-to-implementation gap that follows the algorithm development by realizing a low-cost real-time embedded navigation system capable of computing the data-fused positioning solution. The role of the developed system is to synchronize the measurements from the three sensors, relative to the pulse per second signal generated from the GPS, after which the navigation algorithm is applied to the synchronized measurements to compute the navigation solution in real-time. Employing a customizable soft-core processor on an FPGA in the kernel of the navigation system, provided the flexibility for communicating with the various sensors and the computation capability required by the Kalman filter integration algorithm.

Visual navigation using edge curve matching for pinpoint planetary landing

Science.gov (United States)

Cui, Pingyuan; Gao, Xizhen; Zhu, Shengying; Shao, Wei

2018-05-01

Pinpoint landing is challenging for future Mars and asteroid exploration missions. Vision-based navigation scheme based on feature detection and matching is practical and can achieve the required precision. However, existing algorithms are computationally prohibitive and utilize poor-performance measurements, which pose great challenges for the application of visual navigation. This paper proposes an innovative visual navigation scheme using crater edge curves during descent and landing phase. In the algorithm, the edge curves of the craters tracked from two sequential images are utilized to determine the relative attitude and position of the lander through a normalized method. Then, considering error accumulation of relative navigation, a method is developed. That is to integrate the crater-based relative navigation method with crater-based absolute navigation method that identifies craters using a georeferenced database for continuous estimation of absolute states. In addition, expressions of the relative state estimate bias are derived. Novel necessary and sufficient observability criteria based on error analysis are provided to improve the navigation performance, which hold true for similar navigation systems. Simulation results demonstrate the effectiveness and high accuracy of the proposed navigation method.

Inertial navigation without accelerometers

Science.gov (United States)

Boehm, M.

The Kennedy-Thorndike (1932) experiment points to the feasibility of fiber-optic inertial velocimeters, to which state-of-the-art technology could furnish substantial sensitivity and accuracy improvements. Velocimeters of this type would obviate the use of both gyros and accelerometers, and allow inertial navigation to be conducted together with vehicle attitude control, through the derivation of rotation rates from the ratios of the three possible velocimeter pairs. An inertial navigator and reference system based on this approach would probably have both fewer components and simpler algorithms, due to the obviation of the first level of integration in classic inertial navigators.

Toward perception-based navigation using EgoSphere

Science.gov (United States)

Kawamura, Kazuhiko; Peters, R. Alan; Wilkes, Don M.; Koku, Ahmet B.; Sekman, Ali

2002-02-01

A method for perception-based egocentric navigation of mobile robots is described. Each robot has a local short-term memory structure called the Sensory EgoSphere (SES), which is indexed by azimuth, elevation, and time. Directional sensory processing modules write information on the SES at the location corresponding to the source direction. Each robot has a partial map of its operational area that it has received a priori. The map is populated with landmarks and is not necessarily metrically accurate. Each robot is given a goal location and a route plan. The route plan is a set of via-points that are not used directly. Instead, a robot uses each point to construct a Landmark EgoSphere (LES) a circular projection of the landmarks from the map onto an EgoSphere centered at the via-point. Under normal circumstances, the LES will be mostly unaffected by slight variations in the via-point location. Thus, the route plan is transformed into a set of via-regions each described by an LES. A robot navigates by comparing the next LES in its route plan to the current contents of its SES. It heads toward the indicated landmarks until its SES matches the LES sufficiently to indicate that the robot is near the suggested via-point. The proposed method is particularly useful for enabling the exchange of robust route informa-tion between robots under low data rate communications constraints. An example of such an exchange is given.

A new G-M counter dead time model

International Nuclear Information System (INIS)

Lee, S.H.; Gardner, R.P.

2000-01-01

A hybrid G-M counter dead time model was derived by combining the idealized paralyzable and non-paralyzable models. The new model involves two parameters, which are the paralyzable and non-paralyzable dead times. The dead times used in the model are very closely related to the physical dead time of the G-M tube and its resolving time. To check the validity of the model, the decaying source method with 56 Mn was used. The corrected counting rates by the new G-M dead time model were compared with the observed counting rates obtained from the measurement and gave very good agreement within 5% up to 7x10 4 counts/s for a G-M tube with a dead time of about 300 μs

Development of performance measures based on visibility for effective placement of aids to navigation

Science.gov (United States)

Fang, Tae Hyun; Kim, Yeon-Gyu; Gong, In-Young; Park, Sekil; Kim, Ah-Young

2015-09-01

In order to develop the challenging process of placing Aids to Navigation (AtoN), we propose performance measures which quantifies the effect of such placement. The best placement of AtoNs is that from which the navigator can best recognize the information provided by an AtoN. The visibility of AtoNs depends mostly on light sources, the weather condition and the position of the navigator. Visual recognition is enabled by achieving adequate contrast between the AtoN light source and background light. Therefore, the performance measures can be formulated through the amount of differences between these two lights. For simplification, this approach is based on the values of the human factor suggested by International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA). Performance measures for AtoN placement can be evaluated through AtoN Simulator, which has been being developed by KIOST/KRISO in Korea and has been launched by Korea National Research Program. Simulations for evaluation are carried out at waterway in Busan port in Korea.

Development of performance measures based on visibility for effective placement of aids to navigation

Directory of Open Access Journals (Sweden)

Tae Hyun Fang

2015-05-01

Full Text Available In order to develop the challenging process of placing Aids to Navigation (AtoN, we propose performance measures which quantifies the effect of such placement. The best placement of AtoNs is that from which the navigator can best recognize the information provided by an AtoN. The visibility of AtoNs depends mostly on light sources, the weather condition and the position of the navigator. Visual recognition is enabled by achieving adequate contrast between the AtoN light source and background light. Therefore, the performance measures can be formulated through the amount of differences between these two lights. For simplification, this approach is based on the values of the human factor suggested by International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA. Performance measures for AtoN placement can be evaluated through AtoN Simulator, which has been being developed by KIOST/KRISO in Korea and has been launched by Korea National Research Program. Simulations for evaluation are carried out at waterway in Busan port in Korea.

The skill of surface registration in CT-based navigation system for total hip arthroplasty

International Nuclear Information System (INIS)

Hananouchi, T.; Sugano, N.; Nishii, T.; Miki, H.; Sakai, T.; Yoshikawa, H.; Iwana, D.; Yamamura, M.; Nakamura, N.

2007-01-01

Surface registration of the CT-based navigation system, which is a matching between computational and real spatial spaces, is a key step to guarantee the accuracy of navigation. However, it has not been well described how the accuracy is affected by the registration skill of surgeon. Here, we reported the difference of the registration error between eight surgeons with the experience of navigation and six apprentice surgeons. A cadaveric pelvic model with an acetabular cup was made to measure the skill and learning curve of registration. After surface registration, two cup angles (inclination and anteversion) were recorded in the navigation system and the variance of these cup angles in ten trials were compared between the experienced surgeons and apprentices. In addition, we investigated whether the accuracy of registration by the apprentices was improved by visual information on how to take the surface points. The results showed that there was statistically significant difference in the accuracy of registration between the two groups. The accuracy of the second ten trials after getting the visual information showed great improvements. (orig.)

Olfaction Contributes to Pelagic Navigation in a Coastal Shark.

Science.gov (United States)

Nosal, Andrew P; Chao, Yi; Farrara, John D; Chai, Fei; Hastings, Philip A

2016-01-01

How animals navigate the constantly moving and visually uniform pelagic realm, often along straight paths between distant sites, is an enduring mystery. The mechanisms enabling pelagic navigation in cartilaginous fishes are particularly understudied. We used shoreward navigation by leopard sharks (Triakis semifasciata) as a model system to test whether olfaction contributes to pelagic navigation. Leopard sharks were captured alongshore, transported 9 km offshore, released, and acoustically tracked for approximately 4 h each until the transmitter released. Eleven sharks were rendered anosmic (nares occluded with cotton wool soaked in petroleum jelly); fifteen were sham controls. Mean swimming depth was 28.7 m. On average, tracks of control sharks ended 62.6% closer to shore, following relatively straight paths that were significantly directed over spatial scales exceeding 1600 m. In contrast, tracks of anosmic sharks ended 37.2% closer to shore, following significantly more tortuous paths that approximated correlated random walks. These results held after swimming paths were adjusted for current drift. This is the first study to demonstrate experimentally that olfaction contributes to pelagic navigation in sharks, likely mediated by chemical gradients as has been hypothesized for birds. Given the similarities between the fluid three-dimensional chemical atmosphere and ocean, further research comparing swimming and flying animals may lead to a unifying paradigm explaining their extraordinary navigational abilities.

Monitoring the Dead Sea Region by Multi-Parameter Stations

Science.gov (United States)

Mohsen, A.; Weber, M. H.; Kottmeier, C.; Asch, G.

2015-12-01

The Dead Sea Region is an exceptional ecosystem whose seismic activity has influenced all facets of the development, from ground water availability to human evolution. Israelis, Palestinians and Jordanians living in the Dead Sea region are exposed to severe earthquake hazard. Repeatedly large earthquakes (e.g. 1927, magnitude 6.0; (Ambraseys, 2009)) shook the whole Dead Sea region proving that earthquake hazard knows no borders and damaging seismic events can strike anytime. Combined with the high vulnerability of cities in the region and with the enormous concentration of historical values this natural hazard results in an extreme earthquake risk. Thus, an integration of earthquake parameters at all scales (size and time) and their combination with data of infrastructure are needed with the specific aim of providing a state-of-the-art seismic hazard assessment for the Dead Sea region as well as a first quantitative estimate of vulnerability and risk. A strong motivation for our research is the lack of reliable multi-parameter ground-based geophysical information on earthquakes in the Dead Sea region. The proposed set up of a number of observatories with on-line data access will enable to derive the present-day seismicity and deformation pattern in the Dead Sea region. The first multi-parameter stations were installed in Jordan, Israel and Palestine for long-time monitoring. All partners will jointly use these locations. All stations will have an open data policy, with the Deutsches GeoForschungsZentrum (GFZ, Potsdam, Germany) providing the hard and software for real-time data transmission via satellite to Germany, where all partners can access the data via standard data protocols.

Real-Time Implementation of a GIS-Based Localization System for Intelligent Vehicles

Directory of Open Access Journals (Sweden)

Philippe Bonnifait

2007-07-01

Full Text Available This paper presents a loosely coupled fusion approach that merges GPS data, dead-reckoned sensors, and GIS (geographical information system data. The GPS latency is compensated for by the DR sensors and the use of an xPPS signal. The fusion of the estimate with the map data is spatial-triggered, while the fusion with the GPS is time-triggered. We present a strategy that relies on pose tracking which is reinitialized when GPS data become incoherent. Particular attention is given to the representation of the road map and to the management of a cache memory for efficiency purposes. We report experiments carried out with our equipped car and a GIS whose characteristics are well adapted to embedded constraints.

Real-Time Implementation of a GIS-Based Localization System for Intelligent Vehicles

Directory of Open Access Journals (Sweden)

Bonnifait Philippe

2007-01-01

Full Text Available This paper presents a loosely coupled fusion approach that merges GPS data, dead-reckoned sensors, and GIS (geographical information system data. The GPS latency is compensated for by the DR sensors and the use of an xPPS signal. The fusion of the estimate with the map data is spatial-triggered, while the fusion with the GPS is time-triggered. We present a strategy that relies on pose tracking which is reinitialized when GPS data become incoherent. Particular attention is given to the representation of the road map and to the management of a cache memory for efficiency purposes. We report experiments carried out with our equipped car and a GIS whose characteristics are well adapted to embedded constraints.

Autonomous Vehicles Navigation with Visual Target Tracking: Technical Approaches

Directory of Open Access Journals (Sweden)

Zhen Jia

2008-12-01

Full Text Available This paper surveys the developments of last 10 years in the area of vision based target tracking for autonomous vehicles navigation. First, the motivations and applications of using vision based target tracking for autonomous vehicles navigation are presented in the introduction section. It can be concluded that it is very necessary to develop robust visual target tracking based navigation algorithms for the broad applications of autonomous vehicles. Then this paper reviews the recent techniques in three different categories: vision based target tracking for the applications of land, underwater and aerial vehicles navigation. Next, the increasing trends of using data fusion for visual target tracking based autonomous vehicles navigation are discussed. Through data fusion the tracking performance is improved and becomes more robust. Based on the review, the remaining research challenges are summarized and future research directions are investigated.

Construct and face validity of a virtual reality-based camera navigation curriculum.

Science.gov (United States)

Shetty, Shohan; Panait, Lucian; Baranoski, Jacob; Dudrick, Stanley J; Bell, Robert L; Roberts, Kurt E; Duffy, Andrew J

2012-10-01

Camera handling and navigation are essential skills in laparoscopic surgery. Surgeons rely on camera operators, usually the least experienced members of the team, for visualization of the operative field. Essential skills for camera operators include maintaining orientation, an effective horizon, appropriate zoom control, and a clean lens. Virtual reality (VR) simulation may be a useful adjunct to developing camera skills in a novice population. No standardized VR-based camera navigation curriculum is currently available. We developed and implemented a novel curriculum on the LapSim VR simulator platform for our residents and students. We hypothesize that our curriculum will demonstrate construct and face validity in our trainee population, distinguishing levels of laparoscopic experience as part of a realistic training curriculum. Overall, 41 participants with various levels of laparoscopic training completed the curriculum. Participants included medical students, surgical residents (Postgraduate Years 1-5), fellows, and attendings. We stratified subjects into three groups (novice, intermediate, and advanced) based on previous laparoscopic experience. We assessed face validity with a questionnaire. The proficiency-based curriculum consists of three modules: camera navigation, coordination, and target visualization using 0° and 30° laparoscopes. Metrics include time, target misses, drift, path length, and tissue contact. We analyzed data using analysis of variance and Student's t-test. We noted significant differences in repetitions required to complete the curriculum: 41.8 for novices, 21.2 for intermediates, and 11.7 for the advanced group (P medical students during their surgery rotations. Copyright © 2012 Elsevier Inc. All rights reserved.

Model-based software engineering for an optical navigation system for spacecraft

Science.gov (United States)

Franz, T.; Lüdtke, D.; Maibaum, O.; Gerndt, A.

2018-06-01

The project Autonomous Terrain-based Optical Navigation (ATON) at the German Aerospace Center (DLR) is developing an optical navigation system for future landing missions on celestial bodies such as the moon or asteroids. Image data obtained by optical sensors can be used for autonomous determination of the spacecraft's position and attitude. Camera-in-the-loop experiments in the Testbed for Robotic Optical Navigation (TRON) laboratory and flight campaigns with unmanned aerial vehicle (UAV) are performed to gather flight data for further development and to test the system in a closed-loop scenario. The software modules are executed in the C++ Tasking Framework that provides the means to concurrently run the modules in separated tasks, send messages between tasks, and schedule task execution based on events. Since the project is developed in collaboration with several institutes in different domains at DLR, clearly defined and well-documented interfaces are necessary. Preventing misconceptions caused by differences between various development philosophies and standards turned out to be challenging. After the first development cycles with manual Interface Control Documents (ICD) and manual implementation of the complex interactions between modules, we switched to a model-based approach. The ATON model covers a graphical description of the modules, their parameters and communication patterns. Type and consistency checks on this formal level help to reduce errors in the system. The model enables the generation of interfaces and unified data types as well as their documentation. Furthermore, the C++ code for the exchange of data between the modules and the scheduling of the software tasks is created automatically. With this approach, changing the data flow in the system or adding additional components (e.g., a second camera) have become trivial.

Model-based software engineering for an optical navigation system for spacecraft

Science.gov (United States)

Franz, T.; Lüdtke, D.; Maibaum, O.; Gerndt, A.

2017-09-01

The project Autonomous Terrain-based Optical Navigation (ATON) at the German Aerospace Center (DLR) is developing an optical navigation system for future landing missions on celestial bodies such as the moon or asteroids. Image data obtained by optical sensors can be used for autonomous determination of the spacecraft's position and attitude. Camera-in-the-loop experiments in the Testbed for Robotic Optical Navigation (TRON) laboratory and flight campaigns with unmanned aerial vehicle (UAV) are performed to gather flight data for further development and to test the system in a closed-loop scenario. The software modules are executed in the C++ Tasking Framework that provides the means to concurrently run the modules in separated tasks, send messages between tasks, and schedule task execution based on events. Since the project is developed in collaboration with several institutes in different domains at DLR, clearly defined and well-documented interfaces are necessary. Preventing misconceptions caused by differences between various development philosophies and standards turned out to be challenging. After the first development cycles with manual Interface Control Documents (ICD) and manual implementation of the complex interactions between modules, we switched to a model-based approach. The ATON model covers a graphical description of the modules, their parameters and communication patterns. Type and consistency checks on this formal level help to reduce errors in the system. The model enables the generation of interfaces and unified data types as well as their documentation. Furthermore, the C++ code for the exchange of data between the modules and the scheduling of the software tasks is created automatically. With this approach, changing the data flow in the system or adding additional components (e.g., a second camera) have become trivial.

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).

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU

Directory of Open Access Journals (Sweden)

Xu Zhao

2018-03-01

Full Text Available A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot’s motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS Inertial-Measurement-Unit (IMU. First, it studies the snake robot’s motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot’s navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD. In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

Communication media and the dead: from the Stone Age to Facebook.

Science.gov (United States)

Walter, Tony

2015-07-03

This article argues as follows: (i) The presence of the dead within a society depends in part on available communication technologies, specifically speech, stone, sculpture, writing, printing, photography and phonography (including the mass media), and most recently the internet. (ii) Each communication technology affords possibilities for the dead to construct and legitimate particular social groups and institutions - from the oral construction of kinship, to the megalithic legitimation of the territorial rights of chiefdoms, to the written word's construction of world religions and nations, to the photographic and phonographic construction of celebrity-based neo-tribalism, and to the digital reconstruction of family and friendship. (iii) Historically, concerns about the dead have on a number of occasions aided the development of new communication technologies - the causal connection between the two can go both ways. The argument is based primarily on critical synthesis of existing research literature.

HMM based automated wheelchair navigation using EOG traces in EEG

Science.gov (United States)

Aziz, Fayeem; Arof, Hamzah; Mokhtar, Norrima; Mubin, Marizan

2014-10-01

This paper presents a wheelchair navigation system based on a hidden Markov model (HMM), which we developed to assist those with restricted mobility. The semi-autonomous system is equipped with obstacle/collision avoidance sensors and it takes the electrooculography (EOG) signal traces from the user as commands to maneuver the wheelchair. The EOG traces originate from eyeball and eyelid movements and they are embedded in EEG signals collected from the scalp of the user at three different locations. Features extracted from the EOG traces are used to determine whether the eyes are open or closed, and whether the eyes are gazing to the right, center, or left. These features are utilized as inputs to a few support vector machine (SVM) classifiers, whose outputs are regarded as observations to an HMM. The HMM determines the state of the system and generates commands for navigating the wheelchair accordingly. The use of simple features and the implementation of a sliding window that captures important signatures in the EOG traces result in a fast execution time and high classification rates. The wheelchair is equipped with a proximity sensor and it can move forward and backward in three directions. The asynchronous system achieved an average classification rate of 98% when tested with online data while its average execution time was less than 1 s. It was also tested in a navigation experiment where all of the participants managed to complete the tasks successfully without collisions.

Perturbative search for dead-end CFTs

International Nuclear Information System (INIS)

Nakayama, Yu

2015-01-01

To explore the possibility of self-organized criticality, we look for CFTs without any relevant scalar deformations (a.k.a. dead-end CFTs) within power-counting renormalizable quantum field theories with a weakly coupled Lagrangian description. In three dimensions, the only candidates are pure (Abelian) gauge theories, which may be further deformed by Chern-Simons terms. In four dimensions, we show that there are infinitely many non-trivial candidates based on chiral gauge theories. Using the three-loop beta functions, we compute the gap of scaling dimensions above the marginal value, and it can be as small as O(10"−"5) and robust against the perturbative corrections. These classes of candidates are very weakly coupled and our perturbative conclusion seems difficult to refute. Thus, the hypothesis that non-trivial dead-end CFTs do not exist is likely to be false in four dimensions.

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.

The Influence Of Dead Layer Effect On The Characteristics Of The High Purity Germanium P-Type Detector

International Nuclear Information System (INIS)

Ngo Quang Huy

2011-01-01

The present work aims at reviewing the studies of the influence of dead layer effect on the characteristics of a high purity germanium (HPGe) p-type detector, obtained by the author and his colleagues in the recent years. The object for study was the HPGe GC1518 detector-based gamma spectrometer of the Center for Nuclear Techniques, Ho Chi Minh City. The studying problems were: The modeling of an HPGe detector-based gamma spectrometer with using the MCNP code; the method of determining the thickness of dead layer by experimental measurements of gamma spectra and the calculations using MCNP code; the influence of material parameters and dead layer on detector efficiency; the increase of dead layer thickness over the operating time of the GC1518 detector; the influence of dead layer thickness increase on the decrease of detector efficiency; the dead layer effect for the gamma spectra measured in the GC1518 detector. (author)

Way-finding in displaced clock-shifted bees proves bees use a cognitive map.

Science.gov (United States)

Cheeseman, James F; Millar, Craig D; Greggers, Uwe; Lehmann, Konstantin; Pawley, Matthew D M; Gallistel, Charles R; Warman, Guy R; Menzel, Randolf

2014-06-17

Mammals navigate by means of a metric cognitive map. Insects, most notably bees and ants, are also impressive navigators. The question whether they, too, have a metric cognitive map is important to cognitive science and neuroscience. Experimentally captured and displaced bees often depart from the release site in the compass direction they were bent on before their capture, even though this no longer heads them toward their goal. When they discover their error, however, the bees set off more or less directly toward their goal. This ability to orient toward a goal from an arbitrary point in the familiar environment is evidence that they have an integrated metric map of the experienced environment. We report a test of an alternative hypothesis, which is that all the bees have in memory is a collection of snapshots that enable them to recognize different landmarks and, associated with each such snapshot, a sun-compass-referenced home vector derived from dead reckoning done before and after previous visits to the landmark. We show that a large shift in the sun-compass rapidly induced by general anesthesia does not alter the accuracy or speed of the homeward-oriented flight made after the bees discover the error in their initial postrelease flight. This result rules out the sun-referenced home-vector hypothesis, further strengthening the now extensive evidence for a metric cognitive map in bees.

A high-resolution and intelligent dead pixel detection scheme for an electrowetting display screen

Science.gov (United States)

Luo, ZhiJie; Luo, JianKun; Zhao, WenWen; Cao, Yang; Lin, WeiJie; Zhou, GuoFu

2018-02-01

Electrowetting display technology is realized by tuning the surface energy of a hydrophobic surface by applying a voltage based on electrowetting mechanism. With the rapid development of the electrowetting industry, how to analyze efficiently the quality of an electrowetting display screen has a very important significance. There are two kinds of dead pixels on the electrowetting display screen. One is that the oil of pixel cannot completely cover the display area. The other is that indium tin oxide semiconductor wire connecting pixel and foil was burned. In this paper, we propose a high-resolution and intelligent dead pixel detection scheme for an electrowetting display screen. First, we built an aperture ratio-capacitance model based on the electrical characteristics of electrowetting display. A field-programmable gate array is used as the integrated logic hub of the system for a highly reliable and efficient control of the circuit. Dead pixels can be detected and displayed on a PC-based 2D graphical interface in real time. The proposed dead pixel detection scheme reported in this work has promise in automating electrowetting display experiments.

PeptideNavigator: An interactive tool for exploring large and complex data sets generated during peptide-based drug design projects.

Science.gov (United States)

Diller, Kyle I; Bayden, Alexander S; Audie, Joseph; Diller, David J

2018-01-01

There is growing interest in peptide-based drug design and discovery. Due to their relatively large size, polymeric nature, and chemical complexity, the design of peptide-based drugs presents an interesting "big data" challenge. Here, we describe an interactive computational environment, PeptideNavigator, for naturally exploring the tremendous amount of information generated during a peptide drug design project. The purpose of PeptideNavigator is the presentation of large and complex experimental and computational data sets, particularly 3D data, so as to enable multidisciplinary scientists to make optimal decisions during a peptide drug discovery project. PeptideNavigator provides users with numerous viewing options, such as scatter plots, sequence views, and sequence frequency diagrams. These views allow for the collective visualization and exploration of many peptides and their properties, ultimately enabling the user to focus on a small number of peptides of interest. To drill down into the details of individual peptides, PeptideNavigator provides users with a Ramachandran plot viewer and a fully featured 3D visualization tool. Each view is linked, allowing the user to seamlessly navigate from collective views of large peptide data sets to the details of individual peptides with promising property profiles. Two case studies, based on MHC-1A activating peptides and MDM2 scaffold design, are presented to demonstrate the utility of PeptideNavigator in the context of disparate peptide-design projects. Copyright © 2017 Elsevier Ltd. All rights reserved.

78 FR 23598 - National Space-Based Positioning, Navigation, and Timing (PNT) Advisory Board; Meeting

Science.gov (United States)

2013-04-19

..., Public Law 92-463, as amended, and the President's 2004 U.S. Space-Based Positioning, Navigation, and...: The Melrose Hotel, 2430 Pennsylvania Ave NW., Washington, DC 20037. FOR FURTHER INFORMATION CONTACT...

Surface navigation on Mars with a Navigation Satellite

Science.gov (United States)

Vijayaraghavan, A.; Thurman, Sam W.; Kahn, Robert D.; Hastrup, Rolf C.

Radiometric navigation data from the Deep Space Network (DSN) stations on the earth to transponders and other surface elements such as rovers and landers on Mars, can determine their positions to only within a kilometer in inertial space. The positional error is mostly in the z-component of the surface element parallel to the Martian spin-axis. However, with Doppler and differenced-Doppler data from a Navigation Satellite in orbit around Mars to two or more of such transponders on the planetary surface, their positions can be determined to within 15 meters (or 20 meters for one-way Doppler beacons on Mars) in inertial space. In this case, the transponders (or other vehicles) on Mars need not even be capable of directly communicating to the earth. When the Navigation Satellite data is complemented by radiometric observations from the DSN stations also, directly to the surface elements on Mars, their positions can be determined to within 3 meters in inertial space. The relative positions of such surface elements on Mars (relative to one another) in Mars-fixed coordinates, however, can be determined to within 5 meters from simply range and Doppler data from the DSN stations to the surface elements. These results are obtained from covariance studies assuming X-band data noise levels and data-arcs not exceeding 10 days. They are significant in the planning and deployment of a Mars-based navigation network necessary to support real-time operations during critical phases of manned exploration of Mars.

Awakening the "Walking Dead": Zombie Pedagogy for Millennials

Directory of Open Access Journals (Sweden)

Nancy Dawn Wadsworth

2017-02-01

Full Text Available This article lays out the pedagogical benefits of using popular zombie productions, particularly AMC's The Walking Dead, to teach a critical introduction to modern political theory. Based on my undergraduate course: "Political Theory, Climate Change, and the Zombie Apocalypse," the article outlines how The Walking Dead can be used to critique the mythic assumptions built into modern social contract theory; to introduce other political ideologies, including conservatism, anarchism, fascism, and communism; and to consider the political challenges raised by a global problem such as climate change in an increasingly neoliberal environment. Zombie productions are offered as a particularly salient pedagogical tool that can help awaken critical political analysis for the Millennial Generation.

9 CFR 82.6 - Interstate movement of dead birds and dead poultry from a quarantined area.

Science.gov (United States)

2010-01-01

... provided in paragraph (b) of this section for dressed carcasses, dead birds and dead poultry, including any... poultry at the destination listed on the permit required by paragraph (a)(1) of this section. (b) Dressed... quarantined area only if: (1) The dressed carcasses are from birds or poultry that were slaughtered in a...

The dead donor rule and the concept of death: severing the ties that bind them.

Science.gov (United States)

Koppelman, Elysa R

2003-01-01

One goal of the transplant community is to seek ways to increase the number of people who are willing and able to donate organs. People in states between life and death are often medically excellent candidates for donating organs. Yet public policy surrounding organ procurement is a delicate matter. While there is the utilitarian goal of increasing organ supply, there is also the deontologic concern about respect for persons. Public policy must properly mediate between these two concerns. Currently the dead donor (dd) rule is appealed to as an attempt at such mediation. I argue that given the lack of consensus on a definition of death, the dd rule is no longer successful at mediating utilitarian and deontologic concerns. I suggest instead that focusing on a particular person's history can be successful.

Approach to intraoperative electromagnetic navigation in orthognathic surgery: A phantom skull based trial.

Science.gov (United States)

Berger, Moritz; Kallus, Sebastian; Nova, Igor; Ristow, Oliver; Eisenmann, Urs; Dickhaus, Hartmut; Kuhle, Reinald; Hoffmann, Jürgen; Seeberger, Robin

2015-11-01

Intraoperative guidance using electromagnetic navigation is an upcoming method in maxillofacial surgery. However, due to their unwieldy structures, especially the line-of-sight problem, optical navigation devices are not used for daily orthognathic surgery. Therefore, orthognathic surgery was simulated on study phantom skulls, evaluating the accuracy and handling of a new electromagnetic tracking system. Le-Fort I osteotomies were performed on 10 plastic skulls. Orthognathic surgical planning was done in the conventional way using plaster models. Accuracy of the gold standard, splint-based model surgery versus an electromagnetic tracking system was evaluated by measuring the actual maxillary deviation using bimaxillary splints and preoperative and postoperative cone beam computer tomography imaging. The distance of five anatomical marker points were compared pre- and postoperatively. The electromagnetic tracking system was significantly more accurate in all measured parameters compared with the gold standard using bimaxillary splints (p orthognathic surgery to 0.3 mm on average. The data of this preliminary study shows a high level of accuracy in surgical orthognathic performance using electromagnetic navigation, and may offer greater precision than the conventional plaster model surgery with bimaxillary splints. This preliminary work shows great potential for the establishment of an intraoperative electromagnetic navigation system for maxillofacial surgery. Copyright © 2015 European Association for Cranio-Maxillo-Facial Surgery. Published by Elsevier Ltd. All rights reserved.

78 FR 65006 - National Space-Based Positioning, Navigation, and Timing (PNT) Advisory Board; Meeting

Science.gov (United States)

2013-10-30

..., Public Law 92-463, as amended, and the President's 2004 U.S. Space-Based Positioning, Navigation, and.... ADDRESSES: The Omni Shoreham Hotel, 2500 Calvert Street NW., Washington, DC 20008. FOR FURTHER INFORMATION...

Low computation vision-based navigation for a Martian rover

Science.gov (United States)

Gavin, Andrew S.; Brooks, Rodney A.

1994-01-01

Construction and design details of the Mobot Vision System, a small, self-contained, mobile vision system, are presented. This system uses the view from the top of a small, roving, robotic vehicle to supply data that is processed in real-time to safely navigate the surface of Mars. A simple, low-computation algorithm for constructing a 3-D navigational map of the Martian environment to be used by the rover is discussed.

Visual Semantic Navigation Based on Deep Learning for Indoor Mobile Robots

Directory of Open Access Journals (Sweden)

Li Wang

2018-01-01

Full Text Available In order to improve the environmental perception ability of mobile robots during semantic navigation, a three-layer perception framework based on transfer learning is proposed, including a place recognition model, a rotation region recognition model, and a “side” recognition model. The first model is used to recognize different regions in rooms and corridors, the second one is used to determine where the robot should be rotated, and the third one is used to decide the walking side of corridors or aisles in the room. Furthermore, the “side” recognition model can also correct the motion of robots in real time, according to which accurate arrival to the specific target is guaranteed. Moreover, semantic navigation is accomplished using only one sensor (a camera. Several experiments are conducted in a real indoor environment, demonstrating the effectiveness and robustness of the proposed perception framework.

Risk Assessment of Nautical Navigational Environment Based on Grey Fixed Weight Cluster

Directory of Open Access Journals (Sweden)

Yanfei Tian

2017-06-01

Full Text Available In order to set up a mathematical model suitable for nautical navigational environment risk evaluation and systematically master the navigational environment risk characteristics of the Qiongzhou Strait in a quantitative way, a risk assessment model with approach steps is set up based on the grey fixed weight cluster (GFWC. The evaluation index system is structured scientifically through both literature review and expert investigation. The relative weight of each index is designed to be obtained via fuzzy analytic hierarchy process (FAHP; Index membership degree of every grey class is proposed to be achieved by fuzzy statistics (FS to avoid the difficulty of building whiten weight functions. By using the model, nautical navigational environment risk of the Qiongzhou Strait is determined at a “moderate” level according to the principle of maximum membership degree. The comprehensive risk evaluation of the Qiongzhou Strait nautical navigational environment can provide theoretical reference for implementing targeted risk control measures. It shows that the constructed GFWC risk assessment model as well as the presented steps are workable in case of incomplete information. The proposed strategy can excavate the collected experts’ knowledge mathematically, quantify the weight of each index and risk level, and finally lead to a comprehensive risk evaluation result. Besides, the adoptions of probability and statistic theory, fuzzy theory, aiming at solving the bottlenecks in case of uncertainty, will give the model a better adaptability and executability.

Mobile Robot Navigation

DEFF Research Database (Denmark)

Andersen, Jens Christian

2007-01-01

the current position to a desired destination. This thesis presents and experimentally validates solutions for road classification, obstacle avoidance and mission execution. The road classification is based on laser scanner measurements and supported at longer ranges by vision. The road classification...... is sufficiently sensitive to separate the road from flat roadsides, and to distinguish asphalt roads from gravelled roads. The vision-based road detection uses a combination of chromaticity and edge detection to outline the traversable part of the road based on a laser scanner classified sample area....... The perception of these two sensors are utilised by a path planner to allow a number of drive modes, and especially the ability to follow road edges are investigated. The navigation mission is controlled by a script language. The navigation script controls route sequencing, junction detection, junction crossing...

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.

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

10 CFR 1047.7 - Use of deadly force.

Science.gov (United States)

2010-01-01

... 10 Energy 4 2010-01-01 2010-01-01 false Use of deadly force. 1047.7 Section 1047.7 Energy DEPARTMENT OF ENERGY (GENERAL PROVISIONS) LIMITED ARREST AUTHORITY AND USE OF FORCE BY PROTECTIVE FORCE OFFICERS General Provisions § 1047.7 Use of deadly force. (a) Deadly force means that force which a...

Visualization of deuterium dead layer by atom probe tomography

KAUST Repository

Gemma, Ryota

2012-12-01

The first direct observation, by atom probe tomography, of a deuterium dead layer is reported for Fe/V multilayered film loaded with D solute atoms. The thickness of the dead layers was measured to be 0.4-0.5 nm. The dead layers could be distinguished from chemically intermixed layers. The results suggest that the dead layer effect occurs even near the interface of the mixing layers, supporting an interpretation that the dead layer effect cannot be explained solely by electronic charge transfer but also involves a modulation of rigidity. © 2012 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

Visualization of deuterium dead layer by atom probe tomography

KAUST Repository

Gemma, Ryota; Al-Kassab, Talaat; Kirchheim, Reiner; Pundt, Astrid A.

2012-01-01

The first direct observation, by atom probe tomography, of a deuterium dead layer is reported for Fe/V multilayered film loaded with D solute atoms. The thickness of the dead layers was measured to be 0.4-0.5 nm. The dead layers could be distinguished from chemically intermixed layers. The results suggest that the dead layer effect occurs even near the interface of the mixing layers, supporting an interpretation that the dead layer effect cannot be explained solely by electronic charge transfer but also involves a modulation of rigidity. © 2012 Acta Materialia Inc. Published by Elsevier Ltd. All rights reserved.

Autonomous celestial navigation based on Earth ultraviolet radiance and fast gradient statistic feature extraction

Science.gov (United States)

Lu, Shan; Zhang, Hanmo

2016-01-01

To meet the requirement of autonomous orbit determination, this paper proposes a fast curve fitting method based on earth ultraviolet features to obtain accurate earth vector direction, in order to achieve the high precision autonomous navigation. Firstly, combining the stable characters of earth ultraviolet radiance and the use of transmission model software of atmospheric radiation, the paper simulates earth ultraviolet radiation model on different time and chooses the proper observation band. Then the fast improved edge extracting method combined Sobel operator and local binary pattern (LBP) is utilized, which can both eliminate noises efficiently and extract earth ultraviolet limb features accurately. And earth's centroid locations on simulated images are estimated via the least square fitting method using part of the limb edges. Taken advantage of the estimated earth vector direction and earth distance, Extended Kalman Filter (EKF) is applied to realize the autonomous navigation finally. Experiment results indicate the proposed method can achieve a sub-pixel earth centroid location estimation and extremely enhance autonomous celestial navigation precision.

Extinction from a rationalist perspective.

Science.gov (United States)

Gallistel, C R

2012-05-01

The merging of the computational theory of mind and evolutionary thinking leads to a kind of rationalism, in which enduring truths about the world have become implicit in the computations that enable the brain to cope with the experienced world. The dead reckoning computation, for example, is implemented within the brains of animals as one of the mechanisms that enables them to learn where they are (Gallistel, 1990, 1995). It integrates a velocity signal with respect to a time signal. Thus, the manner in which position and velocity relate to one another in the world is reflected in the manner in which signals representing those variables are processed in the brain. I use principles of information theory and Bayesian inference to derive from other simple principles explanations for: (1) the failure of partial reinforcement to increase reinforcements to acquisition; (2) the partial reinforcement extinction effect; (3) spontaneous recovery; (4) renewal; (5) reinstatement; (6) resurgence (aka facilitated reacquisition). Like the principle underlying dead-reckoning, these principles are grounded in analytic considerations. They are the kind of enduring truths about the world that are likely to have shaped the brain's computations. Copyright © 2012 Elsevier B.V. All rights reserved.

A new approach to self-localization for mobile robots using sensor data fusion

International Nuclear Information System (INIS)

Moshiri, B.; Asharif, M.; Hoseim Nezhad, R.

2002-01-01

This paper proposes a new approach for calibration of dead reckoning process. Using the well-known UMB mark (University of Michigan Benchmark) is not sufficient for a desirable calibration of dead reckoning. Besides, existing calibration methods usually require explicit measurement of actual motion of the robot. Some recent methods use the smart encoder trailer or long range finder sensors such as ultrasonic or laser range finders for automatic calibration. Manual measurement is necessary in the case of the robots that are not equipped with long-range detectors or such smart encoder trailer. Our proposed approach uses an environment map that is created by fusion of proximity data, in order to calibrate the odometry error automatically. In the new approach, the systematic part of the error is adaptively estimated and compensated by an efficient and incremental maximum likelihood algorithm. Actually, environment map data are fused with the odometry and current sensory data in order to acquire the maximum likelihood estimation. The advantages of the proposed approach are demonstrated in some experiments with Khepera robot. It is shown that the amount of pose estimation error is reduced by a percentage of more than 80%

Fusion Based on Visible Light Positioning and Inertial Navigation Using Extended Kalman Filters.

Science.gov (United States)

Li, Zhitian; Feng, Lihui; Yang, Aiying

2017-05-11

With the rapid development of smart technology, the need for location-based services (LBS) increases every day. Since classical positioning technology such as GPS cannot satisfy the needs of indoor positioning, new indoor positioning technologies, such as Bluetooth, Wi-Fi, and Visible light communication (VLC), have already cut a figure. VLC positioning has been proposed because it has higher accuracy, costs less, and is easier to accomplish in comparison to the other indoor positioning technologies. However, the practicality of VLC positioning is limited since it is easily affected by multipath effects and the layout of LEDs. Thus, we propose a fusion positioning system based on extended Kalman filters, which can fuse the VLC position and the inertial navigation data. The accuracy of the fusion positioning system is in centimeters, which is better compared to the VLC-based positioning or inertial navigation alone. Furthermore, the fusion positioning system has high accuracy, saves energy, costs little, and is easy to install, making it a promising candidate for future indoor positioning applications.

Hausdorff-Based RC and IESIL Combined Positioning Algorithm for Underwater Geomagnetic Navigation

Directory of Open Access Journals (Sweden)

Lin Yi

2010-01-01

Full Text Available This paper presents a primitive solution with novel scheme and algorithm for Underwater geoMagnetic Navigation (UMN, which now occurs as the hot-point in the research field of navigation. UMN as an independent or supplementary technique can theoretically supply accurate locations for marine vehicles, but in practice there are plenty of restrictions for UMN's application (e.g., geomagnetic daily variation. After analysis of the theoretical model of geomagnetic positioning in the correlation-matching mode from the viewpoint of pattern recognition, this paper proposed an appropriate matching scenario and a combined positioning algorithm for UMN. The subalgorithm of Hausdorff-based Relative Correlation (RC corresponding to the pattern classification module implements the coarse positioning, and the subalgorithm of Isograms Equidistance-Segmenting theIntersection Lines (IESILs associated with the module of feature extraction continues the fine positioning. The experiments based on the simulation platform and the real-surveyed data both validate the new algorithm, and its efficiency and accuracy are also discussed. It can be concluded that the work introduced in this paper gives an initial and real validation of UMN's potentiality.

Survey of computer vision technology for UVA navigation

Science.gov (United States)

Xie, Bo; Fan, Xiang; Li, Sijian

2017-11-01

Navigation based on computer version technology, which has the characteristics of strong independence, high precision and is not susceptible to electrical interference, has attracted more and more attention in the filed of UAV navigation research. Early navigation project based on computer version technology mainly applied to autonomous ground robot. In recent years, the visual navigation system is widely applied to unmanned machine, deep space detector and underwater robot. That further stimulate the research of integrated navigation algorithm based on computer version technology. In China, with many types of UAV development and two lunar exploration, the three phase of the project started, there has been significant progress in the study of visual navigation. The paper expounds the development of navigation based on computer version technology in the filed of UAV navigation research and draw a conclusion that visual navigation is mainly applied to three aspects as follows.(1) Acquisition of UAV navigation parameters. The parameters, including UAV attitude, position and velocity information could be got according to the relationship between the images from sensors and carrier's attitude, the relationship between instant matching images and the reference images and the relationship between carrier's velocity and characteristics of sequential images.(2) Autonomous obstacle avoidance. There are many ways to achieve obstacle avoidance in UAV navigation. The methods based on computer version technology ,including feature matching, template matching, image frames and so on, are mainly introduced. (3) The target tracking, positioning. Using the obtained images, UAV position is calculated by using optical flow method, MeanShift algorithm, CamShift algorithm, Kalman filtering and particle filter algotithm. The paper expounds three kinds of mainstream visual system. (1) High speed visual system. It uses parallel structure, with which image detection and processing are

INDOOR POSITIONING AND NAVIGATION BASED ON CONTROL SPHERECAL PANORAMIC IMAGES

Directory of Open Access Journals (Sweden)

T.-C. Huang

2016-06-01

Full Text Available Continuous indoor and outdoor positioning and navigation is the goal to achieve in the field of mobile mapping technology. However, accuracy of positioning and navigation will be largely degraded in indoor or occluded areas, due to receiving weak or less GNSS signals. Targeting the need of high accuracy indoor and outdoor positioning and navigation for mobile mapping applications, the objective of this study is to develop a novel method of indoor positioning and navigation with the use of spherical panoramic image (SPI. Two steps are planned in the technology roadmap. First, establishing a control SPI database that contains a good number of well-distributed control SPIs pre-acquired in the target space. A control SPI means an SPI with known exterior orientation parameters, which can be solved with a network bundle adjustment of SPIs. Having a control SPI database, the target space will be ready to provide the service of positioning and navigation. Secondly, the position and orientation of a newly taken SPI can be solved by using overlapped SPIs searched from the control SPI database. The method of matching SPIs and finding conjugate image features will be developed and tested. Two experiments will be planned and conducted in this paper to test the feasibility and validate the test results of the proposed methods. Analysis of appropriate number and distribution of needed control SPIs will also be included in the experiments with respect to different test cases.

Factors affecting femoral rotational angle based on the posterior condylar axis in gap-based navigation-assisted total knee arthroplasty for valgus knee.

Science.gov (United States)

Lee, Sung-Sahn; Lee, Yong-In; Kim, Dong-Uk; Lee, Dae-Hee; Moon, Young-Wan

2018-01-01

Achieving proper rotational alignment of the femoral component in total knee arthroplasty (TKA) for valgus knee is challenging because of lateral condylar hypoplasia and lateral cartilage erosion. Gap-based navigation-assisted TKA enables surgeons to determine the angle of femoral component rotation (FCR) based on the posterior condylar axis. This study evaluated the possible factors that affect the rotational alignment of the femoral component based on the posterior condylar axis. Between 2008 and 2016, 28 knees were enrolled. The dependent variable for this study was FCR based on the posterior condylar axis, which was obtained from the navigation system archives. Multiple regression analysis was conducted to identify factors that might predict FCR, including body mass index (BMI), Kellgren-Lawrence grade (K-L grade), lateral distal femoral angles obtained from the navigation system and radiographs (NaviLDFA, XrayLDFA), hip-knee-ankle (HKA) axis, lateral gap under varus stress (LGVS), medial gap under valgus stress (MGVS), and side-to-side difference (STSD, MGVS - LGVS). The mean FCR was 6.1° ± 2.0°. Of all the potentially predictive factors evaluated in this study, only NaviLDFA (β = -0.668) and XrayLDFA (β = -0.714) predicted significantly FCR. The LDFAs, as determined using radiographs and the navigation system, were both predictive of the rotational alignment of the femoral component based on the posterior condylar axis in gap-based TKA for valgus knee. A 1° increment with NaviLDFA led to a 0.668° decrement in FCR, and a 1° increment with XrayLDFA led to a 0.714° decrement. This suggests that symmetrical lateral condylar hypoplasia of the posterior and distal side occurs in lateral compartment end-stage osteoarthritis with valgus deformity.

Applications of navigation for orthognathic surgery.

Science.gov (United States)

Bobek, Samuel L

2014-11-01

Stereotactic surgical navigation has been used in oral and maxillofacial surgery for orbital reconstruction, reduction of facial fractures, localization of foreign bodies, placement of implants, skull base surgery, tumor removal, temporomandibular joint surgery, and orthognathic surgery. The primary goals in adopting intraoperative navigation into these different surgeries were to define and localize operative anatomy, to localize implant position, and to orient the surgical wound. Navigation can optimize the functional and esthetic outcomes in patients with dentofacial deformities by identifying pertinent anatomic structures, transferring the surgical plan to the patient, and verifying the surgical result. This article discusses the principles of navigation-guided orthognathic surgery. Copyright © 2014 Elsevier Inc. All rights reserved.

Dead Time in the LAr Calorimeter Front-End Readout

CERN Document Server

Gingrich, D M

2002-01-01

We present readout time, latency, buffering, and dead-time calculations for the switched capacitor array controllers of the LAr calorimeter. The dead time is compared with algorithms for the dead-time generation in the level-1 central trigger processor.

Complementary terrain/single beacon-based AUV navigation

Digital Repository Service at National Institute of Oceanography (India)

Maurya, P.; Curado, T.F.; António, P.

is not sufficiently "rich" in terms of topographic features. The key contribution of this paper is a formal analysis of the benefits of using complementary filtering, in opposition to TAN navigation only. To this effect, we exploit key tools of estimation theory...

Hand-gesture-based sterile interface for the operating room using contextual cues for the navigation of radiological images.

Science.gov (United States)

Jacob, Mithun George; Wachs, Juan Pablo; Packer, Rebecca A

2013-06-01

This paper presents a method to improve the navigation and manipulation of radiological images through a sterile hand gesture recognition interface based on attentional contextual cues. Computer vision algorithms were developed to extract intention and attention cues from the surgeon's behavior and combine them with sensory data from a commodity depth camera. The developed interface was tested in a usability experiment to assess the effectiveness of the new interface. An image navigation and manipulation task was performed, and the gesture recognition accuracy, false positives and task completion times were computed to evaluate system performance. Experimental results show that gesture interaction and surgeon behavior analysis can be used to accurately navigate, manipulate and access MRI images, and therefore this modality could replace the use of keyboard and mice-based interfaces.

Prospective navigator-echo-based real-time triggering of fetal head movement for the reduction of artifacts

International Nuclear Information System (INIS)

Bonel, H.; Frei, K.A.; Raio, L.; Meyer-Wittkopf, M.; Remonda, L.; Wiest, R.

2008-01-01

The purpose of this study was to evaluate the neuroimaging quality and accuracy of prospective real-time navigator-echo acquisition correction versus untriggered intrauterine magnetic resonance imaging (MRI) techniques. Twenty women in whom fetal motion artifacts compromised the neuroimaging quality of fetal MRI taken during the 28.7 ± 4 week of pregnancy below diagnostic levels were additionally investigated using a navigator-triggered half-Fourier acquired single-shot turbo-spin echo (HASTE) sequence. Imaging quality was evaluated by two blinded readers applying a rating scale from 1 (not diagnostic) to 5 (excellent). Diagnostic criteria included depiction of the germinal matrix, grey and white matter, CSF, brain stem and cerebellum. Signal-difference-to-noise ratios (SDNRs) in the white matter and germinal zone were quantitatively evaluated. Imaging quality improved in 18/20 patients using the navigator echo technique (2.4 ± 0.58 vs. 3.65 ± 0.73 SD, p < 0.01 for all evaluation criteria). In 2/20 patients fetal movement severely impaired image quality in conventional and navigated HASTE. Navigator-echo imaging revealed additional structural brain abnormalities and confirmed diagnosis in 8/20 patients. The accuracy improved from 50% to 90%. Average SDNR increased from 0.7 ± 7.27 to 19.83 ± 15.71 (p < 0.01). Navigator-echo-based real-time triggering of fetal head movement is a reliable technique that can deliver diagnostic fetal MR image quality despite vigorous fetal movement. (orig.)

Prospective navigator-echo-based real-time triggering of fetal head movement for the reduction of artifacts.

Science.gov (United States)

Bonel, H; Frei, K A; Raio, L; Meyer-Wittkopf, M; Remonda, L; Wiest, R

2008-04-01

The purpose of this study was to evaluate the neuroimaging quality and accuracy of prospective real-time navigator-echo acquisition correction versus untriggered intrauterine magnetic resonance imaging (MRI) techniques. Twenty women in whom fetal motion artifacts compromised the neuroimaging quality of fetal MRI taken during the 28.7 +/- 4 week of pregnancy below diagnostic levels were additionally investigated using a navigator-triggered half-Fourier acquired single-shot turbo-spin echo (HASTE) sequence. Imaging quality was evaluated by two blinded readers applying a rating scale from 1 (not diagnostic) to 5 (excellent). Diagnostic criteria included depiction of the germinal matrix, grey and white matter, CSF, brain stem and cerebellum. Signal-difference-to-noise ratios (SDNRs) in the white matter and germinal zone were quantitatively evaluated. Imaging quality improved in 18/20 patients using the navigator echo technique (2.4 +/- 0.58 vs. 3.65 +/- 0.73 SD, p < 0.01 for all evaluation criteria). In 2/20 patients fetal movement severely impaired image quality in conventional and navigated HASTE. Navigator-echo imaging revealed additional structural brain abnormalities and confirmed diagnosis in 8/20 patients. The accuracy improved from 50% to 90%. Average SDNR increased from 0.7 +/- 7.27 to 19.83 +/- 15.71 (p < 0.01). Navigator-echo-based real-time triggering of fetal head movement is a reliable technique that can deliver diagnostic fetal MR image quality despite vigorous fetal movement.

Prospective navigator-echo-based real-time triggering of fetal head movement for the reduction of artifacts

Energy Technology Data Exchange (ETDEWEB)

Bonel, H. [University Hospital Berne-Inselspital, Freiburgstrasse, Institute of Diagnostic, Interventional and Pediatric Radiology, Bern (Switzerland); Frei, K.A.; Raio, L.; Meyer-Wittkopf, M. [University of Berne, Women' s' Hospital, Bern (Switzerland); Remonda, L.; Wiest, R. [University of Berne, Institute of Diagnostic and Interventional Neuroradiology (DIN), Inselspital, Bern (Switzerland)

2008-04-15

The purpose of this study was to evaluate the neuroimaging quality and accuracy of prospective real-time navigator-echo acquisition correction versus untriggered intrauterine magnetic resonance imaging (MRI) techniques. Twenty women in whom fetal motion artifacts compromised the neuroimaging quality of fetal MRI taken during the 28.7 {+-} 4 week of pregnancy below diagnostic levels were additionally investigated using a navigator-triggered half-Fourier acquired single-shot turbo-spin echo (HASTE) sequence. Imaging quality was evaluated by two blinded readers applying a rating scale from 1 (not diagnostic) to 5 (excellent). Diagnostic criteria included depiction of the germinal matrix, grey and white matter, CSF, brain stem and cerebellum. Signal-difference-to-noise ratios (SDNRs) in the white matter and germinal zone were quantitatively evaluated. Imaging quality improved in 18/20 patients using the navigator echo technique (2.4 {+-} 0.58 vs. 3.65 {+-} 0.73 SD, p < 0.01 for all evaluation criteria). In 2/20 patients fetal movement severely impaired image quality in conventional and navigated HASTE. Navigator-echo imaging revealed additional structural brain abnormalities and confirmed diagnosis in 8/20 patients. The accuracy improved from 50% to 90%. Average SDNR increased from 0.7 {+-} 7.27 to 19.83 {+-} 15.71 (p < 0.01). Navigator-echo-based real-time triggering of fetal head movement is a reliable technique that can deliver diagnostic fetal MR image quality despite vigorous fetal movement. (orig.)

Gravity Matching Aided Inertial Navigation Technique Based on Marginal Robust Unscented Kalman Filter

Directory of Open Access Journals (Sweden)

Ming Liu

2015-01-01

Full Text Available This paper is concerned with the topic of gravity matching aided inertial navigation technology using Kalman filter. The dynamic state space model for Kalman filter is constructed as follows: the error equation of the inertial navigation system is employed as the process equation while the local gravity model based on 9-point surface interpolation is employed as the observation equation. The unscented Kalman filter is employed to address the nonlinearity of the observation equation. The filter is refined in two ways as follows. The marginalization technique is employed to explore the conditionally linear substructure to reduce the computational load; specifically, the number of the needed sigma points is reduced from 15 to 5 after this technique is used. A robust technique based on Chi-square test is employed to make the filter insensitive to the uncertainties in the above constructed observation model. Numerical simulation is carried out, and the efficacy of the proposed method is validated by the simulation results.

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.

The hunt for the perfect discounting function and a reckoning of time perception.

Science.gov (United States)

Namboodiri, Vijay Mk; Hussain Shuler, Marshall G

2016-10-01

Making decisions that factor the cost of time is fundamental to survival. Yet, while it is readily appreciated that our perception of time is intimately involved in this process, theories regarding intertemporal decision-making and theories regarding time perception are treated, largely, independently. Even within these respective domains, models providing good fits to data fail to provide insight as to why, from a normative sense, those fits should take their apparent form. Conversely, normative models that proffer a rationalization for why an agent should weigh options in a particular way, or to perceive time in a particular way, fail to account for the full body of well-established experimental evidence. Here we review select, yet key advances in our understanding, identifying conceptual breakthroughs in the fields of intertemporal decision-making and in time perception, as well as their limits and failings in the face of hard-won experimental observation. On this background of accrued knowledge, a new conception unifying the domains of decision-making and time perception is put forward (Training-Integrated Maximization of Reinforcement Rate, TIMERR) to provide a better fit to observations and a more parsimonious reckoning of why we make choices, and thereby perceive time, the way we do. Copyright © 2016 Elsevier Ltd. All rights reserved.

Predation by northern squawfish on live and dead juvenile chinook salmon

International Nuclear Information System (INIS)

Gadomski, D.M.; Hall-Griswold, J.A.

1992-01-01

Northern squawfish Ptychocheilus oregonensis is a major predator of juvenile salmonids Oncorhynchus spp. migrating downstream through the Columbia River. High predation rates occur just below dams. If northern squawfish selectively consume salmonids killed or injured during dam passage, previous estimates of predation mortality may be too high. We conducted laboratory experiments that indicate northern squawfish prefer dead juvenile chinook salmon O. tshawytscha over live individuals. When equal numbers of dead and live chinook salmon were offered to northern squawfish maintained on a natural photoperiod (15 h light: 9 h darkness), significantly more (P < 0.05) dead than live fish were consumed, both in 1,400-L circular tanks and in an 11,300-L raceway (62% and 79% of prey consumed were dead, respectively). When dead and live juvenile chinook salmon were provided in proportions more similar to those below dams (20% dead, 80% live), northern squawfish still selected for dead prey (36% of fish consumed were dead). In additional experiments, northern squawfish were offered a proportion of 20% dead juvenile chinook salmon during 4-h periods of either light or darkness. The predators were much more selective for dead chinook salmon during bright light (88% of fish consumed were dead) than during darkness (31% were dead)

Dead of night.

Science.gov (United States)

Balter, Leon

2010-07-01

Dead of Night, the first psychoanalytic horror film, was produced in England in 1945, immediately after the end of World War II--that is, after the English population had suffered systematic Nazi terror from imminent invasion, incessant aerial bombing, and rocket-bombs. This film continued the prewar format of horror films based on themes of the supernatural and the hubris and excesses of science. However, it introduced psychoanalysis as the science in question. The film is structured on two levels: a genteel English country weekend to which witty and urbane guests have been invited; and five horror stories told by the guests. Psychoanalytic insights into this film structure are used here to explain how the film induces horror in the audience.

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.

Navigating on handheld displays: Dynamic versus Static Keyhole Navigation

NARCIS (Netherlands)

Mehra, S.; Werkhoven, P.; Worring, M.

2006-01-01

Handheld displays leave little space for the visualization and navigation of spatial layouts representing rich information spaces. The most common navigation method for handheld displays is static peephole navigation: The peephole is static and we move the spatial layout behind it (scrolling). A

Dead time effects in laser Doppler anemometry measurements

DEFF Research Database (Denmark)

Velte, Clara Marika; Buchhave, Preben; George, William K.

2014-01-01

frequency range, starting around the cutoff frequency due to the finite size of the MV. Using computer-generated data mimicking the LDA data, these effects have previously been shown to appear due to the effect of dead time, i.e., the finite time during which the system is not able to acquire new...... measurements. These dead times can be traced back to the fact that the burst-mode LDA cannot measure more than one signal burst at a time. Since the dead time is approximately equal to the residence time for a particle traversing a measurement volume, we are dealing with widely varying dead times, which...

Evaluation of the Terminal Sequencing and Spacing System for Performance Based Navigation Arrivals

Science.gov (United States)

Thipphavong, Jane; Jung, Jaewoo; Swenson, Harry N.; Martin, Lynne; Lin, Melody; Nguyen, Jimmy

2013-01-01

NASA has developed the Terminal Sequencing and Spacing (TSS) system, a suite of advanced arrival management technologies combining timebased scheduling and controller precision spacing tools. TSS is a ground-based controller automation tool that facilitates sequencing and merging arrivals that have both current standard ATC routes and terminal Performance-Based Navigation (PBN) routes, especially during highly congested demand periods. In collaboration with the FAA and MITRE's Center for Advanced Aviation System Development (CAASD), TSS system performance was evaluated in human-in-the-loop (HITL) simulations with currently active controllers as participants. Traffic scenarios had mixed Area Navigation (RNAV) and Required Navigation Performance (RNP) equipage, where the more advanced RNP-equipped aircraft had preferential treatment with a shorter approach option. Simulation results indicate the TSS system achieved benefits by enabling PBN, while maintaining high throughput rates-10% above baseline demand levels. Flight path predictability improved, where path deviation was reduced by 2 NM on average and variance in the downwind leg length was 75% less. Arrivals flew more fuel-efficient descents for longer, spending an average of 39 seconds less in step-down level altitude segments. Self-reported controller workload was reduced, with statistically significant differences at the p less than 0.01 level. The RNP-equipped arrivals were also able to more frequently capitalize on the benefits of being "Best-Equipped, Best- Served" (BEBS), where less vectoring was needed and nearly all RNP approaches were conducted without interruption.

Hidden Markov Model-based Pedestrian Navigation System using MEMS Inertial Sensors

Directory of Open Access Journals (Sweden)

Zhang Yingjun

2015-02-01

Full Text Available In this paper, a foot-mounted pedestrian navigation system using MEMS inertial sensors is implemented, where the zero-velocity detection is abstracted into a hidden Markov model with 4 states and 15 observations. Moreover, an observations extraction algorithm has been developed to extract observations from sensor outputs; sample sets are used to train and optimize the model parameters by the Baum-Welch algorithm. Finally, a navigation system is developed, and the performance of the pedestrian navigation system is evaluated using indoor and outdoor field tests, and the results show that position error is less than 3% of total distance travelled.

Stochastic Wheel-Slip Compensation Based Robot Localization and Mapping

Directory of Open Access Journals (Sweden)

SIDHARTHAN, R. K.

2016-05-01

Full Text Available Wheel slip compensation is vital for building accurate and reliable dead reckoning based robot localization and mapping algorithms. This investigation presents stochastic slip compensation scheme for robot localization and mapping. Main idea of the slip compensation technique is to use wheel-slip data obtained from experiments to model the variations in slip velocity as Gaussian distributions. This leads to a family of models that are switched depending on the input command. To obtain the wheel-slip measurements, experiments are conducted on a wheeled mobile robot and the measurements thus obtained are used to build the Gaussian models. Then the localization and mapping algorithm is tested on an experimental terrain and a new metric called the map spread factor is used to evaluate the ability of the slip compensation technique. Our results clearly indicate that the proposed methodology improves the accuracy by 72.55% for rotation and 66.67% for translation motion as against an uncompensated mapping system. The proposed compensation technique eliminates the need for extro receptive sensors for slip compensation, complex feature extraction and association algorithms. As a result, we obtain a simple slip compensation scheme for localization and mapping.

A navigational evaluation model for content management systems

International Nuclear Information System (INIS)

Gilani, S.; Majeed, A.

2016-01-01

Web applications are widely used world-wide, however it is important that the navigation of these websites is effective, to enhance usability. Navigation is not limited to links between pages, it is also how we complete a task. Navigational structure presented as hypertext is one of the most important component of the Web application besides content and presentation. The main objective of this paper is to explore the navigational structure of various open source Content Management Systems from the developer's perspective. For this purpose three CMS are chosen which are WordPress, Joomla, and Drupal. Objective of the research is to identify the important navigational aspects present in these CMSs. Moreover, a comparative study of these CMSs in terms of navigational support is required. For this purpose an industrial survey is conducted based on our proposed navigational evaluation model. The results shows that there exist correlation between the identified factors and these CMSs provide helpful and effective navigational support to their users. (author)

External Aiding Methods for IMU-Based Navigation

Science.gov (United States)

2016-11-26

Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 3.2.1 Startup Bias...Figure Page 1 Three Distributions Implemented for Error Parameters in SAIMUN . . . . . . . . . . . . 5 2 Accelerometer Output Corrupted by Startup ...external aiding, simulate the error sources encountered in the acquisition of measurement data, emulate the navigation software, and perform a range of

The ecosystem service value of living versus dead biogenic reef

Science.gov (United States)

Sheehan, E. V.; Bridger, D.; Attrill, M. J.

2015-03-01

Mixed maerl beds (corralline red algae) comprise dead thalli with varying amounts of live maerl fragments, but previously it was not known whether the presence of the live maerl increases the ecosystem service 'habitat provision' of the dead maerl for the associated epibenthos. A 'flying array' towed sled with high definition video was used to film transects of the epibenthos in dead maerl and mixed maerl beds in two locations to the north and south of the English Channel (Falmouth and Jersey). Mixed maerl beds supported greater number of taxa and abundance than dead beds in Falmouth, while in Jersey, mixed and dead beds supported similar number of taxa and dead beds had a greater abundance of epifauna. Scallops tended to be more abundant on mixed beds than dead beds. Tube worms were more abundant on mixed beds in Falmouth and dead beds in Jersey. An increasing percentage occurrence of live maerl thalli correlated with increasing number of taxa in Falmouth but not Jersey. It was concluded that while live thalli can increase the functional role of dead maerl beds for the epibenthos, this is dependent on location and response variable. As a result of this work, maerl habitat in SE Jersey has been protected from towed demersal fishing gear.

Advantages and limitations of navigation-based multicriteria optimization (MCO) for localized prostate cancer IMRT planning

International Nuclear Information System (INIS)

McGarry, Conor K.; Bokrantz, Rasmus; O’Sullivan, Joe M.; Hounsell, Alan R.

2014-01-01

Efficacy of inverse planning is becoming increasingly important for advanced radiotherapy techniques. This study’s aims were to validate multicriteria optimization (MCO) in RayStation (v2.4, RaySearch Laboratories, Sweden) against standard intensity-modulated radiation therapy (IMRT) optimization in Oncentra (v4.1, Nucletron BV, the Netherlands) and characterize dose differences due to conversion of navigated MCO plans into deliverable multileaf collimator apertures. Step-and-shoot IMRT plans were created for 10 patients with localized prostate cancer using both standard optimization and MCO. Acceptable standard IMRT plans with minimal average rectal dose were chosen for comparison with deliverable MCO plans. The trade-off was, for the MCO plans, managed through a user interface that permits continuous navigation between fluence-based plans. Navigated MCO plans were made deliverable at incremental steps along a trajectory between maximal target homogeneity and maximal rectal sparing. Dosimetric differences between navigated and deliverable MCO plans were also quantified. MCO plans, chosen as acceptable under navigated and deliverable conditions resulted in similar rectal sparing compared with standard optimization (33.7 ± 1.8 Gy vs 35.5 ± 4.2 Gy, p = 0.117). The dose differences between navigated and deliverable MCO plans increased as higher priority was placed on rectal avoidance. If the best possible deliverable MCO was chosen, a significant reduction in rectal dose was observed in comparison with standard optimization (30.6 ± 1.4 Gy vs 35.5 ± 4.2 Gy, p = 0.047). Improvements were, however, to some extent, at the expense of less conformal dose distributions, which resulted in significantly higher doses to the bladder for 2 of the 3 tolerance levels. In conclusion, similar IMRT plans can be created for patients with prostate cancer using MCO compared with standard optimization. Limitations exist within MCO regarding conversion of navigated plans to

Theoretical Limits of Lunar Vision Aided Navigation with Inertial Navigation System

Science.gov (United States)

2015-03-26

THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH INERTIAL NAVIGATION SYSTEM THESIS David W. Jones, Capt, USAF AFIT-ENG-MS-15-M-020 DEPARTMENT...Government and is not subject to copyright protection in the United States. AFIT-ENG-MS-15-M-020 THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH...DISTRIBUTION UNLIMITED. AFIT-ENG-MS-15-M-020 THEORETICAL LIMITS OF LUNAR VISION AIDED NAVIGATION WITH INERTIAL NAVIGATION SYSTEM THESIS David W. Jones

Camera Based Navigation System with Augmented Reality

Directory of Open Access Journals (Sweden)

M. Marcu

2012-06-01

Full Text Available Nowadays smart mobile devices have enough processing power, memory, storage and always connected wireless communication bandwidth that makes them available for any type of application. Augmented reality (AR proposes a new type of applications that tries to enhance the real world by superimposing or combining virtual objects or computer generated information with it. In this paper we present a camera based navigation system with augmented reality integration. The proposed system aims to the following: the user points the camera of the smartphone towards a point of interest, like a building or any other place, and the application searches for relevant information about that specific place and superimposes the data over the video feed on the display. When the user moves the camera away, changing its orientation, the data changes as well, in real-time, with the proper information about the place that is now in the camera view.

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

Science.gov (United States)

Li, Hong; Liu, Mingyong; Zhang, Feihu

2017-01-01

This paper presents a multi-objective evolutionary algorithm of bio-inspired geomagnetic navigation for Autonomous Underwater Vehicle (AUV). Inspired by the biological navigation behavior, the solution was proposed without using a priori information, simply by magnetotaxis searching. However, the existence of the geomagnetic anomalies has significant influence on the geomagnetic navigation system, which often disrupts the distribution of the geomagnetic field. An extreme value region may easily appear in abnormal regions, which makes AUV lost in the navigation phase. This paper proposes an improved bio-inspired algorithm with behavior constraints, for sake of making AUV escape from the abnormal region. First, the navigation problem is considered as the optimization problem. Second, the environmental monitoring operator is introduced, to determine whether the algorithm falls into the geomagnetic anomaly region. Then, the behavior constraint operator is employed to get out of the abnormal region. Finally, the termination condition is triggered. Compared to the state-of- the-art, the proposed approach effectively overcomes the disturbance of the geomagnetic abnormal. The simulation result demonstrates the reliability and feasibility of the proposed approach in complex environments.

COMPARATIVE ANALYSIS OF TECHNILOGIES OF CHITOSAN PRODUCTION FROM DEAD BEES

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Marina Abramova

2017-07-01

Full Text Available Objective: The aim of this work is to study the characteristics of technology of chitosan obtaining from unconventional sources, namely from dead bees. Methods: The article considers three methods of chitosan obtaining from dead bees, namely the technology with the usage of dead bees with low degree of drying; the technology with the usage of dead bees with high degree of drying; the technology with the usage of dead bees with high degree of drying but without separation of deproteination and deacetylation stages. Results: It is proved that the technology with the usage of dead bees with high degree of drying but without separation of deproteination and deacetylation stages does not require high temperatures and long time. Yield of chitosan with the use of this technology is 21-24%. Discussion: The expediency of dead bees usage as raw material for the production of chitosan in Ukraine is shown. The technologies of chitosan obtaining from dead bees are compared, the most efficient one is chosen, which provide the highest yield of the finished product, so it is the most promising for the application in practice.

A change navigation-based, scenario planning process within a developing world context from an Afro-centric leadership perspective

Directory of Open Access Journals (Sweden)

Chris A. Geldenhuys

2011-02-01

Research purpose: This study aimed to investigate how scenario-based planning (a strictly cognitive management tool can be combined with organisational change navigation (a practice addressing the emotionality of change and how this integrated process should be aligned with the prerequisites imposed by a developing country context and an Afro-centric leadership perspective in order to make the process more context relevant and aligned. Motivation for the study: The integration of organisational change navigation with conventional scenario based planning, as well as the incorporation of the perquisites of a developing countries and an Afro-centric leadership perspective, will give organisations a more robust, holistic strategic management tool that will add significantly more value within a rapidly, radically and unpredictably changing world. Research design, approach and method: The adopted research approach comprised a combination of the sourcing of the latest thinking in the literature (the ‘theory’ as well as the views of seasoned practitioners of scenario planning (the ‘practice’ through an iterative research process, moving between theory and practice, back to practice and finally returning to theory in order to arrive at a validated expanded and enhanced scenario-based planning process which is both theory and practice ‘proof’. Main findings: A management tool incorporating the change navigation and the unique features of developing countries and Afro-centric leadership was formulated and empirically validated. This management tool is referred to as a change navigation based, scenario planning process (CNBSPP. Practical/managerial implications: CNBSPP is available for use by organisations wishing to apply a strategic planning tool that fits within a developing country context and an Afro-centric leadership approach. Contribution/value add: The research makes a unique contribution to the current level of knowledge by integrating two disciplines

14 CFR 1203b.106 - Use of deadly force.

Science.gov (United States)

2010-01-01

... 14 Aeronautics and Space 5 2010-01-01 2010-01-01 false Use of deadly force. 1203b.106 Section... AUTHORITY AND USE OF FORCE BY NASA SECURITY FORCE PERSONNEL § 1203b.106 Use of deadly force. Deadly force shall be used only in those circumstances where the security force officer reasonably believes that...

Robust model reference adaptive output feedback tracking for uncertain linear systems with actuator fault based on reinforced dead-zone modification.

Science.gov (United States)

Bagherpoor, H M; Salmasi, Farzad R

2015-07-01

In this paper, robust model reference adaptive tracking controllers are considered for Single-Input Single-Output (SISO) and Multi-Input Multi-Output (MIMO) linear systems containing modeling uncertainties, unknown additive disturbances and actuator fault. Two new lemmas are proposed for both SISO and MIMO, under which dead-zone modification rule is improved such that the tracking error for any reference signal tends to zero in such systems. In the conventional approach, adaption of the controller parameters is ceased inside the dead-zone region which results tracking error, while preserving the system stability. In the proposed scheme, control signal is reinforced with an additive term based on tracking error inside the dead-zone which results in full reference tracking. In addition, no Fault Detection and Diagnosis (FDD) unit is needed in the proposed approach. Closed loop system stability and zero tracking error are proved by considering a suitable Lyapunov functions candidate. It is shown that the proposed control approach can assure that all the signals of the close loop system are bounded in faulty conditions. Finally, validity and performance of the new schemes have been illustrated through numerical simulations of SISO and MIMO systems in the presence of actuator faults, modeling uncertainty and output disturbance. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Resurrecting deadly carrots

DEFF Research Database (Denmark)

Weitzel, Corinna; Rønsted, Nina; Spalik, Krysztof

2014-01-01

Thapsia L. circumscribes a small genus of herbaceous perennials in the taxonomically difficult family Apiaceae. Thapsia occurs around the Mediterranean, extending from the Atlantic coasts of Portugal and Morocco to Crete and other Greek Islands in the East. Thapsia is commonly known as deadly...

Si(Li) detectors with thin dead layers for low energy x-ray detection

International Nuclear Information System (INIS)

Rossington, C.S.; Walton, J.T.; Jaklevic, J.M.

1990-10-01

Regions of incomplete charge collection, or ''dead layers'', are compared for Si(Li) detectors fabricated with Au and Pd entrance window electrodes. The dead layers were measured by characterizing the detector spectral response to x-ray energies above and below the Si Kα absorption edge. It was found that Si(Li) detectors with Pd electrodes exhibit consistently thinner effective Si dead layers than those with Au electrodes. Furthermore, it is demonstrated that the minimum thickness required for low resistivity Pd electrodes is thinner than that required for low resistivity Au electrodes, which further reduces the signal attenuation in Pd/Si(Li) detectors. A model, based on Pd compensation of oxygen vacancies in the SiO 2 at the entrance window Si(Li) surface, is proposed to explain the observed differences in detector dead layer thickness. Electrode structures for optimum Si(Li) detector performance at low x-ray energies are discussed. 18 refs., 8 figs., 1 tab

Dead-Time Generation in Six-Phase Frequency Inverter

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Aurelijus Pitrėnas

2016-06-01

Full Text Available In this paper control of multi-phase induction drives is discussed. Structure of six-phase frequency inverter is examined. The article deals with dead-time generation circuits in six-phase frequency inverter for transistor control signals. Computer models of dead-time circuits is created using LTspice software package. Simulation results are compared with experimental results of the tested dead-time circuits. Parameters obtained in simulation results are close to the parameters obtained in experimental results.

Risk management model of winter navigation operations

International Nuclear Information System (INIS)

Valdez Banda, Osiris A.; Goerlandt, Floris; Kuzmin, Vladimir; Kujala, Pentti; Montewka, Jakub

2016-01-01

The wintertime maritime traffic operations in the Gulf of Finland are managed through the Finnish–Swedish Winter Navigation System. This establishes the requirements and limitations for the vessels navigating when ice covers this area. During winter navigation in the Gulf of Finland, the largest risk stems from accidental ship collisions which may also trigger oil spills. In this article, a model for managing the risk of winter navigation operations is presented. The model analyses the probability of oil spills derived from collisions involving oil tanker vessels and other vessel types. The model structure is based on the steps provided in the Formal Safety Assessment (FSA) by the International Maritime Organization (IMO) and adapted into a Bayesian Network model. The results indicate that ship independent navigation and convoys are the operations with higher probability of oil spills. Minor spills are most probable, while major oil spills found very unlikely but possible. - Highlights: •A model to assess and manage the risk of winter navigation operations is proposed. •The risks of oil spills in winter navigation in the Gulf of Finland are analysed. •The model assesses and prioritizes actions to control the risk of the operations. •The model suggests navigational training as the most efficient risk control option.

Ground-Based Global Navigation Satellite System (GNSS) GPS Broadcast Ephemeris Data (daily files) from NASA CDDIS

Data.gov (United States)

National Aeronautics and Space Administration — This dataset consists of ground-based Global Navigation Satellite System (GNSS) GPS Broadcast Ephemeris Data (daily files) from the NASA Crustal Dynamics Data...

Collective navigation of complex networks: Participatory greedy routing.

Science.gov (United States)

Kleineberg, Kaj-Kolja; Helbing, Dirk

2017-06-06

Many networks are used to transfer information or goods, in other words, they are navigated. The larger the network, the more difficult it is to navigate efficiently. Indeed, information routing in the Internet faces serious scalability problems due to its rapid growth, recently accelerated by the rise of the Internet of Things. Large networks like the Internet can be navigated efficiently if nodes, or agents, actively forward information based on hidden maps underlying these systems. However, in reality most agents will deny to forward messages, which has a cost, and navigation is impossible. Can we design appropriate incentives that lead to participation and global navigability? Here, we present an evolutionary game where agents share the value generated by successful delivery of information or goods. We show that global navigability can emerge, but its complete breakdown is possible as well. Furthermore, we show that the system tends to self-organize into local clusters of agents who participate in the navigation. This organizational principle can be exploited to favor the emergence of global navigability in the system.

Ballistic Aspects of Feasibility for Prospective Satellite Navigation Technologies

Directory of Open Access Journals (Sweden)

L. N. Lysenko

2015-01-01

Full Text Available When modeling the operating processes of ballistics and navigation support it is expedient to make decomposition of the general problem of coordinate-time and navigation support into the typical options of its engineering implementation.As the satellite navigation technologies the paper considers inter-satellite measurement and autonomous navigation mode of differential correction. It also assesses the possibility of their application to improve the accuracy of navigation determinations.Technologies using inter-satellite measurement tools such as GLONASS / GPS equipment, equipment of inter-satellite radio link, astro-optical space based devices are an independent class of navigation technologies.However, each of these options has both advantages and disadvantages that affect the eva luation of the appropriateness and feasibility of their use.The paper separately considers the problem of increasing survivability of space systems and conservation of ground control complex due to introduction of requirements to ensure the independent functioning of spacecraft and application of technologies of ballistics and navigation support, supposing to involve minimum means of automated ground control complex for these purposes.Currently, there is a completely developed theory of autonomous navigation based on astronomical positional gauges, which are used as onboard optical sensors of orientation and stabilization systems.To date, the differential navigation mode is, virtually, the only approach that can allow the olution of tasks in terms of increased accuracy, but with some restrictions.The implementation of differential mode of treatment is carried out through the creation of differential subsystems of the satellite navigation systems. These subsystems are usually divided into wide-range, regional and local ones.Analysis of ballistic aspects to implement discussed navigation technologies allowed us to identify constraints for improving accuracy to define

Ambler: Performance of a six-legged planetary rover

Science.gov (United States)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1995-01-01

In this paper we quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. We present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. We document the performance of a novel dead-reckoning approach, and analyze its accuracy. We describe the results of autonomous walking experiments in terms of terrain traversed, walking speed and endurance.

IoT-Based Information System for Healthcare Application: Design Methodology Approach

Directory of Open Access Journals (Sweden)

Damian Dziak

2017-06-01

Full Text Available Over the last few decades, life expectancy has increased significantly. However, elderly people who live on their own often need assistance due to mobility difficulties, symptoms of dementia or other health problems. In such cases, an autonomous supporting system may be helpful. This paper proposes the Internet of Things (IoT-based information system for indoor and outdoor use. Since the conducted survey of related works indicated a lack of methodological approaches to the design process, therefore a Design Methodology (DM, which approaches the design target from the perspective of the stakeholders, contracting authorities and potential users, is introduced. The implemented solution applies the three-axial accelerometer and magnetometer, Pedestrian Dead Reckoning (PDR, thresholding and the decision trees algorithm. Such an architecture enables the localization of a monitored person within four room-zones with accuracy; furthermore, it identifies falls and the activities of lying, standing, sitting and walking. Based on the identified activities, the system classifies current activities as normal, suspicious or dangerous, which is used to notify the healthcare staff about possible problems. The real-life scenarios validated the high robustness of the proposed solution. Moreover, the test results satisfied both stakeholders and future users and ensured further cooperation with the project.

Ground-Based Global Navigation Satellite System Mixed Broadcast Ephemeris Data (sub-hourly files) from NASA CDDIS

Data.gov (United States)

National Aeronautics and Space Administration — This dataset consists of ground-based Global Navigation Satellite System (GNSS) Mixed Broadcast Ephemeris Data (sub-hourly files) from the NASA Crustal Dynamics Data...

The zero inflation of standing dead tree carbon stocks

Science.gov (United States)

Christopher W. Woodall; David W. MacFarlane

2012-01-01

Given the importance of standing dead trees in numerous forest ecosystem attributes/processes such as carbon (C) stocks, the USDA Forest Service’s Forest Inventory and Analysis (FIA) program began consistent nationwide sampling of standing dead trees in 1999. Modeled estimates of standing dead tree C stocks are currently used as the official C stock estimates for the...

Biodiversity of Cryptofauna (Decapods) and Their Correlation with Dead Coral Pocillopora sp. Volume at Bunaken Island, North Sulawesi

Science.gov (United States)

Malik, Muhammad Danie Al; Kholilah, Nenik; Kurniasih, Eka Maya; Sembiring, Andrianus; Pertiwi, Ni Putu Dian; Ambariyanto, Ambariyanto; Munasik, Munasik; Meyer, Christopher

2018-02-01

Decapod is known as cryptofauna which is also important component of coral reef biodiversity. Dead corals are one of the area which usually used by decapods to live. This research aims to observe the diversity of cryptofauna (decapods) and the correlation between the number of decapods with the volume of dead corals. Ten dead corals, Pocillopora sp., were collected at 5 m depth at Bunaken Island. These dead corals were measured their volume and all decapods found were counted and identified up to family level. The richness and abundance were analyzed using ACE (Abundance-Based Coverage Estimates) and Chao 1. The results show that there were in total 474 decapods from 13 families found within all ten dead corals. Xanthidae was showed as the most abundance family among all, with 161 individual. Diversity index of decapods was found at medium category with value of 2.01. Rarefaction curve based on richness and abundance showed an estimation of 13 families. The result also indicated that the asymptote stage was reached on the 10th dead coral samples. The correlation between decapod with the volume of dead coral were showed significant positive correlation (r = 0.673, p<0.05). This result provides benefits to basic knowledge about diversity of decapod which one of cryptofauna as component fauna have a habitat on coral reef ecosystem.

A low-cost test-bed for real-time landmark tracking

Science.gov (United States)

Csaszar, Ambrus; Hanan, Jay C.; Moreels, Pierre; Assad, Christopher

2007-04-01

A low-cost vehicle test-bed system was developed to iteratively test, refine and demonstrate navigation algorithms before attempting to transfer the algorithms to more advanced rover prototypes. The platform used here was a modified radio controlled (RC) car. A microcontroller board and onboard laptop computer allow for either autonomous or remote operation via a computer workstation. The sensors onboard the vehicle represent the types currently used on NASA-JPL rover prototypes. For dead-reckoning navigation, optical wheel encoders, a single axis gyroscope, and 2-axis accelerometer were used. An ultrasound ranger is available to calculate distance as a substitute for the stereo vision systems presently used on rovers. The prototype also carries a small laptop computer with a USB camera and wireless transmitter to send real time video to an off-board computer. A real-time user interface was implemented that combines an automatic image feature selector, tracking parameter controls, streaming video viewer, and user generated or autonomous driving commands. Using the test-bed, real-time landmark tracking was demonstrated by autonomously driving the vehicle through the JPL Mars yard. The algorithms tracked rocks as waypoints. This generated coordinates calculating relative motion and visually servoing to science targets. A limitation for the current system is serial computing-each additional landmark is tracked in order-but since each landmark is tracked independently, if transferred to appropriate parallel hardware, adding targets would not significantly diminish system speed.

Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints

Directory of Open Access Journals (Sweden)

Ricard Campos

2016-03-01

Full Text Available Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project.

Radiation doses to patients in computed tomography including a ready reckoner for dose estimation

International Nuclear Information System (INIS)

Szendroe, G.; Axelsson, B.; Leitz, W.

1995-11-01

The radiation burden from CT-examinations is still growing in most countries and has reached a considerable part of the total from medical diagnostic x-ray procedures. Efforts for avoiding excess radiation doses are therefore especially well motivated within this field. A survey of CT-examination techniques practised in Sweden showed that standard settings for the exposure variables are used for the vast majority of examinations. Virtually no adjustments to the patient's differences in anatomy have been performed - even for infants and children on average the same settings have been used. The adjustment of the exposure variables to the individual anatomy offers a large potential of dose savings. Amongst the imaging parameters, a change of the radiation dose will primarily influence the noise. As a starting point it is assumed that, irrespective of the patient's anatomy, the same level of noise can be accepted for a certain diagnostic task. To a large extent the noise level is determined by the number of photons that are registered in the detector. Hence, for different patient size and anatomy, the exposure should be adjusted so that the same transmitted photon fluence is achieved. An appendix with a ready reckoner for dose estimation for CT-scanners used in Sweden is attached. 7 refs, 5 figs, 8 tabs

Effect of counting system dead time on thyroid uptake measurements

International Nuclear Information System (INIS)

Simpkin, D.J.

1984-01-01

Equations are derived and the results of numerical calculations shown that illustrate the effect of counting system dead time on measured thyroid uptake of radioiodine. It is predicted that the observed uptake is higher than the true uptake due to system dead time. This is shown for both paralyzing and nonparalyzing dead time. The effect of increasing the administered activity is shown to increase the measured uptake, in a manner predicted by the paralyzable and nonparalyzable dead time models

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Directory of Open Access Journals (Sweden)

Xingguang Duan

2018-01-01

Full Text Available In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Science.gov (United States)

Duan, Xingguang; Gao, Liang; Li, Jianxi; Li, Haoyuan; Guo, Yanjun

2018-01-01

In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning. PMID:29599948

All at sea without a clock - Longitude from lunar distances.

Science.gov (United States)

Floyd, D. J. E.

2005-12-01

I present a brief history of the ``Lunar Distance" technique for determining Longitude at sea, as developed by Astronomer Royal Neville Maskelyne (1732-1811) and others. I illustrate this history using images and results from a recent (2001) BBC History project to re-enact part of Captain James Cook's first voyage, from near-shipwreck on the east coast Australia, back to the relative safety of Batavia (modern-day Djakarta). I demonstrate the practical use of Lunars to determine longitude at sea, illustrated through comparison to GPS coordinates obtained along the voyage. During windows of lunar visibility, using new tables drawn up at HMNAO, we were able to match or exceed Maskelyne's stated accuracy of 30 nautical miles (0.5 degrees). Close to New Moon, dependent on our own skills of dead-reckoning, we prove far less able navigators than Cook and his cohort! I acknowledge the enormous assistance of Catherine Hohenkerk of the HMNAO, Tanya Batchelor of the BBC, George Huxtable, John Jeffrey, and John Selwyn-Gilbert in researching this subject. I gratefully acknowledge funding from the BBC, and HM Bark Endeavour Foundation for the use of their glorious ship, the Endeavour.

Compression-Based Tools for Navigation with an Image Database

Directory of Open Access Journals (Sweden)

Giovanni Motta

2012-01-01

Full Text Available We present tools that can be used within a larger system referred to as a passive assistant. The system receives information from a mobile device, as well as information from an image database such as Google Street View, and employs image processing to provide useful information about a local urban environment to a user who is visually impaired. The first stage acquires and computes accurate location information, the second stage performs texture and color analysis of a scene, and the third stage provides specific object recognition and navigation information. These second and third stages rely on compression-based tools (dimensionality reduction, vector quantization, and coding that are enhanced by knowledge of (approximate location of objects.

A fast position estimation method for a control rod guide tube inspection robot with a single camera

International Nuclear Information System (INIS)

Lee, Jae C.; Seop, Jun H.; Choi, Yu R.; Kim, Jae H.

2004-01-01

One of the problems in the inspection of control rod guide tubes using a mobile robot is accurate estimation of the robot's position. The problem is usually explained by the question 'Where am I?'. We can solve this question by a method called dead reckoning using odometers. But it has some inherent drawbacks such that the position error grows without bound unless an independent reference is used periodically to reduce the errors. In this paper, we presented one method to overcome this drawback by using a vision sensor. Our method is based on the classical Lucas Kanade algorithm for on image tracking. In this algorithm, an optical flow must be calculated at every image frame, thus it has intensive computing load. In order to handle large motions, it is preferable to use a large integration window. But a small integration window is more preferable to keep the details contained in the images. We used the robot's movement information obtained from the dead reckoning as an input parameter for the feature tracking algorithm in order to restrict the position of an integration window. By means of this method, we could reduce the size of an integration window without any loss of its ability to handle large motions and could avoid the trade off in the accuracy. And we could estimate the position of our robot relatively fast without on intensive computing time and the inherent drawbacks mentioned above. We studied this algorithm for applying it to the control rod guide tubes inspection robot and tried an inspection without on operator's intervention

Distributed Cognition in Ship Navigation and Prevention of Collision

DEFF Research Database (Denmark)

Koester, Thomas; Hyll, Nikolaj; Stage, Jan

2009-01-01

In this paper we investigate how technology can help the navigator to a better performance. We use three examples based on observations onboard three ships to show, how technology can support the work of the navigator and thereby enhance the performance. Our analysis is based on the paradigm...

Dead-ice environments

DEFF Research Database (Denmark)

Krüger, Johannes; Kjær, Kurt H.; Schomacker, Anders

2010-01-01

glacier environment. The scientific challenges are to answer the key questions. What are the conditions for dead-ice formation? From which sources does the sediment cover originate? Which melting and reworking processes act in the ice-cored moraines? What is the rate of de-icing in the ice-cored moraines...

33 CFR 2.36 - Navigable waters of the United States, navigable waters, and territorial waters.

Science.gov (United States)

2010-07-01

... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Navigable waters of the United States, navigable waters, and territorial waters. 2.36 Section 2.36 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY GENERAL JURISDICTION Jurisdictional Terms § 2.36 Navigable waters...

Addressing the Influence of Space Weather on Airline Navigation

Science.gov (United States)

Sparks, Lawrence

2012-01-01

The advent of satellite-based augmentation systems has made it possible to navigate aircraft safely using radio signals emitted by global navigation satellite systems (GNSS) such as the Global Positioning System. As a signal propagates through the earth's ionosphere, it suffers delay that is proportional to the total electron content encountered along the raypath. Since the magnitude of this total electron content is strongly influenced by space weather, the safety and reliability of GNSS for airline navigation requires continual monitoring of the state of the ionosphere and calibration of ionospheric delay. This paper examines the impact of space weather on GNSS-based navigation and provides an overview of how the Wide Area Augmentation System protects its users from positioning error due to ionospheric disturbances

Spiritual bonds to the dead in cross-cultural and historical perspective: comparative religion and modern grief.

Science.gov (United States)

Klass, D; Goss, R

1999-09-01

Contemporary spirituality within continuing bonds with the dead is placed into the comparative context of Western Christianity and Japanese Buddhism. Throughout history, humans have maintained interaction with two kinds of dead: ancestors and sacred dead, the first characterized by symmetrical relationships and the second by asymmetrical. Continuing bonds are deeply connected with, and are often in conflict with, bonds to the nation and (in the West) to God. In this framework, the authors find that continuing bonds in the present function within the private sphere and have very limited functions within the larger society, resemble traditional bonds with the sacred dead, and, at this time, offer a mild critique of the values and lifestyles on which consumer capitalism is based.

Hybrid Map-Based Navigation Method for Unmanned Ground Vehicle in Urban Scenario

Directory of Open Access Journals (Sweden)

Huiyan Chen

2013-07-01

Full Text Available To reduce the data size of metric map and map matching computational cost in unmanned ground vehicle self-driving navigation in urban scenarios, a metric-topological hybrid map navigation system is proposed in this paper. According to the different positioning accuracy requirements, urban areas are divided into strong constraint (SC areas, such as roads with lanes, and loose constraint (LC areas, such as intersections and open areas. As direction of the self-driving vehicle is provided by traffic lanes and global waypoints in the road network, a simple topological map is fit for the navigation in the SC areas. While in the LC areas, the navigation of the self-driving vehicle mainly relies on the positioning information. Simultaneous localization and mapping technology is used to provide a detailed metric map in the LC areas, and a window constraint Markov localization algorithm is introduced to achieve accurate position using laser scanner. Furthermore, the real-time performance of the Markov algorithm is enhanced by using a constraint window to restrict the size of the state space. By registering the metric maps into the road network, a hybrid map of the urban scenario can be constructed. Real unmanned vehicle mapping and navigation tests demonstrated the capabilities of the proposed method.

Reflecting on the tensions faced by a community-based multicultural health navigator service.

Science.gov (United States)

Henderson, Saras; Kendall, Elizabeth

2014-11-01

The community navigator model was developed to assist four culturally and linguistically diverse communities (Sudanese, Burmese, Pacific Islander Group, Afghani) in south-east Queensland to negotiate the Australian health system and promote health. Using participatory action research, we developed the model in partnership with community leaders and members, the local health department and two non-governmental organisations. Following implementation, we evaluated the model, with the results published elsewhere. However, our evaluation revealed that although the model was accepted by the communities and was associated with positive health outcomes, the financial, social and organisational durability of the model was problematic. Ironically, this situation was inadvertently created by critical decisions made during the development process to enhance the durability and acceptability of the model. This paper explores these critical decisions, our rationale for making those decisions and the four hidden tensions that subsequently emerged. Using a reflective case study method to guide our analysis, we provide possible resolutions to these tensions that may promote the longevity and utility of similar models in the future. WHAT IS KNOWN ABOUT THE TOPIC?: The use of community navigators to assist culturally diverse communities to access health services is not new. Many benefits have been documented for communities, individuals and heath service providers following the use of such models. What is not well documented is how to maintain these models in a safe and cost-effective way within the Australian health system while respecting cultural and community practices and reducing the burden of service delivery on the navigators. WHAT DOES THIS PAPER ADD?: This paper provides a perspective on how the development of community-based service models inherently places them in a position of tension that must be resolved if they are to be long lasting. Four core tensions experienced

VISION-AIDED CONTEXT-AWARE FRAMEWORK FOR PERSONAL NAVIGATION SERVICES

Directory of Open Access Journals (Sweden)

S. Saeedi

2012-07-01

Full Text Available The ubiquity of mobile devices (such as smartphones and tablet-PCs has encouraged the use of location-based services (LBS that are relevant to the current location and context of a mobile user. The main challenge of LBS is to find a pervasive and accurate personal navigation system (PNS in different situations of a mobile user. In this paper, we propose a method of personal navigation for pedestrians that allows a user to freely move in outdoor environments. This system aims at detection of the context information which is useful for improving personal navigation. The context information for a PNS consists of user activity modes (e.g. walking, stationary, driving, and etc. and the mobile device orientation and placement with respect to the user. After detecting the context information, a low-cost integrated positioning algorithm has been employed to estimate pedestrian navigation parameters. The method is based on the integration of the relative user’s motion (changes of velocity and heading angle estimation based on the video image matching and absolute position information provided by GPS. A Kalman filter (KF has been used to improve the navigation solution when the user is walking and the phone is in his/her hand. The Experimental results demonstrate the capabilities of this method for outdoor personal navigation systems.

In vivo mapping of the functional regions of the DEAD-box helicase Vasa

Directory of Open Access Journals (Sweden)

Mehrnoush Dehghani

2015-03-01

Full Text Available The maternally expressed Drosophila melanogaster DEAD-box helicase Vasa (Vas is necessary for many cellular and developmental processes, including specification of primordial germ cells (pole cells, posterior patterning of the embryo, piRNA-mediated repression of transposon-encoded mRNAs, translational activation of gurken (grk mRNA, and completion of oogenesis itself. Vas protein accumulates in the perinuclear nuage in nurse cells soon after their specification, and then at stage 10 Vas translocates to the posterior pole plasm of the oocyte. We produced a series of transgenic constructs encoding eGFP-Vas proteins carrying mutations affecting different regions of the protein, and analyzed in vivo which Vas functions each could support. We identified novel domains in the N- and C-terminal regions of the protein that are essential for localization, transposon repression, posterior patterning, and pole cell specification. One such functional region, the most C-terminal seven amino acids, is specific to Vas orthologues and is thus critical to distinguishing Vas from other closely related DEAD-box helicases. Surprisingly, we also found that many eGFP-Vas proteins carrying mutations that would be expected to abrogate DEAD-box helicase function localized to the nuage and posterior pole, and retained the capacity to support oogenesis, although they did not function in embryonic patterning, pole cell specification, grk activation, or transposon repression. We conclude from these experiments that Vas, a multifunctional protein, uses different domains and different molecular associations to carry out its various cellular and developmental roles.

Risk-based asset management of a navigation network

NARCIS (Netherlands)

Toorn, A. van der; Wiel, W. van der; Rooij, M. de; Janssen, H.; Kiljan, D.J.

2013-01-01

In the Netherlands the State Public Works is responsible for the main waterway network, where locks are mostly the decisive bottlenecks in the navigation corridors. In the last decade the State Public Works has changed from a technical oriented maintenance organization mainly focussed at the

Correction for intrinsic and set dead-time losses in radioactivity counting

International Nuclear Information System (INIS)

Wyllie, H.A.

1992-12-01

Equations are derived for the determination of the intrinsic dead time of the components which precede the paralysis unit in a counting system for measuring radioactivity. The determination depends on the extension of the set dead time by the intrinsic dead time. Improved formulae are given for the dead-time correction of the count rate of a radioactive source in a single-channel system. A variable in the formulae is the intrinsic dead time which is determined concurrently with the counting of the source. The only extra equipment required in a conventional system is a scaler. 5 refs., 2 tabs., 21 figs

Accuracy of Cup Positioning With the Computed Tomography-Based Two-dimensional to Three-Dimensional Matched Navigation System: A Prospective, Randomized Controlled Study.

Science.gov (United States)

Yamada, Kazuki; Endo, Hirosuke; Tetsunaga, Tomonori; Miyake, Takamasa; Sanki, Tomoaki; Ozaki, Toshifumi

2018-01-01

The accuracy of various navigation systems used for total hip arthroplasty has been described, but no publications reported the accuracy of cup orientation in computed tomography (CT)-based 2D-3D (two-dimensional to three-dimensional) matched navigation. In a prospective, randomized controlled study, 80 hips including 44 with developmental dysplasia of the hips were divided into a CT-based 2D-3D matched navigation group (2D-3D group) and a paired-point matched navigation group (PPM group). The accuracy of cup orientation (absolute difference between the intraoperative record and the postoperative measurement) was compared between groups. Additionally, multiple logistic regression analysis was performed to evaluate patient factors affecting the accuracy of cup orientation in each navigation. The accuracy of cup inclination was 2.5° ± 2.2° in the 2D-3D group and 4.6° ± 3.3° in the PPM group (P = .0016). The accuracy of cup anteversion was 2.3° ± 1.7° in the 2D-3D group and 4.4° ± 3.3° in the PPM group (P = .0009). In the PPM group, the presence of roof osteophytes decreased the accuracy of cup inclination (odds ratio 8.27, P = .0140) and the absolute value of pelvic tilt had a negative influence on the accuracy of cup anteversion (odds ratio 1.27, P = .0222). In the 2D-3D group, patient factors had no effect on the accuracy of cup orientation. The accuracy of cup positioning in CT-based 2D-3D matched navigation was better than in paired-point matched navigation, and was not affected by patient factors. It is a useful system for even severely deformed pelvises such as developmental dysplasia of the hips. Copyright © 2017 Elsevier Inc. All rights reserved.

Virtually Dead: Digital Public Mortuary Archaeology

Directory of Open Access Journals (Sweden)

Howard Williams

2015-12-01

Full Text Available Over recent decades, the ethics, politics and public engagements of mortuary archaeology have received sustained scrutiny, including how we handle, write about and display the archaeological dead. Yet the burgeoning use of digital media to engage different audiences in the archaeology of death and burial have so far escaped attention. This article explores categories and strategies by which digital media create virtual communities engaging with mortuary archaeology. Considering digital public mortuary archaeology (DPMA as a distinctive theme linking archaeology, mortality and material culture, we discuss blogs, vlogs and Twitter as case studies to illustrate the variety of strategies by which digital media can promote, educate and engage public audiences with archaeological projects and research relating to death and the dead in the human past. The article then explores a selection of key critical concerns regarding how the digital dead are currently portrayed, identifying the need for further investigation and critical reflection on DPMA’s aims, objectives and aspired outcomes.

77 FR 42637 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments; Corrections

Science.gov (United States)

2012-07-20

... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Parts 84 and 115 [Docket No. USCG-2012-0306] RIN 1625-AB86 Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments...), the Coast Guard published a final rule entitled ``Navigation and Navigable Waters; Technical...

The Dead Walk

Directory of Open Access Journals (Sweden)

Bill Phillips

2014-02-01

Full Text Available Monsters have always enjoyed a significant presence in the human imagination, and religion was instrumental in replacing the physical horror they engendered with that of a moral threat. Zombies, however, are amoral – their motivation purely instinctive and arbitrary, yet they are, perhaps, the most loathed of all contemporary monsters. One explanation for this lies in the theory of the uncanny valley, proposed by robotics engineer Masahiro Mori. According to the theory, we reserve our greatest fears for those things which seem most human, yet are not – such as dead bodies. Such a reaction is most likely a survival mechanism to protect us from danger and disease – a mechanism even more essential when the dead rise up and walk. From their beginnings zombies have reflected western societies’ greatest fears – be they of revolutionary Haitians, women, or communists. In recent years the rise in the popularity of the zombie in films, books and television series reflects our fears for the planet, the economy, and of death itself

Maximum Correntropy Unscented Kalman Filter for Ballistic Missile Navigation System based on SINS/CNS Deeply Integrated Mode.

Science.gov (United States)

Hou, Bowen; He, Zhangming; Li, Dong; Zhou, Haiyin; Wang, Jiongqi

2018-05-27

Strap-down inertial navigation system/celestial navigation system ( SINS/CNS) integrated navigation is a high precision navigation technique for ballistic missiles. The traditional navigation method has a divergence in the position error. A deeply integrated mode for SINS/CNS navigation system is proposed to improve the navigation accuracy of ballistic missile. The deeply integrated navigation principle is described and the observability of the navigation system is analyzed. The nonlinearity, as well as the large outliers and the Gaussian mixture noises, often exists during the actual navigation process, leading to the divergence phenomenon of the navigation filter. The new nonlinear Kalman filter on the basis of the maximum correntropy theory and unscented transformation, named the maximum correntropy unscented Kalman filter, is deduced, and the computational complexity is analyzed. The unscented transformation is used for restricting the nonlinearity of the system equation, and the maximum correntropy theory is used to deal with the non-Gaussian noises. Finally, numerical simulation illustrates the superiority of the proposed filter compared with the traditional unscented Kalman filter. The comparison results show that the large outliers and the influence of non-Gaussian noises for SINS/CNS deeply integrated navigation is significantly reduced through the proposed filter.

The Dead Sea, The Lake and Its Setting

Science.gov (United States)

Brink, Uri ten

I cannot think of a subject more befitting the description of interdisciplinary research with societal relevance than the study of the Dead Sea, a terminal lake of the Jordan River in Israel and Jordan. The scientific study of the Dead Sea is intimately connected with politics, religion, archeology, economic development, tourism, and environmental change.The Dead Sea is a relatively closed geologic and limnologic system with drastic physical changes often occurring on human timescales and with a long human history to observe these changes. Research in this unique area covers diverse aspects such as active subsidence and deformation along strike-slip faults; vertical stratification and stability of the water column; physical properties of extremely saline and dense (1234 kg/m3) water; spontaneous precipitation of minerals in an oversaturated environment; origin of the unusual chemical composition of the brine; existence of life in extreme environments; use of lake level fluctuations as a paleoclimatic indicator; and effects on the environment of human intervention versus natural climatic variability. Although the Dead Sea covers a small area on a global scale, it is nevertheless one of the largest natural laboratories for these types of research on Earth. These reasons make the Dead Sea a fascinating topic for the curious mind.

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

Science.gov (United States)

Krotkov, Eric; Simmons, Reid

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

Ambler - Performance of a six-legged planetary rover

Science.gov (United States)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1992-08-01

In this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.

Epiphytic lichen diversity on dead and dying conifers under different levels of atmospheric pollution

International Nuclear Information System (INIS)

Hauck, Markus

2005-01-01

Based on literature data, epiphytic lichen abundance was comparably studied in montane woodlands on healthy versus dead or dying conifers of Europe and North America in areas with different levels of atmospheric pollution. Study sites comprised Picea abies forests in the Harz Mountains and in the northern Alps, Germany, Picea rubens-Abies balsamea forests on Whiteface Mountain, Adirondacks, New York, U.S.A. and Picea engelmannii-Abies lasiocarpa forests in the Salish Mountains, Montana, U.S.A. Detrended correspondence analysis showed that epiphytic lichen vegetation differed more between healthy and dead or dying trees at high- versus low-polluted sites. This is attributed to greater differences in chemical habitat conditions between trees of different vitality in highly polluted areas. Based on these results, a hypothetical model of relative importance of site factors for small-scale variation of epiphytic lichen abundance versus atmospheric pollutant load is discussed. - Epiphytic lichen diversity differs increasingly between healthy and dead or dying conifers with increasing atmospheric pollutant load

Navigating the fifth dimension: new concepts in interactive multimodality and multidimensional image navigation

Science.gov (United States)

Ratib, Osman; Rosset, Antoine; Dahlbom, Magnus; Czernin, Johannes

2005-04-01

Display and interpretation of multi dimensional data obtained from the combination of 3D data acquired from different modalities (such as PET-CT) require complex software tools allowing the user to navigate and modify the different image parameters. With faster scanners it is now possible to acquire dynamic images of a beating heart or the transit of a contrast agent adding a fifth dimension to the data. We developed a DICOM-compliant software for real time navigation in very large sets of 5 dimensional data based on an intuitive multidimensional jog-wheel widely used by the video-editing industry. The software, provided under open source licensing, allows interactive, single-handed, navigation through 3D images while adjusting blending of image modalities, image contrast and intensity and the rate of cine display of dynamic images. In this study we focused our effort on the user interface and means for interactively navigating in these large data sets while easily and rapidly changing multiple parameters such as image position, contrast, intensity, blending of colors, magnification etc. Conventional mouse-driven user interface requiring the user to manipulate cursors and sliders on the screen are too cumbersome and slow. We evaluated several hardware devices and identified a category of multipurpose jogwheel device that is used in the video-editing industry that is particularly suitable for rapidly navigating in five dimensions while adjusting several display parameters interactively. The application of this tool will be demonstrated in cardiac PET-CT imaging and functional cardiac MRI studies.

Options for reducing HIV transmission related to the dead space in needles and syringes.

Science.gov (United States)

Zule, William A; Pande, Poonam G; Otiashvili, David; Bobashev, Georgiy V; Friedman, Samuel R; Gyarmathy, V Anna; Des Jarlais, Don C

2018-01-15

When shared by people who inject drugs, needles and syringes with different dead space may affect the probability of HIV and hepatitis C virus (HCV) transmission differently. We measured dead space in 56 needle and syringe combinations obtained from needle and syringe programs across 17 countries in Europe and Asia. We also calculated the amounts of blood and HIV that would remain in different combinations following injection and rinsing. Syringe barrel capacities ranged from 0.5 to 20 mL. Needles ranged in length from 8 to 38 mm. The average dead space was 3 μL in low dead space syringes with permanently attached needles, 13 μL in high dead space syringes with low dead space needles, 45 μL in low dead space syringes with high dead space needles, and 99 μL in high dead space syringes with high dead space needles. Among low dead space designs, calculated volumes of blood and HIV viral burden were lowest for low dead space syringes with permanently attached needles and highest for low dead space syringes with high dead space needles. The dead space in different low dead space needle and syringe combinations varied substantially. To reduce HIV transmission related to syringe sharing, needle and syringe programs need to combine this knowledge with the needs of their clients.

Structured Kernel Subspace Learning for Autonomous Robot Navigation.

Science.gov (United States)

Kim, Eunwoo; Choi, Sungjoon; Oh, Songhwai

2018-02-14

This paper considers two important problems for autonomous robot navigation in a dynamic environment, where the goal is to predict pedestrian motion and control a robot with the prediction for safe navigation. While there are several methods for predicting the motion of a pedestrian and controlling a robot to avoid incoming pedestrians, it is still difficult to safely navigate in a dynamic environment due to challenges, such as the varying quality and complexity of training data with unwanted noises. This paper addresses these challenges simultaneously by proposing a robust kernel subspace learning algorithm based on the recent advances in nuclear-norm and l 1 -norm minimization. We model the motion of a pedestrian and the robot controller using Gaussian processes. The proposed method efficiently approximates a kernel matrix used in Gaussian process regression by learning low-rank structured matrix (with symmetric positive semi-definiteness) to find an orthogonal basis, which eliminates the effects of erroneous and inconsistent data. Based on structured kernel subspace learning, we propose a robust motion model and motion controller for safe navigation in dynamic environments. We evaluate the proposed robust kernel learning in various tasks, including regression, motion prediction, and motion control problems, and demonstrate that the proposed learning-based systems are robust against outliers and outperform existing regression and navigation methods.

A pilot study of SPECT/CT-based mixed-reality navigation towards the sentinel node in patients with melanoma or Merkel cell carcinoma of a lower extremity.

Science.gov (United States)

van den Berg, Nynke S; Engelen, Thijs; Brouwer, Oscar R; Mathéron, Hanna M; Valdés-Olmos, Renato A; Nieweg, Omgo E; van Leeuwen, Fijs W B

2016-08-01

To explore the feasibility of an intraoperative navigation technology based on preoperatively acquired single photon emission computed tomography combined with computed tomography (SPECT/CT) images during sentinel node (SN) biopsy in patients with melanoma or Merkel cell carcinoma. Patients with a melanoma (n=4) or Merkel cell carcinoma (n=1) of a lower extremity scheduled for wide re-excision of the primary lesion site and SN biopsy were studied. Following a Tc-nanocolloid injection and lymphoscintigraphy, SPECT/CT images were acquired with a reference target (ReTp) fixed on the leg or the iliac spine. Intraoperatively, a sterile ReTp was placed at the same site to enable SPECT/CT-based mixed-reality navigation of a gamma ray detection probe also containing a reference target (ReTgp).The accuracy of the navigation procedure was determined in the coronal plane (x, y-axis) by measuring the discrepancy between standard gamma probe-based SN localization and mixed-reality-based navigation to the SN. To determine the depth accuracy (z-axis), the depth estimation provided by the navigation system was compared to the skin surface-to-node distance measured in the computed tomography component of the SPECT/CT images. In four of five patients, it was possible to navigate towards the preoperatively defined SN. The average navigational error was 8.0 mm in the sagittal direction and 8.5 mm in the coronal direction. Intraoperative sterile ReTp positioning and tissue movement during surgery exerted a distinct influence on the accuracy of navigation. Intraoperative navigation during melanoma or Merkel cell carcinoma surgery is feasible and can provide the surgeon with an interactive 3D roadmap towards the SN or SNs in the groin. However, further technical optimization of the modality is required before this technology can become routine practice.

Experimental dead-time distortions of Poisson processes

International Nuclear Information System (INIS)

Faraci, G.; Pennisi, A.R.; Consiglio Nazionale delle Ricerche, Catania

1983-01-01

In order to check the distortions, introduced by a non-extended dead time on the Poisson statistics, accurate experiments have been made in single channel counting. At a given measuring time, the dependence on the choice of the time origin and on the width of the dead time has been verified. An excellent agreement has been found between the theoretical expressions and the experimental curves. (orig.)

Message formulation, organization, and navigation schemes for icon-based communication aids.

Science.gov (United States)

Patel, Rupal

2011-01-01

Individuals with severe speech and motor impairments rely on assistive communication devices to convey their needs and desires in social, educational, and vocational situations. Users with limited motor control or literacy often choose to use icon-based devices that afford increased speed of message formulation at the cost of fully generative language formulation on letter-based devices. A major challenge with large vocabulary icon-based systems is rate of communication. Message formulation, vocabulary organization, and navigation schemes can be used to mitigate the trade-off between vocabulary size and communication rate. This paper summarizes our research efforts to leverage semantic frame theory, situational context, and rapid serial visual presentation to improve message formulation speed and completeness in our iconCHAT and RSVP iconCHAT systems. Usability data and persisting challenges are discussed.

Navigating nuclear science: Enhancing analysis through visualization

Energy Technology Data Exchange (ETDEWEB)

Irwin, N.H.; Berkel, J. van; Johnson, D.K.; Wylie, B.N.

1997-09-01

Data visualization is an emerging technology with high potential for addressing the information overload problem. This project extends the data visualization work of the Navigating Science project by coupling it with more traditional information retrieval methods. A citation-derived landscape was augmented with documents using a text-based similarity measure to show viability of extension into datasets where citation lists do not exist. Landscapes, showing hills where clusters of similar documents occur, can be navigated, manipulated and queried in this environment. The capabilities of this tool provide users with an intuitive explore-by-navigation method not currently available in today`s retrieval systems.

[Spatial pattern of land surface dead combustible fuel load in Huzhong forest area in Great Xing'an Mountains].

Science.gov (United States)

Liu, Zhi-Hua; Chang, Yu; Chen, Hong-Wei; Zhou, Rui; Jing, Guo-Zhi; Zhang, Hong-Xin; Zhang, Chang-Meng

2008-03-01

By using geo-statistics and based on time-lag classification standard, a comparative study was made on the land surface dead combustible fuels in Huzhong forest area in Great Xing'an Mountains. The results indicated that the first level land surface dead combustible fuel, i. e., 1 h time-lag dead fuel, presented stronger spatial auto-correlation, with an average of 762.35 g x m(-2) and contributing to 55.54% of the total load. Its determining factors were species composition and stand age. The second and third levels land surface dead combustible fuel, i. e., 10 h and 100 h time-lag dead fuels, had a sum of 610.26 g x m(-2), and presented weaker spatial auto-correlation than 1 h time-lag dead fuel. Their determining factor was the disturbance history of forest stand. The complexity and heterogeneity of the factors determining the quality and quantity of forest land surface dead combustible fuels were the main reasons for the relatively inaccurate interpolation. However, the utilization of field survey data coupled with geo-statistics could easily and accurately interpolate the spatial pattern of forest land surface dead combustible fuel loads, and indirectly provide a practical basis for forest management.

Challenges of pin-point landing for planetary landing: the LION absolute vision-based navigation approach and experimental results

OpenAIRE

Voirin, Thomas; Delaune, Jeff; Le Besnerais, Guy; Farges, Jean Loup; Bourdarias, Clément; Krüger, Hans

2013-01-01

After ExoMars in 2016 and 2018, future ESA missions to Mars, the Moon, or asteroids will require safe and pinpoint precision landing capabilities, with for example a specified accuracy of typically 100 m at touchdown for a Moon landing. The safe landing requirement can be met thanks to state-of-the-art Terrain-Relative Navigation (TRN) sensors such as Wide-Field-of-View vision-based navigation cameras (VBNC), with appropriate hazard detection and avoidance algorithms. To reach the pinpoint pr...

Letting in-vehicle navigation lead the way: Older drivers' perceptions of and ability to follow a GPS navigation system.

Science.gov (United States)

Stinchcombe, Arne; Gagnon, Sylvain; Kateb, Matthew; Curtis, Meredith; Porter, Michelle M; Polgar, Jan; Bédard, Michel

2017-09-01

In-vehicle navigation systems have the potential to simplify the driving task by reducing the drivers' need to engage in wayfinding, especially in unfamiliar environments. This study sought to characterize older drivers' overall assessment of using in-vehicle GPS technology as part of a research study and to explore whether the use of this technology has an impact on participants' driving behaviour. Forty-seven older drivers completed an on-road evaluation where directions were provided by an in-vehicle GPS navigation system and their behaviour was recorded using video technology. They later completed a questionnaire to assess their perception of the navigation system. After the study, participants were grouped based on whether they were able to accurately follow the instructions provided by the navigation system. The results indicated that most drivers were satisfied with the navigation technology and found the directions it provided to be clear. There were no statistically significant differences in the number of on-road errors committed by drivers who did not follow the directions from the navigation system in comparison to drivers who did follow the directions. Copyright © 2016 Elsevier Ltd. All rights reserved.

Radar and electronic navigation

CERN Document Server

Sonnenberg, G J

2013-01-01

Radar and Electronic Navigation, Sixth Edition discusses radar in marine navigation, underwater navigational aids, direction finding, the Decca navigator system, and the Omega system. The book also describes the Loran system for position fixing, the navy navigation satellite system, and the global positioning system (GPS). It reviews the principles, operation, presentations, specifications, and uses of radar. It also describes GPS, a real time position-fixing system in three dimensions (longitude, latitude, altitude), plus velocity information with Universal Time Coordinated (UTC). It is accur

Maximum Correntropy Unscented Kalman Filter for Ballistic Missile Navigation System based on SINS/CNS Deeply Integrated Mode

Directory of Open Access Journals (Sweden)

Bowen Hou

2018-05-01

Full Text Available Strap-down inertial navigation system/celestial navigation system ( SINS/CNS integrated navigation is a high precision navigation technique for ballistic missiles. The traditional navigation method has a divergence in the position error. A deeply integrated mode for SINS/CNS navigation system is proposed to improve the navigation accuracy of ballistic missile. The deeply integrated navigation principle is described and the observability of the navigation system is analyzed. The nonlinearity, as well as the large outliers and the Gaussian mixture noises, often exists during the actual navigation process, leading to the divergence phenomenon of the navigation filter. The new nonlinear Kalman filter on the basis of the maximum correntropy theory and unscented transformation, named the maximum correntropy unscented Kalman filter, is deduced, and the computational complexity is analyzed. The unscented transformation is used for restricting the nonlinearity of the system equation, and the maximum correntropy theory is used to deal with the non-Gaussian noises. Finally, numerical simulation illustrates the superiority of the proposed filter compared with the traditional unscented Kalman filter. The comparison results show that the large outliers and the influence of non-Gaussian noises for SINS/CNS deeply integrated navigation is significantly reduced through the proposed filter.

Accurate live and dead bacterial cell enumeration using flow cytometry (Conference Presentation)

Science.gov (United States)

Ou, Fang; McGoverin, Cushla; Swift, Simon; Vanholsbeeck, Frédérique

2017-03-01

Flow cytometry (FCM) is based on the detection of scattered light and fluorescence to identify cells with particular characteristics of interest. However most FCM cannot precisely control the flow through its interrogation point and hence the volume and concentration of the sample cannot be immediately obtained. The easiest, most reliable and inexpensive way of obtaining absolute counts with FCM is by using reference beads. We investigated a method of using FCM with reference beads to measure live and dead bacterial concentration over the range of 106 to 108 cells/mL and ratio varying from 0 to 100%. We believe we are the first to use this method for such a large cell concentration range while also establishing the effect of varying the live/dead bacteria ratios. Escherichia coli solutions with differing ratios of live:dead cells were stained with fluorescent dyes SYTO 9 and propidium iodide (PI), which label live and dead cells, respectively. Samples were measured using a LSR II Flow Cytometer (BD Biosciences); using 488 nm excitation with 20 mW power. Both SYTO 9 and PI fluorescence were collected and threshold was set to side scatter. Traditional culture-based plate count was done in parallel to the FCM analysis. The concentration of live bacteria from FCM was compared to that obtained by plate counts. Preliminary results show that the concentration of live bacteria obtained by FCM and plate counts correlate well with each other and indicates this may be extended to a wider concentration range or for studying other cell characteristics.

A Unified Approach to Adaptive Neural Control for Nonlinear Discrete-Time Systems With Nonlinear Dead-Zone Input.

Science.gov (United States)

Liu, Yan-Jun; Gao, Ying; Tong, Shaocheng; Chen, C L Philip

2016-01-01

In this paper, an effective adaptive control approach is constructed to stabilize a class of nonlinear discrete-time systems, which contain unknown functions, unknown dead-zone input, and unknown control direction. Different from linear dead zone, the dead zone, in this paper, is a kind of nonlinear dead zone. To overcome the noncausal problem, which leads to the control scheme infeasible, the systems can be transformed into a m -step-ahead predictor. Due to nonlinear dead-zone appearance, the transformed predictor still contains the nonaffine function. In addition, it is assumed that the gain function of dead-zone input and the control direction are unknown. These conditions bring about the difficulties and the complicacy in the controller design. Thus, the implicit function theorem is applied to deal with nonaffine dead-zone appearance, the problem caused by the unknown control direction can be resolved through applying the discrete Nussbaum gain, and the neural networks are used to approximate the unknown function. Based on the Lyapunov theory, all the signals of the resulting closed-loop system are proved to be semiglobal uniformly ultimately bounded. Moreover, the tracking error is proved to be regulated to a small neighborhood around zero. The feasibility of the proposed approach is demonstrated by a simulation example.

EOS-based cup navigation: Randomised controlled trial in 78 total hip arthroplasties.

Science.gov (United States)

Verdier, N; Billaud, A; Masquefa, T; Pallaro, J; Fabre, T; Tournier, C

2016-06-01

Minimising the risk of cup implantation outside the safe zone is among the objectives of navigation during total hip arthroplasty (THA). However, given the technical challenges raised by navigation when the patient is lying on the side, many surgeons still use the freehand technique. We conducted a randomised controlled trial to evaluate the new navigation system NAVEOS in the iliac plane, which is easily identified in the lateral decubitus position, with the objective of determining whether NAVEOS navigation decreased the frequency of cup implantation outside the safe zone compared to freehand cup positioning, without increasing the operative time or the frequency of complications. NAVEOS navigation decreases the frequency of cup positioning outside the safe zone compared to freehand positioning. This randomised controlled trial compared cup positioning using NAVEOS navigation versus the freehand technique in patients undergoing primary THA. The safe zone was defined according to Lewinnek as 15±10° of radiological anteversion and 40±10° of radiological inclination. Cup position parameters were measured on computed tomography images obtained 3months after THA. The images were read by two independent observers who were blinded to group assignment. The primary evaluation criterion was cup position within the safe zone. A 1:1 randomisation scheme was used to assign 78 patients (mean age, 68years; age range, 44-91years) to NAVEOS navigation or freehand cup positioning. The two groups were comparable for age, gender distribution, body mass index, and preoperative functional scores. In the NAVEOS group, navigation was discontinued prematurely in 6 patients, because of technical difficulties (n=2) or a marked discrepancy with clinical findings (n=4); however, the intention-to-treat approach was used for the analysis. The proportion of cups in the safe zone was 67% (28/39) in the NAVEOS group and 38% (17/39) in the freehand group (P=0.012). Anteversion was within the

Comparative growth and development of spiders reared on live and dead prey.

Science.gov (United States)

Peng, Yu; Zhang, Fan; Gui, Shaolan; Qiao, Huping; Hose, Grant C

2013-01-01

Scavenging (feeding on dead prey) has been demonstrated across a number of spider families, yet the implications of feeding on dead prey for the growth and development of individuals and population is unknown. In this study we compare the growth, development, and predatory activity of two species of spiders that were fed on live and dead prey. Pardosa astrigera (Lycosidae) and Hylyphantes graminicola (Lyniphiidae) were fed live or dead fruit flies, Drosophila melanogaster. The survival of P. astrigera and H. graminicola was not affected by prey type. The duration of late instars of P. astrigera fed dead prey were longer and mature spiders had less protein content than those fed live prey, whereas there were no differences in the rate of H. graminicola development, but the mass of mature spiders fed dead prey was greater than those fed live prey. Predation rates by P. astrigera did not differ between the two prey types, but H. graminicola had a higher rate of predation on dead than alive prey, presumably because the dead flies were easier to catch and handle. Overall, the growth, development and reproduction of H. graminicola reared with dead flies was better than those reared on live flies, yet for the larger P. astrigera, dead prey may suit smaller instars but mature spiders may be best maintained with live prey. We have clearly demonstrated that dead prey may be suitable for rearing spiders, although the success of the spiders fed such prey appears size- and species specific.

Proportional Derivative Control with Inverse Dead-Zone for Pendulum Systems

Directory of Open Access Journals (Sweden)

José de Jesús Rubio

2013-01-01

Full Text Available A proportional derivative controller with inverse dead-zone is proposed for the control of pendulum systems. The proposed method has the characteristic that the inverse dead-zone is cancelled with the pendulum dead-zone. Asymptotic stability of the proposed technique is guaranteed by the Lyapunov analysis. Simulations of two pendulum systems show the effectiveness of the proposed technique.

Integrated INS/GPS Navigation from a Popular Perspective

Science.gov (United States)

Omerbashich, Mensur

2002-01-01

Inertial navigation, blended with other navigation aids, Global Positioning System (GPS) in particular, has gained significance due to enhanced navigation and inertial reference performance and dissimilarity for fault tolerance and anti-jamming. Relatively new concepts based upon using Differential GPS (DGPS) blended with Inertial (and visual) Navigation Sensors (INS) offer the possibility of low cost, autonomous aircraft landing. The FAA has decided to implement the system in a sophisticated form as a new standard navigation tool during this decade. There have been a number of new inertial sensor concepts in the recent past that emphasize increased accuracy of INS/GPS versus INS and reliability of navigation, as well as lower size and weight, and higher power, fault tolerance, and long life. The principles of GPS are not discussed; rather the attention is directed towards general concepts and comparative advantages. A short introduction to the problems faced in kinematics is presented. The intention is to relate the basic principles of kinematics to probably the most used navigation method in the future-INS/GPS. An example of the airborne INS is presented, with emphasis on how it works. The discussion of the error types and sources in navigation, and of the role of filters in optimal estimation of the errors then follows. The main question this paper is trying to answer is 'What are the benefits of the integration of INS and GPS and how is this, navigation concept of the future achieved in reality?' The main goal is to communicate the idea about what stands behind a modern navigation method.

Simulation of Simple Controlled Processes with Dead-Time.

Science.gov (United States)

Watson, Keith R.; And Others

1985-01-01

The determination of closed-loop response of processes containing dead-time is typically not covered in undergraduate process control, possibly because the solution by Laplace transforms requires the use of Pade approximation for dead-time, which makes the procedure lengthy and tedious. A computer-aided method is described which simplifies the…

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.

Spacecraft navigation at Mars using earth-based and in situ radio tracking techniques

Science.gov (United States)

Thurman, S. W.; Edwards, C. D.; Kahn, R. D.; Vijayaraghavan, A.; Hastrup, R. C.; Cesarone, R. J.

1992-08-01

A survey of earth-based and in situ radiometric data types and results from a number of studies investigating potential radio navigation performance for spacecraft approaching/orbiting Mars and for landed spacecraft and rovers on the surface of Mars are presented. The performance of Doppler, ranging and interferometry earth-based data types involving single or multiple spacecraft is addressed. This evaluation is conducted with that of in situ data types, such as Doppler and ranging measurements between two spacecraft near Mars, or between a spacecraft and one or more surface radio beacons.

SU-E-I-88: The Effect of System Dead Time On Real-Time Plastic and GOS Based Fiber-Optic Dosimetry Systems

Energy Technology Data Exchange (ETDEWEB)

Hoerner, M; Hintenlang, D [Univ Florida, Gainesville, FL (United States)

2015-06-15

Purpose: A methodology is presented to correct for measurement inaccuracies at high detector count rates using a plastic and GOS scintillation fibers coupled to a photomultiplier tube with digital readout. This system allows temporal acquisition and manipulation of measured data. Methods: The detection system used was a plastic scintillator and a separate gadolinium scintillator, both (0.5 diameter) coupled to an optical fiber with a Hamamatsu photon counter with a built-in microcontroller and digital interface. Count rate performance of the system was evaluated using the nonparalzable detector model. Detector response was investigated across multiple radiation sources including: orthovoltage x-ray system, colbat-60 gamma rays, proton therapy beam, and a diagnostic radiography x-ray tube. The dead time parameter was calculated by measuring the count rate of the system at different exposure rates using a reference detector. Results: The system dead time was evaluated for the following sources of radiation used clinically: diagnostic energy x-rays, cobalt-60 gamma rays, orthovoltage xrays, particle proton accelerator, and megavoltage x-rays. It was found that dead time increased significantly when exposing the detector to sources capable of generating Cerenkov radiation, all of the sources sans the diagnostic x-rays, with increasing prominence at higher photon energies. Percent depth dose curves generated by a dedicated ionization chamber and compared to the detection system demonstrated that correcting for dead time improves accuracy. On most sources, nonparalzable model fit provided an improved system response. Conclusion: Overall, the system dead time was variable across the investigated radiation particles and energies. It was demonstrated that the system response accuracy was greatly improved by correcting for dead time effects. Cerenkov radiation plays a significant role in the increase in the system dead time through transient absorption effects attributed to

Kalman filter with a linear state model for PDR+WLAN positioning and its application to assisting a particle filter

Science.gov (United States)

Raitoharju, Matti; Nurminen, Henri; Piché, Robert

2015-12-01

Indoor positioning based on wireless local area network (WLAN) signals is often enhanced using pedestrian dead reckoning (PDR) based on an inertial measurement unit. The state evolution model in PDR is usually nonlinear. We present a new linear state evolution model for PDR. In simulated-data and real-data tests of tightly coupled WLAN-PDR positioning, the positioning accuracy with this linear model is better than with the traditional models when the initial heading is not known, which is a common situation. The proposed method is computationally light and is also suitable for smoothing. Furthermore, we present modifications to WLAN positioning based on Gaussian coverage areas and show how a Kalman filter using the proposed model can be used for integrity monitoring and (re)initialization of a particle filter.

A method for the determination of detector channel dead time for a neutron time-of-flight spectrometer

International Nuclear Information System (INIS)

Adib, M.; Salama, M.; Abd-Kawi, A.; Sadek, S.; Hamouda, I.

1975-01-01

A new method is developed to measure the dead time of a detector channel for a neutron time-of-flight spectrometer. The method is based on the simultaneous use of two identical BF 3 detectors but with two different efficiencies, due to their different enrichment in B 10 . The measurements were performed using the T.O.F. spectrometer installed at channel No. 6 of the ET-RR-1 reactor. The main contribution to the dead time was found to be due to the time analyser and the neutron detector used. The analyser dead time has been determined using a square wave pulse generator with frequency of 1 MC/S. For channel widths of 24.4 us, 48.8 ud and 97.6 us, the weighted dead times for statistical pulse distribution were found to be 3.25 us, 1.87 us respectively. The dead time of the detector contributes mostly to the counting losses and its value was found to be (33+-3) us

Are Brain Dead Individuals Dead? Grounds for Reasonable Doubt.

Science.gov (United States)

Brugger, E Christian

2016-06-01

According to the biological definition of death, a human body that has not lost the capacity to holistically organize itself is the body of a living human individual. Reasonable doubt against the conclusion that it has lost the capacity exists when the body appears to express it and no evidence to the contrary is sufficient to rule out reasonable doubt against the conclusion that the apparent expression is a true expression (i.e., when the conclusion that what appears to be holistic organization is in fact holistic organization remains a reasonable explanatory hypothesis in light of the best evidence to the contrary). This essay argues that the evidence and arguments against the conclusion that the signs of complex bodily integration exhibited in ventilated brain dead bodies are true expressions of somatic integration are unpersuasive; that is, they are not adequate to exclude reasonable doubt against the conclusion that BD bodies are dead. Since we should not treat as corpses what for all we know might be living human beings, it follows that we have an obligation to treat BD individuals as if they were living human beings. © The Author 2016. Published by Oxford University Press, on behalf of the Journal of Medicine and Philosophy Inc. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

Navigating across Cultures: Narrative Constructions of Lived Experience

Science.gov (United States)

Pufall-Jones, Elizabeth; Mistry, Jayanthi

2010-01-01

In this study, we investigated how individuals from diverse backgrounds learn to navigate the many worlds in which they live and explore how variations in life experiences are associated with aspects of navigating across cultures. We conducted the study using a phenomenological approach based on retrospective personal narratives from 19 young…

Time and a Place: A luni-solar 'time-reckoner' from 8th millennium BC Scotland

Directory of Open Access Journals (Sweden)

Vincent Gaffney

2013-07-01

Full Text Available The capacity to conceptualise and measure time is amongst the most important achievements of human societies, and the issue of when time was 'created' by humankind is critical in understanding how society has developed. A pit alignment, recently excavated in Aberdeenshire (Scotland, provides an intriguing contribution to this debate. This structure, dated to the 8th millennium BC, has been re-analysed and appears to possess basic calendrical functions. The site may therefore provide the earliest evidence currently available for 'time reckoning' as the pit group appears to mimic the phases of the Moon and is structured to track lunar months. It also aligns on the south east horizon and a prominent topographic point associated with sunrise on the midwinter solstice. In doing so the monument anticipates problems associated with simple lunar calendars by providing an annual astronomic correction in order to maintain the link between the passage of time indicated by the Moon, the asynchronous solar year, and the associated seasons. The evidence suggests that hunter-gatherer societies in Scotland had both the need and ability to track time across the year, and also perhaps within the month, and that this occurred at a period nearly five thousand years before the first formal calendars were created in Mesopotamia.

Friction Theory Prediction of Crude Oil Viscosity at Reservoir Conditions Based on Dead Oil Properties

DEFF Research Database (Denmark)

Cisneros, Sergio; Zeberg-Mikkelsen, Claus Kjær; Stenby, Erling Halfdan

2003-01-01

The general one-parameter friction theory (f-theory) models have been further extended to the prediction of the viscosity of real "live" reservoir fluids based on viscosity measurements of the "dead" oil and the compositional information of the live fluid. This work representation of the viscosity...... of real fluids is obtained by a simple one-parameter tuning of a linear equation derived from a general one-parameter f-theory model. Further, this is achieved using simple cubic equations of state (EOS), such as the Peng-Robinson (PR) EOS or the Soave-Redlich-Kwong (SRK) EOS, which are commonly used...... within the oil industry. In sake of completeness, this work also presents a simple characterization procedure which is based on compositional information of an oil sample. This procedure provides a method for characterizing an oil into a number of compound groups along with the critical constants...

A Software Defined Radio Based Airplane Communication Navigation Simulation System

Science.gov (United States)

He, L.; Zhong, H. T.; Song, D.

2018-01-01

Radio communication and navigation system plays important role in ensuring the safety of civil airplane in flight. Function and performance should be tested before these systems are installed on-board. Conventionally, a set of transmitter and receiver are needed for each system, thus all the equipment occupy a lot of space and are high cost. In this paper, software defined radio technology is applied to design a common hardware communication and navigation ground simulation system, which can host multiple airplane systems with different operating frequency, such as HF, VHF, VOR, ILS, ADF, etc. We use a broadband analog frontend hardware platform, universal software radio peripheral (USRP), to transmit/receive signal of different frequency band. Software is compiled by LabVIEW on computer, which interfaces with USRP through Ethernet, and is responsible for communication and navigation signal processing and system control. An integrated testing system is established to perform functional test and performance verification of the simulation signal, which demonstrate the feasibility of our design. The system is a low-cost and common hardware platform for multiple airplane systems, which provide helpful reference for integrated avionics design.

Challenges to estimate surface- and groundwater flow in arid regions: the Dead Sea catchment.

Science.gov (United States)

Siebert, Christian; Rödiger, Tino; Mallast, Ulf; Gräbe, Agnes; Guttman, Joseph; Laronne, Jonathan B; Storz-Peretz, Yael; Greenman, Anat; Salameh, Elias; Al-Raggad, Marwan; Vachtman, Dina; Zvi, Arie Ben; Ionescu, Danny; Brenner, Asher; Merz, Ralf; Geyer, Stefan

2014-07-01

The overall aim of the this study, which was conducted within the framework of the multilateral IWRM project SUMAR, was to expand the scientific basement to quantify surface- and groundwater fluxes towards the hypersaline Dead Sea. The flux significance for the arid vicinity around the Dead Sea is decisive not only for a sustainable management in terms of water availability for future generations but also for the resilience of the unique ecosystems along its coast. Coping with different challenges interdisciplinary methods like (i) hydrogeochemical fingerprinting, (ii) satellite and airborne-based thermal remote sensing, (iii) direct measurement with gauging station in ephemeral wadis and a first multilateral gauging station at the river Jordan, (iv) hydro-bio-geochemical approach at submarine and shore springs along the Dead Sea and (v) hydro(geo)logical modelling contributed to the overall aim. As primary results, we deduce that the following: (i) Within the drainage basins of the Dead Sea, the total mean annual precipitation amounts to 300 mm a(−1) west and to 179 mm a(−1) east of the lake, respectively. (ii) The total mean annual runoff volumes from side wadis (except the Jordan River) entering the Dead Sea is approximately 58–66 × 10(6) m(3) a(−1) (western wadis: 7–15 × 10(6) m(3) a(−1); eastern wadis: 51 × 10(6) m(3) a(−1)). (iii) The modelled groundwater discharge from the upper Cretaceous aquifers in both flanks of the Dead Sea towards the lake amounts to 177 × 10(6) m(3) a(−1). (iv) An unexpected abundance of life in submarine springs exists, which in turn explains microbial moderated geo-bio-chemical processes in the Dead Sea sediments, affecting the highly variable chemical composition of on- and offshore spring waters.The results of this work show a promising enhancement of describing and modelling the Dead Sea basin as a whole. Copyright © 2014 Elsevier B.V. All rights reserved.

Forgetting Bad Behavior: Memory Management for Case-Based Navigation

National Research Council Canada - National Science Library

Kira, Zsolt; Arkin, Ronald C

2006-01-01

...) system applied to autonomous robot navigation. This extends previous work that involved a CBR architecture that indexes cases by the spatio-temporal characteristics of the sensor data, and outputs or selects parameters of behaviors in a behavior...

Does intraoperative navigation improve the accuracy of mandibular angle osteotomy: Comparison between augmented reality navigation, individualised templates and free-hand techniques.

Science.gov (United States)

Zhu, Ming; Liu, Fei; Zhou, Chaozheng; Lin, Li; Zhang, Yan; Chai, Gang; Xie, Le; Qi, Fazhi; Li, Qingfeng

2018-04-11

Augmented reality (AR)-based navigation surgery has evolved to be an advanced assisted technology. The aim of this study is to manifest the accuracy of AR navigation for the intraoperative mandibular angle osteotomy by comparing the navigation with other interventional techniques. A retrospective study was conducted with 93 post-surgical patients with mandibular angle hypertrophy admitted at our plastic and reconstructive surgery department between September 2011 and June 2016. Thirty-one patients received osteotomy conducted using a navigation system based on augmented reality (AR group), 28 patients received osteotomy conducted using individualised templates (IT group) and the remaining 34 patients received osteotomy performed by free hand (free-hand group). The post-operative computed tomography (CT) images were reviewed and analysed by comparing with pre-surgical planning generated by three-dimensional (3D) software. The preparation time, cutting time, whole operating time and discrepancy in osteotomy lines were measured. The preparation time was much shorter for the free-hand group than that for the AR group and the IT group (P  0.05). In addition, the discrepancy in osteotomy lines was lower for the AR group and in the IT group than for the free-hand group (P < 0.01). The navigation system based on AR has a higher accuracy, more reliability and better user friendliness for some particular clinical procedures than for other techniques, which has a promising clinical prospect. Copyright © 2018. Published by Elsevier Ltd.

Current Role of Computer Navigation in Total Knee Arthroplasty.

Science.gov (United States)

Jones, Christopher W; Jerabek, Seth A

2018-01-31

Computer-assisted surgical (CAS) navigation has been developed with the aim of improving the accuracy and precision of total knee arthroplasty (TKA) component positioning and therefore overall limb alignment. The historical goal of knee arthroplasty has been to restore the mechanical alignment of the lower limb by aligning the femoral and tibial components perpendicular to the mechanical axis of the femur and tibia. Despite over 4 decades of TKA component development and nearly 2 decades of interest in CAS, the fundamental question remains; does the alignment goal and/or the method of achieving that goal affect the outcome of the TKA in terms of patient-reported outcome measures and/or overall survivorship? The quest for reliable and reproducible achievement of the intraoperative alignment goal has been the primary motivator for the introduction, development, and refinement of CAS navigation. Numerous proprietary systems now exist, and rapid technological advancements in computer processing power are stimulating further development of robotic surgical systems. Three categories of CAS can be defined: image-based large-console navigation; imageless large-console navigation, and more recently, accelerometer-based handheld navigation systems have been developed. A review of the current literature demonstrates that there are enough well-designed studies to conclude that both large-console CAS and handheld navigation systems improve the accuracy and precision of component alignment in TKA. However, missing from the evidence base, other than the subgroup analysis provided by the Australian Orthopaedic Association National Joint Replacement Registry, are any conclusive demonstrations of a clinical superiority in terms of improved patient-reported outcome measures and/or decreased cumulative revision rates in the long term. Few authors would argue that accuracy of alignment is a goal to ignore; therefore, in the absence of clinical evidence, many of the arguments against

Foehn-induced effects on dust pollution, frontal clouds and solar radiation in the Dead Sea valley

Science.gov (United States)

Kishcha, Pavel; Starobinets, Boris; Alpert, Pinhas; Kaplan, Michael

2017-04-01

The significant drying up of the Dead Sea over the past 40 years has led to an increase in an exposed area contributing to local dust pollution. Measurements show that, sometimes, in the Dead Sea valley, dust pollution can reach extreme concentrations up to several thousands of micrograms per cubic meters. Our analysis of a meteorological situation shows that a foehn phenomenon can be a causal factor for the aforementioned extreme local dust concentration. This foehn phenomenon creates strong warm and dry winds, which are accompanied by air turbulence and temperature inversion. In our study, foehn-induced effects on dust pollution, frontal clouds and solar radiation were analyzed over the Judean Mountains ( 1000 m) and over the Dead Sea valley (-420 m), using high-resolution numerical simulations and in-situ observations at meteorological stations located across the mountain ridge. An extreme dust episode occurring on March 22, 2013, was analyzed, which was characterized by measured surface dust concentrations of up to 7000 µg m-3 in the Dead Sea valley. We simulated this foehn phenomenon with the 3-km resolution COSMO-ART model. Our analysis has shown that the foehn phenomenon could be observed even over the relatively low Judean Mountains. This analysis was based on various meteorological, pyranometer, radar, and aerosol measurements together with high-resolution model data. In the Dead Sea valley, the maximum aerosol optical depth (AOD) did not coincide with the maximum surface dust concentration. This lack of coincidence indicates difficulties in using satellite-based AOD for initializing dust concentration within numerical forecast systems over this region with complex terrain. In the western Dead Sea valley, strong foehn winds of over 20 m/s were accompanied by maximal air turbulence leading to maximal local dust emissions. Thus, the model showed that, by creating significant turbulence, the foehn phenomenon intensified the saltation (bombardment) mechanism

A Discussion on e-Navigation and Implementation in Turkey

Directory of Open Access Journals (Sweden)

Y.V. Aydogdu

2014-03-01

Full Text Available Electronic navigation, which has great important for ship management, has taken a step with technological improvements. In the result of these enhancements, new systems appeared as well as existing systems and these systems began to be integrated each other or used data of obtaining from the others like that AIS, Radar, ECDIS etc. All these and likely future systems have been put together under the roof of enhanced navigation (e-navigation is defined by organizations such as International Maritime Organization (IMO, International Association of Marine Aids to Navigation and Lighthouse Authorities (IALA, General Lighthouse Authority (GLA etc. Especially IALA guidelines serve as model future applications in Turkish waterways. In this study aim to redefine e-navigation concept based on maritime safety awareness, maritime service portfolio (MSC 85/26 and discuss possible applications.

Quad Rotorcraft Control Vision-Based Hovering and Navigation

CERN Document Server

García Carrillo, Luis Rodolfo; Lozano, Rogelio; Pégard, Claude

2013-01-01

Quad-Rotor Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use of low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, oth...

33 CFR 66.05-100 - Designation of navigable waters as State waters for private aids to navigation.

Science.gov (United States)

2010-07-01

... as State waters for private aids to navigation. 66.05-100 Section 66.05-100 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION State Aids to Navigation § 66.05-100 Designation of navigable waters as State waters for private aids to...

Distributed Tactical Decision Support by Using Real-Time Database System

Science.gov (United States)

1987-11-01

appendix A and detailed in depth in the Advanced Combat Direction System Specification (reference 5). The assumption is that ’ ime 0 (TO) of any contact...CONSTELLATION LAUNCH I F14A CAPM 330 350 10000 STOP At simulated engagement minute 30. the following orders are next submitted to the event generator...time of contact (ETC). There is the assumption in the ETC calculation that COURSE will change such that the new report would be on a dead- reckoning

Helping Autism-Diagnosed Teenagers Navigate and Develop Socially Using E-Learning Based on Mobile Persuasion

Science.gov (United States)

Ohrstrom, Peter

2011-01-01

The HANDS (Helping Autism-diagnosed teenagers Navigate and Develop Socially) research project involves the creation of an e-learning toolset that can be used to develop individualized tools to support the social development of teenagers with an autism diagnosis. The e-learning toolset is based on ideas from persuasive technology. This paper…

Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays

Directory of Open Access Journals (Sweden)

Zheping Yan

2018-03-01

Full Text Available To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region.

The Navigation Guide—Evidence-Based Medicine Meets Environmental Health: Systematic Review of Nonhuman Evidence for PFOA Effects on Fetal Growth

Science.gov (United States)

Lam, Juleen; Sutton, Patrice; Johnson, Paula I.; Atchley, Dylan S.; Sen, Saunak; Robinson, Karen A.; Axelrad, Daniel A.; Woodruff, Tracey J.

2014-01-01

Background: In contrast to current methods of expert-based narrative review, the Navigation Guide is a systematic and transparent method for synthesizing environmental health research from multiple evidence streams. The Navigation Guide was developed to effectively and efficiently translate the available scientific evidence into timely prevention-oriented action. Objectives: We applied the Navigation Guide systematic review method to answer the question “Does fetal developmental exposure to perfluorooctanoic acid (PFOA) or its salts affect fetal growth in animals ?” and to rate the strength of the experimental animal evidence. Methods: We conducted a comprehensive search of the literature, applied prespecified criteria to the search results to identify relevant studies, extracted data from studies, obtained additional information from study authors, conducted meta-analyses, and rated the overall quality and strength of the evidence. Results: Twenty-one studies met the inclusion criteria. From the meta-analysis of eight mouse gavage data sets, we estimated that exposure of pregnant mice to increasing concentrations of PFOA was associated with a change in mean pup birth weight of –0.023 g (95% CI: –0.029, –0.016) per 1-unit increase in dose (milligrams per kilogram body weight per day). The evidence, consisting of 15 mammalian and 6 nonmammalian studies, was rated as “moderate” and “low” quality, respectively. Conclusion: Based on this first application of the Navigation Guide methodology, we found sufficient evidence that fetal developmental exposure to PFOA reduces fetal growth in animals. Citation: Koustas E, Lam J, Sutton P, Johnson PI, Atchley DS, Sen S, Robinson KA, Axelrad DA, Woodruff TJ. 2014. The Navigation Guide—evidence-based medicine meets environmental health: systematic review of nonhuman evidence for PFOA effects on fetal growth. Environ Health Perspect 122:1015–1027; http://dx.doi.org/10.1289/ehp.1307177 PMID:24968374

Navigation Problems in Blind-to-Blind Pedestrians Tele-assistance Navigation

OpenAIRE

Balata , Jan; Mikovec , Zdenek; Maly , Ivo

2015-01-01

International audience; We raise a question whether it is possible to build a large-scale navigation system for blind pedestrians where a blind person navigates another blind person remotely by mobile phone. We have conducted an experiment, in which we observed blind people navigating each other in a city center in 19 sessions. We focused on problems in the navigator’s attempts to direct the traveler to the destination. We observed 96 problems in total, classified them on the basis of the typ...

Observability during planetary approach navigation

Science.gov (United States)

Bishop, Robert H.; Burkhart, P. Daniel; Thurman, Sam W.

1993-01-01

The objective of the research is to develop an analytic technique to predict the relative navigation capability of different Earth-based radio navigation measurements. In particular, the problem is to determine the relative ability of geocentric range and Doppler measurements to detect the effects of the target planet gravitational attraction on the spacecraft during the planetary approach and near-encounter mission phases. A complete solution to the two-dimensional problem has been developed. Relatively simple analytic formulas are obtained for range and Doppler measurements which describe the observability content of the measurement data along the approach trajectories. An observability measure is defined which is based on the observability matrix for nonlinear systems. The results show good agreement between the analytic observability analysis and the computational batch processing method.

Emergency operation procedure navigation to avoid commission errors

International Nuclear Information System (INIS)

Gofuku, Akio; Ito, Koji

2004-01-01

New types of operation control system equipped with a large screen and CRT-based operation panels have been installed in newly constructed nuclear power plants. The operators can share important information of plant conditions by the large screen. The operation control system can know the operations by operators through the computers connected to the operation panels. The software switches placed in the CRT-based operation panels have a problem such that operators may make an error to manipulate an irrelevant software switch with their current operation. This study develops an operation procedure navigation technique to avoid this kind of commission errors. The system lies between CRT-based operation panels and plant control systems and checks an operation by operators if it follows the operation procedure of operation manuals. When the operation is a right one, the operation is executed as if the operation command is directly transmitted to control systems. If the operation does not follow the operation procedure, the system warns the commission error to operators. This paper describes the operation navigation technique, format of base operation model, and a proto-type operation navigation system for a three loop pressurized water reactor plant. The validity of the proto-type system is demonstrated by the operation procedure navigation for a steam generator tube rupture accident. (author)

Dynamic optimization of a dead-end filtration trajectory: Blocking filtration laws

NARCIS (Netherlands)

Blankert, B.; Betlem, Bernardus H.L.; Roffel, B.

2006-01-01

An operating model for dead-end membrane filtration is proposed based on the well-known blocking laws. The resulting model contains three parameters representing, the operating strategy, the fouling mechanism and the fouling potential of the feed. The optimal control strategy is determined by

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.

Dead zone area at the downstream flow of barrages

Directory of Open Access Journals (Sweden)

Mohamed F. Sauida

2016-12-01

Full Text Available Flow separation is a natural phenomenon encountered at some cases downstream of barrages. The main flow is divided into current and dead zone flows. The percentage area of dead zone flow must be taken into consideration downstream of barrages, due to its negative effect on flow characteristics. Experimental studies were conducted in the Hydraulic Research Institute (HRI, on a physical regulator model with five vents. Theoretically the separation zone is described as a part of an ellipse which is practically verified by plotting velocity vectors. The results show that the percentage area of dead zone to the area through length of separation depends mainly on the expansion ratio [channel width to width of opened vents], with maximum value of 81% for operated side gates. A statistical analysis was derived, to predict the percentage area of dead zone flow to the area through length of separation.

Neurobiologically inspired mobile robot navigation and planning

Directory of Open Access Journals (Sweden)

Mathias Quoy

2007-11-01

Full Text Available After a short review of biologically inspired navigation architectures, mainly relying on modeling the hippocampal anatomy, or at least some of its functions, we present a navigation and planning model for mobile robots. This architecture is based on a model of the hippocampal and prefrontal interactions. In particular, the system relies on the definition of a new cell type “transition cells” that encompasses traditional “place cells”.

Living with the Dead or Communicating with the dead: media practices of continuing bonds among bereaved parents

DEFF Research Database (Denmark)

Sandvik, Kjetil; Christensen, Dorthe Refslund

& Sandvik 2014a: 1). However, we would like to broaden the scope of Durham Peter’s reflections, suggesting that the ways in which parents communicate to/with the dead child are not just a matter of one-way speaking into the air but also a matter of two-way communication implying that the child has...... when getting a memory tattoo. Based on observation studies and qualitative contents analysis performed since 2008 on children’s graves and on online memorial sites (Christensen & Sandvik 2013, 2014a, 2014b, 2015a) and furthermore including interviews with bereaved parents (Christensen & Sandvik...

Lunar Navigator - A Miniature, Fully Autonomous, Lunar Navigation, Surveyor, and Range Finder System, Phase I

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...

Deadly Choices empowering Indigenous Australians through social networking sites.

Science.gov (United States)

McPhail-Bell, Karen; Appo, Nathan; Haymes, Alana; Bond, Chelsea; Brough, Mark; Fredericks, Bronwyn

2017-04-05

The potential for health promotion through social networking sites (SNSs) is widely recognized. However, while health promotion prides itself in focusing on the social determinants of health, its partiality for persuading individuals to comply with health behaviours dominates the way health promotion utilizes SNSs. This paper contributes to an understanding of collaborative ways SNSs can work for health promotion agendas of self-determination and empowerment in an Indigenous Australia context. An ethnographic study was undertaken with Deadly Choices, an Indigenous-led health promotion initiative. The study involved participant observation of interactions on Deadly Choices SNSs between Deadly Choices and its online community members. Deadly Choices provides an example of SNSs providing a powerful tool to create a safe, inclusive and positive space for Indigenous people and communities to profile their healthy choices, according to Indigenous notions of health and identity. The study found five principles that underpin Deadly Choices' use of SNSs for health promotion. These are: create a dialogue; build community online and offline; incentivise healthy online engagement; celebrate Indigenous identity and culture; and prioritize partnerships. Deadly Choices SNSs empowers Indigenous people and communities to be health promoters themselves, which represents a power shift from health promotion practitioner to Indigenous people and communities and more broadly, an enactment of Indigenous self-determination on SNSs. Mainstream health promotion can learn from Indigenous health promotion practice regarding the use of SNSs for health promotion agendas. © The Author 2017. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

Are We the Walking Dead? Burnout as Zombie Apocalypse.

Science.gov (United States)

Doolittle, Benjamin R

2016-11-01

The Walking Dead , one of the most popular television shows in recent history, uses the plot of a zombie apocalypse as a lens into exploring the human condition. Amidst a particularly dangerous moment, the show's hero references the human struggle to survive by remarking, " We are the walking dead." This offhand comment sheds light upon physicians' struggles in medicine, in particular the high prevalence of burnout and the challenge to cultivate compassion and meaning. This is an important question for our age and for our profession. Are we the walking dead? © 2016 Annals of Family Medicine, Inc.

Surgical navigation with QR codes

Directory of Open Access Journals (Sweden)

Katanacho Manuel

2016-09-01

Full Text Available The presented work is an alternative to established measurement systems in surgical navigation. The system is based on camera based tracking of QR code markers. The application uses a single video camera, integrated in a surgical lamp, that captures the QR markers attached to surgical instruments and to the patient.

Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints

Directory of Open Access Journals (Sweden)

Daehee Won

2015-01-01

Full Text Available A navigation algorithm is proposed to increase the inertial navigation performance of a ground vehicle using magnetic measurements and dynamic constraints. The navigation solutions are estimated based on inertial measurements such as acceleration and angular velocity measurements. To improve the inertial navigation performance, a three-axis magnetometer is used to provide the heading angle, and nonholonomic constraints (NHCs are introduced to increase the correlation between the velocity and the attitude equation. The NHCs provide a velocity feedback to the attitude, which makes the navigation solution more robust. Additionally, an acceleration-based roll and pitch estimation is applied to decrease the drift when the acceleration is within certain boundaries. The magnetometer and NHCs are combined with an extended Kalman filter. An experimental test was conducted to verify the proposed method, and a comprehensive analysis of the performance in terms of the position, velocity, and attitude showed that the navigation performance could be improved by using the magnetometer and NHCs. Moreover, the proposed method could improve the estimation performance for the position, velocity, and attitude without any additional hardware except an inertial sensor and magnetometer. Therefore, this method would be effective for ground vehicles, indoor navigation, mobile robots, vehicle navigation in urban canyons, or navigation in any global navigation satellite system-denied environment.

"Dead in bed": a tragic complication of type 1 diabetes mellitus.

LENUS (Irish Health Repository)

O'Reilly, M

2010-12-01

"Dead in bed" is a tragic description of a particular type of sudden death in type 1 diabetes mellitus (DM). Patients are typically found dead in the early morning, lying in an undisturbed bed, having been well the previous evening. The incidence of "dead in bed" syndrome is not known but studies suggest figures of between 4.7 and 27.3% of all unexplained deaths in type 1 DM. The pathogenesis is unclear but patients typically have a preceding history of recurrent severe hypoglycaemia. We describe two cases of "dead in bed" syndrome which occurred at our institution within a 12-month period.

New perspectives on interdisciplinary earth science at the Dead Sea: The DESERVE project

International Nuclear Information System (INIS)

Kottmeier, Christoph; Agnon, Amotz; Al-Halbouni, Djamil; Alpert, Pinhas; Corsmeier, Ulrich; Dahm, Torsten; Eshel, Adam; Geyer, Stefan; Haas, Michael; Holohan, Eoghan; Kalthoff, Norbert; Kishcha, Pavel; Krawczyk, Charlotte; Lati, Joseph; Laronne, Jonathan B.; Lott, Friederike; Mallast, Ulf; Merz, Ralf; Metzger, Jutta; Mohsen, Ayman

2016-01-01

The Dead Sea region has faced substantial environmental challenges in recent decades, including water resource scarcity, ~ 1 m annual decreases in the water level, sinkhole development, ascending-brine freshwater pollution, and seismic disturbance risks. Natural processes are significantly affected by human interference as well as by climate change and tectonic developments over the long term. To get a deep understanding of processes and their interactions, innovative scientific approaches that integrate disciplinary research and education are required. The research project DESERVE (Helmholtz Virtual Institute Dead Sea Research Venue) addresses these challenges in an interdisciplinary approach that includes geophysics, hydrology, and meteorology. The project is implemented by a consortium of scientific institutions in neighboring countries of the Dead Sea (Israel, Jordan, Palestine Territories) and participating German Helmholtz Centres (KIT, GFZ, UFZ). A new monitoring network of meteorological, hydrological, and seismic/geodynamic stations has been established, and extensive field research and numerical simulations have been undertaken. For the first time, innovative measurement and modeling techniques have been applied to the extreme conditions of the Dead Sea and its surroundings. The preliminary results show the potential of these methods. First time ever performed eddy covariance measurements give insight into the governing factors of Dead Sea evaporation. High-resolution bathymetric investigations reveal a strong correlation between submarine springs and neo-tectonic patterns. Based on detailed studies of stratigraphy and borehole information, the extension of the subsurface drainage basin of the Dead Sea is now reliably estimated. Originality has been achieved in monitoring flash floods in an arid basin at its outlet and simultaneously in tributaries, supplemented by spatio-temporal rainfall data. Low-altitude, high resolution photogrammetry, allied to

New perspectives on interdisciplinary earth science at the Dead Sea: The DESERVE project

Energy Technology Data Exchange (ETDEWEB)

Kottmeier, Christoph, E-mail: Christoph.Kottmeier@kit.edu [Karlsruhe Institute of Technology, Hermann von Helmholtz Platz 1, Eggenstein-Leopoldshafen (Germany); Agnon, Amotz [The Hebrew University of Jerusalem, Jerusalem (Israel); Al-Halbouni, Djamil [GFZ German Research Centre for Geosciences, Telegrafenberg, 14473 Potsdam (Germany); Alpert, Pinhas [Tel Aviv University, Tel Aviv-Yafo (Israel); Corsmeier, Ulrich [Karlsruhe Institute of Technology, Hermann von Helmholtz Platz 1, Eggenstein-Leopoldshafen (Germany); Dahm, Torsten [GFZ German Research Centre for Geosciences, Telegrafenberg, 14473 Potsdam (Germany); Eshel, Adam [Tel Aviv University, Tel Aviv-Yafo (Israel); Geyer, Stefan [Helmholtz Centre for Environmental Research GmbH — UFZ, Theodor-Lieser-Strasse 4, 06120 Halle (Germany); Haas, Michael; Holohan, Eoghan [GFZ German Research Centre for Geosciences, Telegrafenberg, 14473 Potsdam (Germany); Kalthoff, Norbert [Karlsruhe Institute of Technology, Hermann von Helmholtz Platz 1, Eggenstein-Leopoldshafen (Germany); Kishcha, Pavel [Tel Aviv University, Tel Aviv-Yafo (Israel); Krawczyk, Charlotte [Leibniz Institute for Applied Geophysics (LIAG), Stilleweg 2, 30655 Hannover (Germany); Lati, Joseph [Tel Aviv University, Tel Aviv-Yafo (Israel); Laronne, Jonathan B. [Ben Gurion University of the Negev, Be' er Sheva (Israel); Lott, Friederike [Karlsruhe Institute of Technology, Hermann von Helmholtz Platz 1, Eggenstein-Leopoldshafen (Germany); Mallast, Ulf; Merz, Ralf [Helmholtz Centre for Environmental Research GmbH — UFZ, Theodor-Lieser-Strasse 4, 06120 Halle (Germany); Metzger, Jutta [Karlsruhe Institute of Technology, Hermann von Helmholtz Platz 1, Eggenstein-Leopoldshafen (Germany); Mohsen, Ayman [An-Najah National University, Nablus, Palestine (Country Unknown); and others

2016-02-15

The Dead Sea region has faced substantial environmental challenges in recent decades, including water resource scarcity, ~ 1 m annual decreases in the water level, sinkhole development, ascending-brine freshwater pollution, and seismic disturbance risks. Natural processes are significantly affected by human interference as well as by climate change and tectonic developments over the long term. To get a deep understanding of processes and their interactions, innovative scientific approaches that integrate disciplinary research and education are required. The research project DESERVE (Helmholtz Virtual Institute Dead Sea Research Venue) addresses these challenges in an interdisciplinary approach that includes geophysics, hydrology, and meteorology. The project is implemented by a consortium of scientific institutions in neighboring countries of the Dead Sea (Israel, Jordan, Palestine Territories) and participating German Helmholtz Centres (KIT, GFZ, UFZ). A new monitoring network of meteorological, hydrological, and seismic/geodynamic stations has been established, and extensive field research and numerical simulations have been undertaken. For the first time, innovative measurement and modeling techniques have been applied to the extreme conditions of the Dead Sea and its surroundings. The preliminary results show the potential of these methods. First time ever performed eddy covariance measurements give insight into the governing factors of Dead Sea evaporation. High-resolution bathymetric investigations reveal a strong correlation between submarine springs and neo-tectonic patterns. Based on detailed studies of stratigraphy and borehole information, the extension of the subsurface drainage basin of the Dead Sea is now reliably estimated. Originality has been achieved in monitoring flash floods in an arid basin at its outlet and simultaneously in tributaries, supplemented by spatio-temporal rainfall data. Low-altitude, high resolution photogrammetry, allied to

Human-robot collaborative navigation for autonomous maintenance management of nuclear installation

International Nuclear Information System (INIS)

Nugroho, Djoko Hari

2002-01-01

Development of human and robot collaborative navigation for autonomous maintenance management of nuclear installation has been conducted. The human-robot collaborative system is performed using a switching command between autonomous navigation and manual navigation that incorporate a human intervention. The autonomous navigation path is conducted using a novel algorithm of MLG method based on Lozano-Perez s visibility graph. The MLG optimizes the shortest distance and safe constraints. While the manual navigation is performed using manual robot tele operation tools. Experiment in the MLG autonomous navigation system is conducted for six times with 3-D starting point and destination point coordinate variation. The experiment shows a good performance of autonomous robot maneuver to avoid collision with obstacle. The switching navigation is well interpreted using open or close command to RS-232C constructed using LabVIEW

Online Learners' Navigational Patterns Based on Data Mining in Terms of Learning Achievement

Science.gov (United States)

Keskin, Sinan; Sahin, Muhittin; Ozgur, Adem; Yurdugul, Halil

2016-01-01

The aim of this study is to determine navigational patterns of university students in a learning management system (LMS). It also investigates whether online learners' navigational behaviors differ in terms of their academic achievement (pass, fail). The data for the study comes from 65 third grade students enrolled in online Computer Network and…

X-ray Pulsar Navigation Algorithms and Testbed for SEXTANT

Science.gov (United States)

Winternitz, Luke M. B.; Hasouneh, Monther A.; Mitchell, Jason W.; Valdez, Jennifer E.; Price, Samuel R.; Semper, Sean R.; Yu, Wayne H.; Ray, Paul S.; Wood, Kent S.; Arzoumanian, Zaven;

Accounting for density reduction and structural loss in standing dead trees: Implications for forest biomass and carbon stock estimates in the United States

Directory of Open Access Journals (Sweden)

Domke Grant M

2011-11-01

Full Text Available Abstract Background Standing dead trees are one component of forest ecosystem dead wood carbon (C pools, whose national stock is estimated by the U.S. as required by the United Nations Framework Convention on Climate Change. Historically, standing dead tree C has been estimated as a function of live tree growing stock volume in the U.S.'s National Greenhouse Gas Inventory. Initiated in 1998, the USDA Forest Service's Forest Inventory and Analysis program (responsible for compiling the Nation's forest C estimates began consistent nationwide sampling of standing dead trees, which may now supplant previous purely model-based approaches to standing dead biomass and C stock estimation. A substantial hurdle to estimating standing dead tree biomass and C attributes is that traditional estimation procedures are based on merchantability paradigms that may not reflect density reductions or structural loss due to decomposition common in standing dead trees. The goal of this study was to incorporate standing dead tree adjustments into the current estimation procedures and assess how biomass and C stocks change at multiple spatial scales. Results Accounting for decay and structural loss in standing dead trees significantly decreased tree- and plot-level C stock estimates (and subsequent C stocks by decay class and tree component. At a regional scale, incorporating adjustment factors decreased standing dead quaking aspen biomass estimates by almost 50 percent in the Lake States and Douglas-fir estimates by more than 36 percent in the Pacific Northwest. Conclusions Substantial overestimates of standing dead tree biomass and C stocks occur when one does not account for density reductions or structural loss. Forest inventory estimation procedures that are descended from merchantability standards may need to be revised toward a more holistic approach to determining standing dead tree biomass and C attributes (i.e., attributes of tree biomass outside of sawlog