WorldWideScience

Sample records for surgical navigation systems

  1. Optical surgical navigation system causes pulse oximeter malfunction.

    Science.gov (United States)

    Satoh, Masaaki; Hara, Tetsuhito; Tamai, Kenji; Shiba, Juntaro; Hotta, Kunihisa; Takeuchi, Mamoru; Watanabe, Eiju

    2015-01-01

    An optical surgical navigation system is used as a navigator to facilitate surgical approaches, and pulse oximeters provide valuable information for anesthetic management. However, saw-tooth waves on the monitor of a pulse oximeter and the inability of the pulse oximeter to accurately record the saturation of a percutaneous artery were observed when a surgeon started an optical navigation system. The current case is thought to be the first report of this navigation system interfering with pulse oximetry. The causes of pulse jamming and how to manage an optical navigation system are discussed.

  2. Surgical Navigation

    DEFF Research Database (Denmark)

    Azarmehr, Iman; Stokbro, Kasper; Bell, R. Bryan

    2017-01-01

    Purpose: This systematic review investigates the most common indications, treatments, and outcomes of surgical navigation (SN) published from 2010 to 2015. The evolution of SN and its application in oral and maxillofacial surgery have rapidly developed over recent years, and therapeutic indicatio...

  3. Independent Navigation System for a Surgical Colonoscope

    Directory of Open Access Journals (Sweden)

    Lilia A. Ochoa-Luna

    2013-08-01

    Full Text Available This paper provides a novel algorithm to attain the independent navigation of a colonoscopy surgical endoscope. First, it introduces a brief description of this issue through the scientist advance for medical robotics. It then makes a quickly count of the existent methods and at the end it provides the basis in order to propose a new alternative solution with help from vision-guidance. That means that images will be processed and interpreted with the purpose of maintaining the endoscope always at the intestine center. All this considered will help us to reduce colonoscopy surgeries consequences and the most important advantage of this new method proposed is that surgeons will accomplish their work easier and more efficiently.

  4. A projective surgical navigation system for cancer resection

    Science.gov (United States)

    Gan, Qi; Shao, Pengfei; Wang, Dong; Ye, Jian; Zhang, Zeshu; Wang, Xinrui; Xu, Ronald

    2016-03-01

    Near infrared (NIR) fluorescence imaging technique can provide precise and real-time information about tumor location during a cancer resection surgery. However, many intraoperative fluorescence imaging systems are based on wearable devices or stand-alone displays, leading to distraction of the surgeons and suboptimal outcome. To overcome these limitations, we design a projective fluorescence imaging system for surgical navigation. The system consists of a LED excitation light source, a monochromatic CCD camera, a host computer, a mini projector and a CMOS camera. A software program is written by C++ to call OpenCV functions for calibrating and correcting fluorescence images captured by the CCD camera upon excitation illumination of the LED source. The images are projected back to the surgical field by the mini projector. Imaging performance of this projective navigation system is characterized in a tumor simulating phantom. Image-guided surgical resection is demonstrated in an ex-vivo chicken tissue model. In all the experiments, the projected images by the projector match well with the locations of fluorescence emission. Our experimental results indicate that the proposed projective navigation system can be a powerful tool for pre-operative surgical planning, intraoperative surgical guidance, and postoperative assessment of surgical outcome. We have integrated the optoelectronic elements into a compact and miniaturized system in preparation for further clinical validation.

  5. 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.

  6. 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

  7. 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.

  8. Magnetisches Tracking für die Navigation mit dem da Vinci® Surgical System

    Science.gov (United States)

    Nickel, Felix; Wegner, Ingmar; Kenngott, Hannes; Neuhaus, Jochen; Müller-Stich, Beat P.; Meinzer, Hans-Peter; Gutt, Carsten N.

    In dieser Studie wurde untersucht ob in einem typischen OP-Aufbau mit dem da Vinci® Telemanipulator elektromagnetisches Tracking für die Realisation eines Navigationssystems eingesetzt werden kann. Hierfür wurde in einem realen OP-Aufbau untersucht, wie stark metallische und ferromagnetisch wirksame Objekte wie Operationstisch und Telemanipulator das elektromagnetische Feld des Trackingsystems beeinflussen. Die Ergebnisse zeigen, dass der Telemanipulator nur unwesentlich die Störung des Magnetfeldes durch den OP-Tisch verstärkt. Insbesondere die Bewegung der Instrumente im Trackingvolumen verursachte keine zusätzliche relevante Störung des Magnetfeldes. Bei Begrenzung des Trackingvolumens auf eine Länge von 190 mm, Höhe von 200mm und Breite von 400 mm war der maximale Fehler in diesem Bereich an allen Messpunkten kleiner 10 mm. Der Einsatz von elektromagnetischem Tracking für die Navigation mit dem da Vinci® Surgical System ist somit in einem begrenzten Arbeitsvolumen mit hinreichender Genauigkeit möglich.

  9. Application of a real-time three-dimensional navigation system to various oral and maxillofacial surgical procedures.

    Science.gov (United States)

    Ohba, Seigo; Yoshimura, Hitoshi; Ishimaru, Kyoko; Awara, Kousuke; Sano, Kazuo

    2015-09-01

    The aim of this study was to confirm the effectiveness of a real-time three-dimensional navigation system for use during various oral and maxillofacial surgeries. Five surgeries were performed with this real-time three-dimensional navigation system. For mandibular surgery, patients wore acrylic surgical splints when they underwent computed tomography examinations and the operation to maintain the mandibular position. The incidence of complications during and after surgery was assessed. No connection with the nasal cavity or maxillary sinus was observed at the maxilla during the operation. The inferior alveolar nerve was not injured directly, and any paresthesia around the lower lip and mental region had disappeared within several days after the surgery. In both maxillary and mandibular cases, there was no abnormal hemorrhage during or after the operation. Real-time three-dimensional computer-navigated surgery allows minimally invasive, safe procedures to be performed with precision. It results in minimal complications and early recovery.

  10. Surgical treatment of diastematomyelia using ct-based navigation system (case report

    Directory of Open Access Journals (Sweden)

    S. V. Vissarionov

    2013-01-01

    Full Text Available The authors presented the clinical observation of the patient 14 years old with congenital malformation of the spinal canal associated with congenital scoliosis and multiple vertebral malformations. The main congenital malformation was diastematomyelia type I at level Th11-Th12, fixed spinal cord syndrome and flail legs. The surgery was performed in the following way: removal of the bone septum of the spinal canal and elimination of the spinal cord fixation using 3D computer navigation. Using 3D navigation allowed exactly to detect the location of the bone septum, creating conditions for reducing the extent of surgical access and minimizing the area of the approach to the same bone spicules. These factors allowed to manage in postoperative period without additional external orthotics. The observation period for patients was 1 year 7 months after surgery.

  11. Development of a surgical navigation system based on augmented reality using an optical see-through head-mounted display.

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    Chen, Xiaojun; Xu, Lu; Wang, Yiping; Wang, Huixiang; Wang, Fang; Zeng, Xiangsen; Wang, Qiugen; Egger, Jan

    2015-06-01

    The surgical navigation system has experienced tremendous development over the past decades for minimizing the risks and improving the precision of the surgery. Nowadays, Augmented Reality (AR)-based surgical navigation is a promising technology for clinical applications. In the AR system, virtual and actual reality are mixed, offering real-time, high-quality visualization of an extensive variety of information to the users (Moussa et al., 2012) [1]. For example, virtual anatomical structures such as soft tissues, blood vessels and nerves can be integrated with the real-world scenario in real time. In this study, an AR-based surgical navigation system (AR-SNS) is developed using an optical see-through HMD (head-mounted display), aiming at improving the safety and reliability of the surgery. With the use of this system, including the calibration of instruments, registration, and the calibration of HMD, the 3D virtual critical anatomical structures in the head-mounted display are aligned with the actual structures of patient in real-world scenario during the intra-operative motion tracking process. The accuracy verification experiment demonstrated that the mean distance and angular errors were respectively 0.809±0.05mm and 1.038°±0.05°, which was sufficient to meet the clinical requirements. Copyright © 2015 Elsevier Inc. All rights reserved.

  12. The application of surgical navigation system using optical molecular imaging technology in orthotopic breast cancer and metastasis studies

    Science.gov (United States)

    Chi, Chongwei; Zhang, Qian; Kou, Deqiang; Ye, Jinzuo; Mao, Yamin; Qiu, Jingdan; Wang, Jiandong; Yang, Xin; Du, Yang; Tian, Jie

    2014-02-01

    Currently, it has been an international focus on intraoperative precise positioning and accurate resection of tumor and metastases. The methods such as X-rays, computed tomography (CT), magnetic resonance imaging (MRI) and positron emission tomography (PET) have played an important role in preoperative accurate diagnosis. However, most of them are inapplicable for intraoperative surgery. We have proposed a surgical navigation system based on optical molecular imaging technology for intraoperative detection of tumors and metastasis. This system collects images from two CCD cameras for real-time fluorescent and color imaging. For image processing, the template matching algorithm is used for multispectral image fusion. For the application of tumor detection, the mouse breast cancer cell line 4T1-luc, which shows highly metastasis, was used for tumor model establishment and a model of matrix metalloproteinase (MMP) expressing breast cancer. The tumor-bearing nude mice were given tail vein injection of MMP 750FAST (PerkinElmer, Inc. USA) probe and imaged with both bioluminescence and fluorescence to assess in vivo binding of the probe to the tumor and metastases sites. Hematoxylin and eosin (H&E) staining was performed to confirm the presence of tumor and metastasis. As a result, one tumor can be observed visually in vivo. However liver metastasis has been detected under surgical navigation system and all were confirmed by histology. This approach helps surgeons to find orthotopic tumors and metastasis during intraoperative resection and visualize tumor borders for precise positioning. Further investigation is needed for future application in clinics.

  13. Development of a precision multimodal surgical navigation system for lung robotic segmentectomy.

    Science.gov (United States)

    Baste, Jean Marc; Soldea, Valentin; Lachkar, Samy; Rinieri, Philippe; Sarsam, Mathieu; Bottet, Benjamin; Peillon, Christophe

    2018-04-01

    Minimally invasive sublobar anatomical resection is becoming more and more popular to manage early lung lesions. Robotic-assisted thoracic surgery (RATS) is unique in comparison with other minimally invasive techniques. Indeed, RATS is able to better integrate multiple streams of information including advanced imaging techniques, in an immersive experience at the level of the robotic console. Our aim was to describe three-dimensional (3D) imaging throughout the surgical procedure from preoperative planning to intraoperative assistance and complementary investigations such as radial endobronchial ultrasound (R-EBUS) and virtual bronchoscopy for pleural dye marking. All cases were operated using the DaVinci System TM . Modelisation was provided by Visible Patient™ (Strasbourg, France). Image integration in the operative field was achieved using the Tile Pro multi display input of the DaVinci console. Our experience was based on 114 robotic segmentectomies performed between January 2012 and October 2017. The clinical value of 3D imaging integration was evaluated in 2014 in a pilot study. Progressively, we have reached the conclusion that the use of such an anatomic model improves the safety and reliability of procedures. The multimodal system including 3D imaging has been used in more than 40 patients so far and demonstrated a perfect operative anatomic accuracy. Currently, we are developing an original virtual reality experience by exploring 3D imaging models at the robotic console level. The act of operating is being transformed and the surgeon now oversees a complex system that improves decision making.

  14. Clinical Application of Different Surgical Navigation Systems in Complex Craniomaxillofacial Surgery: The Use of Multisurface 3-Dimensional Images and a 2-Plane Reference System.

    Science.gov (United States)

    Liu, Tom J; Ko, An-Ta; Tang, Yueh-Bih; Lai, Hong-Shiee; Chien, Hsiung-Fei; Hsieh, Thomas Mon-Hsian

    2016-04-01

    Intraoperative navigation is a tool that provides surgeons with real-time guidance based on patients' preoperative imaging studies. The application of intraoperative navigation to neurosurgery and otolaryngology has been well documented; however, only isolated reports have analyzed its potential in the field of craniomaxillofacial surgery. From November 2010 to July 2014, 15 patients were operated on for complex craniomaxillofacial surgery with assistance by 3 different navigation systems, which used either infrared or electromagnetic technologies. We imported fine-cut (0.625-mm) computed tomographic scan images of the patients to the navigation systems whose software processed them into multisurface 3-dimentional models used as guiding material for the surgical navigation. We also developed a simple "2-plane reference system" to ensure that the final results were symmetric to the normal half of the face. Appearance outcome was evaluated by questionnaire. Of these 15 cases, 3 cases were performed with infrared-based navigation, and the remaining 12 cases were accomplished by electromagnetic technology. Most of these cases resulted in satisfactory outcomes after tumor resection, posttraumatic reconstruction, and postablative reconstruction. Navigation systems offer highly valuable intraoperative assistance in complex craniomaxillofacial surgery. Not only can these systems pinpoint deep-seated lesions as neurosurgeons or otolaryngologists do, but they can also use a simple 2-plane reference system for accurate bone alignment. Moreover, advancements in multisurface 3-D models provide us more reliable intuitive image guidance. The application of electromagnetic technology, with its smaller reference obviation of the line-of-sight problem, makes the manipulation of craniomaxillofacial surgery more comfortable.

  15. Three-Dimensional Implant Positioning with a Piezosurgery Implant Site Preparation Technique and an Intraoral Surgical Navigation System: Case Report.

    Science.gov (United States)

    Pellegrino, Gerardo; Taraschi, Valerio; Vercellotti, Tomaso; Ben-Nissan, Besim; Marchetti, Claudio

    This case report describes new implant site preparation techniques joining the benefits of using an intraoral navigation system to optimize three-dimensional implant site positioning in combination with an ultrasonic osteotomy. A report of five patients is presented, and the implant positions as planned in the navigation software with the postoperative scan image were compared. The preliminary results are useful, although further clinical studies with larger populations are needed to confirm these findings.

  16. 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

  17. Surgical navigation in urology: European perspective.

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    Rassweiler, Jens; Rassweiler, Marie-Claire; Müller, Michael; Kenngott, Hannes; Meinzer, Hans-Peter; Teber, Dogu

    2014-01-01

    Use of virtual reality to navigate open and endoscopic surgery has significantly evolved during the last decade. Current status of seven most interesting projects inside the European Association of Urology section of uro-technology is summarized with review of literature. Marker-based endoscopic tracking during laparoscopic radical prostatectomy using high-definition technology reduces positive margins. Marker-based endoscopic tracking during laparoscopic partial nephrectomy by mechanical overlay of three-dimensional-segmented virtual anatomy is helpful during planning of trocar placement and dissection of renal hilum. Marker-based, iPAD-assisted puncture of renal collecting system shows more benefit for trainees with reduction of radiation exposure. Three-dimensional laser-assisted puncture of renal collecting system using Uro-Dyna-CT realized in an ex-vivo model enables minimal radiation time. Electromagnetic tracking for puncture of renal collecting system using a sensor at the tip of ureteral catheter worked in an in-vivo model of porcine ureter and kidney. Attitude tracking for ultrasound-guided puncture of renal tumours by accelerometer reduces the puncture error from 4.7 to 1.8 mm. Feasibility of electromagnetic and optical tracking with the da Vinci telemanipulator was shown in vitro as well as using in-vivo model of oesophagectomy. Target registration error was 11.2 mm because of soft-tissue deformation. Intraoperative navigation is helpful during percutaneous puncture collecting system and biopsy of renal tumour using various tracking techniques. Early clinical studies demonstrate advantages of marker-based navigation during laparoscopic radical prostatectomy and partial nephrectomy. Combination of different tracking techniques may further improve this interesting addition to video-assisted surgery.

  18. Vision-based markerless registration using stereo vision and an augmented reality surgical navigation system: a pilot study

    International Nuclear Information System (INIS)

    Suenaga, Hideyuki; Tran, Huy Hoang; Liao, Hongen; Masamune, Ken; Dohi, Takeyoshi; Hoshi, Kazuto; Takato, Tsuyoshi

    2015-01-01

    This study evaluated the use of an augmented reality navigation system that provides a markerless registration system using stereo vision in oral and maxillofacial surgery. A feasibility study was performed on a subject, wherein a stereo camera was used for tracking and markerless registration. The computed tomography data obtained from the volunteer was used to create an integral videography image and a 3-dimensional rapid prototype model of the jaw. The overlay of the subject’s anatomic site and its 3D-IV image were displayed in real space using a 3D-AR display. Extraction of characteristic points and teeth matching were done using parallax images from two stereo cameras for patient-image registration. Accurate registration of the volunteer’s anatomy with IV stereoscopic images via image matching was done using the fully automated markerless system, which recognized the incisal edges of the teeth and captured information pertaining to their position with an average target registration error of < 1 mm. These 3D-CT images were then displayed in real space with high accuracy using AR. Even when the viewing position was changed, the 3D images could be observed as if they were floating in real space without using special glasses. Teeth were successfully used for registration via 3D image (contour) matching. This system, without using references or fiducial markers, displayed 3D-CT images in real space with high accuracy. The system provided real-time markerless registration and 3D image matching via stereo vision, which, combined with AR, could have significant clinical applications. The online version of this article (doi:10.1186/s12880-015-0089-5) contains supplementary material, which is available to authorized users

  19. Comparison of 2 surgical techniques for reconstructing posterolateral corner of the knee: a cadaveric study evaluated by navigation system.

    Science.gov (United States)

    Ho, Eric Po-Yan; Lam, Mak-Ham; Chung, Mandy Man-Ling; Fong, Daniel Tik-Pui; Law, Billy Kan-Yip; Yung, Patrick Shu-Hang; Chan, Wood-Yee; Chan, Kai-Ming

    2011-01-01

    This study aimed to evaluate the immediate effect on knee kinematics by 2 different techniques of posterolateral corner (PLC) reconstruction. Five intact formalin-preserved cadaveric knees were used in this study. A navigation system was used to measure knee kinematics (posterior translation, varus angulation, and external rotation) after application of a constant force and torque to the tibia. Four different conditions of the knee were evaluated during the biomechanical test: intact knee and PLC-sectioned knee and PLC-reconstructed knee by the double-femoral tunnel technique and single-femoral tunnel technique. Sectioning of the PLC structures resulted in significant increases in external rotation at 30° of flexion from 11.2° (SD, 2.6) to 24.6° (SD, 6.2), posterior translation at 30° of flexion from 3.4 mm (SD, 1.5) to 7.4 mm (SD, 3.8), and varus angulation at 0° of flexion from 2.3° (SD, 2.1) to 7.9° (SD, 5.1). Both reconstruction techniques significantly restored the varus stability. The external rotation and posterior translation at 30° of flexion after reconstruction with the double-femoral tunnel technique were 10.2° (SD, 1.3) and 3.4° (SD, 2.7), respectively, which were significantly better than those of the single-femoral tunnel technique. Both techniques of reconstruction showed improved stability compared with PLC-sectioned knees. The double-femoral tunnel technique in PLC reconstruction showed better rotational stability and resistance to posterior translation than the single-femoral tunnel technique without compromising varus stability. PLC reconstruction by a double-femoral tunnel technique achieves better rotational control and resistance to posterior translation. Copyright © 2011 Arthroscopy Association of North America. Published by Elsevier Inc. All rights reserved.

  20. A surgical navigation system for non-contact diffuse optical tomography and intraoperative cone-beam CT

    Science.gov (United States)

    Daly, Michael J.; Muhanna, Nidal; Chan, Harley; Wilson, Brian C.; Irish, Jonathan C.; Jaffray, David A.

    2014-02-01

    A freehand, non-contact diffuse optical tomography (DOT) system has been developed for multimodal imaging with intraoperative cone-beam CT (CBCT) during minimally-invasive cancer surgery. The DOT system is configured for near-infrared fluorescence imaging with indocyanine green (ICG) using a collimated 780 nm laser diode and a nearinfrared CCD camera (PCO Pixelfly USB). Depending on the intended surgical application, the camera is coupled to either a rigid 10 mm diameter endoscope (Karl Storz) or a 25 mm focal length lens (Edmund Optics). A prototype flatpanel CBCT C-Arm (Siemens Healthcare) acquires low-dose 3D images with sub-mm spatial resolution. A 3D mesh is extracted from CBCT for finite-element DOT implementation in NIRFAST (Dartmouth College), with the capability for soft/hard imaging priors (e.g., segmented lymph nodes). A stereoscopic optical camera (NDI Polaris) provides real-time 6D localization of reflective spheres mounted to the laser and camera. Camera calibration combined with tracking data is used to estimate intrinsic (focal length, principal point, non-linear distortion) and extrinsic (translation, rotation) lens parameters. Source/detector boundary data is computed from the tracked laser/camera positions using radiometry models. Target registration errors (TRE) between real and projected boundary points are ~1-2 mm for typical acquisition geometries. Pre-clinical studies using tissue phantoms are presented to characterize 3D imaging performance. This translational research system is under investigation for clinical applications in head-and-neck surgery including oral cavity tumour resection, lymph node mapping, and free-flap perforator assessment.

  1. Development of a Three-dimensional Surgical Navigation System with Magnetic Resonance Angiography and a Three-dimensional Printer for Robot-assisted Radical Prostatectomy.

    Science.gov (United States)

    Jomoto, Wataru; Tanooka, Masao; Doi, Hiroshi; Kikuchi, Keisuke; Mitsuie, Chiemi; Yamada, Yusuke; Suzuki, Toru; Yamano, Toshiko; Ishikura, Reiichi; Kotoura, Noriko; Yamamoto, Shingo

    2018-01-02

    We sought to develop a surgical navigation system using magnetic resonance angiography (MRA) and a three-dimensional (3D) printer for robot-assisted radical prostatectomy (RARP). Six patients with pathologically proven localized prostate cancer were prospectively enrolled in this study. Prostate magnetic resonance imaging (MRI), consisting of T2-weighted sampling perfection with application-optimized contrasts using different flip-angle evolutions (SPACE) and true fast imaging with steady-state precession (true FISP), reconstructed by volume rendering, was followed by dynamic contrast-enhanced MRA performed with a volumetric interpolated breath-hold examination (VIBE) during intravenous bolus injection of gadobutrol. Images of arterial and venous phases were acquired over approximately 210 seconds. Selected images were sent to a workstation for generation of 3D volume-rendered images and standard triangulated language (STL) files for 3D print construction. The neurovascular bundles (NVBs) were found in sequence on non-contrast images. Accessory pudendal arteries (APAs) were found in all cases in the arterial phase of contrast enhancement but were ill-defined on non-contrast enhanced MRA. Dynamic contrast-enhanced MRA helped to detect APAs, suggesting that this 3D system using MRI will be useful in RARP.

  2. A surgical virtual environment for navigating experience.

    NARCIS (Netherlands)

    Luursema, J.M.; Kommers, Petrus A.M.

    2004-01-01

    A computer generated pre-surgical planning and teaching environment is proposed for training and evaluating novice surgeons. Although this environment is generic and can be put into practice in any medical specialisation where such 3D imaging techniques are in use, in this project we specifically

  3. Neurosurgical robotic arm drilling navigation system.

    Science.gov (United States)

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

    2017-09-01

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

  4. 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.

  5. Instrument-mounted displays for reducing cognitive load during surgical navigation.

    Science.gov (United States)

    Herrlich, Marc; Tavakol, Parnian; Black, David; Wenig, Dirk; Rieder, Christian; Malaka, Rainer; Kikinis, Ron

    2017-09-01

    Surgical navigation systems rely on a monitor placed in the operating room to relay information. Optimal monitor placement can be challenging in crowded rooms, and it is often not possible to place the monitor directly beside the situs. The operator must split attention between the navigation system and the situs. We present an approach for needle-based interventions to provide navigational feedback directly on the instrument and close to the situs by mounting a small display onto the needle. By mounting a small and lightweight smartwatch display directly onto the instrument, we are able to provide navigational guidance close to the situs and directly in the operator's field of view, thereby reducing the need to switch the focus of view between the situs and the navigation system. We devise a specific variant of the established crosshair metaphor suitable for the very limited screen space. We conduct an empirical user study comparing our approach to using a monitor and a combination of both. Results from the empirical user study show significant benefits for cognitive load, user preference, and general usability for the instrument-mounted display, while achieving the same level of performance in terms of time and accuracy compared to using a monitor. We successfully demonstrate the feasibility of our approach and potential benefits. With ongoing technological advancements, instrument-mounted displays might complement standard monitor setups for surgical navigation in order to lower cognitive demands and for improved usability of such systems.

  6. Compact autonomous navigation system (CANS)

    Science.gov (United States)

    Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

    2017-11-01

    Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

  7. Development of field navigation system; Field navigation system no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Ibara, S; Minode, M; Nishioka, K [Daihatsu Motor Co. Ltd., Osaka (Japan)

    1995-04-20

    This paper describes the following matters on a field navigation system developed for the purpose of covering a field of several kilometer square. This system consists of a center system and a vehicle system, and the center system comprises a map information computer and a communication data controlling computer; since the accuracy for a vehicle position detected by a GPS is not sufficient, an attempt of increasing the accuracy of vehicle position detection is made by means of a hybrid system; the hybrid system uses a satellite navigation method of differential system in which the error components in the GPS are transmitted from the center, and also uses a self-contained navigation method which performs an auxiliary function when the accuracy in the GPS has dropped; corrected GPS values, emergency messages to all of the vehicles and data of each vehicle position are communicated by wireless transmission in two ways between the center and vehicles; and accommodation of the map data adopted a system that can respond quickly to any change in roads and facilities. 3 refs., 13 figs., 1 tab.

  8. Navigation system for interstitial brachytherapy

    International Nuclear Information System (INIS)

    Strassmann, G.; Kolotas, C.; Heyd, R.

    2000-01-01

    The purpose of the stud was to develop a computed tomography (CT) based electromagnetic navigation system for interstitial brachytherapy. This is especially designed for situations when needles have to be positioned adjacent to or within critical anatomical structures. In such instances interactive 3D visualisation of the needle positions is essential. The material consisted of a Polhemus electromagnetic 3D digitizer, a Pentium 200 MHz laptop and a voice recognition for continuous speech. In addition, we developed an external reference system constructed of Perspex which could be positioned above the tumour region and attached to the patient using a non-invasive fixation method. A specially designed needle holder and patient bed were also developed. Measurements were made on a series of phantoms in order to study the efficacy and accuracy of the navigation system. The mean navigation accuracy of positioning the 20.0 cm length metallic needles within the phantoms was in the range 2.0-4.1 mm with a maximum of 5.4 mm. This is an improvement on the accuracy of a CT-guided technique which was in the range 6.1-11.3 mm with a maximum of 19.4 mm. The mean reconstruction accuracy of the implant geometry was 3.2 mm within a non-ferromagnetic environment. We found that although the needles were metallic this did not have a significant influence. We also found for our experimental setups that the CT table and operation table non-ferromagnetic parts had no significant influence on the navigation accuracy. This navigation system will be a very useful clinical tool for interstitial brachytherapy applications, particularly when critical structures have to be avoided. It also should provide a significant improvement on our existing technique

  9. Oral and maxillofacial surgery with computer-assisted navigation system.

    Science.gov (United States)

    Kawachi, Homare; Kawachi, Yasuyuki; Ikeda, Chihaya; Takagi, Ryo; Katakura, Akira; Shibahara, Takahiko

    2010-01-01

    Intraoperative computer-assisted navigation has gained acceptance in maxillofacial surgery with applications in an increasing number of indications. We adapted a commercially available wireless passive marker system which allows calibration and tracking of virtually every instrument in maxillofacial surgery. Virtual computer-generated anatomical structures are displayed intraoperatively in a semi-immersive head-up display. Continuous observation of the operating field facilitated by computer assistance enables surgical navigation in accordance with the physician's preoperative plans. This case report documents the potential for augmented visualization concepts in surgical resection of tumors in the oral and maxillofacial region. We report a case of T3N2bM0 carcinoma of the maxillary gingival which was surgically resected with the assistance of the Stryker Navigation Cart System. This system was found to be useful in assisting preoperative planning and intraoperative monitoring.

  10. Introduction of a Surgical Navigator in the Perioperative Process Improves Patient Satisfaction

    Directory of Open Access Journals (Sweden)

    Brett G Marshall

    2017-03-01

    Full Text Available Background: Patients who had received surgical services at Bellin Hospital reported anxiety with the surgical flow. This study tested the hypothesis that the introduction of a surgical navigator, someone who guided the patient and their accompanying others throughout the surgical process, would improve patient satisfaction. Methods: Ambulatory surgical patients were randomized to control and study groups. The study group patients were assigned a surgical navigator. Prior to discharge from the hospital, patients were asked to complete a patient satisfaction survey. Results: The study group had significantly higher mean scores (P value ≤ 0.026, top box scores (P value ≤ 0.021, and positive comments. Conclusion: The addition of a surgical navigator to the perioperative process significantly enhanced patient satisfaction in ambulatory surgical patients.

  11. A goggle navigation system for cancer resection surgery

    Science.gov (United States)

    Xu, Junbin; Shao, Pengfei; Yue, Ting; Zhang, Shiwu; Ding, Houzhu; Wang, Jinkun; Xu, Ronald

    2014-02-01

    We describe a portable fluorescence goggle navigation system for cancer margin assessment during oncologic surgeries. The system consists of a computer, a head mount display (HMD) device, a near infrared (NIR) CCD camera, a miniature CMOS camera, and a 780 nm laser diode excitation light source. The fluorescence and the background images of the surgical scene are acquired by the CCD camera and the CMOS camera respectively, co-registered, and displayed on the HMD device in real-time. The spatial resolution and the co-registration deviation of the goggle navigation system are evaluated quantitatively. The technical feasibility of the proposed goggle system is tested in an ex vivo tumor model. Our experiments demonstrate the feasibility of using a goggle navigation system for intraoperative margin detection and surgical guidance.

  12. Surgical neuro navigator guided by preoperative magnetic resonance images, based on a magnetic position sensor

    International Nuclear Information System (INIS)

    Perini, Ana Paula; Siqueira, Rogerio Bulha; Carneiro, Antonio Adilton Oliveira; Oliveira, Lucas Ferrari de; Machado, Helio Rubens

    2009-01-01

    Image guided neurosurgery enables the neurosurgeon to navigate inside the patient's brain using pre-operative images as a guide and a tracking system, during a surgery. Following a calibration procedure, three-dimensional position and orientation of surgical instruments may be transmitted to computer. The spatial information is used to access a region of interest, in the pre-operative images, displaying them to the neurosurgeon during the surgical procedure. However, when a craniotomy is involved and the lesion is removed, movements of brain tissue can be a significant source of error in these conventional navigation systems. The architecture implemented in this work intends the development of a system to surgical planning and orientation guided by ultrasound image. For surgical orientation, the software developed allows the extraction of slices from the volume of the magnetic resonance images (MRI) with orientation supplied by a magnetic position sensor (Polhemus R ). The slices extracted with this software are important because they show the cerebral area that the neurosurgeon is observing during the surgery, and besides they can be correlated with the intra-operative ultrasound images to detect and to correct the deformation of brain tissue during the surgery. Also, a tool for per-operative navigation was developed, providing three orthogonal planes through the image volume. In the methodology used for the software implementation, the Python tm programming language and the Visualization Toolkit (VTK) graphics library were used. The program to extract slices of the MRI volume allowed the application of transformations in the volume, using coordinates supplied by the position sensor. (author)

  13. Image-guided navigation system for placing dental implants.

    Science.gov (United States)

    Casap, Nardy; Wexler, Alon; Lustmann, Joshua

    2004-10-01

    Navigation-guided surgery has recently been introduced into various surgical disciplines, including oral and maxillofacial surgery. Since the advent of dental implants, dental computed tomography (CT) scans have been used as a diagnostic tool for preoperative planning, but not as part of the surgical phase. This article explains the principles of computer-assisted surgery and describes the use of a computer-guided navigation system in dental implantology. The system uses preoperative dental CT scans for planning and as an integral part of the surgical procedure. This system allows continuous intraoperative coordination of the implantation phase with the preoperative plan, optimizing the accuracy of implant surgery. Deviations from the planned location of the implants are minimal. Several cases are discussed.

  14. The use of virtual surgical planning and navigation in the treatment of orbital trauma

    Directory of Open Access Journals (Sweden)

    Alan Scott Herford

    2017-02-01

    Full Text Available Virtual surgical planning (VSP has recently been introduced in craniomaxillofacial surgery with the goal of improving efficiency and precision for complex surgical operations. Among many indications, VSP can also be applied for the treatment of congenital and acquired craniofacial defects, including orbital fractures. VSP permits the surgeon to visualize the complex anatomy of craniofacial region, showing the relationship between bone and neurovascular structures. It can be used to design and print using three-dimensional (3D printing technology and customized surgical models. Additionally, intraoperative navigation may be useful as an aid in performing the surgery. Navigation is useful for both the surgical dissection as well as to confirm the placement of the implant. Navigation has been found to be especially useful for orbit and sinus surgery. The present paper reports a case describing the use of VSP and computerized navigation for the reconstruction of a large orbital floor defect with a custom implant.

  15. Navigating towards improved surgical safety using aviation-based strategies.

    Science.gov (United States)

    Kao, Lillian S; Thomas, Eric J

    2008-04-01

    Safety practices in the aviation industry are being increasingly adapted to healthcare in an effort to reduce medical errors and patient harm. However, caution should be applied in embracing these practices because of limited experience in surgical disciplines, lack of rigorous research linking these practices to outcome, and fundamental differences between the two industries. Surgeons should have an in-depth understanding of the principles and data supporting aviation-based safety strategies before routinely adopting them. This paper serves as a review of strategies adapted to improve surgical safety, including the following: implementation of crew resource management in training operative teams; incorporation of simulation in training of technical and nontechnical skills; and analysis of contributory factors to errors using surveys, behavioral marker systems, human factors analysis, and incident reporting. Avenues and challenges for future research are also discussed.

  16. Airports and Navigation Aids Database System -

    Data.gov (United States)

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

  17. [da Vinci surgical system].

    Science.gov (United States)

    Watanabe, Gou; Ishikawa, Norihiro

    2014-07-01

    The da Vinci surgical system was developed by Intuitive Surgical Inc. in the United States as an endoscopic surgical device to assist remote control surgeries. In 1998, the Da Vinci system was first used for cardiothoracic procedures. Currently a combination of robot-assisted internal thoracic artery harvest together with coronary artery bypass grafting (CABG) through a mini-incision (ThoraCAB) or totally endoscopic procedures including anastomoses under robotic assistance (TECAB) are being conducted for the treatment of coronary artery diseases. With the recent advances in catheter interventions, hybrid procedures combining catheter intervention with ThoraCAB or TECAB are anticipated in the future.On the other hand, with the decrease in number of coronary artery bypass surgeries, the share of valvular surgeries is expected to increase in the future. Among them, mitral valvuloplasty for mitral regurgitation is anticipated to be conducted mainly by low-invasive procedures, represented by minimally invasive cardiac surgery( MICS) and robot-assisted surgery. Apart from the intrinsic good surgical view, robotic-assisted systems offer additional advantages of the availability of an amplified view and the easy to observe the mitral valve in the physiological position. Thus, robotic surgical surgeries that make complicated procedures easier are expected to accomplish further developments in the future. Furthermore, while the number of surgeries for atrial septal defects has decreased dramatically following the widespread use of Amplatzer septal occluder, robotic surgery may become a good indication for cases in which the Amplatzer device is not indicated. In Japan, clinical trial of the da Vinci robotic system for heart surgeries has been completed. Statutory approval of the da Vinci system for mitral regurgitation and atrial septal defects is anticipated in the next few years.

  18. Autonomous navigation system and method

    Science.gov (United States)

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

    2009-09-08

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

  19. Intraoperative navigation of an optically tracked surgical robot.

    Science.gov (United States)

    Cornellà, Jordi; Elle, Ole Jakob; Ali, Wajid; Samset, Eigil

    2008-01-01

    This paper presents an adaptive control scheme for improving the performance of a surgical robot when it executes tasks autonomously. A commercial tracking system is used to correlate the robot with the preoperative plan as well as to correct the position of the robot when errors between the real and planned positions are detected. Due to the noisy signals provided by the tracking system, a Kalman filter is proposed to smooth the variations and to increase the stability of the system. The efficiency of the approach has been validated using rigid and flexible endoscopic tools, obtaining in both cases that the target points can be reached with an error less than 1mm. These results make the approach suitable for a range of abdominal procedures, such as autonomous repositioning of endoscopic tools or probes for percutaneous procedures.

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

    OpenAIRE

    Yong-Jin Yoon; King Ho Holden Li; Jiahe Steven Lee; Woo-Tae Park

    2015-01-01

    Global Positioning System and Inertial Navigation System can be used to determine position and velocity. A Global Positioning System module is able to accurately determine position without sensor drift, but its usage is limited in heavily urbanized environments and heavy vegetation. While high-cost tactical-grade Inertial Navigation System can determine position accurately, low-cost micro-electro-mechanical system Inertial Navigation System sensors are plagued by significant errors. Global Po...

  1. Global Positioning System Navigation Algorithms

    Science.gov (United States)

    1977-05-01

    Historical Remarks on Navigation In Greek mythology , Odysseus sailed safely by the Sirens only to encounter the monsters Scylla and Charybdis...TNED 000 00 1(.7 BIBLIOGRAPHY 1. Pinsent, John. Greek Mythology . Paul Hamlyn, London, 1969. 2. Kline, Morris. Mathematical Thought from Ancient to

  2. Smart parking management and navigation system

    KAUST Repository

    Saadeldin, Mohamed

    2017-01-01

    Various examples are provided for smart parking management, which can include navigation. In one example, a system includes a base station controller configured to: receive a wireless signal from a parking controller located at a parking space

  3. 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

  4. Current use of navigation system in ACL surgery: a historical review.

    Science.gov (United States)

    Zaffagnini, S; Urrizola, F; Signorelli, C; Grassi, A; Di Sarsina, T Roberti; Lucidi, G A; Marcheggiani Muccioli, G M; Bonanzinga, T; Marcacci, M

    2016-11-01

    The present review aims to analyse the available literature regarding the use of navigation systems in ACL reconstructive surgery underling the evolution during the years. A research of indexed scientific papers was performed on PubMed and Cochrane Library database. The research was performed in December 2015 with no publication year restriction. Only English-written papers and related to the terms ACL, NAVIGATION, CAOS and CAS were considered. Two reviewers independently selected only those manuscripts that presented at least the application of navigation system for ACL reconstructive surgery. One hundred and forty-six of 394 articles were finally selected. In this analysis, it was possible to review the main uses of navigation system in ACL surgery including tunnel positioning for primary and revision surgery and kinematic assessment of knee laxity before and after different surgical procedures. In the early years, until 2006, navigation system was mainly used to improve tunnel positioning, but since the last decade, this tool has been principally used for kinematics evaluation. Increased accuracy of tunnel placement was observed using navigation surgery, especially, regarding femoral, 42 of 146 articles used navigation to guide tunnel positioning. During the following years, 82 of 146 articles have used navigation system to evaluate intraoperative knee kinematic. In particular, the importance of controlling rotatory laxity to achieve better surgical outcomes has been underlined. Several applications have been described and despite the contribution of navigation systems, its potential uses and theoretical advantages, there are still controversies about its clinical benefit. The present papers summarize the most relevant studies that have used navigation system in ACL reconstruction. In particular, the analysis identified four main applications of the navigation systems during ACL reconstructive surgery have been identified: (1) technical assistance for tunnel

  5. The Application of Surgical Navigation in the Treatment of Temporomandibular Joint Ankylosis.

    Science.gov (United States)

    Sun, Guowen; Lu, Mingxing; Hu, Qingang

    2015-11-01

    The purpose of this study was to assess the safety and the accuracy of surgical navigation technology in the resection of severe ankylosis of the mandibular condyle with the middle cranial fossa. The computed tomography scan data were transferred to a Windows-based computer workstation, and the patient's individual anatomy was assessed in multiplanar views at the workstation. In the operation, the patient and the virtual image were matched by individual registration with the reference points which were set on the skull bone surface and the teeth. Then, the real-time navigation can be performed. The acquisition of the data sets was uncomplicated, and image quality was sufficient to assess the operative result in 2 cases. Both of the operations were performed successfully with the guidance of real-time navigation. The application of surgical navigation has enhanced the safety and the accuracy of the surgery for bony ankylosis of temporomandibular joint. The use of surgical navigation resulted in the promotion of accurate and safe surgical excision of the ankylosed skull base tissue.

  6. 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

  7. 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.

  8. Designing a wearable navigation system for image-guided cancer resection surgery.

    Science.gov (United States)

    Shao, Pengfei; Ding, Houzhu; Wang, Jinkun; Liu, Peng; Ling, Qiang; Chen, Jiayu; Xu, Junbin; Zhang, Shiwu; Xu, Ronald

    2014-11-01

    A wearable surgical navigation system is developed for intraoperative imaging of surgical margin in cancer resection surgery. The system consists of an excitation light source, a monochromatic CCD camera, a host computer, and a wearable headset unit in either of the following two modes: head-mounted display (HMD) and Google glass. In the HMD mode, a CMOS camera is installed on a personal cinema system to capture the surgical scene in real-time and transmit the image to the host computer through a USB port. In the Google glass mode, a wireless connection is established between the glass and the host computer for image acquisition and data transport tasks. A software program is written in Python to call OpenCV functions for image calibration, co-registration, fusion, and display with augmented reality. The imaging performance of the surgical navigation system is characterized in a tumor simulating phantom. Image-guided surgical resection is demonstrated in an ex vivo tissue model. Surgical margins identified by the wearable navigation system are co-incident with those acquired by a standard small animal imaging system, indicating the technical feasibility for intraoperative surgical margin detection. The proposed surgical navigation system combines the sensitivity and specificity of a fluorescence imaging system and the mobility of a wearable goggle. It can be potentially used by a surgeon to identify the residual tumor foci and reduce the risk of recurrent diseases without interfering with the regular resection procedure.

  9. Surgical Navigation: A Systematic Review of Indications, Treatments, and Outcomes in Oral and Maxillofacial Surgery.

    Science.gov (United States)

    Azarmehr, Iman; Stokbro, Kasper; Bell, R Bryan; Thygesen, Torben

    2017-09-01

    This systematic review investigates the most common indications, treatments, and outcomes of surgical navigation (SN) published from 2010 to 2015. The evolution of SN and its application in oral and maxillofacial surgery have rapidly developed over recent years, and therapeutic indications are discussed. A systematic search in relevant electronic databases, journals, and bibliographies of the included articles was carried out. Clinical studies with 5 or more patients published between 2010 and 2015 were included. Traumatology, orthognathic surgery, cancer and reconstruction surgery, skull-base surgery, and foreign body removal were the areas of interests. The search generated 13 articles dealing with traumatology; 5, 6, 2, and 0 studies were found that dealt with the topics of orthognathic surgery, cancer and reconstruction surgery, skull-base surgery, and foreign body removal, respectively. The average technical system accuracy and intraoperative precision reported were less than 1 mm and 1 to 2 mm, respectively. In general, SN is reported to be a useful tool for surgical planning, execution, evaluation, and research. The largest numbers of studies and patients were identified in the field of traumatology. Treatment of complex orbital fractures was considerably improved by the use of SN compared with traditionally treated control groups. SN seems to be a very promising addition to the surgical toolkit. Planning details of the surgical procedure in a 3-dimensional virtual environment and execution with real-time guidance can significantly improve precision. Among factors to be considered are the financial investments necessary and the learning curve. Copyright © 2017 American Association of Oral and Maxillofacial Surgeons. All rights reserved.

  10. Navigation of robotic system using cricket motes

    Science.gov (United States)

    Patil, Yogendra J.; Baine, Nicholas A.; Rattan, Kuldip S.

    2011-06-01

    This paper presents a novel algorithm for self-mapping of the cricket motes that can be used for indoor navigation of autonomous robotic systems. The cricket system is a wireless sensor network that can provide indoor localization service to its user via acoustic ranging techniques. The behavior of the ultrasonic transducer on the cricket mote is studied and the regions where satisfactorily distance measurements can be obtained are recorded. Placing the motes in these regions results fine-grain mapping of the cricket motes. Trilateration is used to obtain a rigid coordinate system, but is insufficient if the network is to be used for navigation. A modified SLAM algorithm is applied to overcome the shortcomings of trilateration. Finally, the self-mapped cricket motes can be used for navigation of autonomous robotic systems in an indoor location.

  11. Cloud Absorption Radiometer Autonomous Navigation System - CANS

    Science.gov (United States)

    Kahle, Duncan; Gatebe, Charles; McCune, Bill; Hellwig, Dustan

    2013-01-01

    CAR (cloud absorption radiometer) acquires spatial reference data from host aircraft navigation systems. This poses various problems during CAR data reduction, including navigation data format, accuracy of position data, accuracy of airframe inertial data, and navigation data rate. Incorporating its own navigation system, which included GPS (Global Positioning System), roll axis inertia and rates, and three axis acceleration, CANS expedites data reduction and increases the accuracy of the CAR end data product. CANS provides a self-contained navigation system for the CAR, using inertial reference and GPS positional information. The intent of the software application was to correct the sensor with respect to aircraft roll in real time based upon inputs from a precision navigation sensor. In addition, the navigation information (including GPS position), attitude data, and sensor position details are all streamed to a remote system for recording and later analysis. CANS comprises a commercially available inertial navigation system with integral GPS capability (Attitude Heading Reference System AHRS) integrated into the CAR support structure and data system. The unit is attached to the bottom of the tripod support structure. The related GPS antenna is located on the P-3 radome immediately above the CAR. The AHRS unit provides a RS-232 data stream containing global position and inertial attitude and velocity data to the CAR, which is recorded concurrently with the CAR data. This independence from aircraft navigation input provides for position and inertial state data that accounts for very small changes in aircraft attitude and position, sensed at the CAR location as opposed to aircraft state sensors typically installed close to the aircraft center of gravity. More accurate positional data enables quicker CAR data reduction with better resolution. The CANS software operates in two modes: initialization/calibration and operational. In the initialization/calibration mode

  12. Real-time in situ three-dimensional integral videography and surgical navigation using augmented reality: a pilot study

    Science.gov (United States)

    Suenaga, Hideyuki; Hoang Tran, Huy; Liao, Hongen; Masamune, Ken; Dohi, Takeyoshi; Hoshi, Kazuto; Mori, Yoshiyuki; Takato, Tsuyoshi

    2013-01-01

    To evaluate the feasibility and accuracy of a three-dimensional augmented reality system incorporating integral videography for imaging oral and maxillofacial regions, based on preoperative computed tomography data. Three-dimensional surface models of the jawbones, based on the computed tomography data, were used to create the integral videography images of a subject's maxillofacial area. The three-dimensional augmented reality system (integral videography display, computed tomography, a position tracker and a computer) was used to generate a three-dimensional overlay that was projected on the surgical site via a half-silvered mirror. Thereafter, a feasibility study was performed on a volunteer. The accuracy of this system was verified on a solid model while simulating bone resection. Positional registration was attained by identifying and tracking the patient/surgical instrument's position. Thus, integral videography images of jawbones, teeth and the surgical tool were superimposed in the correct position. Stereoscopic images viewed from various angles were accurately displayed. Change in the viewing angle did not negatively affect the surgeon's ability to simultaneously observe the three-dimensional images and the patient, without special glasses. The difference in three-dimensional position of each measuring point on the solid model and augmented reality navigation was almost negligible (augmented reality system was highly accurate and effective for surgical navigation and for overlaying a three-dimensional computed tomography image on a patient's surgical area, enabling the surgeon to understand the positional relationship between the preoperative image and the actual surgical site, with the naked eye. PMID:23703710

  13. Intermuscular pterygoid-temporal abscess following inferior alveolar nerve block anesthesia-A computer tomography based navigated surgical intervention: Case report and review.

    Science.gov (United States)

    Wallner, Jürgen; Reinbacher, Knut Ernst; Pau, Mauro; Feichtinger, Matthias

    2014-01-01

    Inferior alveolar nerve block (IANB) anesthesia is a common local anesthetic procedure. Although IANB anesthesia is known for its safety, complications can still occur. Today immediately or delayed occurring disorders following IANB anesthesia and their treatment are well-recognized. We present a case of a patient who developed a symptomatic abscess in the pterygoid region as a result of several inferior alveolar nerve injections. Clinical symptoms included diffuse pain, reduced mouth opening and jaw's hypomobility and were persistent under a first step conservative treatment. Since image-based navigated interventions have gained in importance and are used for various procedures a navigated surgical intervention was initiated as a second step therapy. Thus precise, atraumatic surgical intervention was performed by an optical tracking system in a difficult anatomical region. A symptomatic abscess was treated by a computed tomography-based navigated surgical intervention at our department. Advantages and disadvantages of this treatment strategy are evaluated.

  14. Intermuscular pterygoid-temporal abscess following inferior alveolar nerve block anesthesia–A computer tomography based navigated surgical intervention: Case report and review

    Science.gov (United States)

    Wallner, Jürgen; Reinbacher, Knut Ernst; Pau, Mauro; Feichtinger, Matthias

    2014-01-01

    Inferior alveolar nerve block (IANB) anesthesia is a common local anesthetic procedure. Although IANB anesthesia is known for its safety, complications can still occur. Today immediately or delayed occurring disorders following IANB anesthesia and their treatment are well-recognized. We present a case of a patient who developed a symptomatic abscess in the pterygoid region as a result of several inferior alveolar nerve injections. Clinical symptoms included diffuse pain, reduced mouth opening and jaw's hypomobility and were persistent under a first step conservative treatment. Since image-based navigated interventions have gained in importance and are used for various procedures a navigated surgical intervention was initiated as a second step therapy. Thus precise, atraumatic surgical intervention was performed by an optical tracking system in a difficult anatomical region. A symptomatic abscess was treated by a computed tomography-based navigated surgical intervention at our department. Advantages and disadvantages of this treatment strategy are evaluated. PMID:24987612

  15. An on-line monitoring system for navigation equipment

    Science.gov (United States)

    Wang, Bo; Yang, Ping; Liu, Jing; Yang, Zhengbo; Liang, Fei

    2017-10-01

    Civil air navigation equipment is the most important infrastructure of Civil Aviation, which is closely related to flight safety. In addition to regular flight inspection, navigation equipment's patrol measuring, maintenance measuring, running measuring under special weather conditions are the important means of ensuring aviation flight safety. According to the safety maintenance requirements of Civil Aviation Air Traffic Control navigation equipment, this paper developed one on-line monitoring system with independent intellectual property rights for navigation equipment, the system breakthroughs the key technologies of measuring navigation equipment on-line including Instrument Landing System (ILS) and VHF Omni-directional Range (VOR), which also meets the requirements of navigation equipment ground measurement set by the ICAO DOC 8071, it provides technical means of the ground on-line measurement for navigation equipment, improves the safety of navigation equipment operation, and reduces the impact of measuring navigation equipment on airport operation.

  16. Navigation System of Marks Areas - USACE IENC

    Data.gov (United States)

    Department of Homeland Security — These inland electronic Navigational charts (IENCs) were developed from available data used in maintenance of Navigation channels. Users of these IENCs should be...

  17. 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.

  18. Fiber optic gyroscopes for vehicle navigation systems

    Science.gov (United States)

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

    1994-03-01

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

  19. 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...

  20. Surgical Navigation Technology Based on Augmented Reality and Integrated 3D Intraoperative Imaging

    Science.gov (United States)

    Elmi-Terander, Adrian; Skulason, Halldor; Söderman, Michael; Racadio, John; Homan, Robert; Babic, Drazenko; van der Vaart, Nijs; Nachabe, Rami

    2016-01-01

    Study Design. A cadaveric laboratory study. Objective. The aim of this study was to assess the feasibility and accuracy of thoracic pedicle screw placement using augmented reality surgical navigation (ARSN). Summary of Background Data. Recent advances in spinal navigation have shown improved accuracy in lumbosacral pedicle screw placement but limited benefits in the thoracic spine. 3D intraoperative imaging and instrument navigation may allow improved accuracy in pedicle screw placement, without the use of x-ray fluoroscopy, and thus opens the route to image-guided minimally invasive therapy in the thoracic spine. Methods. ARSN encompasses a surgical table, a motorized flat detector C-arm with intraoperative 2D/3D capabilities, integrated optical cameras for augmented reality navigation, and noninvasive patient motion tracking. Two neurosurgeons placed 94 pedicle screws in the thoracic spine of four cadavers using ARSN on one side of the spine (47 screws) and free-hand technique on the contralateral side. X-ray fluoroscopy was not used for either technique. Four independent reviewers assessed the postoperative scans, using the Gertzbein grading. Morphometric measurements of the pedicles axial and sagittal widths and angles, as well as the vertebrae axial and sagittal rotations were performed to identify risk factors for breaches. Results. ARSN was feasible and superior to free-hand technique with respect to overall accuracy (85% vs. 64%, P dimensions, except for vertebral body axial rotation, were risk factors for larger breaches when performed with the free-hand method. Conclusion. ARSN without fluoroscopy was feasible and demonstrated higher accuracy than free-hand technique for thoracic pedicle screw placement. Level of Evidence: N/A PMID:27513166

  1. Development of A Plant Navigation System

    International Nuclear Information System (INIS)

    Furuta, Tomihiko; Nakagawa, Tsuneo; Kubota, Ryuji; Ikeda, Kouji

    1998-01-01

    A 'Plant Navigation System (PNS)' is under development to assist nuclear power plant (NPP) operators by automatically displaying the plant situation and plant operational procedures on a CRT screen when abnormalities occur. The operation procedures given in a symptom-oriented manual are expressed in a tree - type flowchart (modified PAD). The optimum operation procedure for an NPP is selected automatically using built-in diagnostic logics based on the current status of the NPP. Concerning the plant situation, the PNS displays important information only on the current status of the NPP. A prototype PNS system is being constructed. (authors)

  2. Space Launch Systems Block 1B Preliminary Navigation System Design

    Science.gov (United States)

    Oliver, T. Emerson; Park, Thomas; Anzalone, Evan; Smith, Austin; Strickland, Dennis; Patrick, Sean

    2018-01-01

    NASA is currently building the Space Launch Systems (SLS) Block 1 launch vehicle for the Exploration Mission 1 (EM-1) test flight. In parallel, NASA is also designing the Block 1B launch vehicle. The Block 1B vehicle is an evolution of the Block 1 vehicle and extends the capability of the NASA launch vehicle. This evolution replaces the Interim Cryogenic Propulsive Stage (ICPS) with the Exploration Upper Stage (EUS). As the vehicle evolves to provide greater lift capability, increased robustness for manned missions, and the capability to execute more demanding missions so must the SLS Integrated Navigation System evolved to support those missions. This paper describes the preliminary navigation systems design for the SLS Block 1B vehicle. The evolution of the navigation hard-ware and algorithms from an inertial-only navigation system for Block 1 ascent flight to a tightly coupled GPS-aided inertial navigation system for Block 1B is described. The Block 1 GN&C system has been designed to meet a LEO insertion target with a specified accuracy. The Block 1B vehicle navigation system is de-signed to support the Block 1 LEO target accuracy as well as trans-lunar or trans-planetary injection accuracy. Additionally, the Block 1B vehicle is designed to support human exploration and thus is designed to minimize the probability of Loss of Crew (LOC) through high-quality inertial instruments and robust algorithm design, including Fault Detection, Isolation, and Recovery (FDIR) logic.

  3. 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.

  4. The Creation of Differential Correction Systems and the Systems of Global Navigation Satellite System Monitoring

    National Research Council Canada - National Science Library

    Polishchuk, G. M; Kozlov, V. I; Urlichich, Y. M; Dvorkin, V. V; Gvozdev, V. V

    2002-01-01

    ... for the Russian Federation and a system of global navigation satellite system monitoring. These projects are some of the basic ones in the Federal program "Global Navigation System," aimed at maintenance and development of the GLONASS system...

  5. Low Cost Integrated Navigation System for Unmanned Vessel

    Directory of Open Access Journals (Sweden)

    Yang Changsong

    2017-11-01

    Full Text Available Large errors of low-cost MEMS inertial measurement unit (MIMU lead to huge navigation errors, even wrong navigation information. An integrated navigation system for unmanned vessel is proposed. It consists of a low-cost MIMU and Doppler velocity sonar (DVS. This paper presents an integrated navigation method, to improve the performance of navigation system. The integrated navigation system is tested using simulation and semi-physical simulation experiments, whose results show that attitude, velocity and position accuracy has improved awfully, giving exactly accurate navigation results. By means of the combination of low-cost MIMU and DVS, the proposed system is able to overcome fast drift problems of the low cost IMU.

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

    NARCIS (Netherlands)

    Steffes, S.; Dumke, M.; Heise, D.; Sagliano, M.; Samaan, M.; Theil, S.; Boslooper, E.C.; Oosterling, J.A.J.; Schulte, J.; Skaborn, D.; Söderholm, S.; Conticello, S.; Esposito, M.; Yanson, Y.; Monna, B.; Stelwagen, F.; Visee, R.

    2014-01-01

    The goal of the SINPLEX project is to develop an innovative solution to significantly reduce the mass of the navigation subsystem for exploration missions which include landing and/or rendezvous and capture phases. The system mass is reduced while still maintaining good navigation performance as

  7. Intraoperative computed tomography with integrated navigation system in spinal stabilizations.

    Science.gov (United States)

    Zausinger, Stefan; Scheder, Ben; Uhl, Eberhard; Heigl, Thomas; Morhard, Dominik; Tonn, Joerg-Christian

    2009-12-15

    STUDY DESIGN.: A prospective interventional case-series study plus a retrospective analysis of historical patients for comparison of data. OBJECTIVE.: To evaluate workflow, feasibility, and clinical outcome of navigated stabilization procedures with data acquisition by intraoperative computed tomography. SUMMARY OF BACKGROUND DATA.: Routine fluoroscopy to assess pedicle screw placement is not consistently reliable. Our hypothesis was that image-guided spinal navigation using an intraoperative CT-scanner can improve the safety and precision of spinal stabilization surgery. METHODS.: CT data of 94 patients (thoracolumbar [n = 66], C1/2 [n = 12], cervicothoracic instability [n = 16]) were acquired after positioning the patient in the final surgical position. A sliding gantry 40-slice CT was used for image acquisition. Data were imported to a frameless infrared-based neuronavigation workstation. Intraoperative CT was obtained to assess the accuracy of instrumentation and, if necessary, the extent of decompression. All patients were clinically evaluated by Odom-criteria after surgery and after 3 months. RESULTS.: Computed accuracy of the navigation system reached /=2 mm without persistent neurologic or vascular damage in 20/414 screws (4.8%) leading to immediate correction of 10 screws (2.4%). Control-iCT changed the course of surgery in 8 cases (8.5% of all patients). The overall revision rate was 8.5% (4 wound revisions, 2 CSF fistulas, and 2 epidural hematomas). There was no reoperation due to implant malposition. According to Odom-criteria all patients experienced a clinical improvement. A retrospective analysis of 182 patients with navigated thoracolumbar transpedicular stabilizations in the preiCT era revealed an overall revision rate of 10.4% with 4.4% of patients requiring screw revision. CONCLUSION.: Intraoperative CT in combination with neuronavigation provides high accuracy of screw placement and thus safety for patients undergoing spinal stabilization

  8. Towards Safe Robotic Surgical Systems

    DEFF Research Database (Denmark)

    Sloth, Christoffer; Wisniewski, Rafael

    2015-01-01

    a controller for motion compensation in beating-heart surgery, and prove that it is safe, i.e., the surgical tool is kept within an allowable distance and orientation of the heart. We solve the problem by simultaneously finding a control law and a barrier function. The motion compensation system is simulated...... from several initial conditions to demonstrate that the designed control system is safe for every admissible initial condition....

  9. A wearable navigation display can improve attentiveness to the surgical field.

    Science.gov (United States)

    Stewart, James; Billinghurst, Mark

    2016-06-01

    Surgical navigation is typically shown on a computer display that is distant from the patient, making it difficult for the surgeon to watch the patient while performing a guided task. We investigate whether a light-weight, untracked, wearable display (such as Google Glass, which has the same size and weight as corrective glasses) can improve attentiveness to the surgical field in a simulated surgical task. Three displays were tested: a computer monitor; a peripheral display above the eye; and a through-the-lens display in front of the eye. Twelve subjects performed a task to position and orient a tracked tool on a plastic femur. Both wearable displays were tested on the dominant and non-dominant eyes of each subject. Attentiveness during the task was measured by the time taken to respond to randomly illuminated LEDs on the femur. Attentiveness was improved with the wearable displays at the cost of a decrease in accuracy. The through-the-lens display performed better than the peripheral display. The peripheral display performed better when on the dominant eye, while the through-the-lens display performed better when on the non-dominant eye. Attentiveness to the surgical field can be improved with the use of a light-weight, untracked, wearable display. A through-the-lens display performs better than a peripheral display, and both perform better than a computer monitor. Eye dominance should be considered when positioning the display.

  10. Vision enhanced navigation for unmanned systems

    Science.gov (United States)

    Wampler, Brandon Loy

    A vision based simultaneous localization and mapping (SLAM) algorithm is evaluated for use on unmanned systems. SLAM is a technique used by a vehicle to build a map of an environment while concurrently keeping track of its location within the map, without a priori knowledge. The work in this thesis is focused on using SLAM as a navigation solution when global positioning system (GPS) service is degraded or temporarily unavailable. Previous work on unmanned systems that lead up to the determination that a better navigation solution than GPS alone is first presented. This previous work includes control of unmanned systems, simulation, and unmanned vehicle hardware testing. The proposed SLAM algorithm follows the work originally developed by Davidson et al. in which they dub their algorithm MonoSLAM [1--4]. A new approach using the Pyramidal Lucas-Kanade feature tracking algorithm from Intel's OpenCV (open computer vision) library is presented as a means of keeping correct landmark correspondences as the vehicle moves through the scene. Though this landmark tracking method is unusable for long term SLAM due to its inability to recognize revisited landmarks, as opposed to the Scale Invariant Feature Transform (SIFT) and Speeded Up Robust Features (SURF), its computational efficiency makes it a good candidate for short term navigation between GPS position updates. Additional sensor information is then considered by fusing INS and GPS information into the SLAM filter. The SLAM system, in its vision only and vision/IMU form, is tested on a table top, in an open room, and finally in an outdoor environment. For the outdoor environment, a form of the slam algorithm that fuses vision, IMU, and GPS information is tested. The proposed SLAM algorithm, and its several forms, are implemented in C++ using an Extended Kalman Filter (EKF). Experiments utilizing a live video feed from a webcam are performed. The different forms of the filter are compared and conclusions are made on

  11. 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)

  12. 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.

  13. Systems and Methods for Determining Inertial Navigation System Faults

    Science.gov (United States)

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

    2017-01-01

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

  14. Orion Absolute Navigation System Progress and Challenges

    Science.gov (United States)

    Holt, Greg N.; D'Souza, Christopher

    2011-01-01

    The Orion spacecraft is being designed as NASA's next-generation exploration vehicle for crewed missions beyond Low-Earth Orbit. The navigation system for the Orion spacecraft is being designed in a Multi-Organizational Design Environment (MODE) team including contractor and NASA personnel. The system uses an Extended Kalman Filter to process measurements and determine the state. The design of the navigation system has undergone several iterations and modifications since its inception, and continues as a work-in-progress. This paper seeks to benchmark the current state of the design and some of the rationale and analysis behind it. There are specific challenges to address when preparing a timely and effective design for the Exploration Flight Test (EFT-1), while still looking ahead and providing software extensibility for future exploration missions. The primary measurements in a Near-Earth or Mid-Earth environment consist of GPS pseudorange and deltarange, but for future explorations missions the use of star-tracker and optical navigation sources need to be considered. Discussions are presented for state size and composition, processing techniques, and consider states. A presentation is given for the processing technique using the computationally stable and robust UDU formulation with an Agee-Turner Rank-One update. This allows for computational savings when dealing with many parameters which are modeled as slowly varying Gauss-Markov processes. Preliminary analysis shows up to a 50% reduction in computation versus a more traditional formulation. Several state elements are discussed and evaluated, including position, velocity, attitude, clock bias/drift, and GPS measurement biases in addition to bias, scale factor, misalignment, and non-orthogonalities of the accelerometers and gyroscopes. Another consideration is the initialization of the EKF in various scenarios. Scenarios such as single-event upset, ground command, pad alignment, cold start are discussed as are

  15. Development of a new automotive navigation system; Shingata navigation system no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Sone, M; Nakano, H; Nakayama, O; Tanemura, E; Yoshitsugu, N; Watanabe, M [Nissan Motor Co. Ltd., Tokyo (Japan)

    1996-01-31

    An automotive navigation system was outlined. Features of this system are described below: map display called `Bird View` extending up to the horizon was commercialized; accuracy of determining the vehicle`s present position was realized using new algorithm; and automatic route selection was adopted. Human machine interface of this system also was completely reviewed. `Bird View` was realized by reading plane map data out from CD-ROM and converting them onto the coordinate on the virtual screen in front of the view point. Automatic selection which depends mostly on self-contained navigation adopts the certain way in comparison of the computation position in GPS. To assume vehicle advancing direction, employed were optical fiber gyroscope, geomagnetic sensor, and Karman filter making a good use of advantages of GPS, for the improvement of accuracy. For the automatic distance correction, a function of correcting pulse-distance conversion coefficient was employed, and the free maintenance was realized. 5 figs.

  16. Preliminary study on magnetic tracking-based planar shape sensing and navigation for flexible surgical robots in transoral surgery: methods and phantom experiments.

    Science.gov (United States)

    Song, Shuang; Zhang, Changchun; Liu, Li; Meng, Max Q-H

    2018-02-01

    Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation. We use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved. Using the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is [Formula: see text] mm, while the maximum error is 3.2 mm. The proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method.

  17. Smart parking management and navigation system

    KAUST Repository

    Saadeldin, Mohamed

    2017-11-09

    Various examples are provided for smart parking management, which can include navigation. In one example, a system includes a base station controller configured to: receive a wireless signal from a parking controller located at a parking space; determine a received signal strength indicator (RSSI) from the wireless signal; and identify a presence of a vehicle located at the parking space based at least in part on the RSSI. In another example, a method includes receiving a wireless signals from a base station controller and a parking controller located at a parking space; determining RSSIs from the wireless signals; and determining a location of the mobile computing device in a parking facility based at least in part on the RSSIs. In another example, a RSSI can be received, a parking occupancy can be determined using the RSSI, and an electronic record can be updated based on the parking occupancy.

  18. Motorization of a surgical microscope for intra-operative navigation and intuitive control.

    Science.gov (United States)

    Finke, M; Schweikard, A

    2010-09-01

    During surgical procedures, various medical systems, e.g. microscope or C-arm, are used. Their precise and repeatable manual positioning can be very cumbersome and interrupts the surgeon's work flow. Robotized systems can assist the surgeon but they require suitable kinematics and control. However, positioning must be fast, flexible and intuitive. We describe a fully motorized surgical microscope. Hardware components as well as implemented applications are specified. The kinematic equations are described and a novel control concept is proposed. Our microscope combines fast manual handling with accurate, automatic positioning. Intuitive control is provided by a small remote control mounted to one of the surgical instruments. Positioning accuracy and repeatability are system assists the surgeon, so that he can position the microscope precisely and repeatedly without interrupting the clinical workflow. The combination of manual und automatic control guarantees fast and flexible positioning during surgical procedures. Copyright 2010 John Wiley & Sons, Ltd.

  19. Skull reconstruction after resection of bone tumors in a single surgical time by the association of the techniques of rapid prototyping and surgical navigation.

    Science.gov (United States)

    Anchieta, M V M; Salles, F A; Cassaro, B D; Quaresma, M M; Santos, B F O

    2016-10-01

    Presentation of a new cranioplasty technique employing a combination of two technologies: rapid prototyping and surgical navigation. This technique allows the reconstruction of the skull cap after the resection of a bone tumor in a single surgical time. The neurosurgeon plans the craniotomy previously on the EximiusMed software, compatible with the Eximius Surgical Navigator, both from the company Artis Tecnologia (Brazil). The navigator imports the planning and guides the surgeon during the craniotomy. The simulation of the bone fault allows the virtual reconstruction of the skull cap and the production of a personalized modelling mold using the Magics-Materialise (Belgium)-software. The mold and a replica of the bone fault are made by rapid prototyping by the company Artis Tecnologia (Brazil) and shipped under sterile conditions to the surgical center. The PMMA prosthesis is produced during the surgical act with the help of a hand press. The total time necessary for the planning and production of the modelling mold is four days. The precision of the mold is submillimetric and accurately reproduces the virtual reconstruction of the prosthesis. The production of the prosthesis during surgery takes until twenty minutes depending on the type of PMMA used. The modelling mold avoids contraction and dissipates the heat generated by the material's exothermic reaction in the polymerization phase. The craniectomy is performed with precision over the drawing made with the help of the Eximius Surgical Navigator, according to the planned measurements. The replica of the bone fault serves to evaluate the adaptation of the prosthesis as a support for the perforations and the placement of screws and fixation plates, as per the surgeon's discretion. This technique allows the adequate oncologic treatment associated with a satisfactory aesthetic result, with precision, in a single surgical time, reducing time and costs.

  20. Navigating oceans and cultures: Polynesian and European navigation systems in the late eighteenth century

    Science.gov (United States)

    Walker, M.

    2012-05-01

    Significant differences in the rotation of the celestial dome between the tropical and temperate zones did not stop the peoples of either the tropical Pacific or temperate Europe from using geocentric astronomy to guide exploration of the oceans. Although the differences in the night sky contributed to differences between the Pacific Island and European systems for navigation at sea, the two navigation systems exhibit substantial similarities. Both systems define positions on the surface of the Earth using two coordinates that vary at right angles to each other and use stars, and to a lesser extent the sun, to determine directions. This essay explores similarities and differences in the use of geocentric astronomy for navigation at sea by the peoples of Polynesia and Europe in the late eighteenth century. Captain Cook's orders to discover the unknown southern continent after observing the transit of Venus combined with differences in language and culture to obscure the deeper similarities between the navigation systems used by Cook and the Polynesians. Although it was a further 200 years before anthropologists studied Pacific navigation, collaborations in voyaging with communities in Oceania demonstrated the effectiveness of Pacific navigation systems, revived interest in traditional voyaging in island communities around the Pacific, and potentially open the way for further collaborations in other areas.

  1. Navigated Pattern Laser System versus Single-Spot Laser System for Postoperative 360-Degree Laser Retinopexy.

    Science.gov (United States)

    Kulikov, Alexei N; Maltsev, Dmitrii S; Boiko, Ernest V

    2016-01-01

    Purpose . To compare three 360°-laser retinopexy (LRP) approaches (using navigated pattern laser system, single-spot slit-lamp (SL) laser delivery, and single-spot indirect ophthalmoscope (IO) laser delivery) in regard to procedure duration, procedural pain score, technical difficulties, and the ability to achieve surgical goals. Material and Methods . Eighty-six rhegmatogenous retinal detachment patients (86 eyes) were included in this prospective randomized study. The mean procedural time, procedural pain score (using 4-point Verbal Rating Scale), number of laser burns, and achievement of the surgical goals were compared between three groups (pattern LRP (Navilas® laser system), 36 patients; SL-LRP, 28 patients; and IO-LRP, 22 patients). Results . In the pattern LRP group, the amount of time needed for LRP and pain level were statistically significantly lower, whereas the number of applied laser burns was higher compared to those in the SL-LRP group and in the IO-LRP group. In the pattern LRP, SL-LRP, and IO-LRP groups, surgical goals were fully achieved in 28 (77.8%), 17 (60.7%), and 13 patients (59.1%), respectively ( p > 0.05). Conclusion . The navigated pattern approach allows improving the treatment time and pain in postoperative 360° LRP. Moreover, 360° pattern LRP is at least as effective in achieving the surgical goal as the conventional (slit-lamp or indirect ophthalmoscope) approaches with a single-spot laser.

  2. Vibrotactile in-vehicle navigation system

    NARCIS (Netherlands)

    Erp, J.B.F. van; Veen, H.J. van

    2004-01-01

    A vibrotactile display, consisting ofeight vibrating elements or tactors mounted in a driver's seat, was tested in a driving simulator. Participants drove with visual, tactile and multimodal navigation displays through a built-up area. Workload and the reaction time to navigation messages were

  3. Three-dimensional Cross-Platform Planning for Complex Spinal Procedures: A New Method Adaptive to Different Navigation Systems.

    Science.gov (United States)

    Kosterhon, Michael; Gutenberg, Angelika; Kantelhardt, Sven R; Conrad, Jens; Nimer Amr, Amr; Gawehn, Joachim; Giese, Alf

    2017-08-01

    A feasibility study. To develop a method based on the DICOM standard which transfers complex 3-dimensional (3D) trajectories and objects from external planning software to any navigation system for planning and intraoperative guidance of complex spinal procedures. There have been many reports about navigation systems with embedded planning solutions but only few on how to transfer planning data generated in external software. Patients computerized tomography and/or magnetic resonance volume data sets of the affected spinal segments were imported to Amira software, reconstructed to 3D images and fused with magnetic resonance data for soft-tissue visualization, resulting in a virtual patient model. Objects needed for surgical plans or surgical procedures such as trajectories, implants or surgical instruments were either digitally constructed or computerized tomography scanned and virtually positioned within the 3D model as required. As crucial step of this method these objects were fused with the patient's original diagnostic image data, resulting in a single DICOM sequence, containing all preplanned information necessary for the operation. By this step it was possible to import complex surgical plans into any navigation system. We applied this method not only to intraoperatively adjustable implants and objects under experimental settings, but also planned and successfully performed surgical procedures, such as the percutaneous lateral approach to the lumbar spine following preplanned trajectories and a thoracic tumor resection including intervertebral body replacement using an optical navigation system. To demonstrate the versatility and compatibility of the method with an entirely different navigation system, virtually preplanned lumbar transpedicular screw placement was performed with a robotic guidance system. The presented method not only allows virtual planning of complex surgical procedures, but to export objects and surgical plans to any navigation or

  4. Error Analysis of Inertial Navigation Systems Using Test Algorithms

    OpenAIRE

    Vaispacher, Tomáš; Bréda, Róbert; Adamčík, František

    2015-01-01

    Content of this contribution is an issue of inertial sensors errors, specification of inertial measurement units and generating of test signals for Inertial Navigation System (INS). Given the different levels of navigation tasks, part of this contribution is comparison of the actual types of Inertial Measurement Units. Considering this comparison, there is proposed the way of solving inertial sensors errors and their modelling for low – cost inertial navigation applications. The last part is ...

  5. The impact of navigation systems on traffic safety

    NARCIS (Netherlands)

    Rooijen, T. van; Vonk, T.

    2007-01-01

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

  6. The impact of navigation systems on traffic safety

    NARCIS (Netherlands)

    Rooijen, T. van; Vonk, T.

    2008-01-01

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

  7. Output control of da Vinci surgical system's surgical graspers.

    Science.gov (United States)

    Johnson, Paul J; Schmidt, David E; Duvvuri, Umamaheswar

    2014-01-01

    The number of robot-assisted surgeries performed with the da Vinci surgical system has increased significantly over the past decade. The articulating movements of the robotic surgical grasper are controlled by grip controls at the master console. The user interface has been implicated as one contributing factor in surgical grasping errors. The goal of our study was to characterize and evaluate the user interface of the da Vinci surgical system in controlling surgical graspers. An angular manipulator with force sensors was used to increment the grip control angle as grasper output angles were measured. Input force at the grip control was simultaneously measured throughout the range of motion. Pressure film was used to assess the maximum grasping force achievable with the endoscopic grasping tool. The da Vinci robot's grip control angular input has a nonproportional relationship with the grasper instrument output. The grip control mechanism presents an intrinsic resistant force to the surgeon's fingertips and provides no haptic feedback. The da Vinci Maryland graspers are capable of applying up to 5.1 MPa of local pressure. The angular and force input at the grip control of the da Vinci robot's surgical graspers is nonproportional to the grasper instrument's output. Understanding the true relationship of the grip control input to grasper instrument output may help surgeons understand how to better control the surgical graspers and promote fewer grasping errors. Copyright © 2014 Elsevier Inc. All rights reserved.

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

    CERN Document Server

    Hofmann-Wellenhof, Bernhard; Wasle, Elmar

    2008-01-01

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

  9. 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

  10. 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.

  11. Comparative advantage between traditional and smart navigation systems

    Science.gov (United States)

    Shin, Jeongkyu; Kim, Pan-Jun; Kim, Seunghwan

    2013-03-01

    The smart navigation system that refers to real-time traffic data is believed to be superior to traditional navigation systems. To verify this belief, we created an agent-based traffic model and examined the effect of changing market share of the traditional shortest-travel-time algorithm based navigation and the smart navigation system. We tested our model on the grid and actual metropolitan road network structures. The result reveals that the traditional navigation system have better performance than the smart one as the market share of the smart navigation system exceeds a critical value, which is contrary to conventional expectation. We suggest that the superiority inversion between agent groups is strongly related to the traffic weight function form, and is general. We also found that the relationship of market share, traffic flow density and travel time is determined by the combination of congestion avoidance behavior of the smartly navigated agents and the inefficiency of shortest-travel-time based navigated agents. Our results can be interpreted with the minority game and extended to the diverse topics of opinion dynamics. This work was supported by the Original Technology Research Program for Brain Science through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology(No. 2010-0018847).

  12. Information content in reflected global navigation satellite system signals

    DEFF Research Database (Denmark)

    Høeg, Per; Carlstrom, Anders

    2011-01-01

    The direct signals from satellites in global satellite navigation satellites systems (GNSS) as, GPS, GLONASS and GALILEO, constitute the primary source for positioning, navigation and timing from space. But also the reflected GNSS signals contain an important information content of signal travel...

  13. A Low-Cost, Passive Navigation Training System for Image-Guided Spinal Intervention.

    Science.gov (United States)

    Lorias-Espinoza, Daniel; Carranza, Vicente González; de León, Fernando Chico-Ponce; Escamirosa, Fernando Pérez; Martinez, Arturo Minor

    2016-11-01

    Navigation technology is used for training in various medical specialties, not least image-guided spinal interventions. Navigation practice is an important educational component that allows residents to understand how surgical instruments interact with complex anatomy and to learn basic surgical skills such as the tridimensional mental interpretation of bidimensional data. Inexpensive surgical simulators for spinal surgery, however, are lacking. We therefore designed a low-cost spinal surgery simulator (Spine MovDigSys 01) to allow 3-dimensional navigation via 2-dimensional images without altering or limiting the surgeon's natural movement. A training system was developed with an anatomical lumbar model and 2 webcams to passively digitize surgical instruments under MATLAB software control. A proof-of-concept recognition task (vertebral body cannulation) and a pilot test of the system with 12 neuro- and orthopedic surgeons were performed to obtain feedback on the system. Position, orientation, and kinematic variables were determined and the lateral, posteroanterior, and anteroposterior views obtained. The system was tested with a proof-of-concept experimental task. Operator metrics including time of execution (t), intracorporeal length (d), insertion angle (α), average speed (v¯), and acceleration (a) were obtained accurately. These metrics were converted into assessment metrics such as smoothness of operation and linearity of insertion. Results from initial testing are shown and the system advantages and disadvantages described. This low-cost spinal surgery training system digitized the position and orientation of the instruments and allowed image-guided navigation, the generation of metrics, and graphic recording of the instrumental route. Spine MovDigSys 01 is useful for development of basic, noninnate skills and allows the novice apprentice to quickly and economically move beyond the basics. Copyright © 2016 Elsevier Inc. All rights reserved.

  14. Mobile Robot Designed with Autonomous Navigation System

    Science.gov (United States)

    An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

    2017-10-01

    With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

  15. A spatial registration method for navigation system combining O-arm with spinal surgery robot

    Science.gov (United States)

    Bai, H.; Song, G. L.; Zhao, Y. W.; Liu, X. Z.; Jiang, Y. X.

    2018-05-01

    The minimally invasive surgery in spinal surgery has become increasingly popular in recent years as it reduces the chances of complications during post-operation. However, the procedure of spinal surgery is complicated and the surgical vision of minimally invasive surgery is limited. In order to increase the quality of percutaneous pedicle screw placement, the O-arm that is a mobile intraoperative imaging system is used to assist surgery. The robot navigation system combined with O-arm is also increasing, with the extensive use of O-arm. One of the major problems in the surgical navigation system is to associate the patient space with the intra-operation image space. This study proposes a spatial registration method of spinal surgical robot navigation system, which uses the O-arm to scan a calibration phantom with metal calibration spheres. First, the metal artifacts were reduced in the CT slices and then the circles in the images based on the moments invariant could be identified. Further, the position of the calibration sphere in the image space was obtained. Moreover, the registration matrix is obtained based on the ICP algorithm. Finally, the position error is calculated to verify the feasibility and accuracy of the registration method.

  16. Intelligent personal navigator supported by knowledge-based systems for estimating dead reckoning navigation parameters

    Science.gov (United States)

    Moafipoor, Shahram

    Personal navigators (PN) have been studied for about a decade in different fields and applications, such as safety and rescue operations, security and emergency services, and police and military applications. The common goal of all these applications is to provide precise and reliable position, velocity, and heading information of each individual in various environments. In the PN system developed in this dissertation, the underlying assumption is that the system does not require pre-existing infrastructure to enable pedestrian navigation. To facilitate this capability, a multisensor system concept, based on the Global Positioning System (GPS), inertial navigation, barometer, magnetometer, and a human pedometry model has been developed. An important aspect of this design is to use the human body as navigation sensor to facilitate Dead Reckoning (DR) navigation in GPS-challenged environments. The system is designed predominantly for outdoor environments, where occasional loss of GPS lock may happen; however, testing and performance demonstration have been extended to indoor environments. DR navigation is based on a relative-measurement approach, with the key idea of integrating the incremental motion information in the form of step direction (SD) and step length (SL) over time. The foundation of the intelligent navigation system concept proposed here rests in exploiting the human locomotion pattern, as well as change of locomotion in varying environments. In this context, the term intelligent navigation represents the transition from the conventional point-to-point DR to dynamic navigation using the knowledge about the mechanism of the moving person. This approach increasingly relies on integrating knowledge-based systems (KBS) and artificial intelligence (AI) methodologies, including artificial neural networks (ANN) and fuzzy logic (FL). In addition, a general framework of the quality control for the real-time validation of the DR processing is proposed, based on a

  17. METHODOLOGY FOR ANALYSIS OF DECISION MAKING IN AIR NAVIGATION SYSTEM

    Directory of Open Access Journals (Sweden)

    Volodymyr Kharchenko

    2011-03-01

    Full Text Available Abstract. In the research of Air Navigation System as a complex socio-technical system the methodologyof analysis of human-operator's decision-making has been developed. The significance of individualpsychologicalfactors as well as the impact of socio-psychological factors on the professional activities of ahuman-operator during the flight situation development from normal to catastrophic were analyzed. On thebasis of the reflexive theory of bipolar choice the expected risks of decision-making by the Air NavigationSystem's operator influenced by external environment, previous experience and intentions were identified.The methods for analysis of decision-making by the human-operator of Air Navigation System usingstochastic networks have been developed.Keywords: Air Navigation System, bipolar choice, human operator, decision-making, expected risk, individualpsychologicalfactors, methodology of analysis, reflexive model, socio-psychological factors, stochastic network.

  18. 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)

  19. 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...

  20. Navigation Operations with Prototype Components of an Automated Real-Time Spacecraft Navigation System

    Science.gov (United States)

    Cangahuala, L.; Drain, T. R.

    1999-01-01

    At present, ground navigation support for interplanetary spacecraft requires human intervention for data pre-processing, filtering, and post-processing activities; these actions must be repeated each time a new batch of data is collected by the ground data system.

  1. 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

  2. IMPLEMENTATION OF INTERTIAL NAVIGATION SYSTEM MODEL DURING AIRCRAFT TESTING

    Directory of Open Access Journals (Sweden)

    2016-01-01

    Full Text Available The flight subset control is required during the aviation equipment test flights. In order to achieve this objective the complex consisting of strap down inertial navigation system (SINS and user equipment of satellite navigation systems (SNS can be used. Such combination needs to be used for error correction in positioning which is accumulated in SINS with time. This article shows the research results of the inertial navigation system (INS model. The results of the position- ing error calculation for various INS classes are given. Each of the examined INS has a different accumulated error for the same time lag. The methods of combining information of INS and SRNS are covered. The results obtained can be applied for upgrading the aircraft flight and navigation complexes. In particular, they can allow to continuously determine speed, coordinates, angular situation and repositioning rate of change of axes of the instrument frame.

  3. Error analysis for determination of accuracy of an ultrasound navigation system for head and neck surgery.

    Science.gov (United States)

    Kozak, J; Krysztoforski, K; Kroll, T; Helbig, S; Helbig, M

    2009-01-01

    The use of conventional CT- or MRI-based navigation systems for head and neck surgery is unsatisfactory due to tissue shift. Moreover, changes occurring during surgical procedures cannot be visualized. To overcome these drawbacks, we developed a novel ultrasound-guided navigation system for head and neck surgery. A comprehensive error analysis was undertaken to determine the accuracy of this new system. The evaluation of the system accuracy was essentially based on the method of error definition for well-established fiducial marker registration methods (point-pair matching) as used in, for example, CT- or MRI-based navigation. This method was modified in accordance with the specific requirements of ultrasound-guided navigation. The Fiducial Localization Error (FLE), Fiducial Registration Error (FRE) and Target Registration Error (TRE) were determined. In our navigation system, the real error (the TRE actually measured) did not exceed a volume of 1.58 mm(3) with a probability of 0.9. A mean value of 0.8 mm (standard deviation: 0.25 mm) was found for the FRE. The quality of the coordinate tracking system (Polaris localizer) could be defined with an FLE of 0.4 +/- 0.11 mm (mean +/- standard deviation). The quality of the coordinates of the crosshairs of the phantom was determined with a deviation of 0.5 mm (standard deviation: 0.07 mm). The results demonstrate that our newly developed ultrasound-guided navigation system shows only very small system deviations and therefore provides very accurate data for practical applications.

  4. A Google Glass navigation system for ultrasound and fluorescence dual-mode image-guided surgery

    Science.gov (United States)

    Zhang, Zeshu; Pei, Jing; Wang, Dong; Hu, Chuanzhen; Ye, Jian; Gan, Qi; Liu, Peng; Yue, Jian; Wang, Benzhong; Shao, Pengfei; Povoski, Stephen P.; Martin, Edward W.; Yilmaz, Alper; Tweedle, Michael F.; Xu, Ronald X.

    2016-03-01

    Surgical resection remains the primary curative intervention for cancer treatment. However, the occurrence of a residual tumor after resection is very common, leading to the recurrence of the disease and the need for re-resection. We develop a surgical Google Glass navigation system that combines near infrared fluorescent imaging and ultrasonography for intraoperative detection of sites of tumor and assessment of surgical resection boundaries, well as for guiding sentinel lymph node (SLN) mapping and biopsy. The system consists of a monochromatic CCD camera, a computer, a Google Glass wearable headset, an ultrasonic machine and an array of LED light sources. All the above components, except the Google Glass, are connected to a host computer by a USB or HDMI port. Wireless connection is established between the glass and the host computer for image acquisition and data transport tasks. A control program is written in C++ to call OpenCV functions for image calibration, processing and display. The technical feasibility of the system is tested in both tumor simulating phantoms and in a human subject. When the system is used for simulated phantom resection tasks, the tumor boundaries, invisible to the naked eye, can be clearly visualized with the surgical Google Glass navigation system. This system has also been used in an IRB approved protocol in a single patient during SLN mapping and biopsy in the First Affiliated Hospital of Anhui Medical University, demonstrating the ability to successfully localize and resect all apparent SLNs. In summary, our tumor simulating phantom and human subject studies have demonstrated the technical feasibility of successfully using the proposed goggle navigation system during cancer surgery.

  5. The Trans-Visible Navigator: A See-Through Neuronavigation System Using Augmented Reality.

    Science.gov (United States)

    Watanabe, Eiju; Satoh, Makoto; Konno, Takehiko; Hirai, Masahiro; Yamaguchi, Takashi

    2016-03-01

    The neuronavigator has become indispensable for brain surgery and works in the manner of point-to-point navigation. Because the positional information is indicated on a personal computer (PC) monitor, surgeons are required to rotate the dimension of the magnetic resonance imaging/computed tomography scans to match the surgical field. In addition, they must frequently alternate their gaze between the surgical field and the PC monitor. To overcome these difficulties, we developed an augmented reality-based navigation system with whole-operation-room tracking. A tablet PC is used for visualization. The patient's head is captured by the back-face camera of the tablet. Three-dimensional images of intracranial structures are extracted from magnetic resonance imaging/computed tomography and are superimposed on the video image of the head. When viewed from various directions around the head, intracranial structures are displayed with corresponding angles as viewed from the camera direction, thus giving the surgeon the sensation of seeing through the head. Whole-operation-room tracking is realized using a VICON tracking system with 6 cameras. A phantom study showed a spatial resolution of about 1 mm. The present system was evaluated in 6 patients who underwent tumor resection surgery, and we showed that the system is useful for planning skin incisions as well as craniotomy and the localization of superficial tumors. The main advantage of the present system is that it achieves volumetric navigation in contrast to conventional point-to-point navigation. It extends augmented reality images directly onto real surgical images, thus helping the surgeon to integrate these 2 dimensions intuitively. Copyright © 2016 The Authors. Published by Elsevier Inc. All rights reserved.

  6. THE DEVELOPMENT OF NAVIGATION SYSTEMS IN CIVIL AVIATION

    Directory of Open Access Journals (Sweden)

    Anastasiya Sergeyevna Stepanenko

    2017-01-01

    Full Text Available The article describes the history of navigation systems formation, such as "Cicada" system, which at that time could compete with the US "Transit", European, Chinese Beidou navigation system and the Japanese Quasi-Zenit.The detailed information about improving the American GPS system, launched in 1978 and working till now is provided. The characteristics of GPS-III counterpart "Transit", which became the platform for creating such modern globalnavigation systems as GLONASS and GPS. The process of implementation of the GLONASS system in civil aviation, itssegments, functions and features are considered. The stages of GLONASS satellite system orbital grouping formation are analyzed. The author draws the analogy with the American GPS system, the GALILEO system, which has a number of additional advantages, are given. The author remarks the features of the European counterpart of the GALILEO global nav- igation system. One of the goals of this system is to provide a high-precision positioning system, which Europe can rely on regardless of the Russian GLONASS system, the US - GPS and the Chinese Beidou. GALILEO offers a unique global search and rescue function called SAR, with an important feedback function. The peculiarities of Chinese scientists’ navi- gation system, the Beidou satellite system, and the Japanese global Quasi-Zenith Satellite System are described.Global navigation systems development tendencies are considered. The author dwells upon the path to world satel- lite systems globalization, a good example of which is the trend towards GLONASS and Beidou unification. Most attention was paid to the latest development of Russian scientists’ autonomous navigation system SINS 2015, which is a strap-down inertial navigation system and allows you to navigate the aircraft without being connected to a global satellite system. The ways of navigation systems further development in Russia are determined. The two naturally opposite directions are

  7. 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.

  8. 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.

  9. Orion Absolute Navigation System Progress and Challenge

    Science.gov (United States)

    Holt, Greg N.; D'Souza, Christopher

    2012-01-01

    The absolute navigation design of NASA's Orion vehicle is described. It has undergone several iterations and modifications since its inception, and continues as a work-in-progress. This paper seeks to benchmark the current state of the design and some of the rationale and analysis behind it. There are specific challenges to address when preparing a timely and effective design for the Exploration Flight Test (EFT-1), while still looking ahead and providing software extensibility for future exploration missions. The primary onboard measurements in a Near-Earth or Mid-Earth environment consist of GPS pseudo-range and delta-range, but for future explorations missions the use of star-tracker and optical navigation sources need to be considered. Discussions are presented for state size and composition, processing techniques, and consider states. A presentation is given for the processing technique using the computationally stable and robust UDU formulation with an Agee-Turner Rank-One update. This allows for computational savings when dealing with many parameters which are modeled as slowly varying Gauss-Markov processes. Preliminary analysis shows up to a 50% reduction in computation versus a more traditional formulation. Several state elements are discussed and evaluated, including position, velocity, attitude, clock bias/drift, and GPS measurement biases in addition to bias, scale factor, misalignment, and non-orthogonalities of the accelerometers and gyroscopes. Another consideration is the initialization of the EKF in various scenarios. Scenarios such as single-event upset, ground command, and cold start are discussed as are strategies for whole and partial state updates as well as covariance considerations. Strategies are given for dealing with latent measurements and high-rate propagation using multi-rate architecture. The details of the rate groups and the data ow between the elements is discussed and evaluated.

  10. An Indoor Navigation System for the Visually Impaired

    Directory of Open Access Journals (Sweden)

    Luis A. Guerrero

    2012-06-01

    Full Text Available Navigation in indoor environments is highly challenging for the severely visually impaired, particularly in spaces visited for the first time. Several solutions have been proposed to deal with this challenge. Although some of them have shown to be useful in real scenarios, they involve an important deployment effort or use artifacts that are not natural for blind users. This paper presents an indoor navigation system that was designed taking into consideration usability as the quality requirement to be maximized. This solution enables one to identify the position of a person and calculates the velocity and direction of his movements. Using this information, the system determines the user’s trajectory, locates possible obstacles in that route, and offers navigation information to the user. The solution has been evaluated using two experimental scenarios. Although the results are still not enough to provide strong conclusions, they indicate that the system is suitable to guide visually impaired people through an unknown built environment.

  11. An indoor navigation system for the visually impaired.

    Science.gov (United States)

    Guerrero, Luis A; Vasquez, Francisco; Ochoa, Sergio F

    2012-01-01

    Navigation in indoor environments is highly challenging for the severely visually impaired, particularly in spaces visited for the first time. Several solutions have been proposed to deal with this challenge. Although some of them have shown to be useful in real scenarios, they involve an important deployment effort or use artifacts that are not natural for blind users. This paper presents an indoor navigation system that was designed taking into consideration usability as the quality requirement to be maximized. This solution enables one to identify the position of a person and calculates the velocity and direction of his movements. Using this information, the system determines the user's trajectory, locates possible obstacles in that route, and offers navigation information to the user. The solution has been evaluated using two experimental scenarios. Although the results are still not enough to provide strong conclusions, they indicate that the system is suitable to guide visually impaired people through an unknown built environment.

  12. A full 3D-navigation system in a suitcase.

    Science.gov (United States)

    Freysinger, W; Truppe, M J; Gunkel, A R; Thumfart, W F

    2001-01-01

    To reduce the impact of contemporary 3D-navigation systems on the environment of typical otorhinolaryngologic operating rooms, we demonstrate that a transfer of navigation software to modern high-power notebook computers is feasible and results in a practicable way to provide positional information to a surgeon intraoperatively. The ARTMA Virtual Patient System has been implemented on a Macintosh PowerBook G3 and, in connection with the Polhemus FASTRAK digitizer, provides intraoperative positional information during endoscopic endonasal surgery. Satisfactory intraoperative navigation has been realized in two- and three-dimensional medical image data sets (i.e., X-ray, ultrasound images, CT, and MR) and live video. This proof-of-concept study demonstrates that acceptable ergonomics and excellent performance of the system can be achieved with contemporary high-end notebook computers. Copyright 2001 Wiley-Liss, Inc.

  13. A System for Fast Navigation of Autonomous Vehicles

    Science.gov (United States)

    1991-09-01

    AD-A243 523 4, jj A System for Fast Navigation of Autonomous Vehicles Sanjiv Singh, Dai Feng, Paul Keller, Gary Shaffer, Wen Fan Shi, Dong Hun Shin...FUNDING NUMBERS A System for Fast Navigation of Autonomous Vehicles 6. AUTHOR(S) S. Singh, D. Feng, P. Keller, G. Shaffer, W.F. Shi, D.H. Shin, J. West...common in the control of autonomous vehicles to establish the necessary kinematic models but to ignore an explicit representation of the vehicle dynamics

  14. 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...

  15. Surgical Navigation Technology Based on Augmented Reality and Integrated 3D Intraoperative Imaging: A Spine Cadaveric Feasibility and Accuracy Study.

    Science.gov (United States)

    Elmi-Terander, Adrian; Skulason, Halldor; Söderman, Michael; Racadio, John; Homan, Robert; Babic, Drazenko; van der Vaart, Nijs; Nachabe, Rami

    2016-11-01

    A cadaveric laboratory study. The aim of this study was to assess the feasibility and accuracy of thoracic pedicle screw placement using augmented reality surgical navigation (ARSN). Recent advances in spinal navigation have shown improved accuracy in lumbosacral pedicle screw placement but limited benefits in the thoracic spine. 3D intraoperative imaging and instrument navigation may allow improved accuracy in pedicle screw placement, without the use of x-ray fluoroscopy, and thus opens the route to image-guided minimally invasive therapy in the thoracic spine. ARSN encompasses a surgical table, a motorized flat detector C-arm with intraoperative 2D/3D capabilities, integrated optical cameras for augmented reality navigation, and noninvasive patient motion tracking. Two neurosurgeons placed 94 pedicle screws in the thoracic spine of four cadavers using ARSN on one side of the spine (47 screws) and free-hand technique on the contralateral side. X-ray fluoroscopy was not used for either technique. Four independent reviewers assessed the postoperative scans, using the Gertzbein grading. Morphometric measurements of the pedicles axial and sagittal widths and angles, as well as the vertebrae axial and sagittal rotations were performed to identify risk factors for breaches. ARSN was feasible and superior to free-hand technique with respect to overall accuracy (85% vs. 64%, P dimensions, except for vertebral body axial rotation, were risk factors for larger breaches when performed with the free-hand method. ARSN without fluoroscopy was feasible and demonstrated higher accuracy than free-hand technique for thoracic pedicle screw placement. N/A.

  16. 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.

  17. A Practical Route Search System for Amusement Parks Navigation

    Directory of Open Access Journals (Sweden)

    Takahiro Shibuya

    2013-12-01

    Full Text Available It is very difficult to find the minimum route to travel in amusement park navigation. A searching system for visitors would be useful. Therefore, we constructed a system to find the route with the minimum total traveling time. Facility visitors can employ this system on a smart phone. The system is composed of Java and a Java Servlet. We conclude that our system is useful and can greatly shorten travel time within a typical amusement park.

  18. Data Analysis Techniques for a Lunar Surface Navigation System Testbed

    Science.gov (United States)

    Chelmins, David; Sands, O. Scott; Swank, Aaron

    2011-01-01

    NASA is interested in finding new methods of surface navigation to allow astronauts to navigate on the lunar surface. In support of the Vision for Space Exploration, the NASA Glenn Research Center developed the Lunar Extra-Vehicular Activity Crewmember Location Determination System and performed testing at the Desert Research and Technology Studies event in 2009. A significant amount of sensor data was recorded during nine tests performed with six test subjects. This paper provides the procedure, formulas, and techniques for data analysis, as well as commentary on applications.

  19. Research notes : solar powered navigational lighting system demonstration project.

    Science.gov (United States)

    2011-04-01

    ODOT will be installing a solar powered navigational lighting system on the AstoriaMegler Bridge as part of a pilot project approved by the Federal Highways Administration (FHWA). The coastal bridge is the connection across the Columbia River on U.S....

  20. 6TH Saint Petersburg International Conference on Integrated Navigation Systems.

    Science.gov (United States)

    1999-10-01

    pp. 7/1-12. 4. Kharisov V.N., Perov A.I., Boldin VA. (editors). The global satelllite radio-navigational system GLONASS [in Russian]. Moskow: IPRZhR...The need for oil and natural gas requires the techniques for their searching and extracting in deep seas. These techniques have yielded particular

  1. Triply redundant integrated navigation and asset visibility system

    Science.gov (United States)

    Smith, Stephen F [Loudon, TN; Moore, James A [Powell, TN

    2011-11-29

    Methods and apparatus are described for a navigation system. A method includes providing a global positioning system fix having a plurality of tracking parameters; providing a theater positioning system fix; monitoring the plurality of tracking parameters for predetermined conditions; and, when the predetermined conditions are met, sending a notifying signal and switching to the theater positioning system fix as a primary fix. An apparatus includes a system controller; a global positioning system receiver coupled to the system controller; a radio frequency locating receiver coupled to the system controller; and an operator interface coupled to the system controller.

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

    Science.gov (United States)

    Bayoud, Fadi; Skaloud, Jan

    2008-04-01

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

  3. A New Electromagnetic Navigation System for Pedicle Screws Placement: A Human Cadaver Study at the Lumbar Spine.

    Directory of Open Access Journals (Sweden)

    Patrick Hahn

    Full Text Available Technical developments for improving the safety and accuracy of pedicle screw placement play an increasingly important role in spine surgery. In addition to the standard techniques of free-hand placement and fluoroscopic navigation, the rate of complications is reduced by 3D fluoroscopy, cone-beam CT, intraoperative CT/MRI, and various other navigation techniques. Another important aspect that should be emphasized is the reduction of intraoperative radiation exposure for personnel and patient. The aim of this study was to investigate the accuracy of a new navigation system for the spine based on an electromagnetic field.Twenty pedicle screws were placed in the lumbar spine of human cadavers using EMF navigation. Navigation was based on data from a preoperative thin-slice CT scan. The cadavers were positioned on a special field generator and the system was matched using a patient tracker on the spinous process. Navigation was conducted using especially developed instruments that can be tracked in the electromagnetic field. Another thin-slice CT scan was made postoperatively to assess the result. The evaluation included the position of the screws in the direction of trajectory and any injury to the surrounding cortical bone. The results were classified in 5 groups: grade 1: ideal screw position in the center of the pedicle with no cortical bone injury; grade 2: acceptable screw position, cortical bone injury with cortical penetration ≤ 2 mm; grade 3: cortical bone injury with cortical penetration 2,1-4 mm, grad 4: cortical bone injury with cortical penetration 4,1-6 mm, grade 5: cortical bone injury with cortical penetration >6 mm.The initial evaluation of the system showed good accuracy for the lumbar spine (65% grade 1, 20% grade 2, 15% grade 3, 0% grade 4, 0% grade 5. A comparison of the initial results with other navigation techniques in literature (CT navigation, 2D fluoroscopic navigation shows that the accuracy of this system is

  4. Organizations And Services In The System Of International Aviation Navigation

    Directory of Open Access Journals (Sweden)

    Alexander I. Travnikov

    2015-03-01

    Full Text Available In the present article author reveals the order of creation, structure, aims and objectives of national and international intergovernmental aeronautical organizations, governing procedure for flight operations and providing direct air traffic control over sovereign territory and abroad. In this article, author notes that in the world there are three main organizational and legal forms of air traffic control systems to ensure coordination between civil and military air navigation services (agencies. In the Russian Federation, author notes that air navigation services on behalf of the State are made by the State Corporation for Air Traffic Management that has the legal status of the commercial organization - the Federal State Unitary Enterprise. Author analyzes the work of the Organization for the Civil Air Navigation Services (CANSO, the International Federation of Air Traffic Controllers (IFATCA. During the study author also concludes that in the past decade, there is the steady trend of transferring functions of air navigation from the State to commercial organizations (joint stock companies and limited liability companies, which are financed from the funds received as payment for air traffic services. The responsibility for the improper maintenance of international air navigation, of course, is borne by the State. Author notes that regional and international intergovernmental aeronautical organizations operate in respect of all aircraft (public, civil, experimental, i.e., perform general air navigation, unlike ICAO, which takes standards and recommended practices, rules and procedures for safety and air traffic services only to civil aircraft, that does not ensure the creation of a regulatory framework for the global unification of aeronautical processes.

  5. 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.

  6. An alternative ionospheric correction model for global navigation satellite systems

    Science.gov (United States)

    Hoque, M. M.; Jakowski, N.

    2015-04-01

    The ionosphere is recognized as a major error source for single-frequency operations of global navigation satellite systems (GNSS). To enhance single-frequency operations the global positioning system (GPS) uses an ionospheric correction algorithm (ICA) driven by 8 coefficients broadcasted in the navigation message every 24 h. Similarly, the global navigation satellite system Galileo uses the electron density NeQuick model for ionospheric correction. The Galileo satellite vehicles (SVs) transmit 3 ionospheric correction coefficients as driver parameters of the NeQuick model. In the present work, we propose an alternative ionospheric correction algorithm called Neustrelitz TEC broadcast model NTCM-BC that is also applicable for global satellite navigation systems. Like the GPS ICA or Galileo NeQuick, the NTCM-BC can be optimized on a daily basis by utilizing GNSS data obtained at the previous day at monitor stations. To drive the NTCM-BC, 9 ionospheric correction coefficients need to be uploaded to the SVs for broadcasting in the navigation message. Our investigation using GPS data of about 200 worldwide ground stations shows that the 24-h-ahead prediction performance of the NTCM-BC is better than the GPS ICA and comparable to the Galileo NeQuick model. We have found that the 95 percentiles of the prediction error are about 16.1, 16.1 and 13.4 TECU for the GPS ICA, Galileo NeQuick and NTCM-BC, respectively, during a selected quiet ionospheric period, whereas the corresponding numbers are found about 40.5, 28.2 and 26.5 TECU during a selected geomagnetic perturbed period. However, in terms of complexity the NTCM-BC is easier to handle than the Galileo NeQuick and in this respect comparable to the GPS ICA.

  7. 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.

  8. Ultra-Wideband Tracking System Design for Relative Navigation

    Science.gov (United States)

    Ni, Jianjun David; Arndt, Dickey; Bgo, Phong; Dekome, Kent; Dusl, John

    2011-01-01

    This presentation briefly discusses a design effort for a prototype ultra-wideband (UWB) time-difference-of-arrival (TDOA) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being designed for use in localization and navigation of a rover in a GPS deprived environment for surface missions. In one application enabled by the UWB tracking, a robotic vehicle carrying equipments can autonomously follow a crewed rover from work site to work site such that resources can be carried from one landing mission to the next thereby saving up-mass. The UWB Systems Group at JSC has developed a UWB TDOA High Resolution Proximity Tracking System which can achieve sub-inch tracking accuracy of a target within the radius of the tracking baseline [1]. By extending the tracking capability beyond the radius of the tracking baseline, a tracking system is being designed to enable relative navigation between two vehicles for surface missions. A prototype UWB TDOA tracking system has been designed, implemented, tested, and proven feasible for relative navigation of robotic vehicles. Future work includes testing the system with the application code to increase the tracking update rate and evaluating the linear tracking baseline to improve the flexibility of antenna mounting on the following vehicle.

  9. Global Navigation Satellite System and Augmentation

    Indian Academy of Sciences (India)

    aircraft-based augmentation system (ABAS). ... segment, the ground segment (or) control segment and the user segment ... control station (MCS), and ground antennas. ... repeatability, multipath rejection, size, profile, and environmental.

  10. Vehicle health management for guidance, navigation and control systems

    Science.gov (United States)

    Radke, Kathleen; Frazzini, Ron; Bursch, Paul; Wald, Jerry; Brown, Don

    1993-01-01

    The objective of the program was to architect a vehicle health management (VHM) system for space systems avionics that assures system readiness for launch vehicles and for space-based dormant vehicles. The platforms which were studied and considered for application of VHM for guidance, navigation and control (GN&C) included the Advanced Manned Launch System (AMLS), the Horizontal Landing-20/Personnel Launch System (HL-20/PLS), the Assured Crew Return Vehicle (ACRV) and the Extended Duration Orbiter (EDO). This set was selected because dormancy and/or availability requirements are driving the designs of these future systems.

  11. Systems for tracking minimally invasive surgical instruments.

    Science.gov (United States)

    Chmarra, M K; Grimbergen, C A; Dankelman, J

    2007-01-01

    Minimally invasive surgery (e.g. laparoscopy) requires special surgical skills, which should be objectively assessed. Several studies have shown that motion analysis is a valuable assessment tool of basic surgical skills in laparoscopy. However, to use motion analysis as the assessment tool, it is necessary to track and record the motions of laparoscopic instruments. This article describes the state of the art in research on tracking systems for laparoscopy. It gives an overview on existing systems, on how these systems work, their advantages, and their shortcomings. Although various approaches have been used, none of the tracking systems to date comes out as clearly superior. A great number of systems can be used in training environment only, most systems do not allow the use of real laparoscopic instruments, and only a small number of systems provide force feedback.

  12. Evaluation of Various Navigation System Concepts

    Science.gov (United States)

    1982-03-01

    Naigatimon aar01 N DAutomatic x xx Parallel 0fn x x x x x’ "OLeg t dung. n Mrankuhld M ni raia x N x to~g TAN is I OmuI,2 2mN 0 x "to - - -x...and must permit design of indicators and controls which can be directly interpreted or operated by the pilot at his normal station aboard the...the responsibility of control. The organization that controls the system can theoretically limit access to the system. Because VOVO/DME, Loran-C, and

  13. A new evaluation platform for Navigation systems

    DEFF Research Database (Denmark)

    Sejerøe, Thomas Hanefeld; Poulsen, Niels Kjølstad; Ravn, Ole

    2005-01-01

    The KALMTOOL 2 toolbox is a set of MATLAB tools for state estimation for nonlinear systems. The toolbox contains functions for extended Kalman filtering as well as for two new filters called the DD1 filter and the DD2 filter. It also contains function for Uncented Kalman filters as well as three ...

  14. Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems.

    Science.gov (United States)

    Tseng, Chien-Hao; Lin, Sheng-Fuu; Jwo, Dah-Jing

    2016-07-26

    This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF) is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD) parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF), unscented Kalman filter (UKF), and CKF approaches.

  15. Tele-auscultation support system with mixed reality navigation.

    Science.gov (United States)

    Hori, Kenta; Uchida, Yusuke; Kan, Tsukasa; Minami, Maya; Naito, Chisako; Kuroda, Tomohiro; Takahashi, Hideya; Ando, Masahiko; Kawamura, Takashi; Kume, Naoto; Okamoto, Kazuya; Takemura, Tadamasa; Yoshihara, Hiroyuki

    2013-01-01

    The aim of this research is to develop an information support system for tele-auscultation. In auscultation, a doctor requires to understand condition of applying a stethoscope, in addition to auscultatory sounds. The proposed system includes intuitive navigation system of stethoscope operation, in addition to conventional audio streaming system of auscultatory sounds and conventional video conferencing system for telecommunication. Mixed reality technology is applied for intuitive navigation of the stethoscope. Information, such as position, contact condition and breath, is overlaid on a view of the patient's chest. The contact condition of the stethoscope is measured by e-textile contact sensors. The breath is measured by a band type breath sensor. In a simulated tele-auscultation experiment, the stethoscope with the contact sensors and the breath sensor were evaluated. The results show that the presentation of the contact condition was not understandable enough for navigating the stethoscope handling. The time series of the breath phases was usable for the remote doctor to understand the breath condition of the patient.

  16. Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems

    Directory of Open Access Journals (Sweden)

    Chien-Hao Tseng

    2016-07-01

    Full Text Available This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF and fuzzy logic adaptive system (FLAS for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF, unscented Kalman filter (UKF, and CKF approaches.

  17. Software engineering of a navigation and guidance system for commercial aircraft

    Science.gov (United States)

    Lachmann, S. G.; Mckinstry, R. G.

    1975-01-01

    The avionics experimental configuration of the considered system is briefly reviewed, taking into account the concept of an advanced air traffic management system, flight critical and noncritical functions, and display system characteristics. Cockpit displays and the navigation computer are examined. Attention is given to the functions performed in the navigation computer, major programs in the navigation computer, and questions of software development.

  18. A new method of surgical navigation for orthognathic surgery: optical tracking guided free-hand repositioning of the maxillomandibular complex.

    Science.gov (United States)

    Li, Biao; Zhang, Lei; Sun, Hao; Shen, Steve G F; Wang, Xudong

    2014-03-01

    In bimaxillary orthognathic surgery, the positioning of the maxilla and the mandible is typically accomplished via 2-splint technique, which may be the sources of several types of inaccuracy. To overcome the limitations of the 2-splint technique, we developed a new navigation method, which guided the surgeon to free-hand reposition the maxillomandibular complex as a whole intraoperatively, without the intermediate splint. In this preliminary study, the feasibility was demonstrated. Five patients with dental maxillofacial deformities were enrolled. Before the surgery, 3-dimensional planning was conducted and imported into a navigation system. During the operation, a tracker was connected to the osteotomized maxillomandibular complex via a splint. The navigation system tracked the movement of the complex and displayed it on the screen in real time to guide the surgeon to reposition the complex. The postoperative result was compared with the plan by analyzing the measured distances between the maxillary landmarks and reference planes, as determined from computed tomography data. The mean absolute errors of the maxillary position were clinically acceptable (<1.0 mm). Preoperative preparation time was reduced to 100 minutes on average. All patients were satisfied with the aesthetic results. This navigation method without intraoperative image registration provided a feasible means of transferring virtual planning to the real orthognathic surgery. The real-time position of the maxillomandibular complex was displayed on a monitor to visually guide the surgeon to reposition the complex. In this method, the traditional model surgery and the intermediate splint were discarded, and the preoperative preparation was simplified.

  19. 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.

  20. Advantages of Hybrid Global Navigation Satellite Systems

    Directory of Open Access Journals (Sweden)

    Asim Bilajbegović

    2007-05-01

    Full Text Available In a decision-making situation, what kind of GPS equipment to purchase, one always has a dilemma, tobuy hybrid (GPS+GLONASS or only GPS receivers? In the case of completeness of the GLONASS satellite system, this dilemma probably would not have existed. The answer to this dilemma is given in the present paper, but for the constellation of the GLONASS satellites in summer 2006 (14 satellites operational. Due to the short operational period of these satellites (for example GLONASS-M, 5 years, and not launching new ones, at this moment (February 25, 2007, only 10 satellites are operational. For the sake of research and giving answers to these questions, about 252 RTK measurements have been done using (GPS and GNSS receivers, on points with different obstructions of horizon. Besides that, initialisation time has been investigated for both systems from about 480 measurements, using rover's antenna with metal cover, during a time interval of 0.5, 2 and 5 seconds. Moreover, accuracy, firmware declared accuracy and redundancy of GPS and GNSS RTK measurements have been investigating.  

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

    Directory of Open Access Journals (Sweden)

    Kai Dong

    2017-04-01

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

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

    Science.gov (United States)

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

    1997-01-01

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

  3. Autonomous navigation system for mobile robots of inspection

    International Nuclear Information System (INIS)

    Angulo S, P.; Segovia de los Rios, A.

    2005-01-01

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

  4. 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.

  5. Investing in a Surgical Outcomes Auditing System

    Science.gov (United States)

    Bermudez, Luis; Trost, Kristen; Ayala, Ruben

    2013-01-01

    Background. Humanitarian surgical organizations consider both quantity of patients receiving care and quality of the care provided as a measure of success. However, organizational efficacy is often judged by the percent of resources spent towards direct intervention/surgery, which may discourage investment in an outcomes monitoring system. Operation Smile's established Global Standards of Care mandate minimum patient followup and quality of care. Purpose. To determine whether investment of resources in an outcomes monitoring system is necessary and effectively measures success. Methods. This paper analyzes the quantity and completeness of data collected over the past four years and compares it against changes in personnel and resources assigned to the program. Operation Smile began investing in multiple resources to obtain the missing data necessary to potentially implement a global Surgical Outcomes Auditing System. Existing personnel resources were restructured to focus on postoperative program implementation, data acquisition and compilation, and training materials used to educate local foundation and international employees. Results. An increase in the number of postoperative forms and amount of data being submitted to headquarters occurred. Conclusions. Humanitarian surgical organizations would benefit from investment in a surgical outcomes monitoring system in order to demonstrate success and to ameliorate quality of care. PMID:23401763

  6. Development of haptic system for surgical robot

    Science.gov (United States)

    Gang, Han Gyeol; Park, Jiong Min; Choi, Seung-Bok; Sohn, Jung Woo

    2017-04-01

    In this paper, a new type of haptic system for surgical robot application is proposed and its performances are evaluated experimentally. The proposed haptic system consists of an effective master device and a precision slave robot. The master device has 3-DOF rotational motion as same as human wrist motion. It has lightweight structure with a gyro sensor and three small-sized MR brakes for position measurement and repulsive torque generation, respectively. The slave robot has 3-DOF rotational motion using servomotors, five bar linkage and a torque sensor is used to measure resistive torque. It has been experimentally demonstrated that the proposed haptic system has good performances on tracking control of desired position and repulsive torque. It can be concluded that the proposed haptic system can be effectively applied to the surgical robot system in real field.

  7. Significance of Waterway Navigation Positioning Systems On Ship's Manoeuvring Safety

    Science.gov (United States)

    Galor, W.

    The main goal of navigation is to lead the ship to the point of destination safety and efficiently. Various factors may affect ship realisating this process. The ship movement on waterway are mainly limited by water area dimensions (surface and depth). These limitations cause the requirement to realise the proper of ship movement trajectory. In case when this re requirement cant't fulfil then marine accident may happend. This fact is unwanted event caused losses of human health and life, damage or loss of cargo and ship, pollution of natural environment, damage of port structures or blocking the port of its ports and lost of salvage operation. These losses in same cases can be catas- trophical especially while e.i. crude oil spilling could be place. To realise of safety navigation process is needed to embrace the ship's movement trajectory by waterways area. The ship's trajectory is described by manoeuvring lane as a surface of water area which is require to realise of safety ship movement. Many conditions affect to ship manoeuvring line. The main are following: positioning accuracy, ship's manoeuvring features and phenomena's of shore and ship's bulk common affecting. The accuracy of positioning system is most important. This system depends on coast navigation mark- ing which can range many kinds of technical realisation. Mainly used systems based on lights (line), radionavigation (local system or GPS, DGPS), or radars. If accuracy of positiong is higer, then safety of navigation is growing. This article presents these problems exemplifying with approaching channel to ports situated on West Pomera- nian water region.

  8. Robust low-frequency spread-spectrum navigation system

    Science.gov (United States)

    Smith, Stephen F [Loudon, TN; Moore, James A [Powell, TN

    2009-12-01

    Methods and apparatus are described for a navigation system. A process includes providing a plurality of transmitters distributed throughout a desired coverage area; locking the plurality of transmitters to a common timing reference; transmitting a signal from each of the plurality of transmitters. An apparatus includes a plurality of transmitters distributed throughout a desired coverage area; wherein each of the plurality of transmitters comprises a packet generator; and wherein the plurality of transmitters are locked to a common timing reference.

  9. An intelligent navigation system for an unmanned surface vehicle

    OpenAIRE

    Xu , Tao

    2007-01-01

    Merged with duplicate record 10026.1/2768 on 27.03.2017 by CS (TIS) A multi-disciplinary research project has been carried out at the University of Plymouth to design and develop an Unmanned Surface Vehicle (USV) named ýpringer. The work presented herein relates to formulation of a robust, reliable, accurate and adaptable navigation system to enable opringei to undertake various environmental monitoring tasks. Synergistically, sensor mathematical modelling, fuzzy logic, Multi-S...

  10. 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)...

  11. Ground-Based Global Navigation Satellite System Data (30-second sampling, 1 hour files) from NASA CDDIS

    Data.gov (United States)

    National Aeronautics and Space Administration — Global Navigation Satellite System (GNSS) daily 30-second sampled data available from the Crustal Dynamics Data Information System (CDDIS). Global Navigation...

  12. A Visual-Aided Inertial Navigation and Mapping System

    Directory of Open Access Journals (Sweden)

    Rodrigo Munguía

    2016-05-01

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

  13. Optimal Geometric Deployment of a Ground Based Pseudolite Navigation System to Track a Landing Aircraft

    National Research Council Canada - National Science Library

    Crawford, Matthew P

    2006-01-01

    With much of the military and civilian communities becoming dependent on GPS technology to navigate it has become imperative that the navigation systems be tested in situations in which GPS does not work...

  14. 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...

  15. Individual Global Navigation Satellite Systems in the Space Service Volume

    Science.gov (United States)

    Force, Dale A.

    2015-01-01

    Besides providing position, navigation, and timing (PNT) to terrestrial users, GPS is currently used to provide for precision orbit determination, precise time synchronization, real-time spacecraft navigation, and three-axis control of Earth orbiting satellites. With additional Global Navigation Satellite Systems (GNSS) coming into service (GLONASS, Beidou, and Galileo), it will be possible to provide these services by using other GNSS constellations. The paper, "GPS in the Space Service Volume," presented at the ION GNSS 19th International Technical Meeting in 2006 (Ref. 1), defined the Space Service Volume, and analyzed the performance of GPS out to 70,000 km. This paper will report a similar analysis of the performance of each of the additional GNSS and compare them with GPS alone. The Space Service Volume, defined as the volume between 3,000 km altitude and geosynchronous altitude, as compared with the Terrestrial Service Volume between the surface and 3,000 km. In the Terrestrial Service Volume, GNSS performance will be similar to performance on the Earth's surface. The GPS system has established signal requirements for the Space Service Volume. A separate paper presented at the conference covers the use of multiple GNSS in the Space Service Volume.

  16. Telecommunications and navigation systems design for manned Mars exploration missions

    Science.gov (United States)

    Hall, Justin R.; Hastrup, Rolf C.

    1989-06-01

    This paper discusses typical manned Mars exploration needs for telecommunications, including preliminary navigation support functions. It is a brief progress report on an ongoing study program within the current NASA JPL Deep Space Network (DSN) activities. A typical Mars exploration case is defined, and support approaches comparing microwave and optical frequency performance for both local in situ and Mars-earth links are described. Optical telecommunication and navigation technology development opportunities in a Mars exploration program are also identified. A local Mars system telecommunication relay and navigation capability for service support of all Mars missions has been proposed as part of an overall solar system communications network. The effects of light-time delay and occultations on real-time mission decision-making are discussed; the availability of increased local mass data storage may be more important than increasing peak data rates to earth. The long-term frequency use plan will most likely include a mix of microwave, millimeter-wave and optical link capabilities to meet a variety of deep space mission needs.

  17. Urban, Indoor and Subterranean Navigation Sensors and Systems (Capteurs et systemes de navigation urbains, interieurs et souterrains)

    Science.gov (United States)

    2010-11-01

    3-10 Multiple Images of an Image Sequence Figure 3-10 A Digital Magnetic Compass from KVH Industries 3-11 Figure 3-11 Earth’s Magnetic Field 3-11...ARINO SENER – Ingenieria y Sistemas S.A Aerospace Division Parque Tecnologico de Madrid Calle Severo Ocho 4 28760 Tres Cantos Madrid Email...experts from government, academia, industry and the military produced an analysis of future navigation sensors and systems whose performance

  18. Atrial Fibrillation Ablation Guided by a Novel Nonfluoroscopic Navigation System.

    Science.gov (United States)

    Ballesteros, Gabriel; Ramos, Pablo; Neglia, Renzo; Menéndez, Diego; García-Bolao, Ignacio

    2017-09-01

    Rhythmia is a new nonfluoroscopic navigation system that is able to create high-density electroanatomic maps. The aim of this study was to describe the acute outcomes of atrial fibrillation (AF) ablation guided by this system, to analyze the volume provided by its electroanatomic map, and to describe its ability to locate pulmonary vein (PV) reconnection gaps in redo procedures. This observational study included 62 patients who underwent AF ablation with Rhythmia compared with a retrospective cohort who underwent AF ablation with a conventional nonfluoroscopic navigation system (Ensite Velocity). The number of surface electrograms per map was significantly higher in Rhythmia procedures (12 125 ± 2826 vs 133 ± 21 with Velocity; P < .001), with no significant differences in the total procedure time. The Orion catheter was placed for mapping in 99.5% of PV (95.61% in the control group with a conventional circular mapping catheter; P = .04). There were no significant differences in the percentage of PV isolation between the 2 groups. In redo procedures, an ablation gap could be identified on the activation map in 67% of the reconnected PV (40% in the control group; P = .042). The measured left atrial volume was lower than that calculated by computed tomography (109.3 v 15.2 and 129.9 ± 13.2 mL, respectively; P < .001). There were no significant differences in the number of complications. The Rhythmia system is effective for AF ablation procedures, with procedure times and safety profiles similar to conventional nonfluoroscopic navigation systems. In redo procedures, it appears to be more effective in identifying reconnected PV conduction gaps. Copyright © 2016 Sociedad Española de Cardiología. Published by Elsevier España, S.L.U. All rights reserved.

  19. Development of an advanced intelligent robot navigation system

    International Nuclear Information System (INIS)

    Hai Quan Dai; Dalton, G.R.; Tulenko, J.; Crane, C.C. III

    1992-01-01

    As part of the US Department of Energy's Robotics for Advanced Reactors Project, the authors are in the process of assembling an advanced intelligent robotic navigation and control system based on previous work performed on this project in the areas of computer control, database access, graphical interfaces, shared data and computations, computer vision for positions determination, and sonar-based computer navigation systems. The system will feature three levels of goals: (1) high-level system for management of lower level functions to achieve specific functional goals; (2) intermediate level of goals such as position determination, obstacle avoidance, and discovering unexpected objects; and (3) other supplementary low-level functions such as reading and recording sonar or video camera data. In its current phase, the Cybermotion K2A mobile robot is not equipped with an onboard computer system, which will be included in the final phase. By that time, the onboard system will play important roles in vision processing and in robotic control communication

  20. 76 FR 77939 - Proposed Provision of Navigation Services for the Next Generation Air Transportation System...

    Science.gov (United States)

    2011-12-15

    ... DEPARTMENT OF TRANSPORTATION Federal Aviation Administration 14 CFR Parts 91, 121, 125, 129, and 135 Proposed Provision of Navigation Services for the Next Generation Air Transportation System (Next...) navigation infrastructure to enable performance-based navigation (PBN) as part of the Next Generation Air...

  1. Navigation system for robot-assisted intra-articular lower-limb fracture surgery.

    Science.gov (United States)

    Dagnino, Giulio; Georgilas, Ioannis; Köhler, Paul; Morad, Samir; Atkins, Roger; Dogramadzi, Sanja

    2016-10-01

    In the surgical treatment for lower-leg intra-articular fractures, the fragments have to be positioned and aligned to reconstruct the fractured bone as precisely as possible, to allow the joint to function correctly again. Standard procedures use 2D radiographs to estimate the desired reduction position of bone fragments. However, optimal correction in a 3D space requires 3D imaging. This paper introduces a new navigation system that uses pre-operative planning based on 3D CT data and intra-operative 3D guidance to virtually reduce lower-limb intra-articular fractures. Physical reduction in the fractures is then performed by our robotic system based on the virtual reduction. 3D models of bone fragments are segmented from CT scan. Fragments are pre-operatively visualized on the screen and virtually manipulated by the surgeon through a dedicated GUI to achieve the virtual reduction in the fracture. Intra-operatively, the actual position of the bone fragments is provided by an optical tracker enabling real-time 3D guidance. The motion commands for the robot connected to the bone fragment are generated, and the fracture physically reduced based on the surgeon's virtual reduction. To test the system, four femur models were fractured to obtain four different distal femur fracture types. Each one of them was subsequently reduced 20 times by a surgeon using our system. The navigation system allowed an orthopaedic surgeon to virtually reduce the fracture with a maximum residual positioning error of [Formula: see text] (translational) and [Formula: see text] (rotational). Correspondent physical reductions resulted in an accuracy of 1.03 ± 0.2 mm and [Formula: see text], when the robot reduced the fracture. Experimental outcome demonstrates the accuracy and effectiveness of the proposed navigation system, presenting a fracture reduction accuracy of about 1 mm and [Formula: see text], and meeting the clinical requirements for distal femur fracture reduction procedures.

  2. 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.

  3. 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.

  4. Lunar Navigator - A Miniature, Fully Autonomous, Lunar Navigation, Surveyor, and Range Finder System, Phase II

    Data.gov (United States)

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

  5. 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...

  6. 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.

  7. 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

  8. Architectural elements of hybrid navigation systems for future space transportation

    Science.gov (United States)

    Trigo, Guilherme F.; Theil, Stephan

    2017-12-01

    The fundamental limitations of inertial navigation, currently employed by most launchers, have raised interest for GNSS-aided solutions. Combination of inertial measurements and GNSS outputs allows inertial calibration online, solving the issue of inertial drift. However, many challenges and design options unfold. In this work we analyse several architectural elements and design aspects of a hybrid GNSS/INS navigation system conceived for space transportation. The most fundamental architectural features such as coupling depth, modularity between filter and inertial propagation, and open-/closed-loop nature of the configuration, are discussed in the light of the envisaged application. Importance of the inertial propagation algorithm and sensor class in the overall system are investigated, being the handling of sensor errors and uncertainties that arise with lower grade sensory also considered. In terms of GNSS outputs we consider receiver solutions (position and velocity) and raw measurements (pseudorange, pseudorange-rate and time-difference carrier phase). Receiver clock error handling options and atmospheric error correction schemes for these measurements are analysed under flight conditions. System performance with different GNSS measurements is estimated through covariance analysis, being the differences between loose and tight coupling emphasized through partial outage simulation. Finally, we discuss options for filter algorithm robustness against non-linearities and system/measurement errors. A possible scheme for fault detection, isolation and recovery is also proposed.

  9. Architectural elements of hybrid navigation systems for future space transportation

    Science.gov (United States)

    Trigo, Guilherme F.; Theil, Stephan

    2018-06-01

    The fundamental limitations of inertial navigation, currently employed by most launchers, have raised interest for GNSS-aided solutions. Combination of inertial measurements and GNSS outputs allows inertial calibration online, solving the issue of inertial drift. However, many challenges and design options unfold. In this work we analyse several architectural elements and design aspects of a hybrid GNSS/INS navigation system conceived for space transportation. The most fundamental architectural features such as coupling depth, modularity between filter and inertial propagation, and open-/closed-loop nature of the configuration, are discussed in the light of the envisaged application. Importance of the inertial propagation algorithm and sensor class in the overall system are investigated, being the handling of sensor errors and uncertainties that arise with lower grade sensory also considered. In terms of GNSS outputs we consider receiver solutions (position and velocity) and raw measurements (pseudorange, pseudorange-rate and time-difference carrier phase). Receiver clock error handling options and atmospheric error correction schemes for these measurements are analysed under flight conditions. System performance with different GNSS measurements is estimated through covariance analysis, being the differences between loose and tight coupling emphasized through partial outage simulation. Finally, we discuss options for filter algorithm robustness against non-linearities and system/measurement errors. A possible scheme for fault detection, isolation and recovery is also proposed.

  10. Wellbore inertial navigation system (WINS) software development and test results

    Energy Technology Data Exchange (ETDEWEB)

    Wardlaw, R. Jr.

    1982-09-01

    The structure and operation of the real-time software developed for the Wellbore Inertial Navigation System (WINS) application are described. The procedure and results of a field test held in a 7000-ft well in the Nevada Test Site are discussed. Calibration and instrumentation error compensation are outlined, as are design improvement areas requiring further test and development. Notes on Kalman filtering and complete program listings of the real-time software are included in the Appendices. Reference is made to a companion document which describes the downhole instrumentation package.

  11. A Novel Augmented Reality-Based Navigation System in Perforator Flap Transplantation - A Feasibility Study.

    Science.gov (United States)

    Jiang, Taoran; Zhu, Ming; Zan, Tao; Gu, Bin; Li, Qingfeng

    2017-08-01

    In perforator flap transplantation, dissection of the perforator is an important but difficult procedure because of the high variability in vascular anatomy. Preoperative imaging techniques could provide substantial information about vascular anatomy; however, it cannot provide direct guidance for surgeons during the operation. In this study, a navigation system (NS) was established to overlie a vascular map on surgical sites to further provide a direct guide for perforator flap transplantation. The NS was established based on computed tomographic angiography and augmented reality techniques. A virtual vascular map was reconstructed according to computed tomographic angiography data and projected onto real patient images using ARToolKit software. Additionally, a screw-fixation marker holder was created to facilitate registration. With the use of a tracking and display system, we conducted the NS on an animal model and measured the system error on a rapid prototyping model. The NS assistance allowed for correct identification, as well as a safe and precise dissection of the perforator. The mean value of the system error was determined to be 3.474 ± 1.546 mm. Augmented reality-based NS can provide precise navigation information by directly displaying a 3-dimensional individual anatomical virtual model onto the operative field in real time. It will allow rapid identification and safe dissection of a perforator in free flap transplantation surgery.

  12. SAGES TAVAC safety and effectiveness analysis: da Vinci ® Surgical System (Intuitive Surgical, Sunnyvale, CA).

    Science.gov (United States)

    Tsuda, Shawn; Oleynikov, Dmitry; Gould, Jon; Azagury, Dan; Sandler, Bryan; Hutter, Matthew; Ross, Sharona; Haas, Eric; Brody, Fred; Satava, Richard

    2015-10-01

    The da Vinci(®) Surgical System (Intuitive Surgical, Sunnyvale, CA, USA) is a computer-assisted (robotic) surgical system designed to enable and enhance minimally invasive surgery. The Food and Drug Administration (FDA) has cleared computer-assisted surgical systems for use by trained physicians in an operating room environment for laparoscopic surgical procedures in general, cardiac, colorectal, gynecologic, head and neck, thoracic and urologic surgical procedures. There are substantial numbers of peer-reviewed papers regarding the da Vinci(®) Surgical System, and a thoughtful assessment of evidence framed by clinical opinion is warranted. The SAGES da Vinci(®) TAVAC sub-committee performed a literature review of the da Vinci(®) Surgical System regarding gastrointestinal surgery. Conclusions by the sub-committee were vetted by the SAGES TAVAC Committee and SAGES Executive Board. Following revisions, the document was evaluated by the TAVAC Committee and Executive Board again for final approval. Several conclusions were drawn based on expert opinion organized by safety, efficacy, and cost for robotic foregut, bariatric, hepatobiliary/pancreatic, colorectal surgery, and single-incision cholecystectomy. Gastrointestinal surgery with the da Vinci(®) Surgical System is safe and comparable, but not superior to standard laparoscopic approaches. Although clinically acceptable, its use may be costly for select gastrointestinal procedures. Current data are limited to the da Vinci(®) Surgical System; further analyses are needed.

  13. Novel cemented cup-holding technique while performing total hip arthroplasty with navigation system

    OpenAIRE

    Hirokazu Takai, MD; Tomoki Takahashi, MD, PhD

    2017-01-01

    Recently, navigation systems have been more widely utilized in total hip arthroplasty. However, almost all of these systems have been developed for cementless cups. In the case of cemented total hip arthroplasty using a navigation system, a special-ordered cemented holder is needed. We propose a novel cemented cup-holding technique for navigation systems using readily available articles. We combine a cementless cup holder with an inverted cementless trial cup. The resulting apparatus is used ...

  14. Inertial Pocket Navigation System: Unaided 3D Positioning

    Directory of Open Access Journals (Sweden)

    Estefania Munoz Diaz

    2015-04-01

    Full Text Available 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.

  15. 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

  16. Overcoming urban GPS navigation challenges through the use of MEMS inertial sensors and proper verification of navigation system performance

    Science.gov (United States)

    Vinande, Eric T.

    This research proposes several means to overcome challenges in the urban environment to ground vehicle global positioning system (GPS) receiver navigation performance through the integration of external sensor information. The effects of narrowband radio frequency interference and signal attenuation, both common in the urban environment, are examined with respect to receiver signal tracking processes. Low-cost microelectromechanical systems (MEMS) inertial sensors, suitable for the consumer market, are the focus of receiver augmentation as they provide an independent measure of motion and are independent of vehicle systems. A method for estimating the mounting angles of an inertial sensor cluster utilizing typical urban driving maneuvers is developed and is able to provide angular measurements within two degrees of truth. The integration of GPS and MEMS inertial sensors is developed utilizing a full state navigation filter. Appropriate statistical methods are developed to evaluate the urban environment navigation improvement due to the addition of MEMS inertial sensors. A receiver evaluation metric that combines accuracy, availability, and maximum error measurements is presented and evaluated over several drive tests. Following a description of proper drive test techniques, record and playback systems are evaluated as the optimal way of testing multiple receivers and/or integrated navigation systems in the urban environment as they simplify vehicle testing requirements.

  17. Optical augmented reality assisted navigation system for neurosurgery teaching and planning

    Science.gov (United States)

    Wu, Hui-Qun; Geng, Xing-Yun; Wang, Li; Zhang, Yuan-Peng; Jiang, Kui; Tang, Le-Min; Zhou, Guo-Min; Dong, Jian-Cheng

    2013-07-01

    This paper proposed a convenient navigation system for neurosurgeon's pre-operative planning and teaching with augmented reality (AR) technique, which maps the three-dimensional reconstructed virtual anatomy structures onto a skull model. This system included two parts, a virtual reality system and a skull model scence. In our experiment, a 73 year old right-handed man initially diagnosed with astrocytoma was selected as an example to vertify our system. His imaging data from different modalities were registered and the skull soft tissue, brain and inside vessels as well as tumor were reconstructed. Then the reconstructed models were overlayed on the real scence. Our findings showed that the reconstructed tissues were augmented into the real scence and the registration results were in good alignment. The reconstructed brain tissue was well distributed in the skull cavity. The probe was used by a neurosurgeon to explore the surgical pathway which could be directly posed into the tumor while not injuring important vessels. In this way, the learning cost for students and patients' education about surgical risks reduced. Therefore, this system could be a selective protocol for image guided surgery(IGS), and is promising for neurosurgeon's pre-operative planning and teaching.

  18. Surgical neuro navigator guided by preoperative magnetic resonance images, based on a magnetic position sensor;Neuronavegador cirurgico guiado por imagens de ressonancia magnetica pre-operatoria, baseado num transdutor de posicao magnetico

    Energy Technology Data Exchange (ETDEWEB)

    Perini, Ana Paula; Siqueira, Rogerio Bulha; Carneiro, Antonio Adilton Oliveira, E-mail: adilton@ffclrp.usp.b [Universidade de Sao Paulo (USP), Ribeirao Preto, SP (Brazil). Faculdade de Filosofia, Ciencias e Letras. Dept. de Fisica e Matematica; Oliveira, Lucas Ferrari de [Universidade Federal de Pelotas (UFPel), RS (Brazil). Dept. de Informatica; Machado, Helio Rubens [Universidade de Sao Paulo (USP), Ribeirao Preto, SP (Brazil). Faculdade de Medicina. Dept. de Neurocirurgia

    2009-08-15

    Image guided neurosurgery enables the neurosurgeon to navigate inside the patient's brain using pre-operative images as a guide and a tracking system, during a surgery. Following a calibration procedure, three-dimensional position and orientation of surgical instruments may be transmitted to computer. The spatial information is used to access a region of interest, in the pre-operative images, displaying them to the neurosurgeon during the surgical procedure. However, when a craniotomy is involved and the lesion is removed, movements of brain tissue can be a significant source of error in these conventional navigation systems. The architecture implemented in this work intends the development of a system to surgical planning and orientation guided by ultrasound image. For surgical orientation, the software developed allows the extraction of slices from the volume of the magnetic resonance images (MRI) with orientation supplied by a magnetic position sensor (Polhemus{sup R}). The slices extracted with this software are important because they show the cerebral area that the neurosurgeon is observing during the surgery, and besides they can be correlated with the intra-operative ultrasound images to detect and to correct the deformation of brain tissue during the surgery. Also, a tool for per-operative navigation was developed, providing three orthogonal planes through the image volume. In the methodology used for the software implementation, the Python{sup tm} programming language and the Visualization Toolkit (VTK) graphics library were used. The program to extract slices of the MRI volume allowed the application of transformations in the volume, using coordinates supplied by the position sensor. (author)

  19. A Self-Tuning Kalman Filter for Autonomous Navigation using the Global Positioning System (GPS)

    Science.gov (United States)

    Truong, S. H.

    1999-01-01

    Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman filter and GPS data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. These systems, however, still rely on manual tuning from analysts. A sophisticated neuro-fuzzy component fully integrated with the flight navigation system can perform the self-tuning capability for the Kalman filter and help the navigation system recover from estimation errors in real time.

  20. Novel cemented cup-holding technique while performing total hip arthroplasty with navigation system.

    Science.gov (United States)

    Takai, Hirokazu; Takahashi, Tomoki

    2017-09-01

    Recently, navigation systems have been more widely utilized in total hip arthroplasty. However, almost all of these systems have been developed for cementless cups. In the case of cemented total hip arthroplasty using a navigation system, a special-ordered cemented holder is needed. We propose a novel cemented cup-holding technique for navigation systems using readily available articles. We combine a cementless cup holder with an inverted cementless trial cup. The resulting apparatus is used as a cemented cup holder. The upside-down cup-holding technique is useful and permits cemented cup users to utilize a navigation system for placement of the acetabular component.

  1. Novel cemented cup-holding technique while performing total hip arthroplasty with navigation system

    Directory of Open Access Journals (Sweden)

    Hirokazu Takai, MD

    2017-09-01

    Full Text Available Recently, navigation systems have been more widely utilized in total hip arthroplasty. However, almost all of these systems have been developed for cementless cups. In the case of cemented total hip arthroplasty using a navigation system, a special-ordered cemented holder is needed. We propose a novel cemented cup-holding technique for navigation systems using readily available articles. We combine a cementless cup holder with an inverted cementless trial cup. The resulting apparatus is used as a cemented cup holder. The upside-down cup-holding technique is useful and permits cemented cup users to utilize a navigation system for placement of the acetabular component.

  2. An Environmental Scan of Health and Social System Navigation Services in an Urban Canadian Community

    Directory of Open Access Journals (Sweden)

    Nancy Carter RN, PhD

    2017-01-01

    Full Text Available Systems navigation services provided by a designated provider or team have the potential to address health and social disparities. We conducted an environmental scan of navigation activities in a large urban Canadian community to identify and describe: service providers who engage in systems navigation; the clients who require systems navigation support and the issues they face; activities involved; and barriers and facilitators in providing systems navigation support to clients. Using an online survey and convenience sampling, we recruited individuals who self-identified as community navigators or practiced systems navigation activities as part of their role. The majority of respondents ( n  = 145 were social workers, social services workers, or nurses. Clients of navigators struggled with mental health or addictions issues, disabilities, chronic diseases, and history of trauma or abuse. The most frequently reported activities of navigators were building professional relationships, managing paperwork, and communicating with relevant agencies or organizations. Barriers to navigation were time available in the work day, difficulty partnering due to bureaucratic structures, differing philosophies and ways of working, and a lack of central information repository in the community. Facilitators were a client-centered organization, the availability of multiple community resources in the region, and organizational support. Participants struggled with client waitlists, system issues such as lack of resources and interagency collaboration, and role clarity.

  3. Surgical Workflow Analysis: Ideal Application of Navigated Linear Array Ultrasound in Low-Grade Glioma Surgery.

    Science.gov (United States)

    Lothes, Thomas Ernst; Siekmann, Max; König, Ralph Werner; Wirtz, Christian Rainer; Coburger, Jan

    2016-11-01

    Background  Intraoperative imaging in low-grade glioma (LGG) surgery can facilitate residual tumor control and improve surgical outcome. The aim of the study was to evaluate the ideal application and typical interactions of intraoperative MRI (iMRI), conventional low-frequency intraoperative ultrasound (cioUS), and high-frequency linear array intraoperative ultrasound (lioUS) to optimize surgical workflow. Methods  Prospectively, we included 11 patients with an LGG. Typical procedural workflow in the iMRI suite was recorded with a compatible software. We took notes of duration, frequency of application, the surgeon's evaluation of image quality, and the respective benefit of lioUS (15 MHz), cioUS (7 MHz), and iMRI (1.5 T). With the help of the workflow software, we meticulously analyzed ∼ 55 hours of surgery. Results  During the interventions, lioUS was used more often (76.3%) than cioUS (23.7%) and showed a better mean image quality (1 = best to 6 = worst) of 2.08 versus 3.26 with cioUS. The benefit of the lioUS application was rated with an average of 2.27, whereas the cioUS probe only reached a mean value of 3.83. The most common application of lioUS was resection control (42.6%); cioUS was used mainly for orientation (63.2%). Overall, lioUS was used more often and was rated better for both the purposes just described regarding image quality and benefit. Estimated residual tumor based on lioUS alone was lower than the final residual tumor detected with iMRI (7.5% versus 14.5%). The latter technique was rated as the best imaging modality for resection control in all cases followed by lioUS. Conclusion  We provide proof of principle for workflow assessment in cranial neurosurgery. Although iMRI remains the imaging method of choice, lioUS has shown to be beneficial in a combined setup. Evaluation of lioUS was significantly superior to cioUS in most indications except for subcortical lesions. Georg Thieme Verlag KG Stuttgart · New York.

  4. A new image navigation system for MR-guided cryosurgery

    International Nuclear Information System (INIS)

    Mogami, Takuji; Dohi, Michiko; Harada, Junta

    2002-01-01

    The purpose of this study was to evaluate the feasibility of Interactive Scan Control (ISC), a new MR image navigation system, during percutaneous puncture in cryosurgery. With the ISC system in place, percutaneous MR-guided cryosurgery was performed in 26 cases, with the ISC system being used in 11 cases (five renal tumors, three uterine fibroids and three metastatic liver tumors). The ISC system comprised infrared cameras and an MR-compatible optical tracking tool that was directly connected to a cryoprobe. Tumor sizes ranged from 1.2 cm (metastatic liver tumor) to 9.0 cm (uterine fibroid), for a mean size of 3.9 cm. With ISC, one to three cryoprobes with a diameter of 2 mm or 3 mm were advanced into the tumors with the guidance of an MR fluoroscopic image. Two freeze-thaw cycles were used for cryosurgery. During the cryosurgery, the formation of iceballs was monitored on MR images. Follow-up dynamic CT or MRI as well as physical examinations were conducted after two weeks and six weeks. Placement of probes was successfully performed under the control of the ISC system. During cryosurgery, engulfment of the tumors by iceballs was carefully monitored by MRI. Necrosis of the cryoablated area was confirmed in all renal tumors by follow-up dynamic CT. The size regression of the uterine fibroids was observed through follow-up MRI. Two of the three cases of metastatic liver tumor were ablated completely. Additional therapy for a residual tumor was performed on one patient with a metastatic liver tumor. A small amount of pneumothorax was the only complication found in a patient with a metastatic liver tumor. MR-guided cryosurgery with this new navigation system was feasible with low morbidity and allowed for safe and accurate puncture with a cryoprobe. (author)

  5. Exploitation of Semantic Building Model in Indoor Navigation Systems

    Science.gov (United States)

    Anjomshoaa, A.; Shayeganfar, F.; Tjoa, A. Min

    2009-04-01

    There are many types of indoor and outdoor navigation tools and methodologies available. A majority of these solutions are based on Global Positioning Systems (GPS) and instant video and image processing. These approaches are ideal for open world environments where very few information about the target location is available, but for large scale building environments such as hospitals, governmental offices, etc the end-user will need more detailed information about the surrounding context which is especially important in case of people with special needs. This paper presents a smart indoor navigation solution that is based on Semantic Web technologies and Building Information Model (BIM). The proposed solution is also aligned with Google Android's concepts to enlighten the realization of results. Keywords: IAI IFCXML, Building Information Model, Indoor Navigation, Semantic Web, Google Android, People with Special Needs 1 Introduction Built environment is a central factor in our daily life and a big portion of human life is spent inside buildings. Traditionally the buildings are documented using building maps and plans by utilization of IT tools such as computer-aided design (CAD) applications. Documenting the maps in an electronic way is already pervasive but CAD drawings do not suffice the requirements regarding effective building models that can be shared with other building-related applications such as indoor navigation systems. The navigation in built environment is not a new issue, however with the advances in emerging technologies like GPS, mobile and networked environments, and Semantic Web new solutions have been suggested to enrich the traditional building maps and convert them to smart information resources that can be reused in other applications and improve the interpretability with building inhabitants and building visitors. Other important issues that should be addressed in building navigation scenarios are location tagging and end-user communication

  6. Intraoperative CT with integrated navigation system in spinal neurosurgery

    International Nuclear Information System (INIS)

    Zausinger, S.; Heigl, T.; Scheder, B.; Schnell, O.; Tonn, J.C.; Uhl, E.; Morhard, D.

    2007-01-01

    For spinal surgery navigational system images are usually acquired before surgery with patients positioned supine. The aim of this study was to evaluate prospectively navigated procedures in spinal surgery with data acquisition by intraoperative computed tomography (iCT). CT data of 38 patients [thoracolumbar instability (n = 24), C1/2 instability (n = 6), cervicothoracic stabilization (n = 7), disk herniation (n = 1)] were acquired after positioning the patient in prone position. A sliding gantry 24 detector row CT was used for image acquisition. Data were imported to the frameless infrared-based neuronavigation station. A postprocedural CT was obtained to assess the extent of decompression and the accuracy of instrumentation. Intraoperative registration revealed computed accuracy 2 mm in 9/158 screws (5.6%), allowing immediate correction in five screws without any damage to vessels or nerves. There were three transient complications with clinical improvement in all patients. Intraoperative CT in combination with neuronavigation provides high accuracy of screw placement and thus safety for patients undergoing spinal stabilization. The procedure is rapid and easy to perform and - by replacing pre- and postoperative imaging-is not associated with additional exposure to radiation. (orig.)

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

    Science.gov (United States)

    Truong, S. H.; Hart, R. C.; Hartman, K. R.; Tomcsik, T. L.; Searl, J. E.; Bernstein, A.

    1997-01-01

    The Flight Dynamics Division (FDD) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) is currently developing improved space-navigation filtering algorithms to use the Global Positioning System (GPS) for autonomous real-time onboard orbit determination. In connection with a GPS technology demonstration on the Small Satellite Technology Initiative (SSTI)/Lewis spacecraft, FDD analysts and programmers have teamed with the GSFC Guidance, Navigation, and Control Branch to develop the GPS Enhanced Orbit Determination Experiment (GEODE) system. The GEODE system consists of a Kalman filter operating as a navigation tool for estimating the position, velocity, and additional states required to accurately navigate the orbiting Lewis spacecraft by using astrodynamic modeling and GPS measurements from the receiver. A parallel effort at the FDD is the development of a GPS Error Analysis System (GEAS) that will be used to analyze and improve navigation filtering algorithms during development phases and during in-flight calibration. For GEAS, the Kalman filter theory is extended to estimate the errors in position, velocity, and other error states of interest. The estimation of errors in physical variables at regular intervals will allow the time, cause, and effect of navigation system weaknesses to be identified. In addition, by modeling a sufficient set of navigation system errors, a system failure that causes an observed error anomaly can be traced and accounted for. The GEAS software is formulated using Object Oriented Design (OOD) techniques implemented in the C++ programming language on a Sun SPARC workstation. The Phase 1 of this effort is the development of a basic system to be used to evaluate navigation algorithms implemented in the GEODE system. This paper presents the GEAS mathematical methodology, systems and operations concepts, and software design and implementation. Results from the use of the basic system to evaluate

  8. KIN-Nav navigation system for kinematic assessment in anterior cruciate ligament reconstruction: features, use, and perspectives.

    Science.gov (United States)

    Martelli, S; Zaffagnini, S; Bignozzi, S; Lopomo, N F; Iacono, F; Marcacci, M

    2007-10-01

    In this paper a new navigation system, KIN-Nav, developed for research and used during 80 anterior cruciate ligament (ACL) reconstructions is described. KIN-Nav is a user-friendly navigation system for flexible intraoperative acquisitions of anatomical and kinematic data, suitable for validation of biomechanical hypotheses. It performs real-time quantitative evaluation of antero-posterior, internal-external, and varus-valgus knee laxity at any degree of flexion and provides a new interface for this task, suitable also for comparison of pre-operative and post-operative knee laxity and surgical documentation. In this paper the concept and features of KIN-Nav, which represents a new approach to navigation and allows the investigation of new quantitative measurements in ACL reconstruction, are described. Two clinical studies are reported, as examples of clinical potentiality and correct use of this methodology. In this paper a preliminary analysis of KIN-Nav's reliability and clinical efficacy, performed during blinded repeated measures by three independent examiners, is also given. This analysis is the first assessment of the potential of navigation systems for evaluating knee kinematics.

  9. Navigation of Pedicle Screws in the Thoracic Spine with a New Electromagnetic Navigation System: A Human Cadaver Study

    Directory of Open Access Journals (Sweden)

    Patrick Hahn

    2015-01-01

    Full Text Available Introduction. Posterior stabilization of the spine is a standard procedure in spinal surgery. In addition to the standard techniques, several new techniques have been developed. The objective of this cadaveric study was to examine the accuracy of a new electromagnetic navigation system for instrumentation of pedicle screws in the spine. Material and Method. Forty-eight pedicle screws were inserted in the thoracic spine of human cadavers using EMF navigation and instruments developed especially for electromagnetic navigation. The screw position was assessed postoperatively by a CT scan. Results. The screws were classified into 3 groups: grade 1 = ideal position; grade 2 = cortical penetration <2 mm; grade 3 = cortical penetration ≥2 mm. The initial evaluation of the system showed satisfied positioning for the thoracic spine; 37 of 48 screws (77.1%, 95% confidence interval [62.7%, 88%] were classified as group 1 or 2. Discussion. The screw placement was satisfactory. The initial results show that there is room for improvement with some changes needed. The ease of use and short setup times should be pointed out. Instrumentation is achieved without restricting the operator’s mobility during navigation. Conclusion. The results indicate a good placement technique for pedicle screws. Big advantages are the easy handling of the system.

  10. Automated endoscopic navigation and advisory system from medical image

    Science.gov (United States)

    Kwoh, Chee K.; Khan, Gul N.; Gillies, Duncan F.

    1999-05-01

    In this paper, we present a review of the research conducted by our group to design an automatic endoscope navigation and advisory system. The whole system can be viewed as a two-layer system. The first layer is at the signal level, which consists of the processing that will be performed on a series of images to extract all the identifiable features. The information is purely dependent on what can be extracted from the 'raw' images. At the signal level, the first task is performed by detecting a single dominant feature, lumen. Few methods of identifying the lumen are proposed. The first method used contour extraction. Contours are extracted by edge detection, thresholding and linking. This method required images to be divided into overlapping squares (8 by 8 or 4 by 4) where line segments are extracted by using a Hough transform. Perceptual criteria such as proximity, connectivity, similarity in orientation, contrast and edge pixel intensity, are used to group edges both strong and weak. This approach is called perceptual grouping. The second method is based on a region extraction using split and merge approach using spatial domain data. An n-level (for a 2' by 2' image) quadtree based pyramid structure is constructed to find the most homogenous large dark region, which in most cases corresponds to the lumen. The algorithm constructs the quadtree from the bottom (pixel) level upward, recursively and computes the mean and variance of image regions corresponding to quadtree nodes. On reaching the root, the largest uniform seed region, whose mean corresponds to a lumen is selected that is grown by merging with its neighboring regions. In addition to the use of two- dimensional information in the form of regions and contours, three-dimensional shape can provide additional information that will enhance the system capabilities. Shape or depth information from an image is estimated by various methods. A particular technique suitable for endoscopy is the shape from shading

  11. Satellite Navigation Systems: Policy, Commercial and Technical Interaction.

    Science.gov (United States)

    Rycroft, M.

    2003-12-01

    This book adopts a broad perspective on positioning and navigation systems which rely on Earth orbiting satellites for their successful operation. The first of such global systems was the US Global Positioning System (GPS), and the next the Russian GLONASS system. Now studies relating to Europe's future Galileo system are gaining momentum and other nations are planning regional augmentation systems. All such systems are discussed here, particularly relating to political, commercial, legal and technical issues. The opportunities - and also the problems - of having three similar systems in operation simultaneously are examined, and several novel applications are proposed. These range from improved vehicular transport by land, sea and air, to more accurate surveying, more efficient agricultural practices and safer operations in mountainous regions. Everyone who is challenged by these topics will find this volume invaluable. ISU WWW Server; http://www.isunet.edu. Further information on ISU Symposia may also be obtained by e-mail from symposium@isu.isunet.edu Link: http://www.wkap.nl/prod/b/1-4020-1678-6

  12. A personal tourism navigation system to support traveling multiple destinations with time restrictions

    OpenAIRE

    Maruyama, Atsushi; Shibata, Naoki; Murata, Yoshihiro; Yasumoto, Keiichi; Ito, Minoru

    2004-01-01

    We propose a personal navigation system (called PNS) which navigates a tourist through multiple destinations efficiently. In our PNS, a tourist can specify multiple destinations with desired arrival/stay time and preference degree. The system calculates the route including part of the destinations satisfying tourist's requirements and navigates him/her. For the above route search problem, we have developed an efficient route search algorithm using a genetic algorithm. We have designed and imp...

  13. Positioning navigation and timing service applications in cyber physical systems

    Science.gov (United States)

    Qu, Yi; Wu, Xiaojing; Zeng, Lingchuan

    2017-10-01

    The positioning navigation and timing (PNT) architecture was discussed in detail, whose history, evolvement, current status and future plan were presented, main technologies were listed, advantages and limitations of most technologies were compared, novel approaches were introduced, and future capacities were sketched. The concept of cyber-physical system (CPS) was described and their primary features were interpreted. Then the three-layer architecture of CPS was illustrated. Next CPS requirements on PNT services were analyzed, including requirements on position reference and time reference, requirements on temporal-spatial error monitor, requirements on dynamic services, real-time services, autonomous services, security services and standard services. Finally challenges faced by PNT applications in CPS were concluded. The conclusion was expected to facilitate PNT applications in CPS, and furthermore to provide references to the design and implementation of both architectures.

  14. [The rational application of Da Vinci surgical system in thyroidectomy].

    Science.gov (United States)

    He, Q Q

    2017-08-01

    Da Vinci surgical system is the most advanced minimally invasive surgical platform in the world, and this system has been widely used in cardiac surgery, urology surgery, gynecologic surgery and general surgery. Although the application of this system was relatively late in thyroid surgery, the number of thyroidectomy with Da Vinci surgical system is increasing quickly. Having reviewed recent studies and summarized clinical experience, compared with traditional open operation, the robotic thyroidectomy has the same surgical safety and effectiveness in selective patients with thyroid cancer. In this paper, several aspects on this novel operation were demonstrated, including surgical indications and contraindications, the approaches, surgical procedures and postoperative complications, in order to promote the rational application of Da Vinci surgical system in thyroidectomy.

  15. Initial Assessment of Cyclone Global Navigation Satellite System (CYGNSS) Observations

    Science.gov (United States)

    McKague, D. S.; Ruf, C. S.

    2017-12-01

    The NASA Cyclone Global Navigation Satellite System (CYNSS) mission provides high temporal resolution observations of cyclones from a constellation of eight low-Earth orbiting satellites. Using the relatively new technique of Global Navigation Satellite System reflectometry (GNSS-R), all-weather observations are possible, penetrating even deep convection within hurricane eye walls. The compact nature of the GNSS-R receivers permits the use of small satellites, which in turn enables the launch of a constellation of satellites from a single launch vehicle. Launched in December of 2016, the eight CYGNSS satellites provide 25 km resolution observations of mean square slope (surface roughness) and surface winds with a 2.8 hour median revisit time from 38 S to 38 N degrees latitude. In addition to the calibration and validation of CYGNSS sea state observations, the CYGNSS science team is assessing the ability of the mission to provide estimates of cyclone size, intensity, and integrated kinetic energy. With its all-weather ability and high temporal resolution, the CYGNSS mission will add significantly to our ability to monitor cyclone genesis and intensification and will significantly reduce uncertainties in our ability to estimate cyclone intensity, a key variable in predicting its destructive potential. Members of the CYGNSS Science Team are also assessing the assimilation of CYGNSS data into hurricane forecast models to determine the impact of the data on forecast skill, using the data to study extra-tropical cyclones, and looking at connections between tropical cyclones and global scale weather, including the global hydrologic cycle. This presentation will focus on the assessment of early on-orbit observations of cyclones with respect to these various applications.

  16. Global Navigation Satellite Systems (GNSS: The Utmost Interdisciplinary Integrator

    Directory of Open Access Journals (Sweden)

    Bernd Eissfeller

    2015-08-01

    Full Text Available Currently four global satellite navigation systems are under modernization and development: The US American GPS III, the Russian GLONASS, the European Galileo and Chinese BeiDou systems. In the paper the interdisciplinary contributions of different scientific areas to GNSS are assessed. It is outlined that GNSS is not only a technical system but also a basic element of mobile computing high-tech market. At the same time a GNSS has the role of a force enabler in security related applications. Technology, market and security policies are interdependent and are sometimes in a relationship of tension. The goal of the paper is to describe the overall systemics of GNSS from a holistic point of view. The paper also addresses the human factor side of GNSS. The requirements on human resources in GNSS are at least two-fold: On the one hand very specialized engineers are needed; on the other hand the generalists are necessary who are able to understand the system aspects. Decision makers in institutions and industry need special knowledge in technologies, economics and political strategies. Is the current university system able to educate and prepare such generalists? Are specialized master courses for GNSS needed? Are external training courses necessary?

  17. New real-time MR image-guided surgical robotic system for minimally invasive precision surgery

    Energy Technology Data Exchange (ETDEWEB)

    Hashizume, M.; Yasunaga, T.; Konishi, K. [Kyushu University, Department of Advanced Medical Initiatives, Faculty of Medical Sciences, Fukuoka (Japan); Tanoue, K.; Ieiri, S. [Kyushu University Hospital, Department of Advanced Medicine and Innovative Technology, Fukuoka (Japan); Kishi, K. [Hitachi Ltd, Mechanical Engineering Research Laboratory, Hitachinaka-Shi, Ibaraki (Japan); Nakamoto, H. [Hitachi Medical Corporation, Application Development Office, Kashiwa-Shi, Chiba (Japan); Ikeda, D. [Mizuho Ikakogyo Co. Ltd, Tokyo (Japan); Sakuma, I. [The University of Tokyo, Graduate School of Engineering, Bunkyo-Ku, Tokyo (Japan); Fujie, M. [Waseda University, Graduate School of Science and Engineering, Shinjuku-Ku, Tokyo (Japan); Dohi, T. [The University of Tokyo, Graduate School of Information Science and Technology, Bunkyo-Ku, Tokyo (Japan)

    2008-04-15

    To investigate the usefulness of a newly developed magnetic resonance (MR) image-guided surgical robotic system for minimally invasive laparoscopic surgery. The system consists of MR image guidance [interactive scan control (ISC) imaging, three-dimensional (3-D) navigation, and preoperative planning], an MR-compatible operating table, and an MR-compatible master-slave surgical manipulator that can enter the MR gantry. Using this system, we performed in vivo experiments with MR image-guided laparoscopic puncture on three pigs. We used a mimic tumor made of agarose gel and with a diameter of approximately 2 cm. All procedures were successfully performed. The operator only advanced the probe along the guidance device of the manipulator, which was adjusted on the basis of the preoperative plan, and punctured the target while maintaining the operative field using robotic forceps. The position of the probe was monitored continuously with 3-D navigation and 2-D ISC images, as well as the MR-compatible laparoscope. The ISC image was updated every 4 s; no artifact was detected. A newly developed MR image-guided surgical robotic system is feasible for an operator to perform safe and precise minimally invasive procedures. (orig.)

  18. New real-time MR image-guided surgical robotic system for minimally invasive precision surgery

    International Nuclear Information System (INIS)

    Hashizume, M.; Yasunaga, T.; Konishi, K.; Tanoue, K.; Ieiri, S.; Kishi, K.; Nakamoto, H.; Ikeda, D.; Sakuma, I.; Fujie, M.; Dohi, T.

    2008-01-01

    To investigate the usefulness of a newly developed magnetic resonance (MR) image-guided surgical robotic system for minimally invasive laparoscopic surgery. The system consists of MR image guidance [interactive scan control (ISC) imaging, three-dimensional (3-D) navigation, and preoperative planning], an MR-compatible operating table, and an MR-compatible master-slave surgical manipulator that can enter the MR gantry. Using this system, we performed in vivo experiments with MR image-guided laparoscopic puncture on three pigs. We used a mimic tumor made of agarose gel and with a diameter of approximately 2 cm. All procedures were successfully performed. The operator only advanced the probe along the guidance device of the manipulator, which was adjusted on the basis of the preoperative plan, and punctured the target while maintaining the operative field using robotic forceps. The position of the probe was monitored continuously with 3-D navigation and 2-D ISC images, as well as the MR-compatible laparoscope. The ISC image was updated every 4 s; no artifact was detected. A newly developed MR image-guided surgical robotic system is feasible for an operator to perform safe and precise minimally invasive procedures. (orig.)

  19. Reconstruction and navigation system for intraoperative brachytherapy using the flab technique for colorectal tumor bed irradiation

    International Nuclear Information System (INIS)

    Strassmann, Gerd; Walter, Stefan; Kolotas, Christos; Heyd, Reinhard; Baltas, Dimos; Debertshaeuser, Detlef; Nier, Helmut; Tonus, Carolin; Sakas, George; Zamboglou, Nikolaos

    2000-01-01

    Purpose: To present the development of a new navigation and reconstruction system based on an electromagnetic free-hand tracker and on CT imaging for treatment planning of intraoperative high-dose-rate brachytherapy (IORT-HDRB) in the sacral region. Our aim is to improve accuracy and to enable individualized treatment planning and dose documentation to be performed for IORT-HDRB using a flab technique. Methods and Materials: The material consists of an electromagnetic 3D tracker system, a PC workstation with Microsoft Windows NT 4.0 operating system, and a recognition program for continuous speech. In addition, we designed an external reference system constructed of titanium and Perspex, which is positioned in the pelvis, and a special digitizer pen for reconstruction of the flab geometry. The flab design incorporates a series of silicon 10-mm-diameter spherical pellets. Measurements were made with a pelvic phantom in order to study the accuracy of the system. The reconstruction results are stored and can be exported via network or floppy to our different treatment planning systems. Results: Our results for the reconstruction of a flab with six catheters and a total of 100 spherical pellets give mean errors in the range (2.5 ± 0.6) mm to (3.5 ± 0.8) mm depending on the positions of the pelvic phantom and transmitter relative to the operation table. These errors are calculated by comparing the reconstruction results of our system with those using a CT-based reconstruction of the flab geometry. For the accuracy of the navigation system for the pelvic phantom, we obtained mean errors in the range (2.2 ± 0.7) mm to (3.1 ± 1.0) mm. Conclusions: The new system we have developed enables navigation and reconstruction within the surgical environment with a clinically acceptable level of accuracy. It offers the possibility of individualized treatment planning and effective documentation of the 3D dose distribution in IORT-HDRB using a flab technique

  20. A Microscopic Optically Tracking Navigation System That Uses High-resolution 3D Computer Graphics.

    Science.gov (United States)

    Yoshino, Masanori; Saito, Toki; Kin, Taichi; Nakagawa, Daichi; Nakatomi, Hirofumi; Oyama, Hiroshi; Saito, Nobuhito

    2015-01-01

    Three-dimensional (3D) computer graphics (CG) are useful for preoperative planning of neurosurgical operations. However, application of 3D CG to intraoperative navigation is not widespread because existing commercial operative navigation systems do not show 3D CG in sufficient detail. We have developed a microscopic optically tracking navigation system that uses high-resolution 3D CG. This article presents the technical details of our microscopic optically tracking navigation system. Our navigation system consists of three components: the operative microscope, registration, and the image display system. An optical tracker was attached to the microscope to monitor the position and attitude of the microscope in real time; point-pair registration was used to register the operation room coordinate system, and the image coordinate system; and the image display system showed the 3D CG image in the field-of-view of the microscope. Ten neurosurgeons (seven males, two females; mean age 32.9 years) participated in an experiment to assess the accuracy of this system using a phantom model. Accuracy of our system was compared with the commercial system. The 3D CG provided by the navigation system coincided well with the operative scene under the microscope. Target registration error for our system was 2.9 ± 1.9 mm. Our navigation system provides a clear image of the operation position and the surrounding structures. Systems like this may reduce intraoperative complications.

  1. Microsurgical and Endoscopic Anatomy for Intradural Temporal Bone Drilling and Applications of the Electromagnetic Navigation System: Various Extensions of the Retrosigmoid Approach.

    Science.gov (United States)

    Matsushima, Ken; Komune, Noritaka; Matsuo, Satoshi; Kohno, Michihiro

    2017-07-01

    The use of the retrosigmoid approach has recently been expanded by several modifications, including the suprameatal, transmeatal, suprajugular, and inframeatal extensions. Intradural temporal bone drilling without damaging vital structures inside or beside the bone, such as the internal carotid artery and jugular bulb, is a key step for these extensions. This study aimed to examine the microsurgical and endoscopic anatomy of the extensions of the retrosigmoid approach and to evaluate the clinical feasibility of an electromagnetic navigation system during intradural temporal bone drilling. Five temporal bones and 8 cadaveric cerebellopontine angles were examined to clarify the anatomy of retrosigmoid intradural temporal bone drilling. Twenty additional cerebellopontine angles were dissected in a clinical setting with an electromagnetic navigation system while measuring the target registration errors at 8 surgical landmarks on and inside the temporal bone. Retrosigmoid intradural temporal bone drilling expanded the surgical exposure to allow access to the petroclival and parasellar regions (suprameatal), internal acoustic meatus (transmeatal), upper jugular foramen (suprajugular), and petrous apex (inframeatal). The electromagnetic navigation continuously guided the drilling without line of sight limitation, and its small devices were easily manipulated in the deep and narrow surgical field in the posterior fossa. Mean target registration error was less than 0.50 mm during these procedures. The combination of endoscopic and microsurgical techniques aids in achieving optimal exposure for retrosigmoid intradural temporal bone drilling. The electromagnetic navigation system had clear advantages with acceptable accuracy including the usability of small devices without line of sight limitation. Copyright © 2017 Elsevier Inc. All rights reserved.

  2. 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

  3. 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.

  4. Application of da Vinci surgical robotic system in hepatobiliary surgery

    Directory of Open Access Journals (Sweden)

    Chen Jiahai

    2018-01-01

    Full Text Available The development of minimally invasive surgery has brought a revolutionary change to surgery techniques, and endoscopic surgical robots, especially Da Vinci robotic surgical system, has further broaden the scope of minimally invasive surgery, which has been applied in a variety of surgical fields including hepatobiliary surgery. Today, the application of Da Vinci surgical robot can cover most of the operations in hepatobiliary surgery which has proved to be safe and practical. What’s more, many clinical studies in recent years have showed that Da Vinci surgical system is superior to traditional laparoscopy. This paper summarize the advantage and disadvantage of Da Vinci surgical system, and outlines the current status of and future perspectives on the robot-assisted hepatobiliary surgery based on the cases reports in recent years of the application of Da Vinci surgical robot.

  5. Design and implementation of a PC-based image-guided surgical system.

    Science.gov (United States)

    Stefansic, James D; Bass, W Andrew; Hartmann, Steven L; Beasley, Ryan A; Sinha, Tuhin K; Cash, David M; Herline, Alan J; Galloway, Robert L

    2002-11-01

    In interactive, image-guided surgery, current physical space position in the operating room is displayed on various sets of medical images used for surgical navigation. We have developed a PC-based surgical guidance system (ORION) which synchronously displays surgical position on up to four image sets and updates them in real time. There are three essential components which must be developed for this system: (1) accurately tracked instruments; (2) accurate registration techniques to map physical space to image space; and (3) methods to display and update the image sets on a computer monitor. For each of these components, we have developed a set of dynamic link libraries in MS Visual C++ 6.0 supporting various hardware tools and software techniques. Surgical instruments are tracked in physical space using an active optical tracking system. Several of the different registration algorithms were developed with a library of robust math kernel functions, and the accuracy of all registration techniques was thoroughly investigated. Our display was developed using the Win32 API for windows management and tomographic visualization, a frame grabber for live video capture, and OpenGL for visualization of surface renderings. We have begun to use this current implementation of our system for several surgical procedures, including open and minimally invasive liver surgery.

  6. Systems for tracking minimally invasive surgical instruments

    NARCIS (Netherlands)

    Chmarra, M. K.; Grimbergen, C. A.; Dankelman, J.

    2007-01-01

    Minimally invasive surgery (e.g. laparoscopy) requires special surgical skills, which should be objectively assessed. Several studies have shown that motion analysis is a valuable assessment tool of basic surgical skills in laparoscopy. However, to use motion analysis as the assessment tool, it is

  7. A novel smart navigation system for intramedullary nailing in orthopedic surgery.

    Directory of Open Access Journals (Sweden)

    Jaesuk Choi

    Full Text Available This paper proposes a novel smart surgical navigation system for intramedullary nailing in orthopedic surgery. Using a handle-integrated laser guidance module, the system can target a drill insertion point onto skin, indicating an accurate target position to perpendicularly access an invisible distal hole. The proposed handle-integration-based fixation of the laser guidance module precisely defines the relative position of the module with respect to the distal hole. Consequently, unlike conventional systems, the proposed system can indicate the target insertion point without any help from bulky and costly external position-tracking equipment that is usually required for compensating disturbances generated by external impacts. After insertion, a correct drilling direction toward the distal hole is guided by real-time drilling angle measurement modules-one integrated with the nail handle and the other with the drill body. Each module contains a 9-axis inertial sensor and a Bluetooth communication device. These two modules work together to provide real-time drilling angle data, allowing calculation of the directional error toward the center of the distal hole in real time. The proposed system removes the need for fluoroscopy and provides a compact and cost-effective solution compared with conventional systems.

  8. [Clinical application of Da Vinci surgical system in China].

    Science.gov (United States)

    Jin, Zhenyu

    2014-01-01

    Da Vinci robotic surgical system leads the development of minimally invasive surgical techniques. By using Da Vinci surgical robot for minimally invasive surgery, it brings a lot of advantages to the surgeons. Since 2008, Da Vinci surgeries have been performed in 14 hospitals in domestic cities such as Beijing and Shanghai. Until the end of 2012, 3 551 cases of Da Vinci robotic surgery have been performed, covering various procedures of various surgical departments including the department of general surgery, urology, cardiovascular surgery, thoracic surgery, gynecology, and etc. Robotic surgical technique has made remarkable achievements.

  9. Augmented reality-based navigation system for wrist arthroscopy: feasibility.

    Science.gov (United States)

    Zemirline, Ahmed; Agnus, Vincent; Soler, Luc; Mathoulin, Christophe L; Obdeijn, Miryam; Liverneaux, Philippe A

    2013-11-01

    In video surgery, and more specifically in arthroscopy, one of the major problems is positioning the camera and instruments within the anatomic environment. The concept of computer-guided video surgery has already been used in ear, nose, and throat (ENT), gynecology, and even in hip arthroscopy. These systems, however, rely on optical or mechanical sensors, which turn out to be restricting and cumbersome. The aim of our study was to develop and evaluate the accuracy of a navigation system based on electromagnetic sensors in video surgery. We used an electromagnetic localization device (Aurora, Northern Digital Inc., Ontario, Canada) to track the movements in space of both the camera and the instruments. We have developed a dedicated application in the Python language, using the VTK library for the graphic display and the OpenCV library for camera calibration. A prototype has been designed and evaluated for wrist arthroscopy. It allows display of the theoretical position of instruments onto the arthroscopic view with useful accuracy. The augmented reality view represents valuable assistance when surgeons want to position the arthroscope or locate their instruments. It makes the maneuver more intuitive, increases comfort, saves time, and enhances concentration.

  10. Weather-enabled future onboard surveillance and navigation systems

    Science.gov (United States)

    Mutuel, L.; Baillon, B.; Barnetche, B.; Delpy, P.

    2009-09-01

    With the increasing traffic and the development of business trajectories, there is a widespread need to anticipate any adverse weather conditions that could impact the performance of the flight or to use of atmospheric parameters to optimize trajectories. Current sensors onboard air transport are challenged to provide the required service, while new products for business jets and general aviation open the door to innovative assimilation of weather information in onboard surveillance and navigation. The paper aims at surveying current technology available to air transport aircraft and pointing out their shortcomings in view of the modernization proposed in SESAR and NextGen implementation plans. Foreseen innovations are then illustrated via results of ongoing research like FLYSAFE or standardization efforts, in particular meteorological datalink services and impact on Human-Machine Interface. The paper covers the operational need to avoid adverse weather like thunderstorm, icing, turbulence, windshear and volcanic ash, but also the requirement to control in 4D the trajectory through the integration of wind and temperature grids in the flight management. The former will lead to enhanced surveillance systems onboard the aircraft with new displays and new alerting schemes, ranging from targeted information supporting better re-planning to auto-escape strategies. The latter will be standard in next generation flight management systems. Finally both will rely on ATM products that will also assimilate weather information so that situational awareness is shared and decision is collaborative.

  11. Evaluation of Mobile Phone Interference With Aircraft GPS Navigation Systems

    Science.gov (United States)

    Pace, Scott; Oria, A. J.; Guckian, Paul; Nguyen, Truong X.

    2004-01-01

    This report compiles and analyzes tests that were conducted to measure cell phone spurious emissions in the Global Positioning System (GPS) radio frequency band that could affect the navigation system of an aircraft. The cell phone in question had, as reported to the FAA (Federal Aviation Administration), caused interference to several GPS receivers on-board a small single engine aircraft despite being compliant with data filed at the time with the FCC by the manufacturer. NASA (National Aeronautics and Space Administration) and industry tests show that while there is an emission in the 1575 MHz GPS band due to a specific combination of amplifier output impedance and load impedance that induces instability in the power amplifier, these spurious emissions (i.e., not the intentional transmit signal) are similar to those measured on non-intentionally transmitting devices such as, for example, laptop computers. Additional testing on a wide sample of different commercial cell phones did not result in any emission in the 1575 MHz GPS Band above the noise floor of the measurement receiver.

  12. Navigation and Positioning System Using High Altitude Platforms Systems (HAPS)

    Science.gov (United States)

    Tsujii, Toshiaki; Harigae, Masatoshi; Harada, Masashi

    Recently, some countries have begun conducting feasibility studies and R&D projects on High Altitude Platform Systems (HAPS). Japan has been investigating the use of an airship system that will function as a stratospheric platform for applications such as environmental monitoring, communications and broadcasting. If pseudolites were mounted on the airships, their GPS-like signals would be stable augmentations that would improve the accuracy, availability, and integrity of GPS-based positioning systems. Also, the sufficient number of HAPS can function as a positioning system independent of GPS. In this paper, a system design of the HAPS-based positioning system and its positioning error analyses are described.

  13. A Wearable Goggle Navigation System for Dual-Mode Optical and Ultrasound Localization of Suspicious Lesions: Validation Studies Using Tissue-Simulating Phantoms and an Ex Vivo Human Breast Tissue Model.

    Directory of Open Access Journals (Sweden)

    Zeshu Zhang

    Full Text Available Surgical resection remains the primary curative treatment for many early-stage cancers, including breast cancer. The development of intraoperative guidance systems for identifying all sites of disease and improving the likelihood of complete surgical resection is an area of active ongoing research, as this can lead to a decrease in the need of subsequent additional surgical procedures. We develop a wearable goggle navigation system for dual-mode optical and ultrasound imaging of suspicious lesions. The system consists of a light source module, a monochromatic CCD camera, an ultrasound system, a Google Glass, and a host computer. It is tested in tissue-simulating phantoms and an ex vivo human breast tissue model. Our experiments demonstrate that the surgical navigation system provides useful guidance for localization and core needle biopsy of simulated tumor within the tissue-simulating phantom, as well as a core needle biopsy and subsequent excision of Indocyanine Green (ICG-fluorescing sentinel lymph nodes. Our experiments support the contention that this wearable goggle navigation system can be potentially very useful and fully integrated by the surgeon for optimizing many aspects of oncologic surgery. Further engineering optimization and additional in vivo clinical validation work is necessary before such a surgical navigation system can be fully realized in the everyday clinical setting.

  14. Application of Rapid Prototyping Technique and Intraoperative Navigation System for the Repair and Reconstruction of Orbital Wall Fractures

    Science.gov (United States)

    Cha, Jong Hyun; Lee, Yong Hae; Ruy, Wan Chul; Roe, Young; Moon, Myung Ho

    2016-01-01

    Background Restoring the orbital cavity in large blow out fractures is a challenge for surgeons due to the anatomical complexity. This study evaluated the clinical outcomes and orbital volume after orbital wall fracture repair using a rapid prototyping (RP) technique and intraoperative navigation system. Methods This prospective study was conducted on the medical records and radiology records of 12 patients who had undergone a unilateral blow out fracture reconstruction using a RP technique and an intraoperative navigation system from November 2014 to March 2015. The surgical results were assessed by an ophthalmic examination and a comparison of the preoperative and postoperative orbital volume ratio (OVR) values. Results All patients had a successful treatment outcome without complications. Volumetric analysis revealed a significant decrease in the mean OVR from 1.0952±0.0662 (ranging from 0.9917 to 1.2509) preoperatively to 0.9942±0.0427 (ranging from 0.9394 to 1.0680) postoperatively. Conclusion The application of a RP technique for the repair of orbital wall fractures is a useful tool that may help improve the clinical outcomes by understanding the individual anatomy, determining the operability, and restoring the orbital cavity volume through optimal implant positioning along with an intraoperative navigation system. PMID:28913272

  15. Endoscopic trans-nasal approach for biopsy of orbital tumors using image-guided neuro-navigation system

    International Nuclear Information System (INIS)

    Sieskiewicz, A.; Mariak, Z.; Rogowski, M.; Lyson, T.

    2008-01-01

    Histopathological diagnosis of intraorbital tumors is of crucial value for planning further therapy. The aim of the study was to explore clinical utility of image-guided endoscopy for biopsy of orbital tumors. Trans-nasal endoscopic biopsy of intraorbital mass lesions was performed in 6 patients using a neuro-navigation system (Medtronic Stealth Station Treon plus). The CT and MRI 1 mm slice images were fused by the system in order to visualise both bony and soft tissue structures. The anatomic fiducial registration protocol was used during the procedure. All lesions were precisely localised and the biopsies could be taken from the representative part of the pathological mass. None of the patients developed aggravation of ocular symptoms after the procedure. The operative corridor as well as the size of orbital wall fenestration could be limited to a minimum. The accuracy of neuro-navigation remained high and stable during the entire procedure. The image-guided neuro-navigation system facilitated endoscopic localisation and biopsy of intraorbital tumors and contributed to the reduction of surgical trauma during the procedure. The technique was particularly useful in small, medially located, retrobulbar tumors and in unclear situations when the structure of the lesion resembled surrounding intraorbital tissue. (author)

  16. Reliable Location-Based Services from Radio Navigation Systems

    Directory of Open Access Journals (Sweden)

    Per Enge

    2010-12-01

    Full Text Available Loran is a radio-based navigation system originally designed for naval applications. We show that Loran-C’s high-power and high repeatable accuracy are fantastic for security applications. First, we show how to derive a precise location tag—with a sensitivity of about 20 meters—that is difficult to project to an exact location. A device can use our location tag to block or allow certain actions, without knowing its precise location. To ensure that our tag is reproducible we make use of fuzzy extractors, a mechanism originally designed for biometric authentication. We build a fuzzy extractor specifically designed for radio-type errors and give experimental evidence to show its effectiveness. Second, we show that our location tag is difficult to predict from a distance. For example, an observer cannot predict the location tag inside a guarded data center from a few hundreds of meters away. As an application, consider a location-aware disk drive that will only work inside the data center. An attacker who steals the device and is capable of spoofing Loran-C signals, still cannot make the device work since he does not know what location tag to spoof. We provide experimental data supporting our unpredictability claim.

  17. Evaluating a cost-effective GPS system for on-mine navigation.

    African Journals Online (AJOL)

    Benefits from this system may be applied in underground navigation and guiding rescue services .... Lightbody and Chisholm, autonomous systems can provide accuracy up to 5metres. The ..... Westminister, Colorado: Trimble Marine Division.

  18. Global Navigation Satellite System (GNSS) Rapid Clock Product Summary from NASA CDDIS

    Data.gov (United States)

    National Aeronautics and Space Administration — This derived product set consists of Global Navigation Satellite System Rapid Clock Product Summary from the NASA Crustal Dynamics Data Information System (CDDIS)....

  19. Research on the automatic laser navigation system of the tunnel boring machine

    Science.gov (United States)

    Liu, Yake; Li, Yueqiang

    2011-12-01

    By establishing relevant coordinates of the Automatic Laser Navigation System, the basic principle of the system which accesses the TBM three-dimensional reference point and yawing angle by mathematical transformation between TBM, target prism and earth coordinate systems is discussed deeply in details. According to the way of rigid body descriptions of its posture, TBM attitude parameters measurement and data acquisition methods are proposed, and measures to improve the accuracy of the Laser Navigation System are summarized.

  20. 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.

  1. 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.

  2. Error Analysis and Calibration Method of a Multiple Field-of-View Navigation System

    OpenAIRE

    Shi, Shuai; Zhao, Kaichun; You, Zheng; Ouyang, Chenguang; Cao, Yongkui; Wang, Zhenzhou

    2017-01-01

    The Multiple Field-of-view Navigation System (MFNS) is a spacecraft subsystem built to realize the autonomous navigation of the Spacecraft Inside Tiangong Space Station. This paper introduces the basics of the MFNS, including its architecture, mathematical model and analysis, and numerical simulation of system errors. According to the performance requirement of the MFNS, the calibration of both intrinsic and extrinsic parameters of the system is assumed to be essential and pivotal. Hence, a n...

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

    OpenAIRE

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

    2015-01-01

    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. Th...

  4. Data Integration from GPS and Inertial Navigation Systems for Pedestrians in Urban Area

    OpenAIRE

    Krzysztof Bikonis; Jerzy Demkowicz

    2013-01-01

    The GPS system is widely used in navigation and the GPS receiver can offer long-term stable absolute positioning information. The overall system performance depends largely on the signal environments. The position obtained from GPS is often degraded due to obstruction and multipath effect caused by buildings, city infrastructure and vegetation, whereas, the current performance achieved by inertial navigation systems (INS) is still relatively poor due to the large inertial sensor errors. The c...

  5. Development of a Cognitive Robotic System for Simple Surgical Tasks

    Directory of Open Access Journals (Sweden)

    Riccardo Muradore

    2015-04-01

    Full Text Available The introduction of robotic surgery within the operating rooms has significantly improved the quality of many surgical procedures. Recently, the research on medical robotic systems focused on increasing the level of autonomy in order to give them the possibility to carry out simple surgical actions autonomously. This paper reports on the development of technologies for introducing automation within the surgical workflow. The results have been obtained during the ongoing FP7 European funded project Intelligent Surgical Robotics (I-SUR. The main goal of the project is to demonstrate that autonomous robotic surgical systems can carry out simple surgical tasks effectively and without major intervention by surgeons. To fulfil this goal, we have developed innovative solutions (both in terms of technologies and algorithms for the following aspects: fabrication of soft organ models starting from CT images, surgical planning and execution of movement of robot arms in contact with a deformable environment, designing a surgical interface minimizing the cognitive load of the surgeon supervising the actions, intra-operative sensing and reasoning to detect normal transitions and unexpected events. All these technologies have been integrated using a component-based software architecture to control a novel robot designed to perform the surgical actions under study. In this work we provide an overview of our system and report on preliminary results of the automatic execution of needle insertion for the cryoablation of kidney tumours.

  6. Surgical strategy for malignant gliomas involving pyramidal tracts guided by functional neuronavigation and 5-ALA fluorescence navigation

    International Nuclear Information System (INIS)

    Sato, Ken-ichi; Ito, Tamio; Seo, Yoshinobu; Sunohara, Tadashi; Maeda, Masana; Sasaki, Takehiko; Nakagawara, Jyoji; Nakamura, Hirohiko

    2009-01-01

    For patients with malignant glioma invading pyramidal tracts, maximal resections are difficult to accomplish while preserving their motor function. We used tractography-integrated functional neuronavigation and 5-aminolevulinic acid (5-ALA) fluorescence-guided resection for removal of malignant gliomas involving pyramidal tract. In this study, we analyzed postoperative motor function and extent of resection in a series of patients who underwent surgery in our department. Ten patients with malignant glioma invading pyramidal tracts underwent radical surgery. To preserve pyramidal tracts, we developed a functional neuronavigation-guided fence-post procedure to avoid the problem of brain shift, a disadvantage of the existing neuronavigation systems. Furthermore we have achieved precise resection of tumors using 5-ALA fluorescence navigation. Intraoperatively, tumor fluorescence was visualized using a modified operating microscope. All fluorescing tumor tissue was resected. Motor function was preserved after appropriate tumor resection in all cases. Postoperatively, improvement of motor weakness was observed in seven patients, whereas transient mild motor weakness occurred in two patients. Gross total removals were accomplished in seven patients, and subtotal removal was accomplished in one patient, and partial removal was accomplished in two patients. Combined use of tractography-integrated functional neuronavigation and 5-ALA fluorescence-guided resection contributes to maximal safe resection of malignant gliomas with pyramidal tract involvement. (author)

  7. Navigating towards Decoupled Aquaponic Systems: A System Dynamics Design Approach

    Directory of Open Access Journals (Sweden)

    Simon Goddek

    2016-07-01

    Full Text Available The classical working principle of aquaponics is to provide nutrient-rich aquacultural water to a hydroponic plant culture unit, which in turn depurates the water that is returned to the aquaculture tanks. A known drawback is that a compromise away from optimal growing conditions for plants and fish must be achieved to produce both crops and fish in the same environmental conditions. The objective of this study was to develop a theoretical concept of a decoupled aquaponic system (DAPS, and predict water, nutrient (N and P, fish, sludge, and plant levels. This has been approached by developing a dynamic aquaponic system model, using inputs from data found in literature covering the fields of aquaculture, hydroponics, and sludge treatment. The outputs from the model showed the dependency of aquacultural water quality on the hydroponic evapotranspiration rate. This result can be explained by the fact that DAPS is based on one-way flows. These one-way flows results in accumulations of remineralized nutrients in the hydroponic component ensuring optimal conditions for the plants. The study also suggests to size the cultivation area based on P availability in the hydroponic component as P is an exhaustible resource and has been identified one of the main limiting factors for plant growth.

  8. Development and Flight Test of a Robust Optical-Inertial Navigation System Using Low-Cost Sensors

    National Research Council Canada - National Science Library

    Nielsen, Michael B

    2008-01-01

    .... This algorithm provides an alternative to the Global Positioning System (GPS) as a precision navigation source, enabling navigation in GPS denied environments, using low-cost sensors and equipment...

  9. A human motion model based on maps for navigation systems

    Directory of Open Access Journals (Sweden)

    Kaiser Susanna

    2011-01-01

    Full Text Available Abstract Foot-mounted indoor positioning systems work remarkably well when using additionally the knowledge of floor-plans in the localization algorithm. Walls and other structures naturally restrict the motion of pedestrians. No pedestrian can walk through walls or jump from one floor to another when considering a building with different floor-levels. By incorporating known floor-plans in sequential Bayesian estimation processes such as particle filters (PFs, long-term error stability can be achieved as long as the map is sufficiently accurate and the environment sufficiently constraints pedestrians' motion. In this article, a new motion model based on maps and floor-plans is introduced that is capable of weighting the possible headings of the pedestrian as a function of the local environment. The motion model is derived from a diffusion algorithm that makes use of the principle of a source effusing gas and is used in the weighting step of a PF implementation. The diffusion algorithm is capable of including floor-plans as well as maps with areas of different degrees of accessibility. The motion model more effectively represents the probability density function of possible headings that are restricted by maps and floor-plans than a simple binary weighting of particles (i.e., eliminating those that crossed walls and keeping the rest. We will show that the motion model will help for obtaining better performance in critical navigation scenarios where two or more modes may be competing for some of the time (multi-modal scenarios.

  10. The use of navigation (BrainLAB Vector vision(2)) and intraoperative 3D imaging system (Siemens Arcadis Orbic 3D) in the treatment of gunshot wounds of the maxillofacial region.

    Science.gov (United States)

    Gröbe, Alexander; Weber, Christoph; Schmelzle, Rainer; Heiland, Max; Klatt, Jan; Pohlenz, Philipp

    2009-09-01

    Gunshot wounds are a rare occurrence during times of peace. The removal of projectiles is recommended; in some cases, however, this is a controversy. The reproduction of a projectile image can be difficult if it is not adjacent to an anatomical landmark. Therefore, navigation systems give the surgeon continuous real-time orientation intraoperatively. The aim of this study was to report our experiences for image-guided removal of projectiles and the resulting intra- and postoperative complications. We investigated 50 patients retrospectively; 32 had image-guided surgical removal of projectiles in the oral and maxillofacial region. Eighteen had surgical removal of projectiles without navigation assistance. There was a significant correlation (p = 0.0136) between the navigated surgery vs. not-navigated surgery and complication rate, including major bleeding (n = 4 vs. n = 1, 8% vs. 2%), soft tissue infections (n = 7 vs. n = 2, 14% vs. 4%), and nerval damage (n = 2 vs. n = 0, 4% vs. 0%; p = 0.038) and between the operating time and postoperative complications. A high tendency between operating time and navigated surgery (p = 0.1103) was shown. When using navigation system, we could reduce operating time. In conclusion, there is a significant correlation between reduced intra- and postoperative complications, including wound infections, nerval damage, and major bleeding, and the appropriate use of a navigation system. In all these cases, we could present reduced operating time. Cone-beam computed tomography plays an important role in detecting projectiles or metallic foreign bodies intraoperatively.

  11. The cerebellum: a new key structure in the navigation system

    Directory of Open Access Journals (Sweden)

    Christelle eRochefort

    2013-03-01

    Full Text Available Early investigations of cerebellar function focused on motor learning, in particular on eyeblink conditioning and adaptation of the vestibulo-ocular reflex, and led to the general view that cerebellar Long Term Depression (LTD at parallel fiber-Purkinje cell synapses is the neural correlate of cerebellar motor learning. Thereafter, while the full complexity of cerebellar plasticities was being unraveled, cerebellar involvement in more cognitive tasks - including spatial navigation - was further investigated. However, cerebellar implication in spatial navigation remains a matter of debate because motor deficits frequently associated with cerebellar damage often prevent the dissociation between its role in spatial cognition from its implication in motor function. Here, we review recent findings from behavioral and electrophysiological analyses of cerebellar mutant mouse models, which show that the cerebellum might participate in the construction of hippocampal spatial representation map (i.e. place cells and thereby in goal-directed navigation. These recent advances in cerebellar research point toward a model in which computation from the cerebellum could be required for spatial representation and would involve the integration of multi-source self-motion information to: 1 transform the reference frame of vestibular signals and 2 distinguish between self- and externally-generated vestibular signals. We eventually present herein anatomical and functional connectivity data supporting a cerebello-hippocampal interaction. Whilst a direct cerebello-hippocampal projection has been suggested, recent investigations rather favor a multi-synaptic pathway involving posterior parietal and retrosplenial cortices, two regions critically involved in spatial navigation.

  12. Aircraft Command Control Communications and Navigation Systems, AFSC 2A4X3, OSSN: 2308

    National Research Council Canada - National Science Library

    1998-01-01

    1. Survey Coverage: The Aircraft Command Control Communications and Navigation Systems career ladder was surveyed to provide current job and task data for use in updating career ladder documents and training programs...

  13. Demonstration of a Moving-Map System for Improved Lane Navigation of Amphibious Vehicles

    National Research Council Canada - National Science Library

    Clohrenz, Maura

    2003-01-01

    The Naval Research Laboratory (NRL) is testing and demonstrating a prototype moving-map system on amphibious vehicles and landing craft to aid the location neutralization and navigation around mines and obstacles in the surf and beach zone...

  14. Spatial environmental analysis on the effects of a new navigation system for freight transport

    NARCIS (Netherlands)

    Feng, T.; Arentze, T.A.; Timmermans, H.J.P.

    2012-01-01

    Considerable attention has been paid to traffic pollution modeling for commercial vehicles due to their high amount of nitrogen compounds, particulate matter and greenhouse gas emissions. Conventional navigation systems for passenger cars enable the route choice process. However, commercial route

  15. Improved Line Tracking System for Autonomous Navigation of High-Speed Vehicle

    Directory of Open Access Journals (Sweden)

    Yahya Zare Khafri

    2012-07-01

    Full Text Available Line tracking navigation is one of the most widely techniques used in the robot navigation. In this paper, a customized line tracking system is proposed for autonomous navigation of high speed vehicles. In the presented system, auxiliary information -in addition to the road path- is added to the tracking lines such as locations of turn and intersections in the real roads. Moreover, the geometric position of line sensors is re-designed enables the high rate sensing with higher reliability. Finally, a light-weight navigation algorithm is proposed allow the high-speed movement using a reasonable processing power. This system is implemented on a MIPS-based embedded processor and experimental results with this embedded system show more than 98% accuracy at 200km/h with a 1GHz processor is viable.

  16. 76 FR 22726 - Certain Multimedia Display and Navigation Devices and Systems, Components Thereof, and Products...

    Science.gov (United States)

    2011-04-22

    ... INTERNATIONAL TRADE COMMISSION [Investigation No. 337-TA-694] Certain Multimedia Display and Navigation Devices and Systems, Components Thereof, and Products Containing Same; Notice of Commission... importation, and the sale within the United States after importation of certain multimedia display and...

  17. DESIGN OF ROBUST NAVIGATION AND STABILIZATION LOOPS OF PRECISION ATTITUDE AND HEADING REFERENCE SYSTEM

    Directory of Open Access Journals (Sweden)

    Olha Sushchenko

    2017-11-01

    Full Text Available Purpose: The paper focuses on problems of design of robust precision attitude and heading reference systems, which can be applied in navigation of marine vehicles. The main goal is to create the optimization procedures for design of navigation and stabilization loops of the multimode gimballed system. The optimization procedure of the navigation loop design is based on the parametric robust H2/H∞-optimization. The optimization procedure of the stabilization loop design is based on the robust structural H∞-synthesis. Methods: To solve the given problem the methods of the robust control system theory and optimization methods are used. Results: The kinematical scheme of the precision gimballed attitude and heading reference system is represented. The parametrical optimization algorithm taking into consideration features of the researched system is given. Method of the mixed sensitivity relative to the researched system design is analyzed. Coefficients of the control laws of navigation loops are obtained based on optimization procedure providing compromise between accuracy and robustness. The robust controller of the stabilization loop was developed based on robust structural synthesis using method of the mixed sensitivity. Simulation of navigation and stabilization processes is carried out. Conclusions: The represented results prove efficiency of the proposed procedures, which can be useful for design of precision navigation systems of the moving vehicles.

  18. Hybrid extended particle filter (HEPF) for integrated inertial navigation and global positioning systems

    International Nuclear Information System (INIS)

    Aggarwal, Priyanka; Syed, Zainab; El-Sheimy, Naser

    2009-01-01

    Navigation includes the integration of methodologies and systems for estimating time-varying position, velocity and attitude of moving objects. Navigation incorporating the integrated inertial navigation system (INS) and global positioning system (GPS) generally requires extensive evaluations of nonlinear equations involving double integration. Currently, integrated navigation systems are commonly implemented using the extended Kalman filter (EKF). The EKF assumes a linearized process, measurement models and Gaussian noise distributions. These assumptions are unrealistic for highly nonlinear systems like land vehicle navigation and may cause filter divergence. A particle filter (PF) is developed to enhance integrated INS/GPS system performance as it can easily deal with nonlinearity and non-Gaussian noises. In this paper, a hybrid extended particle filter (HEPF) is developed as an alternative to the well-known EKF to achieve better navigation data accuracy for low-cost microelectromechanical system sensors. The results show that the HEPF performs better than the EKF during GPS outages, especially when simulated outages are located in periods with high vehicle dynamics

  19. THERMAL PROTECTION AND THERMAL STABILIZATION OF FIBER-OPTICAL GYROSCOPE INCLUDED IN STRAPDOWN INERTIAL NAVIGATION SYSTEM

    Directory of Open Access Journals (Sweden)

    D. S. Gromov

    2014-03-01

    Full Text Available It is known, that temperature perturbations and thermal modes have significant influence on the accuracy of a fiber-optical gyroscope. Nowadays, thermal perturbations are among the main problems in the field of navigation accuracy. Review of existing methods for decrease of temperature influences on the accuracy of a strapdown inertial navigation system with fiberoptical gyros showed, that the usage of constructive and compensation methods only is insufficient and, therefore, thermostabilization is required. Reversible thermostabilization system is offered, its main executive elements are thermoelectric modules (Peltier’s modules, heat transfer from which is provided by heatsinks at work surfaces of modules. This variant of thermostabilization maintenance is considered; Peltier’s modules and temperature sensors for the system are chosen. Parameters of heatsinks for heat transfer intensification are calculated. Fans for necessary air circulation in the device are chosen and thickness of thermal isolation is calculated. Calculations of thermal modes of navigation system with thermostabilization are made in modern software Autodesk Simulation CFD. Comparison of results for present and previous researches and calculations shows essential decrease in gradients of temperature on gyro surfaces and better uniformity of temperature field in the whole device. Conclusions about efficiency of the given method usage in view of accuracy improvement of navigation system are made. Thermostabilization provision of a strapdown inertial navigation system with fiberoptical gyros is proved. Thermostabilization application in combination with compensational methods can reach a necessary accuracy of navigation system.

  20. A Novel Navigation Information Management System for Food Maritime Logistics Based on Internet of Things

    OpenAIRE

    Wei He; Xiumin Chu

    2014-01-01

    This study focuses on the construction of a new navigation information management system for food maritime logistics. With the vigorous development of Internet technology, the Internet of things technology has been introduced into the food maritime logistics to enhance the efficiency of food production transportation. However, the navigation information management system for food maritime logistics is still a big challenge and very limited work has been done to address safe and effective navi...

  1. Intraoperative computed tomography with integrated navigation system in a multidisciplinary operating suite.

    Science.gov (United States)

    Uhl, Eberhard; Zausinger, Stefan; Morhard, Dominik; Heigl, Thomas; Scheder, Benjamin; Rachinger, Walter; Schichor, Christian; Tonn, Jörg-Christian

    2009-05-01

    We report our preliminary experience in a prospective series of patients with regard to feasibility, work flow, and image quality using a multislice computed tomographic (CT) scanner combined with a frameless neuronavigation system (NNS). A sliding gantry 40-slice CT scanner was installed in a preexisting operating room. The scanner was connected to a frameless infrared-based NNS. Image data was transferred directly from the scanner into the navigation system. This allowed updating of the NNS during surgery by automated image registration based on the position of the gantry. Intraoperative CT angiography was possible. The patient was positioned on a radiolucent operating table that fits within the bore of the gantry. During image acquisition, the gantry moved over the patient. This table allowed all positions and movements like any normal operating table without compromising the positioning of the patient. For cranial surgery, a carbon-made radiolucent head clamp was fixed to the table. Experience with the first 230 patients confirms the feasibility of intraoperative CT scanning (136 patients with intracranial pathology, 94 patients with spinal lesions). After a specific work flow, interruption of surgery for intraoperative scanning can be limited to 10 to 15 minutes in cranial surgery and to 9 minutes in spinal surgery. Intraoperative imaging changed the course of surgery in 16 of the 230 cases either because control CT scans showed suboptimal screw position (17 of 307 screws, with 9 in 7 patients requiring correction) or that tumor resection was insufficient (9 cases). Intraoperative CT angiography has been performed in 7 cases so far with good image quality to determine residual flow in an aneurysm. Image quality was excellent in spinal and cranial base surgery. The system can be installed in a preexisting operating environment without the need for special surgical instruments. It increases the safety of the patient and the surgeon without necessitating a change

  2. A novel navigation system for maxillary positioning in orthognathic surgery: Preclinical evaluation.

    Science.gov (United States)

    Lutz, Jean-Christophe; Nicolau, Stéphane; Agnus, Vincent; Bodin, Frédéric; Wilk, Astrid; Bruant-Rodier, Catherine; Rémond, Yves; Soler, Luc

    2015-11-01

    Appropriate positioning of the maxilla is critical in orthognathic surgery. As opposed to splint-based positioning, navigation systems are versatile and appropriate in assessing the vertical dimension. Bulk and disruption to the line of sight are drawbacks of optical navigation systems. Our aim was to develop and assess a novel navigation system based on electromagnetic tracking of the maxilla, including real-time registration of head movements. Since the software interface has proved to greatly influence the accuracy of the procedure, we purposely designed and evaluated an original, user-friendly interface. A sample of 12 surgeons had to navigate the phantom osteotomized maxilla to eight given target positions using the software we have developed. Time and accuracy (translational error and angular error) were compared between a conventional and a navigated session. A questionnaire provided qualitative evaluation. Our system definitely allows a reduction in variability of time and accuracy among different operators. Accuracy was improved in all surgeons (mean terror difference = 1.11 mm, mean aerror difference = 1.32°). Operative time was decreased in trainees. Therefore, they would benefit from such a system that could also serve for educational purposes. The majority of surgeons who strongly agreed that such a navigation system would prove very helpful in complex deformities, also stated that it would be helpful in everyday orthognathic procedures. Copyright © 2015 European Association for Cranio-Maxillo-Facial Surgery. Published by Elsevier Ltd. All rights reserved.

  3. 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.

  4. 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.

  5. An Adaptive Technique for a Redundant-Sensor Navigation System. Ph.D. Thesis

    Science.gov (United States)

    Chien, T. T.

    1972-01-01

    An on-line adaptive technique is developed to provide a self-contained redundant-sensor navigation system with a capability to utilize its full potentiality in reliability and performance. The gyro navigation system is modeled as a Gauss-Markov process, with degradation modes defined as changes in characteristics specified by parameters associated with the model. The adaptive system is formulated as a multistage stochastic process: (1) a detection system, (2) an identification system and (3) a compensation system. It is shown that the sufficient statistics for the partially observable process in the detection and identification system is the posterior measure of the state of degradation, conditioned on the measurement history.

  6. The RMI Space Weather and Navigation Systems (SWANS) Project

    Science.gov (United States)

    Warnant, Rene; Lejeune, Sandrine; Wautelet, Gilles; Spits, Justine; Stegen, Koen; Stankov, Stan

    The SWANS (Space Weather and Navigation Systems) research and development project (http://swans.meteo.be) is an initiative of the Royal Meteorological Institute (RMI) under the auspices of the Belgian Solar-Terrestrial Centre of Excellence (STCE). The RMI SWANS objectives are: research on space weather and its effects on GNSS applications; permanent mon-itoring of the local/regional geomagnetic and ionospheric activity; and development/operation of relevant nowcast, forecast, and alert services to help professional GNSS/GALILEO users in mitigating space weather effects. Several SWANS developments have already been implemented and available for use. The K-LOGIC (Local Operational Geomagnetic Index K Calculation) system is a nowcast system based on a fully automated computer procedure for real-time digital magnetogram data acquisition, data screening, and calculating the local geomagnetic K index. Simultaneously, the planetary Kp index is estimated from solar wind measurements, thus adding to the service reliability and providing forecast capabilities as well. A novel hybrid empirical model, based on these ground-and space-based observations, has been implemented for nowcasting and forecasting the geomagnetic index, issuing also alerts whenever storm-level activity is indicated. A very important feature of the nowcast/forecast system is the strict control on the data input and processing, allowing for an immediate assessment of the output quality. The purpose of the LIEDR (Local Ionospheric Electron Density Reconstruction) system is to acquire and process data from simultaneous ground-based GNSS TEC and digital ionosonde measurements, and subsequently to deduce the vertical electron density distribution. A key module is the real-time estimation of the ionospheric slab thickness, offering additional infor-mation on the local ionospheric dynamics. The RTK (Real Time Kinematic) status mapping provides a quick look at the small-scale ionospheric effects on the RTK

  7. 6TH Saint Petersburg International Conference on Integrated Navigation Systems. (6eme Conference Internationale de Saint Petersbourg sur les Systemes de Navigation Integree)

    Science.gov (United States)

    1999-10-01

    Kharisov V.N., Perov A.I., Boldin V.A. (editors). 1977. The global satelllite radio-navigational system 20. Wu W.-R. Target tracking with glint...the coordinates of the OP techniques for their searching and extracting in deep seas. These techniques. have yielded Researches have shown that, an OP

  8. Modular Software for Spacecraft Navigation Using the Global Positioning System (GPS)

    Science.gov (United States)

    Truong, S. H.; Hartman, K. R.; Weidow, D. A.; Berry, D. L.; Oza, D. H.; Long, A. C.; Joyce, E.; Steger, W. L.

    1996-01-01

    The Goddard Space Flight Center Flight Dynamics and Mission Operations Divisions have jointly investigated the feasibility of engineering modular Global Positioning SYSTEM (GPS) navigation software to support both real time flight and ground postprocessing configurations. The goals of this effort are to define standard GPS data interfaces and to engineer standard, reusable navigation software components that can be used to build a broad range of GPS navigation support applications. The paper discusses the GPS modular software (GMOD) system and operations concepts, major requirements, candidate software architecture, feasibility assessment and recommended software interface standards. In additon, ongoing efforts to broaden the scope of the initial study and to develop modular software to support autonomous navigation using GPS are addressed,

  9. An adaptive deep-coupled GNSS/INS navigation system with hybrid pre-filter processing

    Science.gov (United States)

    Wu, Mouyan; Ding, Jicheng; Zhao, Lin; Kang, Yingyao; Luo, Zhibin

    2018-02-01

    The deep-coupling of a global navigation satellite system (GNSS) with an inertial navigation system (INS) can provide accurate and reliable navigation information. There are several kinds of deeply-coupled structures. These can be divided mainly into coherent and non-coherent pre-filter based structures, which have their own strong advantages and disadvantages, especially in accuracy and robustness. In this paper, the existing pre-filters of the deeply-coupled structures are analyzed and modified to improve them firstly. Then, an adaptive GNSS/INS deeply-coupled algorithm with hybrid pre-filters processing is proposed to combine the advantages of coherent and non-coherent structures. An adaptive hysteresis controller is designed to implement the hybrid pre-filters processing strategy. The simulation and vehicle test results show that the adaptive deeply-coupled algorithm with hybrid pre-filters processing can effectively improve navigation accuracy and robustness, especially in a GNSS-challenged environment.

  10. Surgical data processing for smart intraoperative assistance systems

    Directory of Open Access Journals (Sweden)

    Stauder Ralf

    2017-09-01

    Full Text Available Different components of the newly defined field of surgical data science have been under research at our groups for more than a decade now. In this paper, we describe our sensor-driven approaches to workflow recognition without the need for explicit models, and our current aim is to apply this knowledge to enable context-aware surgical assistance systems, such as a unified surgical display and robotic assistance systems. The methods we evaluated over time include dynamic time warping, hidden Markov models, random forests, and recently deep neural networks, specifically convolutional neural networks.

  11. 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.

  12. Interfaces for Modular Surgical Planning and Assistance Systems

    OpenAIRE

    Gessat, Michael

    2010-01-01

    Modern surgery of the 21st century relies in many aspects on computers or, in a wider sense, digital data processing. Department administration, OR scheduling, billing, and - with increasing pervasion - patient data management are performed with the aid of so called Surgical Information Systems (SIS) or, more general, Hospital Information Systems (HIS). Computer Assisted Surgery (CAS) summarizes techniques which assist a surgeon in the preparation and conduction of surgical interventions...

  13. Applications of different design methodologies in navigation systems and development at JPL

    Science.gov (United States)

    Thurman, S. W.

    1990-01-01

    The NASA/JPL deep space navigation system consists of a complex array of measurement systems, data processing systems, and support facilities, with components located both on the ground and on-board interplanetary spacecraft. From its beginings nearly 30 years ago, this system has steadily evolved and grown to meet the demands for ever-increasing navigation accuracy placed on it by a succession of unmanned planetary missions. Principal characteristics of this system are its capabilities and great complexity. Three examples in the design and development of interplanetary space navigation systems are examined in order to make a brief assessment of the usefulness of three basic design theories, known as normative, rational, and heuristic. Evaluation of the examples indicates that a heuristic approach, coupled with rational-based mathematical and computational analysis methods, is used most often in problems such as orbit determination strategy development and mission navigation system design, while normative methods have seen only limited use is such applications as the development of large software systems and in the design of certain operational navigation subsystems.

  14. Navigation integrity monitoring and obstacle detection for enhanced-vision systems

    Science.gov (United States)

    Korn, Bernd; Doehler, Hans-Ullrich; Hecker, Peter

    2001-08-01

    Typically, Enhanced Vision (EV) systems consist of two main parts, sensor vision and synthetic vision. Synthetic vision usually generates a virtual out-the-window view using databases and accurate navigation data, e. g. provided by differential GPS (DGPS). The reliability of the synthetic vision highly depends on both, the accuracy of the used database and the integrity of the navigation data. But especially in GPS based systems, the integrity of the navigation can't be guaranteed. Furthermore, only objects that are stored in the database can be displayed to the pilot. Consequently, unexpected obstacles are invisible and this might cause severe problems. Therefore, additional information has to be extracted from sensor data to overcome these problems. In particular, the sensor data analysis has to identify obstacles and has to monitor the integrity of databases and navigation. Furthermore, if a lack of integrity arises, navigation data, e.g. the relative position of runway and aircraft, has to be extracted directly from the sensor data. The main contribution of this paper is about the realization of these three sensor data analysis tasks within our EV system, which uses the HiVision 35 GHz MMW radar of EADS, Ulm as the primary EV sensor. For the integrity monitoring, objects extracted from radar images are registered with both database objects and objects (e. g. other aircrafts) transmitted via data link. This results in a classification into known and unknown radar image objects and consequently, in a validation of the integrity of database and navigation. Furthermore, special runway structures are searched for in the radar image where they should appear. The outcome of this runway check contributes to the integrity analysis, too. Concurrent to this investigation a radar image based navigation is performed without using neither precision navigation nor detailed database information to determine the aircraft's position relative to the runway. The performance of our

  15. Surgical drill system and surgical drill bit to be used therein

    NARCIS (Netherlands)

    Margallo Balbas, E.; Wieringa, P.A.; French, P.J.; Lee, R.A.; Breedveld, P.

    2007-01-01

    Surgical drill system comprising a mechanical drill bit and means for imaging the vicinity of the drill bit tip, said means comprising: at least one optical fiber having a distal end and a proximal end, said distal end being located adjacent said drill bit tip, an optical processing unit, said

  16. Columbia River System Operation Review final environmental impact statement. Appendix H: Navigation

    International Nuclear Information System (INIS)

    1995-11-01

    The System Operation Review (SOR) is a study and environmental compliance process being used by the three Federal agencies to analyze future operations of the system and river use issues. The goal of the SOR is to achieve a coordinated system operation strategy for the river that better meets the needs of all river users. This technical appendix addresses only the effects of alternative system operating strategies for managing the Columbia River system. The Navigation Technical Appendix presents the analysis of the various SOR alternatives in terms of their potential affects on the congressionally authorized navigation system within the Columbia and Snake river waterways. The focus of the study, impacts to the authorized navigation, improvements/developments, reflects on one of the continuing historical missions of the US Army Corps of Engineers: to promote safe commercial navigation of the nation's waterways benefiting the development of commerce within the US. The study and evaluation process involved Scoping, Screening and Full Scale Evaluation. During screening two models were developed; one was used to evaluate the effects of the various alternatives on navigation through the Snake River Projects and the other the effects on the Dworshak Pool. Full Scale Analysis was expanded to included a study of effects throughout the system

  17. SLS Block 1-B and Exploration Upper Stage Navigation System Design

    Science.gov (United States)

    Oliver, T. Emerson; Park, Thomas B.; Smith, Austin; Anzalone, Evan; Bernard, Bill; Strickland, Dennis; Geohagan, Kevin; Green, Melissa; Leggett, Jarred

    2018-01-01

    The SLS Block 1B vehicle is planned to extend NASA's heavy lift capability beyond the initial SLS Block 1 vehicle. The most noticeable change for this vehicle from SLS Block 1 is the swapping of the upper stage from the Interim Cryogenic Propulsion stage (ICPS), a modified Delta IV upper stage, to the more capable Exploration Upper Stage (EUS). As the vehicle evolves to provide greater lift capability and execute more demanding missions so must the SLS Integrated Navigation System to support those missions. The SLS Block 1 vehicle carries two independent navigation systems. The responsibility of the two systems is delineated between ascent and upper stage flight. The Block 1 navigation system is responsible for the phase of flight between the launch pad and insertion into Low-Earth Orbit (LEO). The upper stage system assumes the mission from LEO to payload separation. For the Block 1B vehicle, the two functions are combined into a single system intended to navigate from ground to payload insertion. Both are responsible for self-disposal once payload delivery is achieved. The evolution of the navigation hardware and algorithms from an inertial-only navigation system for Block 1 ascent flight to a tightly coupled GPS-aided inertial navigation system for Block 1-B is described. The Block 1 GN&C system has been designed to meet a LEO insertion target with a specified accuracy. The Block 1-B vehicle navigation system is designed to support the Block 1 LEO target accuracy as well as trans-lunar or trans-planetary injection accuracy. This is measured in terms of payload impact and stage disposal requirements. Additionally, the Block 1-B vehicle is designed to support human exploration and thus is designed to minimize the probability of Loss of Crew (LOC) through high-quality inertial instruments and Fault Detection, Isolation, and Recovery (FDIR) logic. The preliminary Block 1B integrated navigation system design is presented along with the challenges associated with

  18. Navigation Strategies for Primitive Solar System Body Rendezvous and Proximity Operations

    Science.gov (United States)

    Getzandanner, Kenneth M.

    2011-01-01

    A wealth of scientific knowledge regarding the composition and evolution of the solar system can be gained through reconnaissance missions to primitive solar system bodies. This paper presents analysis of a baseline navigation strategy designed to address the unique challenges of primitive body navigation. Linear covariance and Monte Carlo error analysis was performed on a baseline navigation strategy using simulated data from a· design reference mission (DRM). The objective of the DRM is to approach, rendezvous, and maintain a stable orbit about the near-Earth asteroid 4660 Nereus. The outlined navigation strategy and resulting analyses, however, are not necessarily limited to this specific target asteroid as they may he applicable to a diverse range of mission scenarios. The baseline navigation strategy included simulated data from Deep Space Network (DSN) radiometric tracking and optical image processing (OpNav). Results from the linear covariance and Monte Carlo analyses suggest the DRM navigation strategy is sufficient to approach and perform proximity operations in the vicinity of the target asteroid with meter-level accuracy.

  19. Combined Global Navigation Satellite Systems in the Space Service Volume

    Science.gov (United States)

    Force, Dale A.; Miller, James J.

    2013-01-01

    Besides providing position, velocity, and timing (PVT) for terrestrial users, the Global Positioning System (GPS) is also being used to provide PVT information for earth orbiting satellites. In 2006, F. H. Bauer, et. al., defined the Space Service Volume in the paper GPS in the Space Service Volume , presented at ION s 19th international Technical Meeting of the Satellite Division, and looked at GPS coverage for orbiting satellites. With GLONASS already operational, and the first satellites of the Galileo and Beidou/COMPASS constellations already in orbit, it is time to look at the use of the new Global Navigation Satellite Systems (GNSS) coming into service to provide PVT information for earth orbiting satellites. This presentation extends GPS in the Space Service Volume by examining the coverage capability of combinations of the new constellations with GPS GPS was first explored as a system for refining the position, velocity, and timing of other spacecraft equipped with GPS receivers in the early eighties. Because of this, a new GPS utility developed beyond the original purpose of providing position, velocity, and timing services for land, maritime, and aerial applications. GPS signals are now received and processed by spacecraft both above and below the GPS constellation, including signals that spill over the limb of the earth. Support of GPS space applications is now part of the system plan for GPS, and support of the Space Service Volume by other GNSS providers has been proposed to the UN International Committee on GNSS (ICG). GPS has been demonstrated to provide decimeter level position accuracy in real-time for satellites in low Earth orbit (centimeter level in non-real-time applications). GPS has been proven useful for satellites in geosynchronous orbit, and also for satellites in highly elliptical orbits. Depending on how many satellites are in view, one can keep time locked to the GNSS standard, and through that to Universal Time as long as at least one

  20. Establishment of high-precision navigation system in the Republic of Armenia

    Directory of Open Access Journals (Sweden)

    Manukyan Larisa Vladimirovna

    2015-04-01

    Full Text Available Medium-Earth orbit satellite systems make it possible to provide services on time coordination and navigation support for a wide range of consumers. At present, there are global navigation satellite systems GLONASS (Russia and GPS (USA. Users of these systems have an opportunity to determine their location accurately with the given characteristics of their navigation devices. In all developed countries the progress of geodesy and cartography is closely related to the implementation of advanced new technologies in both scientific and industrial areas. The introduction of new technologies and equipment in production is essential for the development of geodesy and cartography, bringing the existing geodetic networks and cartographic materials to modern condition. In the Republic of Armenia there are also plans on introduction of the systems for monitoring and management of vehicles for various purposes, as well as it is proposed to establish and implement an effective satellite navigation system to monitor and control traffic on the basis of advanced satellite technology. The article describes the basic steps to create the network of reference stations, GPS, aerial photography of much of the territory of Armenia, the creation of digital terrain model and the new maps by orthophotoplans. The analysis of the materials were carried out, on the basis of which in the Republic in 2015 a high-precision navigation system will be created. Due to the hard work of surveyors, cartographers and topographers the Republic was brought to European states level.

  1. 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.

  2. MODELING OF BEHAVIORAL ACTIVITY OF AIR NAVIGATION SYSTEM'S HUMAN-OPERATOR IN FLIGHT EMERGENCIES

    Directory of Open Access Journals (Sweden)

    Volodymyr Kharchenko

    2012-09-01

    Full Text Available  The Air Navigation System is presented as a complex socio-technical system. The influence on decision-making by Air Navigation System's human-operator of the professional factors as well as the factors of non-professional nature has been defined. Logic determined and stochastic models of decision-making by the Air Navigation System's human-operator in flight emergencies have been developed. The scenarios of developing a flight situation in case of selecting either the positive or negative pole in accordance with the reflexive theory have been obtained. The informational support system of the operator in the unusual situations on the basis of Neural Network model of evaluating the efficiency of the potential alternative of flight completion has been built.

  3. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    Science.gov (United States)

    Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

    2012-01-01

    In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

  4. A new systematic calibration method of ring laser gyroscope inertial navigation system

    Science.gov (United States)

    Wei, Guo; Gao, Chunfeng; Wang, Qi; Wang, Qun; Xiong, Zhenyu; Long, Xingwu

    2016-10-01

    Inertial navigation system has been the core component of both military and civil navigation systems. Before the INS is put into application, it is supposed to be calibrated in the laboratory in order to compensate repeatability error caused by manufacturing. Discrete calibration method cannot fulfill requirements of high-accurate calibration of the mechanically dithered ring laser gyroscope navigation system with shock absorbers. This paper has analyzed theories of error inspiration and separation in detail and presented a new systematic calibration method for ring laser gyroscope inertial navigation system. Error models and equations of calibrated Inertial Measurement Unit are given. Then proper rotation arrangement orders are depicted in order to establish the linear relationships between the change of velocity errors and calibrated parameter errors. Experiments have been set up to compare the systematic errors calculated by filtering calibration result with those obtained by discrete calibration result. The largest position error and velocity error of filtering calibration result are only 0.18 miles and 0.26m/s compared with 2 miles and 1.46m/s of discrete calibration result. These results have validated the new systematic calibration method and proved its importance for optimal design and accuracy improvement of calibration of mechanically dithered ring laser gyroscope inertial navigation system.

  5. Surgical bedside master console for neurosurgical robotic system.

    Science.gov (United States)

    Arata, Jumpei; Kenmotsu, Hajime; Takagi, Motoki; Hori, Tatsuya; Miyagi, Takahiro; Fujimoto, Hideo; Kajita, Yasukazu; Hayashi, Yuichiro; Chinzei, Kiyoyuki; Hashizume, Makoto

    2013-01-01

    We are currently developing a neurosurgical robotic system that facilitates access to residual tumors and improves brain tumor removal surgical outcomes. The system combines conventional and robotic surgery allowing for a quick conversion between the procedures. This concept requires a new master console that can be positioned at the surgical bedside and be sterilized. The master console was developed using new technologies, such as a parallel mechanism and pneumatic sensors. The parallel mechanism is a purely passive 5-DOF (degrees of freedom) joystick based on the author's haptic research. The parallel mechanism enables motion input of conventional brain tumor removal surgery with a compact, intuitive interface that can be used in a conventional surgical environment. In addition, the pneumatic sensors implemented on the mechanism provide an intuitive interface and electrically isolate the tool parts from the mechanism so they can be easily sterilized. The 5-DOF parallel mechanism is compact (17 cm width, 19cm depth, and 15cm height), provides a 505,050 mm and 90° workspace and is highly backdrivable (0.27N of resistance force representing the surgical motion). The evaluation tests revealed that the pneumatic sensors can properly measure the suction strength, grasping force, and hand contact. In addition, an installability test showed that the master console can be used in a conventional surgical environment. The proposed master console design was shown to be feasible for operative neurosurgery based on comprehensive testing. This master console is currently being tested for master-slave control with a surgical robotic system.

  6. WAYS OF NAVIGATION SYSTEMS DEVELOPMENT WITHIN THE IMPLEMENTATION OF THE CNS/ATM CONCEPT

    Directory of Open Access Journals (Sweden)

    Igor A. Chekhov

    2017-01-01

    Full Text Available The general development principles of the civil aviation air navigation systems for the next years according to the concept of International Civil Aviation Organization (IСAO CNS/ATM are stated in the article. It was reflected in the Global air navigation plan of IСAO accepted in 2013. The author considered the structure of block modernization of aviation system directed to optimization according to four main characteristics, such as: operations at the airports; systems and data interoperable on a global scale; optimum capacity and flexible flight routes, and also effective trajectories of flight. At the same time the main attention in the plan is paid to questions of the performance based navigation (PBN, the basic theses of which lean on four main units that make the concept of PBN. The possible ways of the specified blocks implementation taking into account features of the Russian Federation airspace use are considered in this paper. On the basis of the carried-out analysis conclusions are drawn on gradual transition from the RNAV navigation specifications to the RNP specifications, on increase in accuracy of navigation by modernization of ground radio navigational aids, both on a flight route and airspace of airfield area, on need of continuing the development of inexact calling schemes, using GNSS, with the subsequent transition to schemes of exact landing approaches by means of functional additions to GLONASS – GBAS and SBAS, also on the need of opportunities research in the domestic system SBAS (SDKM for the increase in accuracy of navigation at various stages of flight. At the same time, standard instrument routes of arrival and departure (SID/STAR have to be carried out in the mode of constant climb or continuous descent.

  7. Solar Dynamics Observatory Guidance, Navigation, and Control System Overview

    Science.gov (United States)

    Morgenstern, Wendy M.; Bourkland, Kristin L.; Hsu, Oscar C.; Liu, Kuo-Chia; Mason, Paul A. C.; O'Donnell, James R., Jr.; Russo, Angela M.; Starin, Scott R.; Vess, Melissa F.

    2011-01-01

    The Solar Dynamics Observatory (SDO) was designed and built at the Goddard Space Flight Center, launched from Cape Canaveral on February 11, 2010, and reached its final geosynchronous science orbit on March 16, 2010. The purpose of SDO is to observe the Sun and continuously relay data to a dedicated ground station. SDO remains Sun-pointing throughout most of its mission for the instruments to take measurements of the Sun. The SDO attitude control system (ACS) is a single-fault tolerant design. Its fully redundant attitude sensor complement includes sixteen coarse Sun sensors (CSSs), a digital Sun sensor (DSS), three two-axis inertial reference units (IRUs), and two star trackers (STs). The ACS also makes use of the four guide telescopes included as a part of one of the science instruments. Attitude actuation is performed using four reaction wheels assemblies (RWAs) and eight thrusters, with a single main engine used to provide velocity-change thrust for orbit raising. The attitude control software has five nominal control modes, three wheel-based modes and two thruster-based modes. A wheel-based Safehold running in the attitude control electronics box improves the robustness of the system as a whole. All six modes are designed on the same basic proportional-integral-derivative attitude error structure, with more robust modes setting their integral gains to zero. This paper details the final overall design of the SDO guidance, navigation, and control (GN&C) system and how it was used in practice during SDO launch, commissioning, and nominal operations. This overview will include the ACS control modes, attitude determination and sensor calibration, the high gain antenna (HGA) calibration, and jitter mitigation operation. The Solar Dynamics Observatory mission is part of the NASA Living With a Star program, which seeks to understand the changing Sun and its effects on the Solar System, life, and society. To this end, the SDO spacecraft carries three Sun

  8. Flight evaluations of approach/landing navigation sensor systems. MLS to kohokei hiko jikken. ; 1990 nendo no jikken gaiyo

    Energy Technology Data Exchange (ETDEWEB)

    1992-07-01

    Flight test results of such navigation sensor systems as MLS (microwave landing system), GPS(global positioning system) and INS (inertial navigation system) on the Dornier-228 research aircraft in 1990 were reported, which tests have being promoted by National Aerospace Laboratory (NAL), Japan to develop unmanned approach/landing (A/L) navigation sensor systems for the future spaceplane HOPE. The measured data corresponding to a WGS84 (world geodetic system 1984) navigation coordinate system were evaluated, and the reference orbit was also prepared by laser tracker analysis. The navigation sensor systems such as MLS were evaluated on the basis of CMN (control motion noise) or PFE (path following error), and preliminary calculation was also conducted for a GPS-INS hybrid system. As experimental results, several data were gathered for each sensor system resulting in possible data comparison between the sensor systems, and the feasibility of the GPS-INS hybrid system was also confirmed. 35 refs., 49 figs., 22 tabs.

  9. 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.

  10. 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.

  11. Looking Good, Feeling Good – Tac Map: a navigation system for the blind

    OpenAIRE

    Chamberlain, Paul; Dieng, Patricia

    2011-01-01

    This paper describes the research and development of a navigation system for the blind that provides a tactile and visual language that can be understood by both sighted and blind users. It describes key work and issues in the development of graphical symbols and in particular the pioneering work of Neurath‟s ISOTYPES, as well as more specific communication systems for blind people. The paper focuses on the development of "TacMap‟, a navigation system for the blind. User engagement has been f...

  12. Bioinspired polarization navigation sensor for autonomous munitions systems

    Science.gov (United States)

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

    2013-05-01

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

  13. Intraoperative computed tomography with an integrated navigation system in stabilization surgery for complex craniovertebral junction malformation.

    Science.gov (United States)

    Yu, Xinguang; Li, Lianfeng; Wang, Peng; Yin, Yiheng; Bu, Bo; Zhou, Dingbiao

    2014-07-01

    This study was designed to report our preliminary experience with stabilization procedures for complex craniovertebral junction malformation (CVJM) using intraoperative computed tomography (iCT) with an integrated neuronavigation system (NNS). To evaluate the workflow, feasibility and clinical outcome of stabilization procedures using iCT image-guided navigation for complex CVJM. The stabilization procedures in CVJM are complex because of the area's intricate geometry and bony structures, its critical relationship to neurovascular structures and the intricate biomechanical issues involved. A sliding gantry 40-slice computed tomography scanner was installed in a preexisting operating room. The images were transferred directly from the scanner to the NNS using an automated registration system. On the basis of the analysis of intraoperative computed tomographic images, 23 cases (11 males, 12 females) with complicated CVJM underwent navigated stabilization procedures to allow more control over screw placement. The age of these patients were 19-52 years (mean: 33.5 y). We performed C1-C2 transarticular screw fixation in 6 patients to produce atlantoaxial arthrodesis with better reliability. Because of a high-riding transverse foramen on at least 1 side of the C2 vertebra and an anomalous vertebral artery position, 7 patients underwent C1 lateral mass and C2 pedicle screw fixation. Ten additional patients were treated with individualized occipitocervical fixation surgery from the hypoplasia of C1 or constraints due to C2 bone structure. In total, 108 screws were inserted into 23 patients using navigational assistance. The screws comprised 20 C1 lateral mass screws, 26 C2, 14 C3, or 4 C4 pedicle screws, 32 occipital screws, and 12 C1-C2 transarticular screws. There were no vascular or neural complications except for pedicle perforations that were detected in 2 (1.9%) patients and were corrected intraoperatively without any persistent nerves or vessel damage. The overall

  14. Virtual Reality Simulator Systems in Robotic Surgical Training.

    Science.gov (United States)

    Mangano, Alberto; Gheza, Federico; Giulianotti, Pier Cristoforo

    2018-06-01

    The number of robotic surgical procedures has been increasing worldwide. It is important to maximize the cost-effectiveness of robotic surgical training and safely reduce the time needed for trainees to reach proficiency. The use of preliminary lab training in robotic skills is a good strategy for the rapid acquisition of further, standardized robotic skills. Such training can be done either by using a simulator or by exercises in a dry or wet lab. While the use of an actual robotic surgical system for training may be problematic (high cost, lack of availability), virtual reality (VR) simulators can overcome many of these obstacles. However, there is still a lack of standardization. Although VR training systems have improved, they cannot yet replace experience in a wet lab. In particular, simulated scenarios are not yet close enough to a real operative experience. Indeed, there is a difference between technical skills (i.e., mechanical ability to perform a simulated task) and surgical competence (i.e., ability to perform a real surgical operation). Thus, while a VR simulator can replace a dry lab, it cannot yet replace training in a wet lab or operative training in actual patients. However, in the near future, it is expected that VR surgical simulators will be able to provide total reality simulation and replace training in a wet lab. More research is needed to produce more wide-ranging, trans-specialty robotic curricula.

  15. Global Navigation Satellite System (GNSS) Final Clock Product (5 minute resolution, daily files, generated weekly) from NASA CDDIS

    Data.gov (United States)

    National Aeronautics and Space Administration — This derived product set consists of Global Navigation Satellite System Final Satellite and Receiver Clock Product (5-minute granularity, daily files, generated...

  16. 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.

  17. Real-time Risk Assessment for Aids to Navigation Using Fuzzy-FSA on Three-Dimensional Simulation System

    Directory of Open Access Journals (Sweden)

    Jinbiao Chen

    2014-06-01

    Full Text Available The risk level of the Aids to Navigation (AtoNs can reflect the ship navigation safety level in the channel to some extent. In order to appreciate the risk level of the aids to navigation (AtoNs in a navigation channel and to provide some decision-making suggestions for the AtoNs Maintenance and Management Department, the risk assessment index system of the AtoNs was built considering the advanced experience of IALA. Under the Formal Safety Assessment frame, taking the advantages of the fuzzy comprehensive evaluation method, the fuzzy-FSA model of risk assessment for aids to navigation was established. The model was implemented for the assessment of aids to navigation in Shanghai area based on the aids to navigation three-dimensional simulation system. The real-time data were extracted from the existing information system of aids to navigation, and the real-time risk assessment for aids to navigation of the chosen channel was performed on platform of the three-dimensional simulation system, with the risk assessment software. Specifically, the deep-water channel of the Yangtze River estuary was taken as an example to illustrate the general assessment procedure. The method proposed presents practical significance and application prospect on the maintenance and management of the aids to navigation.

  18. A self-calibration method in single-axis rotational inertial navigation system with rotating mechanism

    Science.gov (United States)

    Chen, Yuanpei; Wang, Lingcao; Li, Kui

    2017-10-01

    Rotary inertial navigation modulation mechanism can greatly improve the inertial navigation system (INS) accuracy through the rotation. Based on the single-axis rotational inertial navigation system (RINS), a self-calibration method is put forward. The whole system is applied with the rotation modulation technique so that whole inertial measurement unit (IMU) of system can rotate around the motor shaft without any external input. In the process of modulation, some important errors can be decoupled. Coupled with the initial position information and attitude information of the system as the reference, the velocity errors and attitude errors in the rotation are used as measurement to perform Kalman filtering to estimate part of important errors of the system after which the errors can be compensated into the system. The simulation results show that the method can complete the self-calibration of the single-axis RINS in 15 minutes and estimate gyro drifts of three-axis, the installation error angle of the IMU and the scale factor error of the gyro on z-axis. The calibration accuracy of optic gyro drifts could be about 0.003°/h (1σ) as well as the scale factor error could be about 1 parts per million (1σ). The errors estimate reaches the system requirements which can effectively improve the longtime navigation accuracy of the vehicle or the boat.

  19. A novel approach for navigational guidance of ships using onboard monitoring systems

    DEFF Research Database (Denmark)

    Nielsen, Ulrik Dam; Jensen, Jørgen Juncher

    2011-01-01

    A novel approach and conceptual ideas are outlined for risk-based navigational guidance of ships using decision support systems in combination with onboard, in-service monitoring systems. The guidance has as the main objective to advise on speed and/or course changes; in particular with focus...

  20. The Odd Man Out: How Fathers Navigate the Special Education System

    Science.gov (United States)

    Mueller, Tracy Gershwin; Buckley, Pamela C.

    2014-01-01

    Research about parent experiences with the special education system is largely dominated by the perspectives of mothers. Using purposeful sampling techniques, we interviewed 20 active fathers about their experiences navigating the special education system. All the fathers described three primary roles they experienced, including acting as a…

  1. Microwave systems applications in deep space telecommunications and navigation - Space Exploration Initiative architectures

    Science.gov (United States)

    Hall, Justin R.; Hastrup, Rolf C.; Bell, David J.

    1992-06-01

    The general support requirements of a typical SEI mission set, along with the mission operations objectives and related telecommunications, navigation, and information management (TNIM) support infrastructure options are described. Responsive system architectures and designs are proposed, including a Mars orbiting communications relay satellite system and a Mars-centered navigation capability for servicing all Mars missions. With the TNIM architecture as a basis, key elements of the microwave link design are proposed. The needed new technologies which enable these designs are identified, and current maturity is assessed.

  2. The Integration of GPS Navigator Device with Vehicles Tracking System for Rental Cars Firms

    OpenAIRE

    Omarah O. Alharaki; Fahad S. Alaieri; Akram M. Zeki

    2010-01-01

    The aim of this research is to integrate the GPS tracking system (tracking device and web-based application) with GPS navigator for rental cars, allowing the company to use various applications to monitor and manage the cars. This is enable the firms and customers to communicate with each other via the GPS navigator. The system should be developed by applying new features in GPS tracking application devices in vehicles. This paper also proposes new features that can be applied to the GPS Navi...

  3. An IMM-Aided ZUPT Methodology for an INS/DVL Integrated Navigation System.

    Science.gov (United States)

    Yao, Yiqing; Xu, Xiaosu; Xu, Xiang

    2017-09-05

    Inertial navigation system (INS)/Doppler velocity log (DVL) integration is the most common navigation solution for underwater vehicles. Due to the complex underwater environment, the velocity information provided by DVL always contains some errors. To improve navigation accuracy, zero velocity update (ZUPT) technology is considered, which is an effective algorithm for land vehicles to mitigate the navigation error during the pure INS mode. However, in contrast to ground vehicles, the ZUPT solution cannot be used directly for underwater vehicles because of the existence of the water current. In order to leverage the strengths of the ZUPT method and the INS/DVL solution, an interactive multiple model (IMM)-aided ZUPT methodology for the INS/DVL-integrated underwater navigation system is proposed. Both the INS/DVL and INS/ZUPT models are constructed and operated in parallel, with weights calculated according to their innovations and innovation covariance matrices. Simulations are conducted to evaluate the proposed algorithm. The results indicate that the IMM-aided ZUPT solution outperforms both the INS/DVL solution and the INS/ZUPT solution in the underwater environment, which can properly distinguish between the ZUPT and non-ZUPT conditions. In addition, during DVL outage, the effectiveness of the proposed algorithm is also verified.

  4. Low Cost Multisensor Kinematic Positioning and Navigation System with Linux/RTAI

    Directory of Open Access Journals (Sweden)

    Baoxin Hu

    2012-09-01

    Full Text Available Despite its popularity, the development of an embedded real-time multisensor kinematic positioning and navigation system discourages many researchers and developers due to its complicated hardware environment setup and time consuming device driver development. To address these issues, this paper proposed a multisensor kinematic positioning and navigation system built on Linux with Real Time Application Interface (RTAI, which can be constructed in a fast and economical manner upon popular hardware platforms. The authors designed, developed, evaluated and validated the application of Linux/RTAI in the proposed system for the integration of the low cost MEMS IMU and OEM GPS sensors. The developed system with Linux/RTAI as the core of a direct geo-referencing system provides not only an excellent hard real-time performance but also the conveniences for sensor hardware integration and real-time software development. A software framework is proposed in this paper for a universal kinematic positioning and navigation system with loosely-coupled integration architecture. In addition, general strategies of sensor time synchronization in a multisensor system are also discussed. The success of the loosely-coupled GPS-aided inertial navigation Kalman filter is represented via post-processed solutions from road tests.

  5. Joint image restoration and location in visual navigation system

    Science.gov (United States)

    Wu, Yuefeng; Sang, Nong; Lin, Wei; Shao, Yuanjie

    2018-02-01

    Image location methods are the key technologies of visual navigation, most previous image location methods simply assume the ideal inputs without taking into account the real-world degradations (e.g. low resolution and blur). In view of such degradations, the conventional image location methods first perform image restoration and then match the restored image on the reference image. However, the defective output of the image restoration can affect the result of localization, by dealing with the restoration and location separately. In this paper, we present a joint image restoration and location (JRL) method, which utilizes the sparse representation prior to handle the challenging problem of low-quality image location. The sparse representation prior states that the degraded input image, if correctly restored, will have a good sparse representation in terms of the dictionary constructed from the reference image. By iteratively solving the image restoration in pursuit of the sparest representation, our method can achieve simultaneous restoration and location. Based on such a sparse representation prior, we demonstrate that the image restoration task and the location task can benefit greatly from each other. Extensive experiments on real scene images with Gaussian blur are carried out and our joint model outperforms the conventional methods of treating the two tasks independently.

  6. Comparison of accuracy and safety of the SEVEN and the Navigator continuous glucose monitoring systems.

    Science.gov (United States)

    Garg, Satish K; Smith, James; Beatson, Christie; Lopez-Baca, Benita; Voelmle, Mary; Gottlieb, Peter A

    2009-02-01

    This study evaluated the accuracy and safety of two continuous glucose monitoring (CGM) systems, the SEVEN (DexCom, San Diego, CA) and the Navigator (Abbott Diabetes Care, Alameda, CA), with the YSI laboratory measurements of blood glucose (blood glucose meter manufactured by YSI, Yellow Springs, OH), when worn concurrently in adults with type 1 diabetes. Fourteen subjects with type 1 diabetes, 33 +/- 6 (mean +/- SD) years old, were enrolled in this study. All subjects wore both sensors concurrently over three consecutive 5-day CGM sessions (15-day wear). On Days 5, 10, and 15, subjects participated in an 8-h in-clinic session where measurements from the CGM systems were collected and compared with YSI measurements every 15 min. At the end of Day 5 and 10 in-clinic sessions, the sensors were removed, and new sensors were inserted for the following CGM session despite the SEVEN system's recommended use for up to 7 days. The mean absolute relative difference (ARD) for the two CGM devices versus YSI was not different: 16.8% and 16.1% for SEVEN and Navigator, respectively (P = 0.38). In the hypoglycemic region (YSI value blood glucose (SMBG) values. Thirteen additional Navigator replacement devices were issued compared to two for the SEVEN. A total of three versus 14 skin reactions were reported with the SEVEN and Navigator insertion area, respectively. Glucose measurements with the SEVEN and Navigator were found to be similar compared with YSI and SMBG measurements, with the exception of the hypoglycemic range where the SEVEN performed better. However, the Navigator caused more skin area reactions.

  7. Lesions of the basal forebrain cholinergic system in mice disrupt idiothetic navigation.

    Directory of Open Access Journals (Sweden)

    Adam S Hamlin

    Full Text Available Loss of integrity of the basal forebrain cholinergic neurons is a consistent feature of Alzheimer's disease, and measurement of basal forebrain degeneration by magnetic resonance imaging is emerging as a sensitive diagnostic marker for prodromal disease. It is also known that Alzheimer's disease patients perform poorly on both real space and computerized cued (allothetic or uncued (idiothetic recall navigation tasks. Although the hippocampus is required for allothetic navigation, lesions of this region only mildly affect idiothetic navigation. Here we tested the hypothesis that the cholinergic medial septo-hippocampal circuit is important for idiothetic navigation. Basal forebrain cholinergic neurons were selectively lesioned in mice using the toxin saporin conjugated to a basal forebrain cholinergic neuronal marker, the p75 neurotrophin receptor. Control animals were able to learn and remember spatial information when tested on a modified version of the passive place avoidance test where all extramaze cues were removed, and animals had to rely on idiothetic signals. However, the exploratory behaviour of mice with cholinergic basal forebrain lesions was highly disorganized during this test. By contrast, the lesioned animals performed no differently from controls in tasks involving contextual fear conditioning and spatial working memory (Y maze, and displayed no deficits in potentially confounding behaviours such as motor performance, anxiety, or disturbed sleep/wake cycles. These data suggest that the basal forebrain cholinergic system plays a specific role in idiothetic navigation, a modality that is impaired early in Alzheimer's disease.

  8. Learning to navigate the healthcare system in a new country: a qualitative study.

    Science.gov (United States)

    Straiton, Melanie L; Myhre, Sonja

    2017-12-01

    Learning to navigate a healthcare system in a new country is a barrier to health care. Understanding more about the specific navigation challenges immigrants experience may be the first step towards improving health information and thus access to care. This study considers the challenges that Thai and Filipino immigrant women encounter when learning to navigate the Norwegian primary healthcare system and the strategies they use. A qualitative interview study using thematic analysis. Norway. Fifteen Thai and 15 Filipino immigrant women over the age of 18 who had been living in Norway at least one year. The women took time to understand the role of the general practitioner and some were unaware of their right to an interpreter during consultations. In addition to reliance on family members and friends in their social networks, voluntary and cultural organisations provided valuable tips and advice on how to navigate the Norwegian health system. While some women actively engaged in learning more about the system, they noted a lack of information available in multiple languages. Informal sources play an important role in learning about the health care system. Formal information should be available in different languages in order to better empower immigrant women.

  9. Learning to navigate the healthcare system in a new country: a qualitative study

    Science.gov (United States)

    Straiton, Melanie L.; Myhre, Sonja

    2017-01-01

    Objective Learning to navigate a healthcare system in a new country is a barrier to health care. Understanding more about the specific navigation challenges immigrants experience may be the first step towards improving health information and thus access to care. This study considers the challenges that Thai and Filipino immigrant women encounter when learning to navigate the Norwegian primary healthcare system and the strategies they use. Design A qualitative interview study using thematic analysis. Setting Norway. Participants Fifteen Thai and 15 Filipino immigrant women over the age of 18 who had been living in Norway at least one year. Results The women took time to understand the role of the general practitioner and some were unaware of their right to an interpreter during consultations. In addition to reliance on family members and friends in their social networks, voluntary and cultural organisations provided valuable tips and advice on how to navigate the Norwegian health system. While some women actively engaged in learning more about the system, they noted a lack of information available in multiple languages. Conclusions Informal sources play an important role in learning about the health care system. Formal information should be available in different languages in order to better empower immigrant women. PMID:29087232

  10. Design and Flight Performance of the Orion Pre-Launch Navigation System

    Science.gov (United States)

    Zanetti, Renato

    2016-01-01

    Launched in December 2014 atop a Delta IV Heavy from the Kennedy Space Center, the Orion vehicle's Exploration Flight Test-1 (EFT-1) successfully completed the objective to test the prelaunch and entry components of the system. Orion's pre-launch absolute navigation design is presented, together with its EFT-1 performance.

  11. 77 FR 50420 - Proposed Provision of Navigation Services for the Next Generation Air Transportation System...

    Science.gov (United States)

    2012-08-21

    ... Air Transportation System (NextGen) Transition to Performance-Based Navigation (PBN); Disposition of... safety, minimize economic impacts from GPS outages within the NAS and support air transportation's timing... DEPARTMENT OF TRANSPORTATION Federal Aviation Administration 14 CFR Parts 91, 97, 121, 125, 129...

  12. Optimal Geometric Deployment of a Ground Based Pseudolite Navigation System to Track a Landing Aircraft

    Science.gov (United States)

    2006-06-01

    Machine Guidance Using LocataNet In this pilot study [3], conducted at the BlueScope Steel warehouse in Port Kembla, Australia, the LocataNet system...Study at BlueScope Steel”. Proceedings of the 2004 Annual Meeting of the Institute of Navigation. Dayton, OH, June 2004. 4. Barnes, Joel, Chris

  13. 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

  14. An Outdoor Navigation System for Blind Pedestrians Using GPS and Tactile-Foot Feedback

    Directory of Open Access Journals (Sweden)

    Ramiro Velázquez

    2018-04-01

    Full Text Available This paper presents a novel, wearable navigation system for visually impaired and blind pedestrians that combines a global positioning system (GPS for user outdoor localization and tactile-foot stimulation for information presentation. Real-time GPS data provided by a smartphone are processed by dedicated navigation software to determine the directions to a destination. Navigational directions are then encoded as vibrations and conveyed to the user via a tactile display that inserts into the shoe. The experimental results showed that users were capable of recognizing with high accuracy the tactile feedback provided to their feet. The preliminary tests conducted in outdoor locations involved two blind users who were guided along 380–420 m predetermined pathways, while sharing the space with other pedestrians and facing typical urban obstacles. The subjects successfully reached the target destinations. The results suggest that the proposed system enhances independent, safe navigation of blind pedestrians and show the potential of tactile-foot stimulation in assistive devices.

  15. SEXTANT X-Ray Pulsar Navigation Demonstration: Flight System and Test Results

    Science.gov (United States)

    Winternitz, Luke; Mitchell, Jason W.; Hassouneh, Munther A.; Valdez, Jennifer E.; Price, Samuel R.; Semper, Sean R.; Yu, Wayne H.; Ray, Paul S.; Wood, Kent S.; Arzoumanian, Zaven; hide

    2016-01-01

    The Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) is a technology demonstration enhancement to the Neutron-star Interior Composition Explorer (NICER) mission. NICER is a NASA Explorer Mission of Opportunity that will be hosted on the International Space Station (ISS). SEXTANT will, for the first time, demonstrate real-time, on-board X-ray Pulsar Navigation (XNAV), a significant milestone in the quest to establish a GPS-like navigation capability available throughout our Solar System and beyond. This paper gives an overview of the SEXTANT system architecture and describes progress prior to environmental testing of the NICER flight instrument. It provides descriptions and development status of the SEXTANT flight software and ground system, as well as detailed description and results from the flight software functional and performance testing within the high-fidelity Goddard Space Flight Center (GSFC) X-ray Navigation Laboratory Testbed (GXLT) software and hardware simulation environment. Hardware-in-the-loop simulation results are presented, using the engineering model of the NICER timing electronics and the GXLT pulsar simulator-the GXLT precisely controls NASA GSFC's unique Modulated X-ray Source to produce X-rays that make the NICER detector electronics appear as if they were aboard the ISS viewing a sequence of millisecond pulsars

  16. Precise Point Positioning with the BeiDou Navigation Satellite System

    Directory of Open Access Journals (Sweden)

    Min Li

    2014-01-01

    Full Text Available By the end of 2012, China had launched 16 BeiDou-2 navigation satellites that include six GEOs, five IGSOs and five MEOs. This has provided initial navigation and precise pointing services ability in the Asia-Pacific regions. In order to assess the navigation and positioning performance of the BeiDou-2 system, Wuhan University has built up a network of BeiDou Experimental Tracking Stations (BETS around the World. The Position and Navigation Data Analyst (PANDA software was modified to determine the orbits of BeiDou satellites and provide precise orbit and satellite clock bias products from the BeiDou satellite system for user applications. This article uses the BeiDou/GPS observations of the BeiDou Experimental Tracking Stations to realize the BeiDou and BeiDou/GPS static and kinematic precise point positioning (PPP. The result indicates that the precision of BeiDou static and kinematic PPP reaches centimeter level. The precision of BeiDou/GPS kinematic PPP solutions is improved significantly compared to that of BeiDou-only or GPS-only kinematic PPP solutions. The PPP convergence time also decreases with the use of combined BeiDou/GPS systems.

  17. Precise point positioning with the BeiDou navigation satellite system.

    Science.gov (United States)

    Li, Min; Qu, Lizhong; Zhao, Qile; Guo, Jing; Su, Xing; Li, Xiaotao

    2014-01-08

    By the end of 2012, China had launched 16 BeiDou-2 navigation satellites that include six GEOs, five IGSOs and five MEOs. This has provided initial navigation and precise pointing services ability in the Asia-Pacific regions. In order to assess the navigation and positioning performance of the BeiDou-2 system, Wuhan University has built up a network of BeiDou Experimental Tracking Stations (BETS) around the World. The Position and Navigation Data Analyst (PANDA) software was modified to determine the orbits of BeiDou satellites and provide precise orbit and satellite clock bias products from the BeiDou satellite system for user applications. This article uses the BeiDou/GPS observations of the BeiDou Experimental Tracking Stations to realize the BeiDou and BeiDou/GPS static and kinematic precise point positioning (PPP). The result indicates that the precision of BeiDou static and kinematic PPP reaches centimeter level. The precision of BeiDou/GPS kinematic PPP solutions is improved significantly compared to that of BeiDou-only or GPS-only kinematic PPP solutions. The PPP convergence time also decreases with the use of combined BeiDou/GPS systems.

  18. Optical Fiber Connection Navigation System Using Visible Light Communication in Central Office with Economic Evaluation

    Science.gov (United States)

    Waki, Masaki; Uruno, Shigenori; Ohashi, Hiroyuki; Manabe, Tetsuya; Azuma, Yuji

    We propose an optical fiber connection navigation system that uses visible light communication for an integrated distribution module in a central office. The system realizes an accurate database, requires less skilled work to operate and eliminates human error. This system can achieve a working time reduction of up to 88.0% compared with the conventional work without human error for the connection/removal of optical fiber cords, and is economical as regards installation and operation.

  19. 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.

  20. Navigation in diagnosis and therapy

    International Nuclear Information System (INIS)

    Vannier, Michael W.; Haller, John W.

    1999-01-01

    Image-guided navigation for surgery and other therapeutic interventions has grown in importance in recent years. During image-guided navigation a target is detected, localized and characterized for diagnosis and therapy. Thus, images are used to select, plan, guide and evaluate therapy, thereby reducing invasiveness and improving outcomes. A shift from traditional open surgery to less-invasive image-guided surgery will continue to impact the surgical marketplace. Increases in the speed and capacity of computers and computer networks have enabled image-guided interventions. Key elements in image navigation systems are pre-operative 3D imaging (or real-time image acquisition), a graphical display and interactive input devices, such as surgical instruments with light emitting diodes (LEDs). CT and MRI, 3D imaging devices, are commonplace today and 3D images are useful in complex interventions such as radiation oncology and surgery. For example, integrated surgical imaging workstations can be used for frameless stereotaxy during neurosurgical interventions. In addition, imaging systems are being expanded to include decision aids in diagnosis and treatment. Electronic atlases, such as Voxel Man or others derived from the Visible Human Project, combine a set of image data with non-image knowledge such as anatomic labels. Robot assistants and magnetic guidance technology are being developed for minimally invasive surgery and other therapeutic interventions. Major progress is expected at the interface between the disciplines of radiology and surgery where imaging, intervention and informatics converge

  1. Extended investigation into continuous laser scanning of underground mine workings by means of Landis inertial navigation system

    Science.gov (United States)

    Belyaev, E. N.

    2017-10-01

    The paper investigates the method of applying mobile scanning systems (MSSs) with inertial navigators in the underground conditions for carrying out the surveying tasks. The available mobile laser scanning systems cannot be used in the underground environment since Global Positioning System (GPS) signals cannot be received in mines. This signal not only is necessary for space positioning, but also operates as the main corrective signal for the primary navigation system - the inertial navigation system. The idea of the method described in this paper consists in using MSSs with a different correction of the inertial system than GPS is.

  2. Real-time Risk Assessment for Aids to Navigation Using Fuzzy-FSA on Three-Dimensional Simulation System

    OpenAIRE

    Jinbiao Chen; Chaojian Shi; Dongxing Jia

    2014-01-01

    The risk level of the Aids to Navigation (AtoNs) can reflect the ship navigation safety level in the channel to some extent. In order to appreciate the risk level of the aids to navigation (AtoNs) in a navigation channel and to provide some decision-making suggestions for the AtoNs Maintenance and Management Department, the risk assessment index system of the AtoNs was built considering the advanced experience of IALA. Under the Formal Safety Assessment frame, taking the advantages of the fuz...

  3. A GPU Accelerated Spring Mass System for Surgical Simulation

    DEFF Research Database (Denmark)

    Mosegaard, Jesper; Sørensen, Thomas Sangild

    2005-01-01

    There is a growing demand for surgical simulators to dofast and precise calculations of tissue deformation to simulateincreasingly complex morphology in real-time. Unfortunately, evenfast spring-mass based systems have slow convergence rates for largemodels. This paper presents a method to accele...... to accelerate computation of aspring-mass system in order to simulate a complex organ such as theheart. This acceleration is achieved by taking advantage of moderngraphics processing units (GPU)....

  4. 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

  5. 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.)

  6. Fuzzy adaptive integration scheme for low-cost SINS/GPS navigation system

    Science.gov (United States)

    Nourmohammadi, Hossein; Keighobadi, Jafar

    2018-01-01

    Due to weak stand-alone accuracy as well as poor run-to-run stability of micro-electro mechanical system (MEMS)-based inertial sensors, special approaches are required to integrate low-cost strap-down inertial navigation system (SINS) with global positioning system (GPS), particularly in long-term applications. This paper aims to enhance long-term performance of conventional SINS/GPS navigation systems using a fuzzy adaptive integration scheme. The main concept behind the proposed adaptive integration is the good performance of attitude-heading reference system (AHRS) in low-accelerated motions and its degradation in maneuvered or accelerated motions. Depending on vehicle maneuvers, gravity-based attitude angles can be intelligently utilized to improve orientation estimation in the SINS. Knowledge-based fuzzy inference system is developed for decision-making between the AHRS and the SINS according to vehicle maneuvering conditions. Inertial measurements are the main input data of the fuzzy system to determine the maneuvering level during the vehicle motions. Accordingly, appropriate weighting coefficients are produced to combine the SINS/GPS and the AHRS, efficiently. The assessment of the proposed integrated navigation system is conducted via real data in airborne tests.

  7. Design and implementation of a navigation control system for slag ...

    Indian Academy of Sciences (India)

    Masoud Gholami

    2018-03-10

    Mar 10, 2018 ... were required to constantly communicate using wireless system. This caused heavy work load and sometimes interrupted their main tasks. Replacing the traditional communication methods by a smart system relieved the staff from the heavy work load. 4. Conclusion. During the steel production process, the ...

  8. Secondary Victimization: Domestic Violence Survivors Navigating the Family Law System.

    Science.gov (United States)

    Laing, Lesley

    2016-08-23

    This qualitative study explored the experiences of 22 domestic violence survivors attempting to negotiate safe post-separation parenting arrangements through the Australian family law system. Their allegations of violence put them at odds with a system that values mediated settlements and shared parenting. Skeptical responses, accusations of parental alienation, and pressure to agree to unsafe arrangements exacerbated the effects of post-separation violence. Core themes in the women's narratives of engagement with the family law system-silencing, control, and undermining the mother-child relationship-mirrored domestic violence dynamics, suggesting the concept of secondary victimization as a useful lens for understanding their experiences. © The Author(s) 2016.

  9. Development of offroad unmanned dump truck navigation system. Dump truck mujin soko system no kaihatsu ni tsuite

    Energy Technology Data Exchange (ETDEWEB)

    Horii, Z [Nittetsu Mining Co. Ltd., Tokyo (Japan)

    1992-08-25

    A large offroad unmanned dump truck navigation system has been developed, and is in practical operation mounted on dump trucks at Torigatayama Limestone Quarry of Nittetsu Mining Company. The system functions in a manual dump truck navigation mode, wireless navigation mode, and unmanned control mode. The unmanned control mode further includes a mode to navigate the truck on a predetermined course with its data having been input in a computer and a mode that when the truck was moved on a course under a wireless control, the computer learns the course and drives the truck autonomously thereafter. The safety measures are divided into the hardware safety function to detect abnormalities in brakes and other vehicle parts, and the software safety functions of data communications, sensor action check, and prevention of collision of trucks with each other. The system has resulted in a productivity of average one-way travel distance of 345 m, and average unmanned navigation cycle time of 9 minutes and 26 seconds for a transportation efficiency of 541 t/hour/truck, having reached at least the manned operation level. 4 figs., 1 tab.

  10. Method and Tool for Design Process Navigation and Automatic Generation of Simulation Models for Manufacturing Systems

    Science.gov (United States)

    Nakano, Masaru; Kubota, Fumiko; Inamori, Yutaka; Mitsuyuki, Keiji

    Manufacturing system designers should concentrate on designing and planning manufacturing systems instead of spending their efforts on creating the simulation models to verify the design. This paper proposes a method and its tool to navigate the designers through the engineering process and generate the simulation model automatically from the design results. The design agent also supports collaborative design projects among different companies or divisions with distributed engineering and distributed simulation techniques. The idea was implemented and applied to a factory planning process.

  11. Application of talairach coordinates for transcranial magnetic stimulation navigation system

    International Nuclear Information System (INIS)

    Ahn, Se-Jong; Kim, Jong-Woo; Sin, Sung-Wook; Yoo, Jin-Young; An, Hyojin; Chung, Sung-Taek; Yoon, Sejin

    2011-01-01

    Since the development of transcranial magnetic stimulation (TMS) in 1985, its clinical and experimental studies and therapeutic applications have been widely being investigated. MRI-based neuronavigational systems have been developed and used for positioning of the magnetic coil, which is the main problem of most TMS studies. The functional brain map provided by these systems, however, may be unsuitable for a population-based study since it does not describe the location of brain structures independent from individual differences in brain, and also, it would be difficult to localize particular point of brain since there is no reference point excepting anatomical structure. In this paper, neuronavigational approach of TMS and application of Talairach coordinate system are introduced. We expect that this concept of the system will allow not only to perform the population-based study taking individual anatomy into account, but also to help physician to localize specific point in the Talairach coordinates. (author)

  12. Test Bed for Safety Assessment of New e-Navigation Systems

    Directory of Open Access Journals (Sweden)

    Axel Hahn

    2014-12-01

    Full Text Available New e-navigation strains require new technologies, new infrastructures and new organizational structures on bridge, on shore as well as in the cloud. Suitable engineering and safety/risk assessment methods facilitate these efforts. Understanding maritime transportation as a sociotechnical system allows the application of system-engineering methods. Formal, simulation based and in situ verification and validation of e-navigation technologies are important methods to obtain system safety and reliability. The modelling and simulation toolset HAGGIS provides methods for system specification and formal risk analysis. It provides a modelling framework for processes, fault trees and generic hazard specification and a physical world and maritime traffic simulation system. HAGGIS is accompanied by the physical test bed LABSKAUS which implements a physical test bed. The test bed provides reference ports and waterways in combination with an experimental Vessel Traffic Services (VTS system and a mobile integrated bridge: This enables in situ experiments for technological evaluation, testing, ground research and demonstration. This paper describes an integrated seamless approach for developing new e-navigation technologies starting with simulation based assessment and ending in physical real world demonstrations

  13. 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.

  14. a European Global Navigation Satellite System — the German Market and Value Adding Chain Effects

    Science.gov (United States)

    Vollerthun, A.; Wieser, M.

    2002-03-01

    Since Europe is considering to establish a "market-driven" European Global Navigation Satellite System, the German Center of Aerospace initiated a market research to justify a German investment in such a European project. The market research performed included the following market segments: aviation, railway, road traffic, shipping, surveying, farming, military, space applications, leisure, and sport. In these market segments, the forementioned inputs were determined for satellite navigation hardware (receivers) as well as satellite navigation services. The forecast period was from year 2007 to 2017. For the considered period, the market amounts to a total of DM 83.0 billion (approx. US $50 billion), whereas the satellite navigation equipment market makes up DM 39.8 billion, and charges for value-added-services amount to DM 43.2 billion. On closer examination road traffic can be identified as the dominant market share, both in the receiver-market and service-market. With a share of 96% for receivers and 73% for services the significance of the road traffic segment becomes obvious. The second part of this paper investigates the effects the market potential has on the Value-Adding-Chain. Therefore, all participants in the Value-Adding-Chain are identified, using industrial cost structure models the employment effect is analyzed, and possible tax revenues for the state are examined.

  15. A Method for The Assessing of Reliability Characteristics Relevant to an Assumed Position-Fixing Accuracy in Navigational Positioning Systems

    Directory of Open Access Journals (Sweden)

    Specht Cezary

    2016-09-01

    Full Text Available This paper presents a method which makes it possible to determine reliability characteristics of navigational positioning systems, relevant to an assumed value of permissible error in position fixing. The method allows to calculate: availability , reliability as well as operation continuity of position fixing system for an assumed, determined on the basis of formal requirements - both worldwide and national, position-fixing accuracy. The proposed mathematical model allows to satisfy, by any navigational positioning system, not only requirements as to position-fixing accuracy of a given navigational application (for air , sea or land traffic but also the remaining characteristics associated with technical serviceability of a system.

  16. Cancellation of the Army’s Autonomous Navigation System

    Science.gov (United States)

    2012-08-02

    Auto/Truck Various Vehicle Leader/Follower, Road Following Google Driverless Vehicle Google Road Following Source: GAO presentation of data from Red...both of which are estimated to cost over $300,000 per system. However, Google’s Driverless Vehicle and the Southwest Research Institute’s Mobile

  17. Real-time simulation for intra-operative navigation in robotic surgery. Using a mass spring system for a basic study of organ deformation.

    Science.gov (United States)

    Kawamura, Kazuya; Kobayashi, Yo; Fujie, Masakatsu G

    2007-01-01

    Medical technology has advanced with the introduction of robot technology, making previous medical treatments that were very difficult far more possible. However, operation of a surgical robot demands substantial training and continual practice on the part of the surgeon because it requires difficult techniques that are different from those of traditional surgical procedures. We focused on a simulation technology based on the physical characteristics of organs. In this research, we proposed the development of surgical simulation, based on a physical model, for intra-operative navigation by a surgeon. In this paper, we describe the design of our system, in particular our organ deformation calculator. The proposed simulation system consists of an organ deformation calculator and virtual slave manipulators. We obtained adequate experimental results of a target node at a nearby point of interaction, because this point ensures better accuracy for our simulation model. The next research step would be to focus on a surgical environment in which internal organ models would be integrated into a slave simulation system.

  18. Design, Implementation and Evaluation of an Indoor Navigation System for Visually Impaired People.

    Science.gov (United States)

    Martinez-Sala, Alejandro Santos; Losilla, Fernando; Sánchez-Aarnoutse, Juan Carlos; García-Haro, Joan

    2015-12-21

    Indoor navigation is a challenging task for visually impaired people. Although there are guidance systems available for such purposes, they have some drawbacks that hamper their direct application in real-life situations. These systems are either too complex, inaccurate, or require very special conditions (i.e., rare in everyday life) to operate. In this regard, Ultra-Wideband (UWB) technology has been shown to be effective for indoor positioning, providing a high level of accuracy and low installation complexity. This paper presents SUGAR, an indoor navigation system for visually impaired people which uses UWB for positioning, a spatial database of the environment for pathfinding through the application of the A* algorithm, and a guidance module. The interaction with the user takes place using acoustic signals and voice commands played through headphones. The suitability of the system for indoor navigation has been verified by means of a functional and usable prototype through a field test with a blind person. In addition, other tests have been conducted in order to show the accuracy of different relevant parts of the system.

  19. Design, Implementation and Evaluation of an Indoor Navigation System for Visually Impaired People

    Directory of Open Access Journals (Sweden)

    Alejandro Santos Martinez-Sala

    2015-12-01

    Full Text Available Indoor navigation is a challenging task for visually impaired people. Although there are guidance systems available for such purposes, they have some drawbacks that hamper their direct application in real-life situations. These systems are either too complex, inaccurate, or require very special conditions (i.e., rare in everyday life to operate. In this regard, Ultra-Wideband (UWB technology has been shown to be effective for indoor positioning, providing a high level of accuracy and low installation complexity. This paper presents SUGAR, an indoor navigation system for visually impaired people which uses UWB for positioning, a spatial database of the environment for pathfinding through the application of the A* algorithm, and a guidance module. The interaction with the user takes place using acoustic signals and voice commands played through headphones. The suitability of the system for indoor navigation has been verified by means of a functional and usable prototype through a field test with a blind person. In addition, other tests have been conducted in order to show the accuracy of different relevant parts of the system.

  20. Real-time navigation system for sentinel lymph node biopsy in breast cancer patients using projection mapping with indocyanine green fluorescence.

    Science.gov (United States)

    Takada, Masahiro; Takeuchi, Megumi; Suzuki, Eiji; Sato, Fumiaki; Matsumoto, Yoshiaki; Torii, Masae; Kawaguchi-Sakita, Nobuko; Nishino, Hiroto; Seo, Satoru; Hatano, Etsuro; Toi, Masakazu

    2018-05-09

    Inability to visualize indocyanine green fluorescence images in the surgical field limits the application of current near-infrared fluorescence imaging (NIR) systems for real-time navigation during sentinel lymph node (SLN) biopsy in breast cancer patients. The aim of this study was to evaluate the usefulness of the Medical Imaging Projection System (MIPS), which uses active projection mapping, for SLN biopsy. A total of 56 patients (59 procedures) underwent SLN biopsy using the MIPS between March 2016 and November 2017. After SLN biopsy using the MIPS, residual SLNs were removed using a conventional NIR camera and/or radioisotope method. The primary endpoint of this study was identification rate of SLNs using the MIPS. In all procedures, at least one SLN was detected by the MIPS, giving an SLN identification rate of 100% [95% confidence interval (CI) 94-100%]. SLN biopsy was successfully performed without operating lights in all procedures. In total, 3 positive SLNs were excised using MIPS, but were not included in the additional SLNs excised by other methods. The median number of SLNs excised using the MIPS was 3 (range 1-7). Of procedures performed after preoperative systemic therapy, the median number of SLNs excised using the MIPS was 3 (range 2-6). The MIPS is effective in detecting SLNs in patients with breast cancer, providing continuous and accurate projection of fluorescence signals in the surgical field, without need for operating lights, and could be useful in real-time navigation surgery for SLN biopsy.

  1. Cislunar navigation

    Science.gov (United States)

    Cesarone, R. J.; Burke, J. D.; Hastrup, R. C.; Lo, M. W.

    2003-01-01

    In the future, navigation and communication in Earth-Moon space and on the Moon will differ from past practice due to evolving technology and new requirements. Here we describe likely requirements, discuss options for meeting them, and advocate steps that can be taken now to begin building the navcom systems needed in coming years for exploring and using the moon.

  2. Meta-image navigation augmenters for unmanned aircraft systems (MINA for UAS)

    Science.gov (United States)

    Òªelik, Koray; Somani, Arun K.; Schnaufer, Bernard; Hwang, Patrick Y.; McGraw, Gary A.; Nadke, Jeremy

    2013-05-01

    GPS is a critical sensor for Unmanned Aircraft Systems (UASs) due to its accuracy, global coverage and small hardware footprint, but is subject to denial due to signal blockage or RF interference. When GPS is unavailable, position, velocity and attitude (PVA) performance from other inertial and air data sensors is not sufficient, especially for small UASs. Recently, image-based navigation algorithms have been developed to address GPS outages for UASs, since most of these platforms already include a camera as standard equipage. Performing absolute navigation with real-time aerial images requires georeferenced data, either images or landmarks, as a reference. Georeferenced imagery is readily available today, but requires a large amount of storage, whereas collections of discrete landmarks are compact but must be generated by pre-processing. An alternative, compact source of georeferenced data having large coverage area is open source vector maps from which meta-objects can be extracted for matching against real-time acquired imagery. We have developed a novel, automated approach called MINA (Meta Image Navigation Augmenters), which is a synergy of machine-vision and machine-learning algorithms for map aided navigation. As opposed to existing image map matching algorithms, MINA utilizes publicly available open-source geo-referenced vector map data, such as OpenStreetMap, in conjunction with real-time optical imagery from an on-board, monocular camera to augment the UAS navigation computer when GPS is not available. The MINA approach has been experimentally validated with both actual flight data and flight simulation data and results are presented in the paper.

  3. LATENCY DETERMINATION AND COMPENSATION IN REAL-TIME GNSS/INS INTEGRATED NAVIGATION SYSTEMS

    Directory of Open Access Journals (Sweden)

    P. D. Solomon

    2012-09-01

    Full Text Available Unmanned Aerial Vehicle (UAV technology is now commonplace in many defence and civilian environments. However, the high cost of owning and operating a sophisticated UAV has slowed their adoption in many commercial markets. Universities and research groups are actively experimenting with UAVs to further develop the technology, particularly for automated flying operations. The two main UAV platforms used are fixed-wing and helicopter. Helicopter-based UAVs offer many attractive features over fixed-wing UAVs, including vertical take-off, the ability to loiter, and highly dynamic flight. However the control and navigation of helicopters are significantly more demanding than those of fixed-wing UAVs and as such require a high bandwidth real-time Position, Velocity, Attitude (PVA navigation system. In practical Real-Time Navigation Systems (RTNS there are delays in the processing of the GNSS data prior to the fusion of the GNSS data with the INS measurements. This latency must be compensated for otherwise it degrades the solution of the navigation filter. This paper investigates the effect of latency in the arrival time of the GNSS data in a RTNS. Several test drives and flights were conducted with a low-cost RTNS, and compared with a high quality GNSS/INS solution. A technique for the real-time, automated and accurate estimation of the GNSS latency in low-cost systems was developed and tested. The latency estimates were then verified through cross-correlation with the time-stamped measurements from the reference system. A delayed measurement Extended Kalman Filter was then used to allow for the real-time fusing of the delayed measurements, and then a final system developed for on-the-fly measurement and compensation of GNSS latency in a RTNS.

  4. Latency Determination and Compensation in Real-Time Gnss/ins Integrated Navigation Systems

    Science.gov (United States)

    Solomon, P. D.; Wang, J.; Rizos, C.

    2011-09-01

    Unmanned Aerial Vehicle (UAV) technology is now commonplace in many defence and civilian environments. However, the high cost of owning and operating a sophisticated UAV has slowed their adoption in many commercial markets. Universities and research groups are actively experimenting with UAVs to further develop the technology, particularly for automated flying operations. The two main UAV platforms used are fixed-wing and helicopter. Helicopter-based UAVs offer many attractive features over fixed-wing UAVs, including vertical take-off, the ability to loiter, and highly dynamic flight. However the control and navigation of helicopters are significantly more demanding than those of fixed-wing UAVs and as such require a high bandwidth real-time Position, Velocity, Attitude (PVA) navigation system. In practical Real-Time Navigation Systems (RTNS) there are delays in the processing of the GNSS data prior to the fusion of the GNSS data with the INS measurements. This latency must be compensated for otherwise it degrades the solution of the navigation filter. This paper investigates the effect of latency in the arrival time of the GNSS data in a RTNS. Several test drives and flights were conducted with a low-cost RTNS, and compared with a high quality GNSS/INS solution. A technique for the real-time, automated and accurate estimation of the GNSS latency in low-cost systems was developed and tested. The latency estimates were then verified through cross-correlation with the time-stamped measurements from the reference system. A delayed measurement Extended Kalman Filter was then used to allow for the real-time fusing of the delayed measurements, and then a final system developed for on-the-fly measurement and compensation of GNSS latency in a RTNS.

  5. An advanced traveler navigation system adapted to route choice preferences of the individual users

    Directory of Open Access Journals (Sweden)

    Mahyar Amirgholy

    2017-12-01

    Full Text Available The majority of existing navigation systems only account for a single aspect of the route choice, like travel time or distance, in finding the optimal route for the trips in the network. In this research, we first identify a range of diverse factors that travelers take into account in their route choice decision in the network. A stated preference survey is conducted to show the heterogeneity in the preferences of users and its dependence to the purpose of the trips over the weekdays and weekends. Interestingly, results of the survey show that road safety is the most influential factor in the route choice decision of the average participants over weekends, exceeding even the travel time, and participants give more importance to the scenic quality of the routes for their weekend trips in comparison to their weekday trips. The results of the second part of the survey also indicate that in 27% of the cases participants choose routes other than the ones suggested by navigation systems, and 33% of the times that they take the suggested routes, they modify these routes according to their own preferences. The partial inability of existing navigation systems to suggest the routes that match the preferences of users can be attributed to ignoring (1 the diversity in influential factors and (2 the heterogeneity in preferences of the users by these systems. We propose a dynamic mixed logit route choice model to include the effects of information and learning to estimate parameters of a multivariable utility function for individual users based on their own historical route choice data over time. Finally, we present the concept of a smart navigation system that can gather the required information from real-time and online sources to suggest the routes that best match the users’ own preferences.

  6. Automated Navigation System based on Weapon-Target Assignment

    Directory of Open Access Journals (Sweden)

    Mohammad Khairudin

    2011-12-01

    Full Text Available Operating of weapon on the tank is mostly by manually. It is not desired performance for a critical operation. An automatic control system is required to operate the weapon with the target while maintaining the accuracy. In this paper has designed an automatic weapon control system using object image proccessing. Various an image processing methods used to improve the weapon accuracy to obtain the intended target. The method used in digital image processing is the Camshift motion tracking method. This method is compared with the Lucas Canade motion tracking method. This comparison is conducted to found more precise results between the two methods. Results of object image processing are used to control the direction of the weapon that towards the desired goal. The results show that the implementation of the Lucas Canade motion tracking method using fire simulation tools have been successful. The performance of the Lucas Canade motion tracking methods is better than the CamShift method. Using Lucas Canade method for weapon controller is accordance with the purposes.

  7. HyMoTrack: A Mobile AR Navigation System for Complex Indoor Environments.

    Science.gov (United States)

    Gerstweiler, Georg; Vonach, Emanuel; Kaufmann, Hannes

    2015-12-24

    Navigating in unknown big indoor environments with static 2D maps is a challenge, especially when time is a critical factor. In order to provide a mobile assistant, capable of supporting people while navigating in indoor locations, an accurate and reliable localization system is required in almost every corner of the building. We present a solution to this problem through a hybrid tracking system specifically designed for complex indoor spaces, which runs on mobile devices like smartphones or tablets. The developed algorithm only uses the available sensors built into standard mobile devices, especially the inertial sensors and the RGB camera. The combination of multiple optical tracking technologies, such as 2D natural features and features of more complex three-dimensional structures guarantees the robustness of the system. All processing is done locally and no network connection is needed. State-of-the-art indoor tracking approaches use mainly radio-frequency signals like Wi-Fi or Bluetooth for localizing a user. In contrast to these approaches, the main advantage of the developed system is the capability of delivering a continuous 3D position and orientation of the mobile device with centimeter accuracy. This makes it usable for localization and 3D augmentation purposes, e.g. navigation tasks or location-based information visualization.

  8. HyMoTrack: A Mobile AR Navigation System for Complex Indoor Environments

    Directory of Open Access Journals (Sweden)

    Georg Gerstweiler

    2015-12-01

    Full Text Available Navigating in unknown big indoor environments with static 2D maps is a challenge, especially when time is a critical factor. In order to provide a mobile assistant, capable of supporting people while navigating in indoor locations, an accurate and reliable localization system is required in almost every corner of the building. We present a solution to this problem through a hybrid tracking system specifically designed for complex indoor spaces, which runs on mobile devices like smartphones or tablets. The developed algorithm only uses the available sensors built into standard mobile devices, especially the inertial sensors and the RGB camera. The combination of multiple optical tracking technologies, such as 2D natural features and features of more complex three-dimensional structures guarantees the robustness of the system. All processing is done locally and no network connection is needed. State-of-the-art indoor tracking approaches use mainly radio-frequency signals like Wi-Fi or Bluetooth for localizing a user. In contrast to these approaches, the main advantage of the developed system is the capability of delivering a continuous 3D position and orientation of the mobile device with centimeter accuracy. This makes it usable for localization and 3D augmentation purposes, e.g. navigation tasks or location-based information visualization.

  9. 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.

  10. Inertial Navigation System for India's Reusable Launch Vehicle-Technology Demonstrator (RLV-TD HEX) Mission

    Science.gov (United States)

    Umadevi, P.; Navas, A.; Karuturi, Kesavabrahmaji; Shukkoor, A. Abdul; Kumar, J. Krishna; Sreekumar, Sreejith; Basim, A. Mohammed

    2017-12-01

    This work presents the configuration of Inertial Navigation System (INS) used in India's Reusable Launch Vehicle-Technology Demonstrator (RLV-TD) Program. In view of the specific features and requirements of the RLV-TD, specific improvements and modifications were required in the INS. A new system was designed, realised and qualified meeting the mission requirements of RLV-TD, at the same time taking advantage of the flight heritage attained in INS through various Launch vehicle Missions of the country. The new system has additional redundancy in acceleration channel, in-built inclinometer based bias update scheme for acceleration channels and sign conventions as employed in an aircraft. Data acquisition in micro cycle periodicity (10 ms) was incorporated which was required to provide rate and attitude information at higher sampling rate for ascent phase control. Provision was incorporated for acquisition of rate and acceleration data with high resolution for aerodynamic characterisation and parameter estimation. GPS aided navigation scheme was incorporated to meet the stringent accuracy requirements of the mission. Navigation system configuration for RLV-TD, specific features incorporated to meet the mission requirements, various tests carried out and performance during RLV-TD flight are highlighted.

  11. Navigating hybridity: investigating the dance between culture and values within the cuban national education system.

    Directory of Open Access Journals (Sweden)

    Erik Byker

    2013-12-01

    Full Text Available Hybridity is the dynamic relationship between local and global factors that push and pull on people and nations. Hybridity is deeply situated in socio-contextual factors, like cultural beliefs, education, and political systems, that aid and hinder a people’s navigation of globalized phenomena. Simply put, hybridity is how people and societies adapt to a changing world. This article examines the case of Cuba in response to hybridity. Specifically, the article’s purpose is to examine ways that the Cuban National Education System impacts how Cubans navigate the global march towards hybridity. The article reports on a focused ethnographic study of a week long education trip to Cuba during February 2013. The ethnography includes over 100 hours of data collection, including semi-structured interviews with 26 Cuban participants. The study uses Freire’s (1970 notion of “humanizing pedagogy” to analyze how the impact of the Cuban National Education System values in the context of Cuba and larger global context. The study found that three values in particular, amor, solidaridad, and conciencia de derechos y response, were deeply embedded in the Cuban National Education System and effect the way that Cubans navigate the complex hybridity that situates their island nation.

  12. Autonomous Navigation of the SSTI/Lewis Spacecraft Using the Global Positioning System (GPS)

    Science.gov (United States)

    Hart, R. C.; Long, A. C.; Lee, T.

    1997-01-01

    The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) is pursuing the application of Global Positioning System (GPS) technology to improve the accuracy and economy of spacecraft navigation. High-accuracy autonomous navigation algorithms are being flight qualified in conjunction with GSFC's GPS Attitude Determination Flyer (GADFLY) experiment on the Small Satellite Technology Initiative (SSTI) Lewis spacecraft, which is scheduled for launch in 1997. Preflight performance assessments indicate that these algorithms can provide a real-time total position accuracy of better than 10 meters (1 sigma) and velocity accuracy of better than 0.01 meter per second (1 sigma), with selective availability at typical levels. This accuracy is projected to improve to the 2-meter level if corrections to be provided by the GPS Wide Area Augmentation System (WAAS) are included.

  13. Comparison of robust H∞ filter and Kalman filter for initial alignment of inertial navigation system

    Institute of Scientific and Technical Information of China (English)

    HAO Yan-ling; CHEN Ming-hui; LI Liang-jun; XU Bo

    2008-01-01

    There are many filtering methods that can be used for the initial alignment of an integrated inertial navigation system.This paper discussed the use of GPS,but focused on two kinds of filters for the initial alignment of an integrated strapdown inertial navigation system (SINS).One method is based on the Kalman filter (KF),and the other is based on the robust filter.Simulation results showed that the filter provides a quick transient response and a little more accurate estimate than KF,given substantial process noise or unknown noise statistics.So the robust filter is an effective and useful method for initial alignment of SINS.This research should make the use of SINS more popular,and is also a step for further research.

  14. Sea wind parameters retrieval using Y-configured Doppler navigation system data. Performance and accuracy

    Science.gov (United States)

    Khachaturian, A. B.; Nekrasov, A. V.; Bogachev, M. I.

    2018-05-01

    The authors report the results of the computer simulations of the performance and accuracy of the sea wind speed and direction retrieval. The analyzed measurements over the sea surface are made by the airborne microwave Doppler navigation system (DNS) with three Y-configured beams operated as a scatterometer enhancing its functionality. Single- and double-stage wind measurement procedures are proposed and recommendations for their implementation are described.

  15. Anti-Jam GPS Antennas for Wearable Dismounted Soldier Navigation Systems

    Science.gov (United States)

    2016-06-01

    GPS antenna, the Novatel GAJT-700M/ L CRPA is currently being considered, as shown in Fig. 6. Fig. 6 A basic 7-element CRPA (right) compared with a...ARL-TR-7670 ● JUNE 2016 US Army Research Laboratory Anti-Jam GPS Antennas for Wearable Dismounted Soldier Navigation Systems...longer needed. Do not return it to the originator. ARL-TR-7670 ● JUNE 2016 US Army Research Laboratory Anti-Jam GPS Antennas for

  16. Systems Engineering Approach to Develop Guidance, Navigation and Control Algorithms for Unmanned Ground Vehicle

    Science.gov (United States)

    2016-09-01

    Global Positioning System HNA hybrid navigation algorithm HRI human-robot interface IED Improvised Explosive Device IMU inertial measurement unit...Potential Field Method R&D research and development RDT&E Research, development, test and evaluation RF radiofrequency RGB red, green and blue ROE...were radiofrequency (RF) controlled and pneumatically actuated upon receiving the wireless commands from the radio operator. The pairing of such an

  17. INTEGRATION OF DISTRIBUTED INERTIAL NAVIGATION SYSTEMS BUILT AROUND FIBER-OPTIC AND MICROELECTROMECHANICAL SENSORS

    Directory of Open Access Journals (Sweden)

    A. V. Chernodarov

    2017-01-01

    Full Text Available The current state of airborne measuring-and-computing complexes (MCCs is characterized by the inclusion of distributed strapdown inertial navigation systems (SINSs as components of these complexes. This is associated with the necessity of the provision of navigational support not only for aircraft (Acft, but also for airborne Earth surface surveillance systems in which the SINSs are included as components. Among such systems are radar systems, video monitors, laser scanners (lidars, and other surveillance devices. At the same time, when the DSINSs are united into a single structure, new functional possibilities for such integrated navigation systems appear, namely: redundancy and mutual support of SINSs, and also an increase in MCC information reliability on this basis; mutual monitoring and mutual diagnosis of SINSs; optimization of DSINS structure for providing the required accuracy of navigation and attitude control under severe conditions of Acft operation. Such conditions are connected with Acft maneuvering, with a loss of the signals of satellite navigation systems (SNSs. The purpose of this paper is to study the capabilities of DSINS which are built around fiberoptic and micromechanical sensors when they are united into a closely connected information-measuring structure. In the solution of the problem formulated above, an object-oriented modular technology for the creation of integrated navigation systems was taken as a basis. The use of such a technology has permitted us to realize the new functional possibilities of the DSINSs, and also to take into account the following features of the construction and functioning of DSINSs as components of MCCs: need for mutual information exchange among DSINS modules via an MCC airborne top-level computing system; synchronization of measuring-and-computing procedures that are realized in the DSINS. In addition, due to restrictions on overall dimensions and weight, SINSs of surveillance systems are

  18. The application of digital surgical diagnosis and treatment technology: a promising strategy for surgical reconstruction of craniomaxillofacial defect and deformity.

    Science.gov (United States)

    Wang, Li-ya; Du, Hong-ming; Zhang, Gang; Tang, Wei; Liu, Lei; Jing, Wei; Long, Jie

    2011-12-01

    The craniomaxillofacial defect and deformity always leads to serious dysfunction in mastication and facial contour damage, significantly reducing patients' quality of life. However, surgical reconstruction of a craniomaxillofacial hard tissue defect or deformity is extremely complex and often does not result in desired facial morphology. Improving the result for patients with craniomaxillofacial defect and deformity remains a challenge for surgeons. Using digital technology for surgical diagnosis and treatment may help solve this problem. Computer-assisted surgical technology and surgical navigation technology are included in the accurate digital diagnosis and treatment system we propose. These technologies will increase the accuracy of the design of the operation plan. In addition, the intraoperative real-time navigating location system controlling the robotic arm or advanced intelligent robot will provide accurate, individualized surgical treatment for patients. Here we propose the hypothesis that a digital surgical diagnosis and treatment technology may provide a new approach for precise surgical reconstruction of complicated craniomaxillofacial defect and deformity. Our hypothesis involves modern digital surgery, a three-dimensional navigation surgery system and modern digital imaging technology, and our key aim is to establish a technological platform for customized digital surgical design and surgical navigation for craniomaxillofacial defect and deformity. If the hypothesis is proven practical, this novel therapeutic approach could improve the result of surgical reconstruction for craniomaxillofacial defect and deformity for many patients. Copyright © 2011 Elsevier Ltd. All rights reserved.

  19. Control and navigation system for a fixed-wing unmanned aerial vehicle

    Directory of Open Access Journals (Sweden)

    Ruiyong Zhai

    2014-02-01

    Full Text Available This paper presents a flight control and navigation system for a fixed-wing unmanned aerial vehicle (UAV with low-cost micro-electro-mechanical system (MEMS sensors. The system is designed under the inner loop and outer loop strategy. The trajectory tracking navigation loop is the outer loop of the attitude loop, while the attitude control loop is the outer loop of the stabilization loop. The proportional-integral-derivative (PID control was adopted for stabilization and attitude control. The three-dimensional (3D trajectory tracking control of a UAV could be approximately divided into lateral control and longitudinal control. The longitudinal control employs traditional linear PID feedback to achieve the desired altitude of the UAV, while the lateral control uses a non-linear control method to complete the desired trajectory. The non-linear controller can automatically adapt to ground velocity change, which is usually caused by gust disturbance, thus the UAV has good wind resistance characteristics. Flight tests and survey missions were carried out with our self-developed delta fixed-wing UAV and MEMS-based autopilot to confirm the effectiveness and practicality of the proposed navigation method.

  20. Development of automatic navigation measuring system using template-matching software in image guided neurosurgery

    International Nuclear Information System (INIS)

    Watanabe, Yohei; Hayashi, Yuichiro; Fujii, Masazumi; Wakabayashi, Toshihiko; Kimura, Miyuki; Tsuzaka, Masatoshi; Sugiura, Akihiro

    2010-01-01

    An image-guided neurosurgery and neuronavigation system based on magnetic resonance imaging has been used as an indispensable tool for resection of brain tumors. Therefore, accuracy of the neuronavigation system, provided by periodic quality assurance (QA), is essential for image-guided neurosurgery. Two types of accuracy index, fiducial registration error (FRE) and target registration error (TRE), have been used to evaluate navigation accuracy. FRE shows navigation accuracy on points that have been registered. On the other hand, TRE shows navigation accuracy on points such as tumor, skin, and fiducial markers. This study shows that TRE is more reliable than FRE. However, calculation of TRE is a time-consuming, subjective task. Software for QA was developed to compute TRE. This software calculates TRE automatically by an image processing technique, such as automatic template matching. TRE was calculated by the software and compared with the results obtained by manual calculation. Using the software made it possible to achieve a reliable QA system. (author)

  1. A Dynamic Precision Evaluation Method for the Star Sensor in the Stellar-Inertial Navigation System.

    Science.gov (United States)

    Lu, Jiazhen; Lei, Chaohua; Yang, Yanqiang

    2017-06-28

    Integrating the advantages of INS (inertial navigation system) and the star sensor, the stellar-inertial navigation system has been used for a wide variety of applications. The star sensor is a high-precision attitude measurement instrument; therefore, determining how to validate its accuracy is critical in guaranteeing its practical precision. The dynamic precision evaluation of the star sensor is more difficult than a static precision evaluation because of dynamic reference values and other impacts. This paper proposes a dynamic precision verification method of star sensor with the aid of inertial navigation device to realize real-time attitude accuracy measurement. Based on the gold-standard reference generated by the star simulator, the altitude and azimuth angle errors of the star sensor are calculated for evaluation criteria. With the goal of diminishing the impacts of factors such as the sensors' drift and devices, the innovative aspect of this method is to employ static accuracy for comparison. If the dynamic results are as good as the static results, which have accuracy comparable to the single star sensor's precision, the practical precision of the star sensor is sufficiently high to meet the requirements of the system specification. The experiments demonstrate the feasibility and effectiveness of the proposed method.

  2. Critical roles of orthopaedic surgeon leadership in healthcare systems to improve orthopaedic surgical patient safety.

    Science.gov (United States)

    Kuo, Calvin C; Robb, William J

    2013-06-01

    The prevention of medical and surgical harm remains an important public health problem despite increased awareness and implementation of safety programs. Successful introduction and maintenance of surgical safety programs require both surgeon leadership and collaborative surgeon-hospital alignment. Documentation of success of such surgical safety programs in orthopaedic practice is limited. We describe the scope of orthopaedic surgical patient safety issues, define critical elements of orthopaedic surgical safety, and outline leadership roles for orthopaedic surgeons needed to establish and sustain a culture of safety in contemporary healthcare systems. We identified the most common causes of preventable surgical harm based on adverse and sentinel surgical events reported to The Joint Commission. A comprehensive literature review through a MEDLINE(®) database search (January 1982 through April 2012) to identify pertinent orthopaedic surgical safety articles found 14 articles. Where gaps in orthopaedic literature were identified, the review was supplemented by 22 nonorthopaedic surgical references. Our final review included 36 articles. Six important surgical safety program elements needed to eliminate preventable surgical harm were identified: (1) effective surgical team communication, (2) proper informed consent, (3) implementation and regular use of surgical checklists, (4) proper surgical site/procedure identification, (5) reduction of surgical team distractions, and (6) routine surgical data collection and analysis to improve the safety and quality of surgical patient care. Successful surgical safety programs require a culture of safety supported by all six key surgical safety program elements, active surgeon champions, and collaborative hospital and/or administrative support designed to enhance surgical safety and improve surgical patient outcomes. Further research measuring improvements from such surgical safety systems in orthopaedic care is needed.

  3. Application of Real-Time 3D Navigation System in CT-Guided Percutaneous Interventional Procedures: A Feasibility Study

    Directory of Open Access Journals (Sweden)

    Priya Bhattacharji

    2017-01-01

    Full Text Available Introduction. To evaluate the accuracy of a quantitative 3D navigation system for CT-guided interventional procedures in a two-part study. Materials and Methods. Twenty-two procedures were performed in abdominal and thoracic phantoms. Accuracies of the 3D anatomy map registration and navigation were evaluated. Time used for the navigated procedures was recorded. In the IRB approved clinical evaluation, 21 patients scheduled for CT-guided thoracic and hepatic biopsy and ablations were recruited. CT-guided procedures were performed without following the 3D navigation display. Accuracy of navigation as well as workflow fitness of the system was evaluated. Results. In phantoms, the average 3D anatomy map registration error was 1.79 mm. The average navigated needle placement accuracy for one-pass and two-pass procedures, respectively, was 2.0±0.7 mm and 2.8±1.1 mm in the liver and 2.7±1.7 mm and 3.0±1.4 mm in the lung. The average accuracy of the 3D navigation system in human subjects was 4.6 mm ± 3.1 for all procedures. The system fits the existing workflow of CT-guided interventions with minimum impact. Conclusion. A 3D navigation system can be performed along the existing workflow and has the potential to navigate precision needle placement in CT-guided interventional procedures.

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

    Directory of Open Access Journals (Sweden)

    Bjørn Jalving

    2004-10-01

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

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

    Directory of Open Access Journals (Sweden)

    Seyed Mohammadreza Kasaei

    2011-12-01

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

  6. Indoor navigation by people with visual impairment using a digital sign system.

    Directory of Open Access Journals (Sweden)

    Gordon E Legge

    Full Text Available There is a need for adaptive technology to enhance indoor wayfinding by visually-impaired people. To address this need, we have developed and tested a Digital Sign System. The hardware and software consist of digitally-encoded signs widely distributed throughout a building, a handheld sign-reader based on an infrared camera, image-processing software, and a talking digital map running on a mobile device. Four groups of subjects-blind, low vision, blindfolded sighted, and normally sighted controls-were evaluated on three navigation tasks. The results demonstrate that the technology can be used reliably in retrieving information from the signs during active mobility, in finding nearby points of interest, and following routes in a building from a starting location to a destination. The visually impaired subjects accurately and independently completed the navigation tasks, but took substantially longer than normally sighted controls. This fully functional prototype system demonstrates the feasibility of technology enabling independent indoor navigation by people with visual impairment.

  7. Indoor navigation by people with visual impairment using a digital sign system.

    Science.gov (United States)

    Legge, Gordon E; Beckmann, Paul J; Tjan, Bosco S; Havey, Gary; Kramer, Kevin; Rolkosky, David; Gage, Rachel; Chen, Muzi; Puchakayala, Sravan; Rangarajan, Aravindhan

    2013-01-01

    There is a need for adaptive technology to enhance indoor wayfinding by visually-impaired people. To address this need, we have developed and tested a Digital Sign System. The hardware and software consist of digitally-encoded signs widely distributed throughout a building, a handheld sign-reader based on an infrared camera, image-processing software, and a talking digital map running on a mobile device. Four groups of subjects-blind, low vision, blindfolded sighted, and normally sighted controls-were evaluated on three navigation tasks. The results demonstrate that the technology can be used reliably in retrieving information from the signs during active mobility, in finding nearby points of interest, and following routes in a building from a starting location to a destination. The visually impaired subjects accurately and independently completed the navigation tasks, but took substantially longer than normally sighted controls. This fully functional prototype system demonstrates the feasibility of technology enabling independent indoor navigation by people with visual impairment.

  8. Inertial Navigation System/Doppler Velocity Log (INS/DVL Fusion with Partial DVL Measurements

    Directory of Open Access Journals (Sweden)

    Asaf Tal

    2017-02-01

    Full Text Available The Technion autonomous underwater vehicle (TAUV is an ongoing project aiming to develop and produce a small AUV to carry on research missions, including payload dropping, and to demonstrate acoustic communication. Its navigation system is based on an inertial navigation system (INS aided by a Doppler velocity log (DVL, magnetometer, and pressure sensor (PS. In many INSs, such as the one used in TAUV, only the velocity vector (provided by the DVL can be used for aiding the INS, i.e., enabling only a loosely coupled integration approach. In cases of partial DVL measurements, such as failure to maintain bottom lock, the DVL cannot estimate the vehicle velocity. Thus, in partial DVL situations no velocity data can be integrated into the TAUV INS, and as a result its navigation solution will drift in time. To circumvent that problem, we propose a DVL-based vehicle velocity solution using the measured partial raw data of the DVL and additional information, thereby deriving an extended loosely coupled (ELC approach. The implementation of the ELC approach requires only software modification. In addition, we present the TAUV six degrees of freedom (6DOF simulation that includes all functional subsystems. Using this simulation, the proposed approach is evaluated and the benefit of using it is shown.

  9. An Improved Strong Tracking Cubature Kalman Filter for GPS/INS Integrated Navigation Systems.

    Science.gov (United States)

    Feng, Kaiqiang; Li, Jie; Zhang, Xi; Zhang, Xiaoming; Shen, Chong; Cao, Huiliang; Yang, Yanyu; Liu, Jun

    2018-06-12

    The cubature Kalman filter (CKF) is widely used in the application of GPS/INS integrated navigation systems. However, its performance may decline in accuracy and even diverge in the presence of process uncertainties. To solve the problem, a new algorithm named improved strong tracking seventh-degree spherical simplex-radial cubature Kalman filter (IST-7thSSRCKF) is proposed in this paper. In the proposed algorithm, the effect of process uncertainty is mitigated by using the improved strong tracking Kalman filter technique, in which the hypothesis testing method is adopted to identify the process uncertainty and the prior state estimate covariance in the CKF is further modified online according to the change in vehicle dynamics. In addition, a new seventh-degree spherical simplex-radial rule is employed to further improve the estimation accuracy of the strong tracking cubature Kalman filter. In this way, the proposed comprehensive algorithm integrates the advantage of 7thSSRCKF’s high accuracy and strong tracking filter’s strong robustness against process uncertainties. The GPS/INS integrated navigation problem with significant dynamic model errors is utilized to validate the performance of proposed IST-7thSSRCKF. Results demonstrate that the improved strong tracking cubature Kalman filter can achieve higher accuracy than the existing CKF and ST-CKF, and is more robust for the GPS/INS integrated navigation system.

  10. 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.

  11. On-the-fly Locata/inertial navigation system integration for precise maritime application

    Science.gov (United States)

    Jiang, Wei; Li, Yong; Rizos, Chris

    2013-10-01

    The application of Global Navigation Satellite System (GNSS) technology has meant that marine navigators have greater access to a more consistent and accurate positioning capability than ever before. However, GNSS may not be able to meet all emerging navigation performance requirements for maritime applications with respect to service robustness, accuracy, integrity and availability. In particular, applications in port areas (for example automated docking) and in constricted waterways, have very stringent performance requirements. Even when an integrated inertial navigation system (INS)/GNSS device is used there may still be performance gaps. GNSS signals are easily blocked or interfered with, and sometimes the satellite geometry may not be good enough for high accuracy and high reliability applications. Furthermore, the INS accuracy degrades rapidly during GNSS outages. This paper investigates the use of a portable ground-based positioning system, known as ‘Locata’, which was integrated with an INS, to provide accurate navigation in a marine environment without reliance on GNSS signals. An ‘on-the-fly’ Locata resolution algorithm that takes advantage of geometry change via an extended Kalman filter is proposed in this paper. Single-differenced Locata carrier phase measurements are utilized to achieve accurate and reliable solutions. A ‘loosely coupled’ decentralized Locata/INS integration architecture based on the Kalman filter is used for data processing. In order to evaluate the system performance, a field trial was conducted on Sydney Harbour. A Locata network consisting of eight Locata transmitters was set up near the Sydney Harbour Bridge. The experiment demonstrated that the Locata on-the-fly (OTF) algorithm is effective and can improve the system accuracy in comparison with the conventional ‘known point initialization’ (KPI) method. After the OTF and KPI comparison, the OTF Locata/INS integration is then assessed further and its performance

  12. On-the-fly Locata/inertial navigation system integration for precise maritime application

    International Nuclear Information System (INIS)

    Jiang, Wei; Li, Yong; Rizos, Chris

    2013-01-01

    The application of Global Navigation Satellite System (GNSS) technology has meant that marine navigators have greater access to a more consistent and accurate positioning capability than ever before. However, GNSS may not be able to meet all emerging navigation performance requirements for maritime applications with respect to service robustness, accuracy, integrity and availability. In particular, applications in port areas (for example automated docking) and in constricted waterways, have very stringent performance requirements. Even when an integrated inertial navigation system (INS)/GNSS device is used there may still be performance gaps. GNSS signals are easily blocked or interfered with, and sometimes the satellite geometry may not be good enough for high accuracy and high reliability applications. Furthermore, the INS accuracy degrades rapidly during GNSS outages. This paper investigates the use of a portable ground-based positioning system, known as ‘Locata’, which was integrated with an INS, to provide accurate navigation in a marine environment without reliance on GNSS signals. An ‘on-the-fly’ Locata resolution algorithm that takes advantage of geometry change via an extended Kalman filter is proposed in this paper. Single-differenced Locata carrier phase measurements are utilized to achieve accurate and reliable solutions. A ‘loosely coupled’ decentralized Locata/INS integration architecture based on the Kalman filter is used for data processing. In order to evaluate the system performance, a field trial was conducted on Sydney Harbour. A Locata network consisting of eight Locata transmitters was set up near the Sydney Harbour Bridge. The experiment demonstrated that the Locata on-the-fly (OTF) algorithm is effective and can improve the system accuracy in comparison with the conventional ‘known point initialization’ (KPI) method. After the OTF and KPI comparison, the OTF Locata/INS integration is then assessed further and its performance

  13. SeSaMoNet 2.0: Improving a Navigation System for Visually Impaired People

    Science.gov (United States)

    Ceipidor, Ugo Biader; Medaglia, Carlo Maria; Sciarretta, Eliseo

    The authors present the improvements obtained during the work done for the last installation of SeSaMoNet, a navigation system for blind people. First the mobility issues of visually impaired people are shown together with strategies to solve them. Then an overview of the system and of its main elements is given. Afterward, the reasons which brought to a re-design are explained and finally the main features of the last system revision for the application are presented and compared to the previous one.

  14. Global navigation satellite systems performance analysis and augmentation strategies in aviation

    Science.gov (United States)

    Sabatini, Roberto; Moore, Terry; Ramasamy, Subramanian

    2017-11-01

    In an era of significant air traffic expansion characterized by a rising congestion of the radiofrequency spectrum and a widespread introduction of Unmanned Aircraft Systems (UAS), Global Navigation Satellite Systems (GNSS) are being exposed to a variety of threats including signal interferences, adverse propagation effects and challenging platform-satellite relative dynamics. Thus, there is a need to characterize GNSS signal degradations and assess the effects of interfering sources on the performance of avionics GNSS receivers and augmentation systems used for an increasing number of mission-essential and safety-critical aviation tasks (e.g., experimental flight testing, flight inspection/certification of ground-based radio navigation aids, wide area navigation and precision approach). GNSS signal deteriorations typically occur due to antenna obscuration caused by natural and man-made obstructions present in the environment (e.g., elevated terrain and tall buildings when flying at low altitude) or by the aircraft itself during manoeuvring (e.g., aircraft wings and empennage masking the on-board GNSS antenna), ionospheric scintillation, Doppler shift, multipath, jamming and spurious satellite transmissions. Anyone of these phenomena can result in partial to total loss of tracking and possible tracking errors, depending on the severity of the effect and the receiver characteristics. After designing GNSS performance threats, the various augmentation strategies adopted in the Communication, Navigation, Surveillance/Air Traffic Management and Avionics (CNS + A) context are addressed in detail. GNSS augmentation can take many forms but all strategies share the same fundamental principle of providing supplementary information whose objective is improving the performance and/or trustworthiness of the system. Hence it is of paramount importance to consider the synergies offered by different augmentation strategies including Space Based Augmentation System (SBAS), Ground

  15. 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...

  16. 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...

  17. Postoperative Surgical Site Infections: Understanding the Discordance Between Surveillance Systems.

    Science.gov (United States)

    Ali-Mucheru, Mariam N; Seville, Maria T; Miller, Vickie; Sampathkumar, Priya; Etzioni, David A

    2018-04-18

    To characterize agreement in the ascertainment of surgical site infections (SSIs) between the National Surgical Quality Improvement Program (NSQIP), National Healthcare Safety Network (NHSN), and administrative data. The NSQIP, NHSN, and administrative data are the primary systems used to monitor and report SSIs for the purpose of quality control and benchmarking of hospitals and surgeons. These systems have different methods for identifying SSIs. We queried the NHSN, NSQIP, and administrative data systems for patients who had an operation at 1 of 4 hospitals within a single health system between January 2013 and September 2015. The detection of an SSI during a postoperative hospitalization was the outcome of analysis. Any SSI detected by one (or more) of these systems was analyzed by 2 reviewers to determine the presence of discrete elements of documentation constituting evidence of SSI. Concordance between the 3 systems (NHSN, NSQIP, and administrative data) was analyzed using Cohen's kappa. After application of appropriate exclusion criteria, a cohort of 9447 inpatient operations was analyzed. In total, 130 SSIs were detected by 1 or more of the 3 systems, with reported SSI rates of 0.5% (NHSN), 0.7% (administrative data), and 1.0% (NSQIP). Of these 130 SSIs, only 17 SSIs were reported by all 3 systems. The concordance between these 3 systems was moderate (kappa values NSQIP-NHSN = 0.50 [0.40-0.60], administrative-NHSN = 0.36 [0.24-0.47], and administrative-NSQIP = 0.47 [0.38-0.57]). Chart review found that reasons for discordance were related to issues of different criteria as well as inaccuracies. There is significant discordance in the determination of SSIs reported by the NHSN, NSQIP, and administrative data. The differences and limitations of each of these systems have to be recognized, especially when using these data for quality reports and pay for performance.

  18. A multicenter prospective study of surgical audit systems.

    Science.gov (United States)

    Haga, Yoshio; Ikejiri, Koji; Wada, Yasuo; Takahashi, Tadateru; Ikenaga, Masakazu; Akiyama, Noriyoshi; Koike, Shoichiro; Koseki, Masato; Saitoh, Toshihiro

    2011-01-01

    This study was undertaken to evaluate a modified form of Estimation of Physiologic Ability and Surgical Stress (E-PASS) for surgical audit comparing with other existing models. Although several scoring systems have been devised for surgical audit, no nation-wide survey has been performed yet. We modified our previous E-PASS surgical audit system by computing the weights of 41 procedures, using data from 4925 patients who underwent elective digestive surgery, designated it as mE-PASS. Subsequently, a prospective cohort study was conducted in 43 national hospitals in Japan from April 1, 2005, to April 8, 2007. Variables for the E-PASS and American Society of Anesthesiologists (ASA) status-based model were collected for 5272 surgically treated patients. Of the 5272 patients, we also collected data for the Portsmouth modification of Physiologic and Operative Severity Score for the enUmeration of Mortality and morbidity (P-POSSUM) in 3128 patients. The area under the receiver operative characteristic curve (AUC) was used to evaluate discrimination performance to detect in-hospital mortality. The ratio of observed to estimated in-hospital mortality rates (OE ratio) was defined as a measure of quality. The numbers of variables required were 10 for E-PASS, 7 for mE-PASS, 20 for P-POSSUM, and 4 for the ASA status-based model. The AUC (95% confidence interval) values were 0.86 (0.79-0.93) for E-PASS, 0.86 (0.79-0.92) for mE-PASS, 0.81 (0.75-0.88) for P-POSSUM, and 0.73 (0.63-0.83) for the ASA status-based model. The OE ratios for mE-PASS among large-volume hospitals significantly correlated with those for E-PASS (R = 0.93, N = 9, P = 0.00026), P-POSSUM (R = 0.96, N = 6, P = 0.0021), and ASA status-based model (R = 0.83, N = 9, P = 0.0051). Because of its features of easy use, accuracy, and generalizability, mE-PASS is a candidate for a nation-wide survey.

  19. A UHF RFID positioning system for use in warehouse navigation by employees with cognitive disability.

    Science.gov (United States)

    Gunther, Eric J M; Sliker, Levin J; Bodine, Cathy

    2017-11-01

    Unemployment among the almost 5 million working-age adults with cognitive disabilities in the USA is a costly problem in both tax dollars and quality of life. Job coaching is an effective tool to overcome this, but the cost of job coaching services sums with every new employee or change of employment roles. There is a need for a cost-effective, automated alternative to job coaching that incurs a one-time cost and can be reused for multiple employees or roles. An effective automated job coach must be aware of its location and the location of destinations within the job site. This project presents a design and prototype of a cart-mounted indoor positioning and navigation system with necessary original software using Ultra High Frequency Radio Frequency Identification (UHF RFID). The system presented in this project for use within a warehouse setting is one component of an automated job coach to assist in the job of order filler. The system demonstrated accuracy to within 0.3 m under the correct conditions with strong potential to serve as the basis for an effective indoor navigation system to assist warehouse workers with disabilities. Implications for rehabilitation An automated job coach could improve employability of and job retention for people with cognitive disabilities. An indoor navigation system using ultra high frequency radio frequency identification was proposed with an average positioning accuracy of 0.3 m. The proposed system, in combination with a non-linear context-aware prompting system, could be used as an automated job coach for warehouse order fillers with cognitive disabilities.

  20. Registration of 2D C-Arm and 3D CT Images for a C-Arm Image-Assisted Navigation System for Spinal Surgery

    Directory of Open Access Journals (Sweden)

    Chih-Ju Chang

    2015-01-01

    Full Text Available C-Arm image-assisted surgical navigation system has been broadly applied to spinal surgery. However, accurate path planning on the C-Arm AP-view image is difficult. This research studies 2D-3D image registration methods to obtain the optimum transformation matrix between C-Arm and CT image frames. Through the transformation matrix, the surgical path planned on preoperative CT images can be transformed and displayed on the C-Arm images for surgical guidance. The positions of surgical instruments will also be displayed on both CT and C-Arm in the real time. Five similarity measure methods of 2D-3D image registration including Normalized Cross-Correlation, Gradient Correlation, Pattern Intensity, Gradient Difference Correlation, and Mutual Information combined with three optimization methods including Powell’s method, Downhill simplex algorithm, and genetic algorithm are applied to evaluate their performance in converge range, efficiency, and accuracy. Experimental results show that the combination of Normalized Cross-Correlation measure method with Downhill simplex algorithm obtains maximum correlation and similarity in C-Arm and Digital Reconstructed Radiograph (DRR images. Spine saw bones are used in the experiment to evaluate 2D-3D image registration accuracy. The average error in displacement is 0.22 mm. The success rate is approximately 90% and average registration time takes 16 seconds.

  1. Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering

    Science.gov (United States)

    Ilyas, Muhammad; Hong, Beomjin; Cho, Kuk; Baeg, Seung-Ho; Park, Sangdeok

    2016-01-01

    This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level. PMID:27223293

  2. A biologically inspired meta-control navigation system for the Psikharpax rat robot

    International Nuclear Information System (INIS)

    Caluwaerts, K; Staffa, M; N’Guyen, S; Grand, C; Dollé, L; Favre-Félix, A; Girard, B; Khamassi, M

    2012-01-01

    A biologically inspired navigation system for the mobile rat-like robot named Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. The ability of parts of the model (e.g. the strategy selection mechanism) to reproduce rat behavioral data in various maze tasks has been validated before in simulations. But the capacity of the model to work on a real robot platform had not been tested. This paper presents our work on the implementation on the Psikharpax robot of two independent navigation strategies (a place-based planning strategy and a cue-guided taxon strategy) and a strategy selection meta-controller. We show how our robot can memorize which was the optimal strategy in each situation, by means of a reinforcement learning algorithm. Moreover, a context detector enables the controller to quickly adapt to changes in the environment—recognized as new contexts—and to restore previously acquired strategy preferences when a previously experienced context is recognized. This produces adaptivity closer to rat behavioral performance and constitutes a computational proposition of the role of the rat prefrontal cortex in strategy shifting. Moreover, such a brain-inspired meta-controller may provide an advancement for learning architectures in robotics. (paper)

  3. IAE-adaptive Kalman filter for INS/GPS integrated navigation system

    Institute of Scientific and Technical Information of China (English)

    Bian Hongwei; Jin Zhihua; Tian Weifeng

    2006-01-01

    A marine INS/GPS adaptive navigation system is presented in this paper. GPS with two antenna providing vessel's altitude is selected as the auxiliary system fusing with INS to improve the performance of the hybrid system. The Kalman filter is the most frequently used algorithm in the integrated navigation system, which is capable of estimating INS errors online based on the measured errors between INS and GPS. The standard Kalman filter (SKF) assumes that the statistics of the noise on each sensor are given. As long as the noise distributions do not change, the Kalman filter will give the optimal estimation. However GPS receiver will be disturbed easily and thus temporally changing measurement noise will join into the outputs of GPS, which will lead to performance degradation of the Kalman filter. Many researchers introduce fuzzy logic control method into innovation-based adaptive estimation adaptive Kalman filtering (IAE-AKF) algorithm, and accordingly propose various adaptive Kalman filters. However how to design the fuzzy logic controller is a very complicated problem still without a convincing solution. A novel IAE-AKF is proposed herein, which is based on the maximum likelihood criterion for the proper computation of the filter innovation covariance and hence of the filter gain. The approach is direct and simple without having to establish fuzzy inference rules. After having deduced the proposed IAE-AKF algorithm theoretically in detail, the approach is tested by the simulation based on the system error model of the developed INS/GPS integrated marine navigation system. Simulation results show that the adaptive Kalman filter outperforms the SKF with higher accuracy, robustness and less computation. It is demonstrated that this proposed approach is a valid solution for the unknown changing measurement noise exited in the Kalman filter.

  4. Doppler Navigation System with a Non-Stabilized Antenna as a Sea-Surface Wind Sensor.

    Science.gov (United States)

    Nekrasov, Alexey; Khachaturian, Alena; Veremyev, Vladimir; Bogachev, Mikhail

    2017-06-09

    We propose a concept of the utilization of an aircraft Doppler Navigation System (DNS) as a sea-surface wind sensor complementary to its normal functionality. The DNS with an antenna, which is non-stabilized physically to the local horizontal with x -configured beams, is considered. We consider the wind measurements by the DNS configured in the multi-beam scatterometer mode for a rectilinear flight scenario. The system feasibility and the efficiency of the proposed wind algorithm retrieval are supported by computer simulations. Finally, the associated limitations of the proposed approach are considered.

  5. Data Analysis of the TK-1G Sounding Rocket Installed with a Satellite Navigation System

    Directory of Open Access Journals (Sweden)

    Lesong Zhou

    2017-10-01

    Full Text Available This article gives an in-depth analysis of the experimental data of the TK-1G sounding rocket installed with the satellite navigation system. It turns out that the data acquisition rate of the rocket sonde is high, making the collection of complete trajectory and meteorological data possible. By comparing the rocket sonde measurements with those obtained by virtue of other methods, we find that the rocket sonde can be relatively precise in measuring atmospheric parameters within the scope of 20–60 km above the ground. This establishes the fact that the TK-1G sounding rocket system is effective in detecting near-space atmospheric environment.

  6. Integrated software health management for aerospace guidance, navigation, and control systems: A probabilistic reasoning approach

    Science.gov (United States)

    Mbaya, Timmy

    Embedded Aerospace Systems have to perform safety and mission critical operations in a real-time environment where timing and functional correctness are extremely important. Guidance, Navigation, and Control (GN&C) systems substantially rely on complex software interfacing with hardware in real-time; any faults in software or hardware, or their interaction could result in fatal consequences. Integrated Software Health Management (ISWHM) provides an approach for detection and diagnosis of software failures while the software is in operation. The ISWHM approach is based on probabilistic modeling of software and hardware sensors using a Bayesian network. To meet memory and timing constraints of real-time embedded execution, the Bayesian network is compiled into an Arithmetic Circuit, which is used for on-line monitoring. This type of system monitoring, using an ISWHM, provides automated reasoning capabilities that compute diagnoses in a timely manner when failures occur. This reasoning capability enables time-critical mitigating decisions and relieves the human agent from the time-consuming and arduous task of foraging through a multitude of isolated---and often contradictory---diagnosis data. For the purpose of demonstrating the relevance of ISWHM, modeling and reasoning is performed on a simple simulated aerospace system running on a real-time operating system emulator, the OSEK/Trampoline platform. Models for a small satellite and an F-16 fighter jet GN&C (Guidance, Navigation, and Control) system have been implemented. Analysis of the ISWHM is then performed by injecting faults and analyzing the ISWHM's diagnoses.

  7. Data Integration from GPS and Inertial Navigation Systems for Pedestrians in Urban Area

    Directory of Open Access Journals (Sweden)

    Krzysztof Bikonis

    2013-09-01

    Full Text Available The GPS system is widely used in navigation and the GPS receiver can offer long-term stable absolute positioning information. The overall system performance depends largely on the signal environments. The position obtained from GPS is often degraded due to obstruction and multipath effect caused by buildings, city infrastructure and vegetation, whereas, the current performance achieved by inertial navigation systems (INS is still relatively poor due to the large inertial sensor errors. The complementary features of GPS and INS are the main reasons why integrated GPS/INS systems are becoming increasingly popular. GPS/INS systems offer a high data rate, high accuracy position and orientation that can work in all environments, particularly those where satellite availability is restricted. In the paper integration algorithm of GPS and INS systems data for pedestrians in urban area is presented. For data integration an Extended Kalman Filter (EKF algorithm is proposed. Complementary characteristics of GPS and INS with EKF can overcome the problem of huge INS drifts, GPS outages, dense multipath effect and other individual problems associated with these sensors.

  8. Design, implementation and testing of master slave robotic surgical system

    International Nuclear Information System (INIS)

    Ali, S.A.

    2015-01-01

    The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom) haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system. (author)

  9. A highly articulated robotic surgical system for minimally invasive surgery.

    Science.gov (United States)

    Ota, Takeyoshi; Degani, Amir; Schwartzman, David; Zubiate, Brett; McGarvey, Jeremy; Choset, Howie; Zenati, Marco A

    2009-04-01

    We developed a novel, highly articulated robotic surgical system (CardioARM) to enable minimally invasive intrapericardial therapeutic delivery through a subxiphoid approach. We performed preliminary proof of concept studies in a porcine preparation by performing epicardial ablation. CardioARM is a robotic surgical system having an articulated design to provide unlimited but controllable flexibility. The CardioARM consists of serially connected, rigid cyclindrical links housing flexible working ports through which catheter-based tools for therapy and imaging can be advanced. The CardioARM is controlled by a computer-driven, user interface, which is operated outside the operative field. In six experimental subjects, the CardioARM was introduced percutaneously through a subxiphoid access. A commercial 5-French radiofrequency ablation catheter was introduced through the working port, which was then used to guide deployment. In all subjects, regional ("linear") left atrial ablation was successfully achieved without complications. Based on these preliminary studies, we believe that the CardioARM promises to enable deployment of a number of epicardium-based therapies. Improvements in imaging techniques will likely facilitate increasingly complex procedures.

  10. Design, Implementation and Testing of Master Slave Robotic Surgical System

    Directory of Open Access Journals (Sweden)

    Syed Amjad Ali

    2015-01-01

    Full Text Available The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system

  11. Error Analysis and Calibration Method of a Multiple Field-of-View Navigation System.

    Science.gov (United States)

    Shi, Shuai; Zhao, Kaichun; You, Zheng; Ouyang, Chenguang; Cao, Yongkui; Wang, Zhenzhou

    2017-03-22

    The Multiple Field-of-view Navigation System (MFNS) is a spacecraft subsystem built to realize the autonomous navigation of the Spacecraft Inside Tiangong Space Station. This paper introduces the basics of the MFNS, including its architecture, mathematical model and analysis, and numerical simulation of system errors. According to the performance requirement of the MFNS, the calibration of both intrinsic and extrinsic parameters of the system is assumed to be essential and pivotal. Hence, a novel method based on the geometrical constraints in object space, called checkerboard-fixed post-processing calibration (CPC), is proposed to solve the problem of simultaneously obtaining the intrinsic parameters of the cameras integrated in the MFNS and the transformation between the MFNS coordinate and the cameras' coordinates. This method utilizes a two-axis turntable and a prior alignment of the coordinates is needed. Theoretical derivation and practical operation of the CPC method are introduced. The calibration experiment results of the MFNS indicate that the extrinsic parameter accuracy of the CPC reaches 0.1° for each Euler angle and 0.6 mm for each position vector component (1σ). A navigation experiment verifies the calibration result and the performance of the MFNS. The MFNS is found to work properly, and the accuracy of the position vector components and Euler angle reaches 1.82 mm and 0.17° (1σ) respectively. The basic mechanism of the MFNS may be utilized as a reference for the design and analysis of multiple-camera systems. Moreover, the calibration method proposed has practical value for its convenience for use and potential for integration into a toolkit.

  12. Developing and Evaluating a Virtual Reality-Based Navigation System for Pre-Sale Housing Sales

    Directory of Open Access Journals (Sweden)

    Yi-Kai Juan

    2018-06-01

    Full Text Available Virtual reality (VR technologies have advanced rapidly in the past few years, and many industries have adopted these cutting-edge technologies for diverse applications to improve their industrial competitiveness. VR has also received considerable recognition in the architecture, engineering, and construction industries, because it can potentially reduce project costs, delivery time, and quality risks, by allowing users to experience unbuilt spaces before breaking ground, resolving construction conflicts virtually, and reviewing complex details in immersive environments. In the real estate market, VR can also play an important role in affecting buyers’ housing purchasing decisions, especially for housing markets in Asia, where the pre-sale system is extremely common. Applying VR to the pre-sale housing system is promising, because the concept of pre-sale refers to a strategy adopted by developers that sell housing through agreements on residential units that have not been constructed yet, and VR at this stage could be a useful tool for visual communication in a true-to-scale environment. However, does VR really benefit sales in the housing market? Can clients accept using VR, instead of using traditional materials (i.e., paper-based images and physical models, to navigate and experience housing projects? The objective of this study is to develop a VR-based navigation system for a pre-sale housing project in Taiwan. We invited 30 potential clients to test the system and explore the implications of using it for project navigation. The results reveal that VR enhances the understandings of a project (perceived usefulness and increases clients’ intention to purchase, while the operation of VR (perceived ease-of-use is still the major challenge to affect clients’ satisfaction and the developer’s acceptance with respect to applying it to future housing sales.

  13. 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.

  14. 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.

  15. In-motion initial alignment and positioning with INS/CNS/ODO integrated navigation system for lunar rovers

    Science.gov (United States)

    Lu, Jiazhen; Lei, Chaohua; Yang, Yanqiang; Liu, Ming

    2017-06-01

    Many countries have been paying great attention to space exploration, especially about the Moon and the Mars. Autonomous and high-accuracy navigation systems are needed for probers and rovers to accomplish missions. Inertial navigation system (INS)/celestial navigation system (CNS) based navigation system has been used widely on the lunar rovers. Initialization is a particularly important step for navigation. This paper presents an in-motion alignment and positioning method for lunar rovers by INS/CNS/odometer integrated navigation. The method can estimate not only the position and attitude errors, but also the biases of the accelerometers and gyros using the standard Kalman filter. The differences between the platform star azimuth, elevation angles and the computed star azimuth, elevation angles, and the difference between the velocity measured by odometer and the velocity measured by inertial sensors are taken as measurements. The semi-physical experiments are implemented to demonstrate that the position error can reduce to 10 m and attitude error is within 2″ during 5 min. The experiment results prove that it is an effective and attractive initialization approach for lunar rovers.

  16. 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.

  17. A BLE-Based Pedestrian Navigation System for Car Searching in Indoor Parking Garages.

    Science.gov (United States)

    Wang, Sheng-Shih

    2018-05-05

    The continuous global increase in the number of cars has led to an increase in parking issues, particularly with respect to the search for available parking spaces and finding cars. In this paper, we propose a navigation system for car owners to find their cars in indoor parking garages. The proposed system comprises a car-searching mobile app and a positioning-assisting subsystem. The app guides car owners to their cars based on a “turn-by-turn” navigation strategy, and has the ability to correct the user’s heading orientation. The subsystem uses beacon technology for indoor positioning, supporting self-guidance of the car-searching mobile app. This study also designed a local coordinate system to support the identification of the locations of parking spaces and beacon devices. We used Android as the platform to implement the proposed car-searching mobile app, and used Bytereal HiBeacon devices to implement the proposed positioning-assisting subsystem. We also deployed the system in a parking lot in our campus for testing. The experimental results verified that the proposed system not only works well, but also provides the car owner with the correct route guidance information.

  18. Pipeline control support system, 'pipe navigation'; Kanro kanri shien system 'kannabi'

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-01-10

    'Pipe navigation' is a pipeline control support system which employs GIS/GPS (geographic information system/global positioning system) technology in controlling information of water pipeline and incidental facilities, using a pen note/personal computer as the operating base. These pen computers can be carried to the spot and used in displaying pipeline/incidental equipment and retrieving related information. The main features as follows:(1) Memo preparation is possible at an arbitrary place with handwriting ease. The memo data so prepared can be taken in other terminals and shared.(2) Communication with remote places is possible by transmitting drawings, prepared memo data, etc., as in facsimile (3) Confirmation of the present position and navigation are possible (GPS function), demonstrating power in a restoration work at the time of earthquake for example.(4) Inputting and maintenance of each facility information are possible through the data input support function even by general users easily. (translated by NEDO)

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

    OpenAIRE

    Apostolos Meliones; Demetrios Sampson

    2018-01-01

    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 curr...

  20. An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas

    Directory of Open Access Journals (Sweden)

    David Zapata

    2013-01-01

    Full Text Available There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor information in order to address those requirements. The ground robot is able to navigate in an unknown large environment aided by visual feedback from a camera on board the aerial robot. At the same time, the obstacles are mapped in real-time by putting together the information from the camera and the positioning system of the ground robot. A set of experiments were carried out with the purpose of verifying the system applicability. The experiments were performed in a simulation environment and outdoor with a medium-sized ground robot and a mini quad-rotor. The proposed robotic system shows outstanding results in simultaneous navigation and mapping applications in large outdoor environments.

  1. Integrated navigation and control software system for MRI-guided robotic prostate interventions.

    Science.gov (United States)

    Tokuda, Junichi; Fischer, Gregory S; DiMaio, Simon P; Gobbi, David G; Csoma, Csaba; Mewes, Philip W; Fichtinger, Gabor; Tempany, Clare M; Hata, Nobuhiko

    2010-01-01

    A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called "workphases" that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified. Copyright 2009 Elsevier Ltd. All rights reserved.

  2. A Navigation System for the Visually Impaired: A Fusion of Vision and Depth Sensor

    Science.gov (United States)

    Kanwal, Nadia; Bostanci, Erkan; Currie, Keith; Clark, Adrian F.

    2015-01-01

    For a number of years, scientists have been trying to develop aids that can make visually impaired people more independent and aware of their surroundings. Computer-based automatic navigation tools are one example of this, motivated by the increasing miniaturization of electronics and the improvement in processing power and sensing capabilities. This paper presents a complete navigation system based on low cost and physically unobtrusive sensors such as a camera and an infrared sensor. The system is based around corners and depth values from Kinect's infrared sensor. Obstacles are found in images from a camera using corner detection, while input from the depth sensor provides the corresponding distance. The combination is both efficient and robust. The system not only identifies hurdles but also suggests a safe path (if available) to the left or right side and tells the user to stop, move left, or move right. The system has been tested in real time by both blindfolded and blind people at different indoor and outdoor locations, demonstrating that it operates adequately. PMID:27057135

  3. Integrated navigation and control software system for MRI-guided robotic prostate interventions

    Science.gov (United States)

    Tokuda, Junichi; Fischer, Gregory S.; DiMaio, Simon P.; Gobbi, David G.; Csoma, Csaba; Mewes, Philip W.; Fichtinger, Gabor; Tempany, Clare M.; Hata, Nobuhiko

    2010-01-01

    A software system to provide intuitive navigation for MRI-guided robotic transperineal prostate therapy is presented. In the system, the robot control unit, the MRI scanner, and the open-source navigation software are connected together via Ethernet to exchange commands, coordinates, and images using an open network communication protocol, OpenIGTLink. The system has six states called “workphases” that provide the necessary synchronization of all components during each stage of the clinical workflow, and the user interface guides the operator linearly through these workphases. On top of this framework, the software provides the following features for needle guidance: interactive target planning; 3D image visualization with current needle position; treatment monitoring through real-time MR images of needle trajectories in the prostate. These features are supported by calibration of robot and image coordinates by fiducial-based registration. Performance tests show that the registration error of the system was 2.6 mm within the prostate volume. Registered real-time 2D images were displayed 1.97 s after the image location is specified. PMID:19699057

  4. An Application of UAV Attitude Estimation Using a Low-Cost Inertial Navigation System

    Science.gov (United States)

    Eure, Kenneth W.; Quach, Cuong Chi; Vazquez, Sixto L.; Hogge, Edward F.; Hill, Boyd L.

    2013-01-01

    Unmanned Aerial Vehicles (UAV) are playing an increasing role in aviation. Various methods exist for the computation of UAV attitude based on low cost microelectromechanical systems (MEMS) and Global Positioning System (GPS) receivers. There has been a recent increase in UAV autonomy as sensors are becoming more compact and onboard processing power has increased significantly. Correct UAV attitude estimation will play a critical role in navigation and separation assurance as UAVs share airspace with civil air traffic. This paper describes attitude estimation derived by post-processing data from a small low cost Inertial Navigation System (INS) recorded during the flight of a subscale commercial off the shelf (COTS) UAV. Two discrete time attitude estimation schemes are presented here in detail. The first is an adaptation of the Kalman Filter to accommodate nonlinear systems, the Extended Kalman Filter (EKF). The EKF returns quaternion estimates of the UAV attitude based on MEMS gyro, magnetometer, accelerometer, and pitot tube inputs. The second scheme is the complementary filter which is a simpler algorithm that splits the sensor frequency spectrum based on noise characteristics. The necessity to correct both filters for gravity measurement errors during turning maneuvers is demonstrated. It is shown that the proposed algorithms may be used to estimate UAV attitude. The effects of vibration on sensor measurements are discussed. Heuristic tuning comments pertaining to sensor filtering and gain selection to achieve acceptable performance during flight are given. Comparisons of attitude estimation performance are made between the EKF and the complementary filter.

  5. 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.

  6. Underground mine navigation using an integrated IMU/TOF system with unscented Kalman filter

    CSIR Research Space (South Africa)

    Hlophe, K

    2011-07-01

    Full Text Available & Factories of the Future Conference, 26-28 July 2011, Kuala Lumpur, Malaysia improve mine safety?, in 25th International Conference of CAD/CAM, Robotics & Factories of the Future, Pretoria, 2010. [2] J. J. Green and D. Vogt, Robot miner for low... Page 1 of 11 26th International Conference of CAD/CAM, Robotics & Factories of the Future Conference, 26-28 July 2011, Kuala Lumpur, Malaysia UNDERGROUND MINE NAVIGATION USING AN INTERGRATED IMU/TOF SYSTEM WITH UNSCENTED KALMAN FILTER...

  7. Clinical applications of virtual navigation bronchial intervention.

    Science.gov (United States)

    Kajiwara, Naohiro; Maehara, Sachio; Maeda, Junichi; Hagiwara, Masaru; Okano, Tetsuya; Kakihana, Masatoshi; Ohira, Tatsuo; Kawate, Norihiko; Ikeda, Norihiko

    2018-01-01

    In patients with bronchial tumors, we frequently consider endoscopic treatment as the first treatment of choice. All computed tomography (CT) must satisfy several conditions necessary to analyze images by Synapse Vincent. To select safer and more precise approaches for patients with bronchial tumors, we determined the indications and efficacy of virtual navigation intervention for the treatment of bronchial tumors. We examined the efficacy of virtual navigation bronchial intervention for the treatment of bronchial tumors located at a variety of sites in the tracheobronchial tree using a high-speed 3-dimensional (3D) image analysis system, Synapse Vincent. Constructed images can be utilized to decide on the simulation and interventional strategy as well as for navigation during interventional manipulation in two cases. Synapse Vincent was used to determine the optimal planning of virtual navigation bronchial intervention. Moreover, this system can detect tumor location and alsodepict surrounding tissues, quickly, accurately, and safely. The feasibility and safety of Synapse Vincent in performing useful preoperative simulation and navigation of surgical procedures can lead to safer, more precise, and less invasion for the patient, and makes it easy to construct an image, depending on the purpose, in 5-10 minutes using Synapse Vincent. Moreover, if the lesion is in the parenchyma or sub-bronchial lumen, it helps to perform simulation with virtual skeletal subtraction to estimate potential lesion movement. By using virtual navigation system for simulation, bronchial intervention was performed with no complications safely and precisely. Preoperative simulation using virtual navigation bronchial intervention reduces the surgeon's stress levels, particularly when highly skilled techniques are needed to operate on lesions. This task, including both preoperative simulation and intraoperative navigation, leads to greater safety and precision. These technological instruments

  8. Statistical methods for launch vehicle guidance, navigation, and control (GN&C) system design and analysis

    Science.gov (United States)

    Rose, Michael Benjamin

    A novel trajectory and attitude control and navigation analysis tool for powered ascent is developed. The tool is capable of rapid trade-space analysis and is designed to ultimately reduce turnaround time for launch vehicle design, mission planning, and redesign work. It is streamlined to quickly determine trajectory and attitude control dispersions, propellant dispersions, orbit insertion dispersions, and navigation errors and their sensitivities to sensor errors, actuator execution uncertainties, and random disturbances. The tool is developed by applying both Monte Carlo and linear covariance analysis techniques to a closed-loop, launch vehicle guidance, navigation, and control (GN&C) system. The nonlinear dynamics and flight GN&C software models of a closed-loop, six-degree-of-freedom (6-DOF), Monte Carlo simulation are formulated and developed. The nominal reference trajectory (NRT) for the proposed lunar ascent trajectory is defined and generated. The Monte Carlo truth models and GN&C algorithms are linearized about the NRT, the linear covariance equations are formulated, and the linear covariance simulation is developed. The performance of the launch vehicle GN&C system is evaluated using both Monte Carlo and linear covariance techniques and their trajectory and attitude control dispersion, propellant dispersion, orbit insertion dispersion, and navigation error results are validated and compared. Statistical results from linear covariance analysis are generally within 10% of Monte Carlo results, and in most cases the differences are less than 5%. This is an excellent result given the many complex nonlinearities that are embedded in the ascent GN&C problem. Moreover, the real value of this tool lies in its speed, where the linear covariance simulation is 1036.62 times faster than the Monte Carlo simulation. Although the application and results presented are for a lunar, single-stage-to-orbit (SSTO), ascent vehicle, the tools, techniques, and mathematical

  9. Flight results of attitude matching between Space Shuttle and Inertial Upper Stage (IUS) navigation systems

    Science.gov (United States)

    Treder, Alfred J.; Meldahl, Keith L.

    The recorded histories of Shuttle/Orbiter attitude and Inertial Upper Stage (IUS) attitude have been analyzed for all joint flights of the IUS in the Orbiter. This database was studied to determine the behavior of relative alignment between the IUS and Shuttle navigation systems. It is found that the overall accuracy of physical alignment has a Shuttle Orbiter bias component less than 5 arcmin/axis and a short-term stability upper bound of 0.5 arcmin/axis, both at 1 sigma. Summaries of the experienced physical and inertial alginment offsets are shown in this paper, together with alignment variation data, illustrated with some flight histories. Also included is a table of candidate values for some error source groups in an Orbiter/IUS attitude errror model. Experience indicates that the Shuttle is much more accurate and stable as an orbiting launch platform than has so far been advertised. This information will be valuable for future Shuttle payloads, especially those (such as the Aeroassisted Flight Experiment) which carry their own inertial navigation systems, and which could update or initialize their attitude determination systems using the Shuttle as the reference.

  10. An obstacle detection system using binocular stereo fisheye lenses for planetary rover navigation

    Science.gov (United States)

    Liu, L.; Jia, J.; Li, L.

    In this paper we present an implementation of an obstacle detection system using binocular stereo fisheye lenses for planetary rover navigation The fisheye lenses can improve image acquisition efficiency and handle minimal clearance recovery problem because they provide a large field of view However the fisheye lens introduces significant distortion in the image and this will make it much more difficult to find a one-to-one correspondence In addition we have to improve the system accuracy and efficiency for robot navigation To compute dense depth maps accurately in real time the following five key issues are considered 1 using lookup tables for a tradeoff between time and space in fisheye distortion correction and correspondence matching 2 using an improved incremental calculation scheme for algorithmic optimization 3 multimedia instruction set MMX implementation 4 consistency check to remove wrong stereo matching problems suffering from occlusions or mismatches 5 constraints of the recovery space To realize obstacle detection robustly we use the following three steps 1 extracting the ground plane parameters using Randomized Hough Transform 2 filtering the ground and background 3 locating the obstacles by using connected region detection Experimental results show the system can run at 3 2fps in 2 0GHz PC with 640X480 pixels

  11. Indoor wayfinding and navigation

    CERN Document Server

    2015-01-01

    Due to the widespread use of navigation systems for wayfinding and navigation in the outdoors, researchers have devoted their efforts in recent years to designing navigation systems that can be used indoors. This book is a comprehensive guide to designing and building indoor wayfinding and navigation systems. It covers all types of feasible sensors (for example, Wi-Fi, A-GPS), discussing the level of accuracy, the types of map data needed, the data sources, and the techniques for providing routes and directions within structures.

  12. 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.

  13. 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.

  14. Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems

    Directory of Open Access Journals (Sweden)

    Ruonan Wu

    2016-12-01

    Full Text Available The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs with high-order horizontal damping networks, analyses of the error propagation show that the gravity-induced errors exist almost exclusively in the horizontal channels and are mostly caused by deflections of the vertical (DOV. Low-frequency components of the DOV propagate into the latitude and longitude errors at a ratio of 1:1 and time-varying fluctuations in the DOV excite Schuler oscillation. This paper presents two gravity compensation methods using the Earth Gravitational Model 2008 (EGM2008, namely, interpolation from the off-line database and computing gravity vectors directly using the spherical harmonic model. Particular attention is given to the error contribution of the gravity update interval and computing time delay. It is recommended for the marine navigation that a gravity vector should be calculated within 1 s and updated every 100 s at most. To meet this demand, the time duration of calculating the current gravity vector using EGM2008 has been reduced to less than 1 s by optimizing the calculation procedure. A few off-line experiments were conducted using the data of a shipborne INS collected during an actual sea test. With the aid of EGM2008, most of the low-frequency components of the position errors caused by the gravity disturbance vector have been removed and the Schuler oscillation has been attenuated effectively. In the rugged terrain, the horizontal position error could be reduced at best 48.85% of its regional maximum. The experimental results match with the theoretical analysis and indicate that EGM2008 is suitable for gravity compensation of the high-precision and long-term INSs.

  15. Gravity Compensation Using EGM2008 for High-Precision Long-Term Inertial Navigation Systems.

    Science.gov (United States)

    Wu, Ruonan; Wu, Qiuping; Han, Fengtian; Liu, Tianyi; Hu, Peida; Li, Haixia

    2016-12-18

    The gravity disturbance vector is one of the major error sources in high-precision and long-term inertial navigation applications. Specific to the inertial navigation systems (INSs) with high-order horizontal damping networks, analyses of the error propagation show that the gravity-induced errors exist almost exclusively in the horizontal channels and are mostly caused by deflections of the vertical (DOV). Low-frequency components of the DOV propagate into the latitude and longitude errors at a ratio of 1:1 and time-varying fluctuations in the DOV excite Schuler oscillation. This paper presents two gravity compensation methods using the Earth Gravitational Model 2008 (EGM2008), namely, interpolation from the off-line database and computing gravity vectors directly using the spherical harmonic model. Particular attention is given to the error contribution of the gravity update interval and computing time delay. It is recommended for the marine navigation that a gravity vector should be calculated within 1 s and updated every 100 s at most. To meet this demand, the time duration of calculating the current gravity vector using EGM2008 has been reduced to less than 1 s by optimizing the calculation procedure. A few off-line experiments were conducted using the data of a shipborne INS collected during an actual sea test. With the aid of EGM2008, most of the low-frequency components of the position errors caused by the gravity disturbance vector have been removed and the Schuler oscillation has been attenuated effectively. In the rugged terrain, the horizontal position error could be reduced at best 48.85% of its regional maximum. The experimental results match with the theoretical analysis and indicate that EGM2008 is suitable for gravity compensation of the high-precision and long-term INSs.

  16. Surgical orthodontics.

    Science.gov (United States)

    Strohl, Alexis M; Vitkus, Lauren

    2017-08-01

    The article reviews some commonly used orthodontic treatments as well as new strategies to assist in the correction of malocclusion. Many techniques are used in conjunction with surgical intervention and are a necessary compliment to orthognathic surgery. Basic knowledge of these practices will aid in the surgeon's ability to adequately treat the patient. Many orthodontists and surgeons are eliminating presurgical orthodontics to adopt a strategy of 'surgery first' orthodontics in orthognathic surgery. This has the benefit of immediate improvement in facial aesthetics and shorter treatment times. The advent of virtual surgical planning has helped facilitate the development of this new paradigm by making surgical planning faster and easier. Furthermore, using intraoperative surgical navigation is improving overall precision and outcomes. A variety of surgical and nonsurgical treatments may be employed in the treatment of malocclusion. It is important to be familiar with all options available and tailor the patient's treatment plan accordingly. Surgery-first orthodontics, intraoperative surgical navigation, virtual surgical planning, and 3D printing are evolving new techniques that are producing shorter treatment times and subsequently improving patient satisfaction without sacrificing long-term stability.

  17. On-board landmark navigation and attitude reference parallel processor system

    Science.gov (United States)

    Gilbert, L. E.; Mahajan, D. T.

    1978-01-01

    An approach to autonomous navigation and attitude reference for earth observing spacecraft is described along with the landmark identification technique based on a sequential similarity detection algorithm (SSDA). Laboratory experiments undertaken to determine if better than one pixel accuracy in registration can be achieved consistent with onboard processor timing and capacity constraints are included. The SSDA is implemented using a multi-microprocessor system including synchronization logic and chip library. The data is processed in parallel stages, effectively reducing the time to match the small known image within a larger image as seen by the onboard image system. Shared memory is incorporated in the system to help communicate intermediate results among microprocessors. The functions include finding mean values and summation of absolute differences over the image search area. The hardware is a low power, compact unit suitable to onboard application with the flexibility to provide for different parameters depending upon the environment.

  18. A multi-modality tracking, navigation and calibration for a flexible robotic drill system for total hip arthroplasty.

    Science.gov (United States)

    Ahmad Fuad, Ahmad Nazmi Bin; Deep, Kamal; Yao, Wei

    2018-02-01

    This paper presents a novel multi-modality tracking and navigation system that provides a unique capability to guild a flexible drill tip inside the bone with accurate curved tunnelling. As the flexible drill tip cannot be tracked optically inside the bone, this research focuses on developing a hybrid tracking and navigation system for tracking a flexible drill tip by using both optical and kinematic tracking. The tracking information is used to guide the THA (total hip arthroplasty) procedure, providing a real-time virtual model of the flexible drill. The flexible and steerable drill tip system is then tested on total hip arthroplasty followed by evaluation of the positioning and orientation of femoral stem placement by femoral milling. Based on this study, we conclude that the tracking and navigation system is able to guide the flexible drill to mill inside femoral canal. Copyright © 2017 John Wiley & Sons, Ltd.

  19. Feasibility of Electronic Nicotine Delivery Systems in Surgical Patients.

    Science.gov (United States)

    Nolan, Margaret; Leischow, Scott; Croghan, Ivana; Kadimpati, Sandeep; Hanson, Andrew; Schroeder, Darrell; Warner, David O

    2016-08-01

    Cigarette smoking is a known risk factor for postoperative complications. Quitting or cutting down on cigarettes around the time of surgery may reduce these risks. This study aimed to determine the feasibility of using electronic nicotine delivery systems (ENDS) to help patients achieve this goal, regardless of their intent to attempt long-term abstinence. An open-label observational study was performed of cigarette smoking adults scheduled for elective surgery at Mayo Clinic Rochester and seen in the pre-operative evaluation clinic between December 2014 and June 2015. Subjects were given a supply of ENDS to use prior to and 2 weeks after surgery. They were encouraged to use them whenever they craved a cigarette. Daily use of ENDS was recorded, and patients were asked about smoking behavior and ENDS use at baseline, 14 days and 30 days. Of the 105 patients approached, 80 (76%) agreed to participate; five of these were later excluded. Among the 75, 67 (87%) tried ENDS during the study period. At 30-day follow-up, 34 (51%) who had used ENDS planned to continue using them. Average cigarette consumption decreased from 15.6 per person/d to 7.6 over the study period (P < .001). At 30 days, 11/67 (17%) reported abstinence from cigarettes. ENDS use is feasible in adult smokers scheduled for elective surgery and is associated with a reduction in perioperative cigarette consumption. These results support further exploration of ENDS as a means to help surgical patients reduce or eliminate their cigarette consumption around the time of surgery. Smoking in the perioperative period increases patients' risk for surgical complications and healing difficulties, but new strategies are needed to help patients quit or cut down during this stressful time. These pilot data suggest that ENDS use is feasible and well-accepted in surgical patients, and worthy of exploration as a harm reduction strategy in these patients. © The Author 2016. Published by Oxford University Press on behalf of

  20. Migration in the Anthropocene: how collective navigation, environmental system and taxonomy shape the vulnerability of migratory species.

    Science.gov (United States)

    Hardesty-Moore, Molly; Deinet, Stefanie; Freeman, Robin; Titcomb, Georgia C; Dillon, Erin M; Stears, Keenan; Klope, Maggie; Bui, An; Orr, Devyn; Young, Hillary S; Miller-Ter Kuile, Ana; Hughey, Lacey F; McCauley, Douglas J

    2018-05-19

    Recent increases in human disturbance pose significant threats to migratory species using collective movement strategies. Key threats to migrants may differ depending on behavioural traits (e.g. collective navigation), taxonomy and the environmental system (i.e. freshwater, marine or terrestrial) associated with migration. We quantitatively assess how collective navigation, taxonomic membership and environmental system impact species' vulnerability by (i) evaluating population change in migratory and non-migratory bird, mammal and fish species using the Living Planet Database (LPD), (ii) analysing the role of collective navigation and environmental system on migrant extinction risk using International Union for Conservation of Nature (IUCN) classifications and (iii) compiling literature on geographical range change of migratory species. Likelihood of population decrease differed by taxonomic group: migratory birds were more likely to experience annual declines than non-migrants, while mammals displayed the opposite pattern. Within migratory species in IUCN, we observed that collective navigation and environmental system were important predictors of extinction risk for fishes and birds, but not for mammals, which had overall higher extinction risk than other taxa. We found high phylogenetic relatedness among collectively navigating species, which could have obscured its importance in determining extinction risk. Overall, outputs from these analyses can help guide strategic interventions to conserve the most vulnerable migrations.This article is part of the theme issue 'Collective movement ecology'. © 2018 The Author(s).

  1. Drift Reduction in Pedestrian Navigation System by Exploiting Motion Constraints and Magnetic Field

    Directory of Open Access Journals (Sweden)

    Muhammad Ilyas

    2016-09-01

    Full Text Available Pedestrian navigation systems (PNS using foot-mounted MEMS inertial sensors use zero-velocity updates (ZUPTs to reduce drift in navigation solutions and estimate inertial sensor errors. However, it is well known that ZUPTs cannot reduce all errors, especially as heading error is not observable. Hence, the position estimates tend to drift and even cyclic ZUPTs are applied in updated steps of the Extended Kalman Filter (EKF. This urges the use of other motion constraints for pedestrian gait and any other valuable heading reduction information that is available. In this paper, we exploit two more motion constraints scenarios of pedestrian gait: (1 walking along straight paths; (2 standing still for a long time. It is observed that these motion constraints (called “virtual sensor”, though considerably reducing drift in PNS, still need an absolute heading reference. One common absolute heading estimation sensor is the magnetometer, which senses the Earth’s magnetic field and, hence, the true heading angle can be calculated. However, magnetometers are susceptible to magnetic distortions, especially in indoor environments. In this work, an algorithm, called magnetic anomaly detection (MAD and compensation is designed by incorporating only healthy magnetometer data in the EKF updating step, to reduce drift in zero-velocity updated INS. Experiments are conducted in GPS-denied and magnetically distorted environments to validate the proposed algorithms.

  2. Application of the spherical harmonic gravity model in high precision inertial navigation systems

    International Nuclear Information System (INIS)

    Wang, Jing; Yang, Gongliu; Zhou, Xiao; Li, Xiangyun

    2016-01-01

    The spherical harmonic gravity model (SHM) may, in general, be considered as a suitable alternative to the normal gravity model (NGM), because it represents the Earth’s gravitational field more accurately. However, the high-resolution SHM has never been used in current inertial navigation systems (INSs) due to its extremely complex expression. In this paper, the feasibility and accuracy of a truncated SHM are discussed for application in a real-time free-INS with a precision demand better than 0.8 nm h −1 . In particular, the time and space complexity are analyzed mathematically to verify the feasibility of the SHM. Also, a test on a typical navigation computer shows a storable range of cut-off degrees. To further evaluate the appropriate degree and accuracy of the truncated SHM, analyses of covariance and truncation error are proposed. Finally, a SHM of degree 12 is demonstrated to be the appropriate model for routine INSs in the precision range of 0.4–0.75 nm h −1 . Flight simulations and road tests show its outstanding performance over the traditional NGM. (paper)

  3. Estimating Zenith Tropospheric Delays from BeiDou Navigation Satellite System Observations

    Directory of Open Access Journals (Sweden)

    Xin Sui

    2013-04-01

    Full Text Available The GNSS derived Zenith Tropospheric Delay (ZTD plays today a very critical role in meteorological study and weather forecasts, as ZTDs of thousands of GNSS stations are operationally assimilated into numerical weather prediction models. Recently, the Chinese BeiDou Navigation Satellite System (BDS was officially announced to provide operational services around China and its neighborhood and it was demonstrated to be very promising for precise navigation and positioning. In this contribution, we concentrate on estimating ZTD using BDS observations to assess its capacity for troposphere remote sensing. A local network which is about 250 km from Beijing and comprised of six stations equipped with GPS- and BDS-capable receivers is utilized. Data from 5 to 8 November 2012 collected on the network is processed in network mode using precise orbits and in Precise Point Positioning mode using precise orbits and clocks. The precise orbits and clocks are generated from a tracking network with most of the stations in China and several stations around the world. The derived ZTDs are compared with that estimated from GPS data using the final products of the International GNSS Service (IGS. The comparison shows that the bias and the standard deviation of the ZTD differences are about 2 mm and 5 mm, respectively, which are very close to the differences of GPS ZTD estimated using different software packages.

  4. Intraoperative magnetic resonance imaging to update interactive navigation in neurosurgery: method and preliminary experience.

    Science.gov (United States)

    Wirtz, C R; Bonsanto, M M; Knauth, M; Tronnier, V M; Albert, F K; Staubert, A; Kunze, S

    1997-01-01

    We report on the first successful intraoperative update of interactive image guidance based on an intraoperatively acquired magnetic resonance imaging (MRI) date set. To date, intraoperative imaging methods such as ultrasound, computerized tomography (CT), or MRI have not been successfully used to update interactive navigation. We developed a method of imaging patients intraoperatively with the surgical field exposed in an MRI scanner (Magnetom Open; Siemens Corp., Erlangen, Germany). In 12 patients, intraoperatively acquired 3D data sets were used for successful recalibration of neuronavigation, accounting for any anatomical changes caused by surgical manipulations. The MKM Microscope (Zeiss Corp., Oberkochen, Germany) was used as navigational system. With implantable fiducial markers, an accuracy of 0.84 +/- 0.4 mm for intraoperative reregistration was achieved. Residual tumor detected on MRI was consequently resected using navigation with the intraoperative data. No adverse effects were observed from intraoperative imaging or the use of navigation with intraoperative images, demonstrating the feasibility of recalibrating navigation with intraoperative MRI.

  5. Comparison of two navigation systems for CT-guided interventions under special consideration of the ergonomic properties of the used systems

    International Nuclear Information System (INIS)

    Schulz, T.; Roettger, S.; Bahner-Heyne, E.J.; Kluge, G.

    2009-01-01

    Purpose: investigation of the influence of CT-based navigation systems on the success of an intervention, assessment of the advantages and disadvantages of the utilized systems, and evaluation of the ergonomic system properties. Materials and method: a simple guiding system PatPos Invent trademark and the computer-based navigation system PinPoint trademark were employed on two CT systems. In order to investigate the influence of the navigation aids on the success of the interventions, 96 prospective, randomized, and standardized punctures were performed on a specifically developed, rigid phantom. 16 examiners punctured 6 targets with 3 degrees of difficulty with the navigation aids. Results: irrespective of the experience of the examiner, both navigation systems guided the target with an equal degree of certainty. PinPoint significantly reduced the length of the examination time (12 - 25 min) as compared to PatPos Invent (20 - 40 min). The expectation conformity and comprehensibility of PatPos Invent were assessed significantly more positively than PinPoint with regard to the general handling of the system. In contrast, the assessment of the usability during preoperative setup favored PinPoint. The type of navigation system has no influence on the precision of the implementation of a puncture procedure. (orig.)

  6. Vibrotactile Feedbacks System for Assisting the Physically Impaired Persons for Easy Navigation

    Science.gov (United States)

    Safa, M.; Geetha, G.; Elakkiya, U.; Saranya, D.

    2018-04-01

    NAYAN architecture is for a visually impaired person to help for navigation. As well known, all visually impaired people desperately requires special requirements even to access services like the public transportation. This prototype system is a portable device; it is so easy to carry in any conduction to travel through a familiar and unfamiliar environment. The system consists of GPS receiver and it can get NEMA data through the satellite and it is provided to user's Smartphone through Arduino board. This application uses two vibrotactile feedbacks that will be placed in the left and right shoulder for vibration feedback, which gives information about the current location. The ultrasonic sensor is used for obstacle detection which is found in front of the visually impaired person. The Bluetooth modules connected with Arduino board is to send information to the user's mobile phone which it receives from GPS.

  7. Refurbishment and upgrading of Iron Gates I Hydroelectric and Navigation System on the Danube River

    International Nuclear Information System (INIS)

    Scvortov, F.; Vasiliu, A.; Rosca, N.

    1996-01-01

    This work shows the problems of the refurbishing the hydroelectric units of the Iron Gates 1 Hydroelectric and Navigation System, operating since 1970. Their long and intensive utilization leads to the necessity of their refurbishment. One is demonstrated by detailed studies that it is sensible and efficient to perform both rehabilitation of the existent hydroelectric units and their power increasing from 175 MW to 190 MW, and prior to all these, as a first step, to install an additional hydroelectric unit (G7) for each system with a capacity of 190 MW. Complex technical and energetic-economical problems appear in realizing this objective due to the necessity of analysing a great volume of data in view of taking a correct decision. (author). 7 figs

  8. DEVELOPMENT OF A PEDESTRIAN INDOOR NAVIGATION SYSTEM BASED ON MULTI-SENSOR FUSION AND FUZZY LOGIC ESTIMATION ALGORITHMS

    Directory of Open Access Journals (Sweden)

    Y. C. Lai

    2015-05-01

    Full Text Available This paper presents a pedestrian indoor navigation system based on the multi-sensor fusion and fuzzy logic estimation algorithms. The proposed navigation system is a self-contained dead reckoning navigation that means no other outside signal is demanded. In order to achieve the self-contained capability, a portable and wearable inertial measure unit (IMU has been developed. Its adopted sensors are the low-cost inertial sensors, accelerometer and gyroscope, based on the micro electro-mechanical system (MEMS. There are two types of the IMU modules, handheld and waist-mounted. The low-cost MEMS sensors suffer from various errors due to the results of manufacturing imperfections and other effects. Therefore, a sensor calibration procedure based on the scalar calibration and the least squares methods has been induced in this study to improve the accuracy of the inertial sensors. With the calibrated data acquired from the inertial sensors, the step length and strength of the pedestrian are estimated by multi-sensor fusion and fuzzy logic estimation algorithms. The developed multi-sensor fusion algorithm provides the amount of the walking steps and the strength of each steps in real-time. Consequently, the estimated walking amount and strength per step are taken into the proposed fuzzy logic estimation algorithm to estimates the step lengths of the user. Since the walking length and direction are both the required information of the dead reckoning navigation, the walking direction is calculated by integrating the angular rate acquired by the gyroscope of the developed IMU module. Both the walking length and direction are calculated on the IMU module and transmit to a smartphone with Bluetooth to perform the dead reckoning navigation which is run on a self-developed APP. Due to the error accumulating of dead reckoning navigation, a particle filter and a pre-loaded map of indoor environment have been applied to the APP of the proposed navigation system

  9. Development of a Pedestrian Indoor Navigation System Based on Multi-Sensor Fusion and Fuzzy Logic Estimation Algorithms

    Science.gov (United States)

    Lai, Y. C.; Chang, C. C.; Tsai, C. M.; Lin, S. Y.; Huang, S. C.

    2015-05-01

    This paper presents a pedestrian indoor navigation system based on the multi-sensor fusion and fuzzy logic estimation algorithms. The proposed navigation system is a self-contained dead reckoning navigation that means no other outside signal is demanded. In order to achieve the self-contained capability, a portable and wearable inertial measure unit (IMU) has been developed. Its adopted sensors are the low-cost inertial sensors, accelerometer and gyroscope, based on the micro electro-mechanical system (MEMS). There are two types of the IMU modules, handheld and waist-mounted. The low-cost MEMS sensors suffer from various errors due to the results of manufacturing imperfections and other effects. Therefore, a sensor calibration procedure based on the scalar calibration and the least squares methods has been induced in this study to improve the accuracy of the inertial sensors. With the calibrated data acquired from the inertial sensors, the step length and strength of the pedestrian are estimated by multi-sensor fusion and fuzzy logic estimation algorithms. The developed multi-sensor fusion algorithm provides the amount of the walking steps and the strength of each steps in real-time. Consequently, the estimated walking amount and strength per step are taken into the proposed fuzzy logic estimation algorithm to estimates the step lengths of the user. Since the walking length and direction are both the required information of the dead reckoning navigation, the walking direction is calculated by integrating the angular rate acquired by the gyroscope of the developed IMU module. Both the walking length and direction are calculated on the IMU module and transmit to a smartphone with Bluetooth to perform the dead reckoning navigation which is run on a self-developed APP. Due to the error accumulating of dead reckoning navigation, a particle filter and a pre-loaded map of indoor environment have been applied to the APP of the proposed navigation system to extend its

  10. Analysis and Compensation of Modulation Angular Rate Error Based on Missile-Borne Rotation Semi-Strapdown Inertial Navigation System

    Directory of Open Access Journals (Sweden)

    Jiayu Zhang

    2018-05-01

    Full Text Available The Semi-Strapdown Inertial Navigation System (SSINS provides a new solution to attitude measurement of a high-speed rotating missile. However, micro-electro-mechanical-systems (MEMS inertial measurement unit (MIMU outputs are corrupted by significant sensor errors. In order to improve the navigation precision, a rotation modulation technology method called Rotation Semi-Strapdown Inertial Navigation System (RSSINS is introduced into SINS. In fact, the stability of the modulation angular rate is difficult to achieve in a high-speed rotation environment. The changing rotary angular rate has an impact on the inertial sensor error self-compensation. In this paper, the influence of modulation angular rate error, including acceleration-deceleration process, and instability of the angular rate on the navigation accuracy of RSSINS is deduced and the error characteristics of the reciprocating rotation scheme are analyzed. A new compensation method is proposed to remove or reduce sensor errors so as to make it possible to maintain high precision autonomous navigation performance by MIMU when there is no external aid. Experiments have been carried out to validate the performance of the method. In addition, the proposed method is applicable for modulation angular rate error compensation under various dynamic conditions.

  11. A bronchoscopic navigation system using bronchoscope center calibration for accurate registration of electromagnetic tracker and CT volume without markers

    Energy Technology Data Exchange (ETDEWEB)

    Luo, Xiongbiao, E-mail: xiongbiao.luo@gmail.com [Robarts Research Institute, Western University, London, Ontario N6A 5K8 (Canada)

    2014-06-15

    Purpose: Various bronchoscopic navigation systems are developed for diagnosis, staging, and treatment of lung and bronchus cancers. To construct electromagnetically navigated bronchoscopy systems, registration of preoperative images and an electromagnetic tracker must be performed. This paper proposes a new marker-free registration method, which uses the centerlines of the bronchial tree and the center of a bronchoscope tip where an electromagnetic sensor is attached, to align preoperative images and electromagnetic tracker systems. Methods: The chest computed tomography (CT) volume (preoperative images) was segmented to extract the bronchial centerlines. An electromagnetic sensor was fixed at the bronchoscope tip surface. A model was designed and printed using a 3D printer to calibrate the relationship between the fixed sensor and the bronchoscope tip center. For each sensor measurement that includes sensor position and orientation information, its corresponding bronchoscope tip center position was calculated. By minimizing the distance between each bronchoscope tip center position and the bronchial centerlines, the spatial alignment of the electromagnetic tracker system and the CT volume was determined. After obtaining the spatial alignment, an electromagnetic navigation bronchoscopy system was established to real-timely track or locate a bronchoscope inside the bronchial tree during bronchoscopic examinations. Results: The electromagnetic navigation bronchoscopy system was validated on a dynamic bronchial phantom that can simulate respiratory motion with a breath rate range of 0–10 min{sup −1}. The fiducial and target registration errors of this navigation system were evaluated. The average fiducial registration error was reduced from 8.7 to 6.6 mm. The average target registration error, which indicates all tracked or navigated bronchoscope position accuracy, was much reduced from 6.8 to 4.5 mm compared to previous registration methods. Conclusions: An

  12. A bronchoscopic navigation system using bronchoscope center calibration for accurate registration of electromagnetic tracker and CT volume without markers

    International Nuclear Information System (INIS)

    Luo, Xiongbiao

    2014-01-01

    Purpose: Various bronchoscopic navigation systems are developed for diagnosis, staging, and treatment of lung and bronchus cancers. To construct electromagnetically navigated bronchoscopy systems, registration of preoperative images and an electromagnetic tracker must be performed. This paper proposes a new marker-free registration method, which uses the centerlines of the bronchial tree and the center of a bronchoscope tip where an electromagnetic sensor is attached, to align preoperative images and electromagnetic tracker systems. Methods: The chest computed tomography (CT) volume (preoperative images) was segmented to extract the bronchial centerlines. An electromagnetic sensor was fixed at the bronchoscope tip surface. A model was designed and printed using a 3D printer to calibrate the relationship between the fixed sensor and the bronchoscope tip center. For each sensor measurement that includes sensor position and orientation information, its corresponding bronchoscope tip center position was calculated. By minimizing the distance between each bronchoscope tip center position and the bronchial centerlines, the spatial alignment of the electromagnetic tracker system and the CT volume was determined. After obtaining the spatial alignment, an electromagnetic navigation bronchoscopy system was established to real-timely track or locate a bronchoscope inside the bronchial tree during bronchoscopic examinations. Results: The electromagnetic navigation bronchoscopy system was validated on a dynamic bronchial phantom that can simulate respiratory motion with a breath rate range of 0–10 min −1 . The fiducial and target registration errors of this navigation system were evaluated. The average fiducial registration error was reduced from 8.7 to 6.6 mm. The average target registration error, which indicates all tracked or navigated bronchoscope position accuracy, was much reduced from 6.8 to 4.5 mm compared to previous registration methods. Conclusions: An

  13. Interfacing Space Communications and Navigation Network Simulation with Distributed System Integration Laboratories (DSIL)

    Science.gov (United States)

    Jennings, Esther H.; Nguyen, Sam P.; Wang, Shin-Ywan; Woo, Simon S.

    2008-01-01

    NASA's planned Lunar missions will involve multiple NASA centers where each participating center has a specific role and specialization. In this vision, the Constellation program (CxP)'s Distributed System Integration Laboratories (DSIL) architecture consist of multiple System Integration Labs (SILs), with simulators, emulators, testlabs and control centers interacting with each other over a broadband network to perform test and verification for mission scenarios. To support the end-to-end simulation and emulation effort of NASA' exploration initiatives, different NASA centers are interconnected to participate in distributed simulations. Currently, DSIL has interconnections among the following NASA centers: Johnson Space Center (JSC), Kennedy Space Center (KSC), Marshall Space Flight Center (MSFC) and Jet Propulsion Laboratory (JPL). Through interconnections and interactions among different NASA centers, critical resources and data can be shared, while independent simulations can be performed simultaneously at different NASA locations, to effectively utilize the simulation and emulation capabilities at each center. Furthermore, the development of DSIL can maximally leverage the existing project simulation and testing plans. In this work, we describe the specific role and development activities at JPL for Space Communications and Navigation Network (SCaN) simulator using the Multi-mission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE) tool to simulate communications effects among mission assets. Using MACHETE, different space network configurations among spacecrafts and ground systems of various parameter sets can be simulated. Data that is necessary for tracking, navigation, and guidance of spacecrafts such as Crew Exploration Vehicle (CEV), Crew Launch Vehicle (CLV), and Lunar Relay Satellite (LRS) and orbit calculation data are disseminated to different NASA centers and updated periodically using the High Level Architecture (HLA). In

  14. Development of an online radiology case review system featuring interactive navigation of volumetric image datasets using advanced visualization techniques

    International Nuclear Information System (INIS)

    Yang, Hyun Kyung; Kim, Boh Kyoung; Jung, Ju Hyun; Kang, Heung Sik; Lee, Kyoung Ho; Woo, Hyun Soo; Jo, Jae Min; Lee, Min Hee

    2015-01-01

    To develop an online radiology case review system that allows interactive navigation of volumetric image datasets using advanced visualization techniques. Our Institutional Review Board approved the use of the patient data and waived the need for informed consent. We determined the following system requirements: volumetric navigation, accessibility, scalability, undemanding case management, trainee encouragement, and simulation of a busy practice. The system comprised a case registry server, client case review program, and commercially available cloud-based image viewing system. In the pilot test, we used 30 cases of low-dose abdomen computed tomography for the diagnosis of acute appendicitis. In each case, a trainee was required to navigate through the images and submit answers to the case questions. The trainee was then given the correct answers and key images, as well as the image dataset with annotations on the appendix. After evaluation of all cases, the system displayed the diagnostic accuracy and average review time, and the trainee was asked to reassess the failed cases. The pilot system was deployed successfully in a hands-on workshop course. We developed an online radiology case review system that allows interactive navigation of volumetric image datasets using advanced visualization techniques

  15. Development of an online radiology case review system featuring interactive navigation of volumetric image datasets using advanced visualization techniques

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Hyun Kyung; Kim, Boh Kyoung; Jung, Ju Hyun; Kang, Heung Sik; Lee, Kyoung Ho [Dept. of Radiology, Seoul National University Bundang Hospital, Seongnam (Korea, Republic of); Woo, Hyun Soo [Dept. of Radiology, SMG-SNU Boramae Medical Center, Seoul (Korea, Republic of); Jo, Jae Min [Dept. of Computer Science and Engineering, Seoul National University, Seoul (Korea, Republic of); Lee, Min Hee [Dept. of Radiology, Soonchunhyang University Bucheon Hospital, Bucheon (Korea, Republic of)

    2015-11-15

    To develop an online radiology case review system that allows interactive navigation of volumetric image datasets using advanced visualization techniques. Our Institutional Review Board approved the use of the patient data and waived the need for informed consent. We determined the following system requirements: volumetric navigation, accessibility, scalability, undemanding case management, trainee encouragement, and simulation of a busy practice. The system comprised a case registry server, client case review program, and commercially available cloud-based image viewing system. In the pilot test, we used 30 cases of low-dose abdomen computed tomography for the diagnosis of acute appendicitis. In each case, a trainee was required to navigate through the images and submit answers to the case questions. The trainee was then given the correct answers and key images, as well as the image dataset with annotations on the appendix. After evaluation of all cases, the system displayed the diagnostic accuracy and average review time, and the trainee was asked to reassess the failed cases. The pilot system was deployed successfully in a hands-on workshop course. We developed an online radiology case review system that allows interactive navigation of volumetric image datasets using advanced visualization techniques.

  16. Making surgical missions a joint operation: NGO experiences of visiting surgical teams and the formal health care system in Guatemala.

    Science.gov (United States)

    Roche, Stephanie; Hall-Clifford, Rachel

    2015-01-01

    Each year, thousands of Guatemalans receive non-emergent surgical care from short-term medical missions (STMMs) hosted by local non-governmental organizations (NGOs) and staffed by foreign visiting medical teams (VMTs). The purpose of this study was to explore the perspectives of individuals based in NGOs involved in the coordination of surgical missions to better understand how these missions articulate with the larger Guatemalan health care system. During the summers of 2011 and 2013, in-depth interviews were conducted with 25 representatives from 11 different Guatemalan NGOs with experience with surgical missions. Transcripts were analysed for major themes using an inductive qualitative data analysis process. NGOs made use of the formal health care system but were limited by several factors, including cost, issues of trust and current ministry of health policy. Participants viewed the government health care system as a potential resource and expressed a desire for more collaboration. The current practices of STMMs are not conducive to health system strengthening. The role of STMMs must be defined and widely understood by all stakeholders in order to improve patient safety and effectively utilise health resources. Priority should be placed on aligning the work of VMTs with that of the larger health care system.

  17. Optimization of reliability centered predictive maintenance scheme for inertial navigation system

    International Nuclear Information System (INIS)

    Jiang, Xiuhong; Duan, Fuhai; Tian, Heng; Wei, Xuedong

    2015-01-01

    The goal of this study is to propose a reliability centered predictive maintenance scheme for a complex structure Inertial Navigation System (INS) with several redundant components. GO Methodology is applied to build the INS reliability analysis model—GO chart. Components Remaining Useful Life (RUL) and system reliability are updated dynamically based on the combination of components lifetime distribution function, stress samples, and the system GO chart. Considering the redundant design in INS, maintenance time is based not only on components RUL, but also (and mainly) on the timing of when system reliability fails to meet the set threshold. The definition of components maintenance priority balances three factors: components importance to system, risk degree, and detection difficulty. Maintenance Priority Number (MPN) is introduced, which may provide quantitative maintenance priority results for all components. A maintenance unit time cost model is built based on components MPN, components RUL predictive model and maintenance intervals for the optimization of maintenance scope. The proposed scheme can be applied to serve as the reference for INS maintenance. Finally, three numerical examples prove the proposed predictive maintenance scheme is feasible and effective. - Highlights: • A dynamic PdM with a rolling horizon is proposed for INS with redundant components. • GO Methodology is applied to build the system reliability analysis model. • A concept of MPN is proposed to quantify the maintenance sequence of components. • An optimization model is built to select the optimal group of maintenance components. • The optimization goal is minimizing the cost of maintaining system reliability

  18. 3D-Calibration for IMU of the Strapdown Inertial Navigation Systems

    Directory of Open Access Journals (Sweden)

    Avrutov V.V.

    2017-01-01

    Full Text Available A new calibration method for Inertial Measurement Unit (IMU of Strapdown Iner-tial Navigation Systems was presented. IMU has been composed of accelerometers, gyroscopes and a circuit of signal processing. Normally, a rate transfer test and multi-position tests are us-ing for IMU calibration. The new calibration method is based on whole angle rotation or finite rotation. In fact it’s suggested to turn over IMU around three axes simultaneously. In order to solve the equation of calibration, it is necessary to provide an equality of a rank of basic matrix into degree of basic matrix. The results of simulated IMU data presented to demonstrate the performance of the new calibration method.

  19. Analysis on coverage ability of BeiDou navigation satellite system for manned spacecraft

    Science.gov (United States)

    Zhao, Sihao; Yao, Zheng; Zhuang, Xuebin; Lu, Mingquan

    2014-12-01

    To investigate the service ability of the BeiDou Navigation Satellite System (BDS) for manned spacecraft, both the current regional and the future-planned global constellations of BDS are introduced and simulated. The orbital parameters of the International Space Station and China's Tiangong-1 spacelab are used to create the simulation scenario and evaluate the performance of the BDS constellations. The number of visible satellites and the position dilution (PDOP) of precision at the spacecraft-based receiver are evaluated. Simulation and analysis show quantitative results on the coverage ability and time percentages of both the current BDS regional and future global constellations for manned-space orbits which can be a guideline to the applications and mission design of BDS receivers on manned spacecraft.

  20. Multi-morbidity: A patient perspective on navigating the health care system and everyday life

    DEFF Research Database (Denmark)

    Ørtenblad, Lisbeth; Meillier, Lucette Kirsten; Jønsson, Alexandra Brandt Ryborg

    2017-01-01

    and the management of their treatment burdens. Dilemmas were identified within three domains: family and social life; work life; agendas and set goals in appointments with health professionals. Individual resources and priorities in everyday life play a dominant role in resolving dilemmas and navigating the tension...... study using individual interviews and participant-observations. An inductive analytical approach was applied, moving from observations and results to broader generalisations. Results: People with multimorbidity experience dilemmas related to their individual priorities in everyday life...... between everyday life and the health care system. Discussion: People with multimorbidity are seldom supported by health professionals in resolving the dilemmas they must face. This study suggests an increased focus on patient-centeredness and argues in favour of planning health care through cooperation...

  1. Multimedia human brain database system for surgical candidacy determination in temporal lobe epilepsy with content-based image retrieval

    Science.gov (United States)

    Siadat, Mohammad-Reza; Soltanian-Zadeh, Hamid; Fotouhi, Farshad A.; Elisevich, Kost

    2003-01-01

    This paper presents the development of a human brain multimedia database for surgical candidacy determination in temporal lobe epilepsy. The focus of the paper is on content-based image management, navigation and retrieval. Several medical image-processing methods including our newly developed segmentation method are utilized for information extraction/correlation and indexing. The input data includes T1-, T2-Weighted MRI and FLAIR MRI and ictal and interictal SPECT modalities with associated clinical data and EEG data analysis. The database can answer queries regarding issues such as the correlation between the attribute X of the entity Y and the outcome of a temporal lobe epilepsy surgery. The entity Y can be a brain anatomical structure such as the hippocampus. The attribute X can be either a functionality feature of the anatomical structure Y, calculated with SPECT modalities, such as signal average, or a volumetric/morphological feature of the entity Y such as volume or average curvature. The outcome of the surgery can be any surgery assessment such as memory quotient. A determination is made regarding surgical candidacy by analysis of both textual and image data. The current database system suggests a surgical determination for the cases with relatively small hippocampus and high signal intensity average on FLAIR images within the hippocampus. This indication pretty much fits with the surgeons" expectations/observations. Moreover, as the database gets more populated with patient profiles and individual surgical outcomes, using data mining methods one may discover partially invisible correlations between the contents of different modalities of data and the outcome of the surgery.

  2. The da vinci robot system eliminates multispecialty surgical trainees' hand dominance in open and robotic surgical settings.

    Science.gov (United States)

    Badalato, Gina M; Shapiro, Edan; Rothberg, Michael B; Bergman, Ari; RoyChoudhury, Arindam; Korets, Ruslan; Patel, Trushar; Badani, Ketan K

    2014-01-01

    Handedness, or the inherent dominance of one hand's dexterity over the other's, is a factor in open surgery but has an unknown importance in robot-assisted surgery. We sought to examine whether the robotic surgery platform could eliminate the effect of inherent hand preference. Residents from the Urology and Obstetrics/Gynecology departments were enrolled. Ambidextrous and left-handed subjects were excluded. After completing a questionnaire, subjects performed three tasks modified from the Fundamentals of Laparoscopic Surgery curriculum. Tasks were performed by hand and then with the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, California). Participants were randomized to begin with using either the left or the right hand, and then switch. Left:right ratios were calculated from scores based on time to task completion. Linear regression analysis was used to determine the significance of the impact of surgical technique on hand dominance. Ten subjects were enrolled. The mean difference in raw score performance between the right and left hands was 12.5 seconds for open tasks and 8 seconds for robotic tasks (Probot tasks, respectively (Probotic and open approaches for raw time scores (Phand, prior robotic experience, and comfort level. These findings remain to be validated in larger cohorts. The robotic technique reduces hand dominance in surgical trainees across all task domains. This finding contributes to the known advantages of robotic surgery.

  3. Precise Receiver Clock Offset Estimations According to Each Global Navigation Satellite Systems (GNSS) Timescales

    Science.gov (United States)

    Thongtan, Thayathip; Tirawanichakul, Pawit; Satirapod, Chalermchon

    2017-12-01

    Each GNSS constellation operates its own system times; namely, GPS system time (GPST), GLONASS system time (GLONASST), BeiDou system time (BDT) and Galileo system time (GST). They could be traced back to Coordinated Universal Time (UTC) scale and are aligned to GPST. This paper estimates the receiver clock offsets to three timescales: GPST, GLONASST and BDT. The two measurement scenarios use two identical multi-GNSS geodetic receivers connected to the same geodetic antenna through a splitter. One receiver is driven by its internal oscillators and another receiver is connected to the external frequency oscillators, caesium frequency standard, kept as the Thailand standard time scale at the National Institute of Metrology (Thailand) called UTC(NIMT). The three weeks data are observed at 30 seconds sample rate. The receiver clock offsets with respected to the three system time are estimated and analysed through the geodetic technique of static Precise Point Positioning (PPP) using a data processing software developed by Wuhan University - Positioning And Navigation Data Analyst (PANDA) software. The estimated receiver clock offsets are around 32, 33 and 18 nanoseconds from GPST, GLONASST and BDT respectively. This experiment is initially stated that each timescale is inter-operated with GPST and further measurements on receiver internal delay has to be determined for clock comparisons especially the high accuracy clock at timing laboratories.

  4. Guidance, navigation, and control subsystem equipment selection algorithm using expert system methods

    Science.gov (United States)

    Allen, Cheryl L.

    1991-01-01

    Enhanced engineering tools can be obtained through the integration of expert system methodologies and existing design software. The application of these methodologies to the spacecraft design and cost model (SDCM) software provides an improved technique for the selection of hardware for unmanned spacecraft subsystem design. The knowledge engineering system (KES) expert system development tool was used to implement a smarter equipment section algorithm than that which is currently achievable through the use of a standard data base system. The guidance, navigation, and control subsystems of the SDCM software was chosen as the initial subsystem for implementation. The portions of the SDCM code which compute the selection criteria and constraints remain intact, and the expert system equipment selection algorithm is embedded within this existing code. The architecture of this new methodology is described and its implementation is reported. The project background and a brief overview of the expert system is described, and once the details of the design are characterized, an example of its implementation is demonstrated.

  5. Vertical Navigation Control Laws and Logic for the Next Generation Air Transportation System

    Science.gov (United States)

    Hueschen, Richard M.; Khong, Thuan H.

    2013-01-01

    A vertical navigation (VNAV) outer-loop control system was developed to capture and track the vertical path segments of energy-efficient trajectories that are being developed for high-density operations in the evolving Next Generation Air Transportation System (NextGen). The VNAV control system has a speed-on-elevator control mode to pitch the aircraft for tracking a calibrated airspeed (CAS) or Mach number profile and a path control mode for tracking the VNAV altitude profile. Mode control logic was developed for engagement of either the speed or path control modes. The control system will level the aircraft to prevent it from flying through a constraint altitude. A stability analysis was performed that showed that the gain and phase margins of the VNAV control system significantly exceeded the design gain and phase margins. The system performance was assessed using a six-deg-of-freedom non-linear transport aircraft simulation and the performance is illustrated with time-history plots of recorded simulation data.

  6. Evaluation of the Terminal Area Precision Scheduling and Spacing System for Performance-Based Navigation Arrivals

    Science.gov (United States)

    Jung, Jaewoo; Swenson, Harry; Thipphavong, Jane; Martin, Lynne Hazel; Chen, Liang; Nguyen, Jimmy

    2013-01-01

    The growth of global demand for air transportation has put increasing strain on the nation's air traffic management system. To relieve this strain, the International Civil Aviation Organization has urged all nations to adopt Performance-Based Navigation (PBN), which can help to reduce air traffic congestion, decrease aviation fuel consumption, and protect the environment. NASA has developed a Terminal Area Precision Scheduling and Spacing (TAPSS) system that can support increased use of PBN during periods of high traffic, while supporting fuel-efficient, continuous descent approaches. In the original development of this system, arrival aircraft are assigned fuel-efficient Area Navigation (RNAV) Standard Terminal Arrival Routes before their initial descent from cruise, with routing defined to a specific runway. The system also determines precise schedules for these aircraft that facilitate continuous descent through the assigned routes. To meet these schedules, controllers are given a set of advisory tools to precisely control aircraft. The TAPSS system has been evaluated in a series of human-in-the-loop (HITL) air traffic simulations during 2010 and 2011. Results indicated increased airport arrival throughput up to 10 over current operations, and maintained fuel-efficient aircraft decent profiles from the initial descent to landing with reduced controller workload. This paper focuses on results from a joint NASA and FAA HITL simulation conducted in 2012. Due to the FAA rollout of the advance terminal area PBN procedures at mid-sized airports first, the TAPSS system was modified to manage arrival aircraft as they entered Terminal Radar Approach Control (TRACON). Dallas-Love Field airport (DAL) was selected by the FAA as a representative mid-sized airport within a constrained TRACON airspace due to the close proximity of a major airport, in this case Dallas-Ft Worth International Airport, one of the busiest in the world. To address this constraint, RNAV routes and

  7. Applying Required Navigation Performance Concept for Traffic Management of Small Unmanned Aircraft Systems

    Science.gov (United States)

    Jung, Jaewoo; D'Souza, Sarah N.; Johnson, Marcus A.; Ishihara, Abraham K.; Modi, Hemil C.; Nikaido, Ben; Hasseeb, Hashmatullah

    2016-01-01

    In anticipation of a rapid increase in the number of civil Unmanned Aircraft System(UAS) operations, NASA is researching prototype technologies for a UAS Traffic Management (UTM) system that will investigate airspace integration requirements for enabling safe, efficient low-altitude operations. One aspect a UTM system must consider is the correlation between UAS operations (such as vehicles, operation areas and durations), UAS performance requirements, and the risk to people and property in the operational area. This paper investigates the potential application of the International Civil Aviation Organizations (ICAO) Required Navigation Performance (RNP) concept to relate operational risk with trajectory conformance requirements. The approach is to first define a method to quantify operational risk and then define the RNP level requirement as a function of the operational risk. Greater operational risk corresponds to more accurate RNP level, or smaller tolerable Total System Error (TSE). Data from 19 small UAS flights are used to develop and validate a formula that defines this relationship. An approach to assessing UAS-RNP conformance capability using vehicle modeling and wind field simulation is developed to investigate how this formula may be applied in a future UTM system. The results indicate the modeled vehicles flight path is robust to the simulated wind variation, and it can meet RNP level requirements calculated by the formula. The results also indicate how vehicle-modeling fidelity may be improved to adequately verify assessed RNP level.

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

    Science.gov (United States)

    Williams, George M.

    2017-03-01

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

  9. Development and application of stent-based image guided navigation system for oral and maxillofacial surgery

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Woo Jin; Kim, Dae Seung [Interdisciplinary Program in Radiation Applied Life Science, Dental Research Institute and BK21, College of Medicine, Seoul National University, Seoul (Korea, Republic of); Yi, Won Jin; Lee, Sam Sun; Choi, Soon Chul; Heo, Min Suk; Huh, Kyung Hoe; Kim, Myung Jin; Lee, Jee Ho [Department of Oral and Maxillofacial Surgery, Dental Research Institute, School of Dentistry, Seoul National University, Seoul (Korea, Republic of)

    2009-09-15

    The purpose of this study was to develop a stent-based image guided surgery system and to apply it to oral and maxillofacial surgeries for anatomically complex sites. We devised a patient-specific stent for patient-to-image registration and navigation. Three dimensional positions of the reference probe and the tool probe were tracked by an optical camera system and the relative position of the handpiece drill tip to the reference probe was monitored continuously on the monitor of a PC. Using 8 landmarks for measuring accuracy, the spatial discrepancy between CT image coordinate and physical coordinate was calculated for testing the normality. The accuracy over 8 anatomical landmarks showed an overall mean of 0.56 {+-} 0.16 mm. The developed system was applied to a surgery for a vertical alveolar bone augmentation in right mandibular posterior area and possible interior alveolar nerve injury case of an impacted third molar. The developed system provided continuous monitoring of invisible anatomical structures during operation and 3D information for operation sites. The clinical challenge showed sufficient accuracy and availability of anatomically complex operation sites. The developed system showed sufficient accuracy and availability in oral and maxillofacial surgeries for anatomically complex sites.

  10. Development and application of stent-based image guided navigation system for oral and maxillofacial surgery

    International Nuclear Information System (INIS)

    Lee, Woo Jin; Kim, Dae Seung; Yi, Won Jin; Lee, Sam Sun; Choi, Soon Chul; Heo, Min Suk; Huh, Kyung Hoe; Kim, Myung Jin; Lee, Jee Ho

    2009-01-01

    The purpose of this study was to develop a stent-based image guided surgery system and to apply it to oral and maxillofacial surgeries for anatomically complex sites. We devised a patient-specific stent for patient-to-image registration and navigation. Three dimensional positions of the reference probe and the tool probe were tracked by an optical camera system and the relative position of the handpiece drill tip to the reference probe was monitored continuously on the monitor of a PC. Using 8 landmarks for measuring accuracy, the spatial discrepancy between CT image coordinate and physical coordinate was calculated for testing the normality. The accuracy over 8 anatomical landmarks showed an overall mean of 0.56 ± 0.16 mm. The developed system was applied to a surgery for a vertical alveolar bone augmentation in right mandibular posterior area and possible interior alveolar nerve injury case of an impacted third molar. The developed system provided continuous monitoring of invisible anatomical structures during operation and 3D information for operation sites. The clinical challenge showed sufficient accuracy and availability of anatomically complex operation sites. The developed system showed sufficient accuracy and availability in oral and maxillofacial surgeries for anatomically complex sites.

  11. 76 FR 50808 - Airborne Supplemental Navigation Equipment Using the Global Positioning System (GPS)

    Science.gov (United States)

    2011-08-16

    ... DEPARTMENT OF TRANSPORTATION Federal Aviation Administration Airborne Supplemental Navigation.... ACTION: Notice of intent to cancel Technical Standard Order (TSO)- C129a, Airborne Supplemental... notice announces the FAA's intent to cancel TSO-C129a, Airborne Supplemental Navigation Equipment Using...

  12. A ferromagnetic surgical system reduces phrenic nerve injury in redo congenital cardiac surgery.

    Science.gov (United States)

    Shinkawa, Takeshi; Holloway, Jessica; Tang, Xinyu; Gossett, Jeffrey M; Imamura, Michiaki

    2017-05-01

    A ferromagnetic surgical system (FMwand®) is a new type of dissection device expected to reduce the risk of adjacent tissue damage. We reviewed 426 congenital cardiac operations with cardiopulmonary bypass through redo sternotomy to assess if this device prevented phrenic nerve injury. The ferromagnetic surgical system was used in 203 operations (47.7%) with regular electrocautery and scissors. The preoperative and operative details were similar between the operations with or without the ferromagnetic surgical system. The incidence of phrenic nerve injury was significantly lower with the ferromagnetic surgical system (0% vs 2.7%, P = 0.031). A logistic regression model showed that the use of the ferromagnetic surgical system was significantly associated with reduced odds of phrenic nerve injury (P < 0.001). © The Author 2017. Published by Oxford University Press on behalf of the European Association for Cardio-Thoracic Surgery. All rights reserved.

  13. Naturalistic driving observations of manual and visual-manual interactions with navigation systems and mobile phones while driving.

    NARCIS (Netherlands)

    Christoph, M. Nes, N. van & Knapper, A.

    2014-01-01

    This paper discusses a naturalistic driving study on the use of mobile phones and navigation systems while driving. Manual interactions with these devices while driving can cause distraction from the driving task and reduce traffic safety. In this study 21 subjects were observed for 5 weeks. Their

  14. 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.

  15. Real-time 3-dimensional virtual reality navigation system with open MRI for breast-conserving surgery

    International Nuclear Information System (INIS)

    Tomikawa, Morimasa; Konishi, Kozo; Ieiri, Satoshi; Hong, Jaesung; Uemura, Munenori; Hashizume, Makoto; Shiotani, Satoko; Tokunaga, Eriko; Maehara, Yoshihiko

    2011-01-01

    We report here the early experiences using a real-time three-dimensional (3D) virtual reality navigation system with open magnetic resonance imaging (MRI) for breast-conserving surgery (BCS). Two patients with a non-palpable MRI-detected breast tumor underwent BCS under the guidance of the navigation system. An initial MRI for the breast tumor using skin-affixed markers was performed immediately prior to excision. A percutaneous intramammary dye marker was applied to delineate an excision line, and the computer software '3D Slicer' generated a real-time 3D virtual reality model of the tumor and the puncture needle in the breast. Under guidance by the navigation system, marking procedures were performed without any difficulties. Fiducial registration errors were 3.00 mm for patient no.1, and 4.07 mm for patient no.2. The real-time 3D virtual reality navigation system with open MRI is feasible for safe and accurate excision of non-palpable MRI-detected breast tumors. (author)

  16. The development of a SAR dedicated navigation system: from scratch to the first test flight: 2004BU1-RE

    NARCIS (Netherlands)

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

    2004-01-01

    In this paper, the authors propose to describe the development process of a navigation system, concerning Syntectic Aperture Radar (SAR) applications, starting from the motivation for the sensor selection and finalizing with the first flight-test results. Sensors selection was one of the first steps

  17. Shooting the Rapids: Navigating Transitions to Adaptive Governance of Social-Ecological Systems

    Directory of Open Access Journals (Sweden)

    Per Olsson

    2006-06-01

    Full Text Available The case studies of Kristianstads Vattenrike, Sweden; the Northern Highlands Lake District and the Everglades in the USA; the Mae Nam Ping Basin, Thailand; and the Goulburn-Broken Catchment, Australia, were compared to assess the outcome of different actions for transforming social-ecological systems (SESs. The transformations consisted of two phases, a preparation phase and a transition phase, linked by a window of opportunity. Key leaders and shadow networks can prepare a system for change by exploring alternative system configurations and developing strategies for choosing from among possible futures. Key leaders can recognize and use or create windows of opportunity and navigate transitions toward adaptive governance. Leadership functions include the ability to span scales of governance, orchestrate networks, integrate and communicate understanding, and reconcile different problem domains. Successful transformations rely on epistemic and shadow networks to provide novel ideas and ways of governing SESs. We conclude by listing some ð"„¬rules of thumb" that can help build leadership and networks for successful transformations toward adaptive governance of social-ecological systems.

  18. A new visual navigation system for exploring biomedical Open Educational Resource (OER) videos.

    Science.gov (United States)

    Zhao, Baoquan; Xu, Songhua; Lin, Shujin; Luo, Xiaonan; Duan, Lian

    2016-04-01

    Biomedical videos as open educational resources (OERs) are increasingly proliferating on the Internet. Unfortunately, seeking personally valuable content from among the vast corpus of quality yet diverse OER videos is nontrivial due to limitations of today's keyword- and content-based video retrieval techniques. To address this need, this study introduces a novel visual navigation system that facilitates users' information seeking from biomedical OER videos in mass quantity by interactively offering visual and textual navigational clues that are both semantically revealing and user-friendly. The authors collected and processed around 25 000 YouTube videos, which collectively last for a total length of about 4000 h, in the broad field of biomedical sciences for our experiment. For each video, its semantic clues are first extracted automatically through computationally analyzing audio and visual signals, as well as text either accompanying or embedded in the video. These extracted clues are subsequently stored in a metadata database and indexed by a high-performance text search engine. During the online retrieval stage, the system renders video search results as dynamic web pages using a JavaScript library that allows users to interactively and intuitively explore video content both efficiently and effectively.ResultsThe authors produced a prototype implementation of the proposed system, which is publicly accessible athttps://patentq.njit.edu/oer To examine the overall advantage of the proposed system for exploring biomedical OER videos, the authors further conducted a user study of a modest scale. The study results encouragingly demonstrate the functional effectiveness and user-friendliness of the new system for facilitating information seeking from and content exploration among massive biomedical OER videos. Using the proposed tool, users can efficiently and effectively find videos of interest, precisely locate video segments delivering personally valuable

  19. Role of RENAL nephrometry scoring system in planning surgical intervention in patients with localized renal mas

    OpenAIRE

    Mohamed Samir Shaaban; Tamer Mohammed Abou Youssif; Ahmed Mostafa; Hossam Eldin Hegazy; Mohammed Adel Atta

    2015-01-01

    Purpose: The study was designed to validate the value of preoperative planning using RENAL nephrometry scoring system in patients having organ confined renal tumors and undergoing surgical intervention and to assess its correlation with the surgical technique. Patient and methods: Forty patients with organ-confined renal masses underwent RENAL nephrometry scoring which was correlated with the surgical technique either radical or nephron-sparing surgery. Result: RENAL nephrometry scoring...

  20. Safety of implantable pacemakers and cardioverter defibrillators in the magnetic field of a novel remote magnetic navigation system.

    Science.gov (United States)

    Jilek, Clemens; Tzeis, Stylianos; Reents, Tilko; Estner, Heidi-Luise; Fichtner, Stephanie; Ammar, Sonia; Wu, Jinjin; Hessling, Gabriele; Deisenhofer, Isabel; Kolb, Christof

    2010-10-01

    Electromagnetic interference with pacemaker and implantable cardioverter defibrillator (ICD) systems may cause temporary or permanent system malfunction of implanted devices. The aim of this study was to evaluate potential interference of a novel magnetic navigation system with implantable rhythm devices. A total of 121 devices (77 pacemakers, 44 ICDs) were exposed to an activated NIOBE II® Magnetic Navigation System (Stereotaxis, St. Louis, MO, USA) at the maximal magnetic field strength of 0.1 Tesla and evaluated in vitro with respect to changes in parameter settings of the device, changes of the battery status/detection of elective replacement indication, or alterations of data stored in the device. A total of 115 out of 121 (95%) devices were free of changes in parameter settings, battery status, and internally stored data after repeated exposition to the electromagnetic field of the remote magnetic navigation system. Interference with the magnetic navigation field was observed in 6 pacemakers, resulting in reprogramming to a power-on-reset mode with or without detection of the elective replacement indication in 5 devices and abnormal variance of battery status in one device. All pacemakers could be reprogrammed to the initial modes and the battery status proved to be normal some minutes after the pacemakers had been removed from the magnetic field. Interference of a remote magnetic navigation system (at maximal field strength) with pacemakers and ICDs not connected to leads with antitachycardic detection and therapies turned off is rare. Occurring functional abnormalities could be reprogrammed in our sample. An in vitro study will give information about interference of devices connected to leads. © 2010 Wiley Periodicals, Inc.

  1. An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

    Directory of Open Access Journals (Sweden)

    Xiaoji Niu

    2017-01-01

    Full Text Available Multisensors (LiDAR/IMU/CAMERA integrated Simultaneous Location and Mapping (SLAM technology for navigation and mobile mapping in a GNSS-denied environment, such as indoor areas, dense forests, or urban canyons, becomes a promising solution. An online (real-time version of such system can extremely extend its applications, especially for indoor mobile mapping. However, the real-time response issue of multisensors is a big challenge for an online SLAM system, due to the different sampling frequencies and processing time of different algorithms. In this paper, an online Extended Kalman Filter (EKF integrated algorithm of LiDAR scan matching and IMU mechanization for Unmanned Ground Vehicle (UGV indoor navigation system is introduced. Since LiDAR scan matching is considerably more time consuming than the IMU mechanism, the real-time synchronous issue is solved via a one-step-error-state-transition method in EKF. Stationary and dynamic field tests had been performed using a UGV platform along typical corridor of office building. Compared to the traditional sequential postprocessed EKF algorithm, the proposed method can significantly mitigate the time delay of navigation outputs under the premise of guaranteeing the positioning accuracy, which can be used as an online navigation solution for indoor mobile mapping.

  2. 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.

  3. ACCURACY EVALUATION OF THE OBJECT LOCATION VISUALIZATION FOR GEO-INFORMATION AND DISPLAY SYSTEMS OF MANNED AIRCRAFTS NAVIGATION COMPLEXES

    Directory of Open Access Journals (Sweden)

    M. O. Kostishin

    2014-01-01

    Full Text Available The paper deals with the issue of accuracy estimating for the object location display in the geographic information systems and display systems of manned aircrafts navigation complexes. Application features of liquid crystal screens with a different number of vertical and horizontal pixels are considered at displaying of geographic information data on different scales. Estimation display of navigation parameters values on board the aircraft is done in two ways: a numeric value is directly displayed on the screen of multi-color indicator, and a silhouette of the object is formed on the screen on a substrate background, which is a graphical representation of area map in the flight zone. Various scales of area digital map display currently used in the aviation industry have been considered. Calculation results of one pixel scale interval, depending on the specifications of liquid crystal screen and zoom of the map display area on the multifunction digital display, are given. The paper contains experimental results of the accuracy evaluation for area position display of the aircraft based on the data from the satellite navigation system and inertial navigation system, obtained during the flight program run of the real object. On the basis of these calculations a family of graphs was created for precision error display of the object reference point position using the onboard indicators with liquid crystal screen with different screen resolutions (6 "×8", 7.2 "×9.6", 9"×12" for two map display scales (1:0 , 25 km, 1-2 km. These dependency graphs can be used both to assess the error value of object area position display in existing navigation systems and to calculate the error value in upgrading facilities.

  4. Implementation of a socio-ecological system navigation approach to human development in Sub-Saharan African communities

    Directory of Open Access Journals (Sweden)

    Gianni Gilioli

    2014-04-01

    Full Text Available This paper presents a framework for the development of socio-eco- logical systems towards enhanced sustainability. Emphasis is given to the dynamic properties of complex, adaptive social-ecological systems, their structure and to the fundamental role of agriculture. The tangible components that meet the needs of specific projects executed in Kenya and Ethiopia encompass project objectives, innovation, facilitation, continuous recording and analyses of monitoring data, that allow adaptive management and system navigation. Two case studies deal with system navigation through the mitigation of key constraints; they aim to improve human health thanks to anopheline malaria vectors control in Nyabondo (Kenya, and to improve cattle health through tsetse control and antitrypanosomal drug administration to cattle in Luke (Ethiopia. The second case deals with a socio-ecological navigation system to enhance sustainability, establishing a periurban diversified enterprise in Addis Ababa (Ethiopia and developing a rural sustainable social-ecological system in Luke (Ethiopia. The project procedures are briefly described here and their outcomes are analysed in relation to the stated objectives. The methodology for human and cattle disease vector control were easier to implement than the navigation of social-ecological systems towards sustainability enhancement. The achievements considerably differed between key constraints removal and sustainability enhancement projects. Some recommendations are made to rationalise human and cattle health improvement efforts and to smoothen the road towards enhanced sustainability: i technology system implementation should be carried out through an innovation system; ii transparent monitoring information should be continuously acquired and evaluated for assessing the state of the system in relation to stated objectives for (a improving the insight into the systems behaviour and (b rationalizing decision support; iii the

  5. Managing Traffic Flows for Cleaner Cities: The Role of Green Navigation Systems

    Directory of Open Access Journals (Sweden)

    Fiamma Perez-Prada

    2017-06-01

    Full Text Available Cities worldwide suffer from serious air pollution problems and are main contributors to climate change. Green Navigation systems have a great potential to reduce fuel consumption and exhaust emissions from traffic. This research evaluates the impacts of different percentages of green drivers on traffic, CO2, and NOx over the entire Madrid Region. A macroscopic traffic model was combined with an enhanced macroscopic emissions model and a GIS (Geographic Information Systems to simulate emissions on the basis of average vehicle speeds and traffic intensity at the link level. NOx emissions are evaluated, taking into account not only the exhaust emissions produced by transport activity, but also the amount of the population exposed to these air pollutants. Results show up to 10.4% CO2 and 13.8% NOx reductions in congested traffic conditions for a 90% penetration of green drivers; however, the population’s exposure to NOx increases up to 20.2%. Moreover, while traffic volumes decrease by 13.5% for the entire region, they increase by up to 16.4% downtown. Travel times also increase by 28.7%. Since green drivers tend to choose shorter routes through downtown areas, eco-routing systems are an effective tool for fighting climate change, but are ineffective to reduce air pollution in dense urban areas.

  6. Determination of the centre of mass kinematics in alpine skiing using differential global navigation satellite systems.

    Science.gov (United States)

    Gilgien, Matthias; Spörri, Jörg; Chardonnens, Julien; Kröll, Josef; Limpach, Philippe; Müller, Erich

    2015-01-01

    In the sport of alpine skiing, knowledge about the centre of mass (CoM) kinematics (i.e. position, velocity and acceleration) is essential to better understand both performance and injury. This study proposes a global navigation satellite system (GNSS)-based method to measure CoM kinematics without restriction of capture volume and with reasonable set-up and processing requirements. It combines the GNSS antenna position, terrain data and the accelerations acting on the skier in order to approximate the CoM location, velocity and acceleration. The validity of the method was assessed against a reference system (video-based 3D kinematics) over 12 turn cycles on a giant slalom skiing course. The mean (± s) position, velocity and acceleration differences between the CoM obtained from the GNSS and the reference system were 9 ± 12 cm, 0.08 ± 0.19 m · s(-1) and 0.22 ± 1.28 m · s(-2), respectively. The velocity and acceleration differences obtained were smaller than typical differences between the measures of several skiers on the same course observed in the literature, while the position differences were slightly larger than its discriminative meaningful change. The proposed method can therefore be interpreted to be technically valid and adequate for a variety of biomechanical research questions in the field of alpine skiing with certain limitations regarding position.

  7. Foghorns to the Future: Using Knowledge and Transdisciplinarity to Navigate Complex Systems

    Directory of Open Access Journals (Sweden)

    Georgina N. R. Cundill

    2005-12-01

    Full Text Available Complex systems are shaped by cross-scale interactions, nonlinear feedbacks, and uncertainty, among other factors. Transdisciplinary approaches that combine participatory and conventional methods and democratize knowledge to enable diverse inputs, including those from local, informal experts, are essential tools in understanding such systems. The metaphor of a "bridge" to overcome the divide between different disciplines and knowledge systems is often used to advocate for more inclusive approaches. However, there is a shortage of information and consensus on the process, methodologies, and techniques that are appropriate to achieve this. This paper compares two case studies from Peru and South Africa in which community-level assessments were conducted as part of the Millennium Ecosystem Assessment, and explores the different conceptual models used to deal with scale and complexity, the methods adopted to deal with epistemology, and the different means of dealing with uncertainty in each assessment. The paper highlights the conceptual and practical challenges encountered by each assessment and discusses some of the conceptual and practical trade-offs involved in the selection of particular approaches. We argue that a boat navigating between unknown shores may be a more appropriate metaphor than a bridge, whose starting and end points are fixed and known.

  8. Public road infrastructure inventory in degraded global navigation satellite system signal environments

    Science.gov (United States)

    Sokolova, N.; Morrison, A.; Haakonsen, T. A.

    2015-04-01

    Recent advancement of land-based mobile mapping enables rapid and cost-effective collection of highquality road related spatial information. Mobile Mapping Systems (MMS) can provide spatial information with subdecimeter accuracy in nominal operation environments. However, performance in challenging environments such as tunnels is not well characterized. The Norwegian Public Roads Administration (NPRA) manages the country's public road network and its infrastructure, a large segment of which is represented by road tunnels (there are about 1 000 road tunnels in Norway with a combined length of 800 km). In order to adopt mobile mapping technology for streamlining road network and infrastructure management and maintenance tasks, it is important to ensure that the technology is mature enough to meet existing requirements for object positioning accuracy in all types of environments, and provide homogeneous accuracy over the mapping perimeter. This paper presents results of a testing campaign performed within a project funded by the NPRA as a part of SMarter road traffic with Intelligent Transport Systems (ITS) (SMITS) program. The testing campaign objective was performance evaluation of high end commercial MMSs for inventory of public areas, focusing on Global Navigation Satellite System (GNSS) signal degraded environments.

  9. A new calibration method for tri-axial field sensors in strap-down navigation systems

    International Nuclear Information System (INIS)

    Li, Xiang; Li, Zhi

    2012-01-01

    This paper presents a novel calibration method for tri-axial field sensors, such as magnetometers and accelerometers, in strap-down navigation systems. Strap-down tri-axial sensors have been widely used as they have the advantages of small size and low cost, but they need to be calibrated in order to ensure their accuracy. The most commonly used calibration method for a tri-axial field sensor is based on ellipsoid fitting, which has no requirement for external references. However, the self-calibration based on ellipsoid fitting is unable to determine and compensate the mutual misalignment between different sensors in a multi-sensor system. Therefore, a novel calibration method that employs the invariance of the dot product of two constant vectors is introduced in this paper. The proposed method, which is named dot product invariance method, brings a complete solution for the error model of tri-axial field sensors, and can solve the problem of alignment in a multi-sensor system. Its effectiveness and superiority over the ellipsoid fitting method are illustrated by numerical simulations, and its application on a digital magnetic compass shows significant enhancement of the heading accuracy. (paper)

  10. Evaluating the Usability of Pinchigator, a system for Navigating Virtual Worlds using Pinch Gloves

    Science.gov (United States)

    Hamilton, George S.; Brookman, Stephen; Dumas, Joseph D. II; Tilghman, Neal

    2003-01-01

    Appropriate design of two dimensional user interfaces (2D U/I) utilizing the well known WIMP (Window, Icon, Menu, Pointing device) environment for computer software is well studied and guidance can be found in several standards. Three-dimensional U/I design is not nearly so mature as 2D U/I, and standards bodies have not reached consensus on what makes a usable interface. This is especially true when the tools for interacting with the virtual environment may include stereo viewing, real time trackers and pinch gloves instead of just a mouse & keyboard. Over the last several years the authors have created a 3D U/I system dubbed Pinchigator for navigating virtual worlds based on the dVise dV/Mockup visualization software, Fakespace Pinch Gloves and Pohlemus trackers. The current work is to test the usability of the system on several virtual worlds, suggest improvements to increase Pinchigator s usability, and then to generalize about what was learned and how those lessons might be applied to improve other 3D U/I systems.

  11. A hybrid data fusion method for GNSS/INS integration navigation system

    Science.gov (United States)

    Yang, Ling; Li, Bofeng; Shen, Yunzhong; Li, Haojun

    2017-04-01

    Although DGNSS is widely used and PPP-GNSS is nowadays a viable precise positioning technology option, the major disadvantage of GNSS still remains: signal blockage due to obstructions in urban and built up environments, and extreme power attenuation of the signals when operated indoors. The combination of GNSS with other sensors, such as a self-contained inertial navigation system (INS), provides an ideal position and attitude determination solution which can not only mitigate the weakness of GNSS, but also bound the INS error that otherwise would grow with time when the INS operates alone. However, the navigation accuracy provided by GNSS/INS strongly depends on the quality and geometry of the GNSS observations, the quality of the INS technology used, and the integration model applied. There are two main types of coupled schemes for integration systems: loosely coupled integration and tightly coupled integration. In loosely coupled integration, position measurements are taken from both systems and combined optimally, usually in a Kalman filter. Tightly coupled integration directly combines the raw pseudorange or carrier phase measurements of GNSS with inertial measurements in an extended Kalman filter. The latter technique improves the ability to resolve ambiguities, i.e. allows a quicker recovery from outage events such as a loss of signal under vegetation. In recent years, tightly coupled differential carrier phase GNSS/INS integration has become popular, because it has the advantage of providing accurate position information even when GPS measurements are rank-deficient in stand-alone processing and is theoretically optimal in a filtering sense, especially in urban navigation applications. However, the heavier computational burden and sensor communication usually complicate the tightly coupled integration and reduce the system efficiency, compared with the loosely coupled integration. In this paper, it has been proved that the loosely coupled and tightly

  12. Orthognathic positioning system: intraoperative system to transfer virtual surgical plan to operating field during orthognathic surgery.

    Science.gov (United States)

    Polley, John W; Figueroa, Alvaro A

    2013-05-01

    To introduce the concept and use of an occlusal-based "orthognathic positioning system" (OPS) to be used during orthognathic surgery. The OPS consists of intraoperative occlusal-based devices that transfer virtual surgical planning to the operating field for repositioning of the osteotomized dentoskeletal segments. The system uses detachable guides connected to an occlusal splint. An initial drilling guide is used to establish stable references or landmarks. These are drilled on the bone that will not be repositioned adjacent to the osteotomy line. After mobilization of the skeletal segment, a final positioning guide, referenced to the drilled landmarks, is used to transfer the skeletal segment according to the virtual surgical planning. The OPS is digitally designed using 3-dimensional computer-aided design/computer-aided manufacturing technology and manufactured with stereolithographic techniques. Virtual surgical planning has improved the preoperative assessment and, in conjunction with the OPS, the execution of orthognathic surgery. The OPS has the possibility to eliminate the inaccuracies commonly associated with traditional orthognathic surgery planning and to simplify the execution by eliminating surgical steps such as intraoperative measuring, determining the condylar position, the use of bulky intermediate splints, and the use of intermaxillary wire fixation. The OPS attempts precise translation of the virtual plan to the operating field, bridging the gap between virtual and actual surgery. Copyright © 2013 American Association of Oral and Maxillofacial Surgeons. Published by Elsevier Inc. All rights reserved.

  13. Goal-recognition-based adaptive brain-computer interface for navigating immersive robotic systems

    Science.gov (United States)

    Abu-Alqumsan, Mohammad; Ebert, Felix; Peer, Angelika

    2017-06-01

    Objective. This work proposes principled strategies for self-adaptations in EEG-based Brain-computer interfaces (BCIs) as a way out of the bandwidth bottleneck resulting from the considerable mismatch between the low-bandwidth interface and the bandwidth-hungry application, and a way to enable fluent and intuitive interaction in embodiment systems. The main focus is laid upon inferring the hidden target goals of users while navigating in a remote environment as a basis for possible adaptations. Approach. To reason about possible user goals, a general user-agnostic Bayesian update rule is devised to be recursively applied upon the arrival of evidences, i.e. user input and user gaze. Experiments were conducted with healthy subjects within robotic embodiment settings to evaluate the proposed method. These experiments varied along three factors: the type of the robot/environment (simulated and physical), the type of the interface (keyboard or BCI), and the way goal recognition (GR) is used to guide a simple shared control (SC) driving scheme. Main results. Our results show that the proposed GR algorithm is able to track and infer the hidden user goals with relatively high precision and recall. Further, the realized SC driving scheme benefits from the output of the GR system and is able to reduce the user effort needed to accomplish the assigned tasks. Despite the fact that the BCI requires higher effort compared to the keyboard conditions, most subjects were able to complete the assigned tasks, and the proposed GR system is additionally shown able to handle the uncertainty in user input during SSVEP-based interaction. The SC application of the belief vector indicates that the benefits of the GR module are more pronounced for BCIs, compared to the keyboard interface. Significance. Being based on intuitive heuristics that model the behavior of the general population during the execution of navigation tasks, the proposed GR method can be used without prior tuning for the

  14. IPS – A SYSTEM FOR REAL-TIME NAVIGATION AND 3D MODELING

    Directory of Open Access Journals (Sweden)

    D. Grießbach

    2012-07-01

    Full Text Available fdaReliable navigation and 3D modeling is a necessary requirement for any autonomous system in real world scenarios. German Aerospace Center (DLR developed a system providing precise information about local position and orientation of a mobile platform as well as three-dimensional information about its environment in real-time. This system, called Integral Positioning System (IPS can be applied for indoor environments and outdoor environments. To achieve high precision, reliability, integrity and availability a multi-sensor approach was chosen. The important role of sensor data synchronization, system calibration and spatial referencing is emphasized because the data from several sensors has to be fused using a Kalman filter. A hardware operating system (HW-OS is presented, that facilitates the low-level integration of different interfaces. The benefit of this approach is an increased precision of synchronization at the expense of additional engineering costs. It will be shown that the additional effort is leveraged by the new design concept since the HW-OS methodology allows a proven, flexible and fast design process, a high re-usability of common components and consequently a higher reliability within the low-level sensor fusion. Another main focus of the paper is on IPS software. The DLR developed, implemented and tested a flexible and extensible software concept for data grabbing, efficient data handling, data preprocessing (e.g. image rectification being essential for thematic data processing. Standard outputs of IPS are a trajectory of the moving platform and a high density 3D point cloud of the current environment. This information is provided in real-time. Based on these results, information processing on more abstract levels can be executed.

  15. Development of a Zoo Walk Navigation System using the Positional Measurement Technology and the Wireless Communication Technology

    Directory of Open Access Journals (Sweden)

    Tomoyuki Ishida

    2016-11-01

    Full Text Available In this article, we propose and evaluate a Zoo Walk Navigation System consistings of the Animal Contents Registering and Editing Web Management System and the Animal Contents Browsing and Acquiring Smartphone Application. The Animal Contents Registering and Editing Web Management System for zoo staff enables to register/edit various animal contents. Thereby, this web management system provides real-time and flesh zoo information to the Animal Contents Browsing and Acquiring Smartphone Application. On the other hand, the Animal Contents Browsing and Acquiring Smartphone Application for zoo visitors enables to browse various animal contents which zoo staff registered through the Animal Contents Registering and Editing Web Management System. The Animal Contents Browsing and Acquiring Smartphone Application has the animal guide browsing function, the animal quiz function, the beacon notification browsing function, the zoo map navigating function, and the AR camera function. Zoo visitors can enjoy a zoo park using this smartphone application. This system is the new type navigation system which zoo staff can renew contents to avoid contents obsolescence. And, this system always provides new information to zoo visitors in real time by the beacon notification function.

  16. The SEP "Robot": A Valid Virtual Reality Robotic Simulator for the Da Vinci Surgical System?

    NARCIS (Netherlands)

    van der Meijden, O. A. J.; Broeders, I. A. M. J.; Schijven, M. P.

    2010-01-01

    The aim of the study was to determine if the concept of face and construct validity may apply to the SurgicalSim Educational Platform (SEP) "robot" simulator. The SEP robot simulator is a virtual reality (VR) simulator aiming to train users on the Da Vinci Surgical System. To determine the SEP's

  17. PREFERENCE FOR MAP SCALE OF IN-CAR ROUTE GUIDANCE AND NAVIGATION SYSTEM

    Directory of Open Access Journals (Sweden)

    Ana Paula Marques Ramos

    Full Text Available Usability issues of maps presented in-car Route Guidance and Navigation System (RGNS may result in serious impacts on traffic safety. To obtain effective RGNS, evaluation of 'user satisfaction' with the system has played a prominent role, since designers can quantify drivers' acceptance about presented information. An important variable related to design of RGNS interfaces refers to select appropriate scale for maps, since it interferes on legibility of maps. Map with good legibility may support drivers comprehend information easily and take decisions during driving task quickly. This paper evaluates drivers' preference for scales used in maps of RGNS. A total of 52 subjects participated of an experiment performed in a parked car. Maps were designed at four different scales 1:1,000, 1:3,000, 1:6,000 and 1:10,000 for a route composed of 13 junctions. Map design was based on cartographic communication principles, such as perceptive grouping and figure-ground segregation. Based on studies cases, we conclude intermediate scales (1:6,000 and 1:3,000 were more acceptable among drivers compared to large scales (1:1,000 and small (1:10,000. RGNS should select scales for maps which supports drivers to quickly identify direction of the maneuver and, simultaneously, get information about surroundings of route. More results are presented and implications discussed

  18. Design and Implementation of Kana-Input Navigation System for Kids based on the Cyber Assistant

    Directory of Open Access Journals (Sweden)

    Hiroshi Matsuda

    2004-02-01

    Full Text Available In Japan, it has increased the opportunity for young children to experience the personal computer in elementary schools. However, in order to use computer, many domestic barriers have confronted young children (Kids because they cannot read difficult Kanji characters and had not learnt Roman alphabet yet. As a result, they cannot input text strings by JIS Kana keyboard. In this research, we developed Kana-Input NaVigation System for kids (KINVS based on the Cyber Assistant System (CAS. CAS is a Human-Style Software Robot based on the 3D-CG real-time animation and voice synthesis technology. KINVS enables to input Hiragana/Katakana characters by mouse operation only (without keyboard operation and CAS supports them by using speaking, facial expression, body action and sound effects. KINVS displays the 3D-Stage like a classroom. In this room, Blackboard, Interactive parts to input Kana-characters, and CAS are placed. As some results of preliminary experiments, it is definitely unfit for Kids to double-click objects quickly or to move the Scrollbar by mouse dragging. So, mouse input method of KINVS are designed to use only single click and wheeler rotation. To input characters, Kids clicks or rotates the Interactive Parts. KINVS reports all information by voice speaking and Kana subtitles instead of Kanji text. Furthermore, to verify the functional feature of KINVS, we measured how long Kids had taken to input long text by using KINVS.

  19. Experimental study on the precise orbit determination of the BeiDou navigation satellite system.

    Science.gov (United States)

    He, Lina; Ge, Maorong; Wang, Jiexian; Wickert, Jens; Schuh, Harald

    2013-03-01

    The regional service of the Chinese BeiDou satellite navigation system is now in operation with a constellation including five Geostationary Earth Orbit satellites (GEO), five Inclined Geosynchronous Orbit (IGSO) satellites and four Medium Earth Orbit (MEO) satellites. Besides the standard positioning service with positioning accuracy of about 10 m, both precise relative positioning and precise point positioning are already demonstrated. As is well known, precise orbit and clock determination is essential in enhancing precise positioning services. To improve the satellite orbits of the BeiDou regional system, we concentrate on the impact of the tracking geometry and the involvement of MEOs, and on the effect of integer ambiguity resolution as well. About seven weeks of data collected at the BeiDou Experimental Test Service (BETS) network is employed in this experimental study. Several tracking scenarios are defined, various processing schemata are designed and carried out; and then, the estimates are compared and analyzed in detail. The results show that GEO orbits, especially the along-track component, can be significantly improved by extending the tracking network in China along longitude direction, whereas IGSOs gain more improvement if the tracking network extends in latitude. The involvement of MEOs and ambiguity-fixing also make the orbits better.

  20. Navigation and Remote Sensing Payloads and Methods of the Sarvant Unmanned Aerial System

    Science.gov (United States)

    Molina, P.; Fortuny, P.; Colomina, I.; Remy, M.; Macedo, K. A. C.; Zúnigo, Y. R. C.; Vaz, E.; Luebeck, D.; Moreira, J.; Blázquez, M.

    2013-08-01

    In a large number of scenarios and missions, the technical, operational and economical advantages of UAS-based photogrammetry and remote sensing over traditional airborne and satellite platforms are apparent. Airborne Synthetic Aperture Radar (SAR) or combined optical/SAR operation in remote areas might be a case of a typical "dull, dirty, dangerous" mission suitable for unmanned operation - in harsh environments such as for example rain forest areas in Brazil, topographic mapping of small to medium sparsely inhabited remote areas with UAS-based photogrammetry and remote sensing seems to be a reasonable paradigm. An example of such a system is the SARVANT platform, a fixed-wing aerial vehicle with a six-meter wingspan and a maximumtake- of-weight of 140 kilograms, able to carry a fifty-kilogram payload. SARVANT includes a multi-band (X and P) interferometric SAR payload, as the P-band enables the topographic mapping of densely tree-covered areas, providing terrain profile information. Moreover, the combination of X- and P-band measurements can be used to extract biomass estimations. Finally, long-term plan entails to incorporate surveying capabilities also at optical bands and deliver real-time imagery to a control station. This paper focuses on the remote-sensing concept in SARVANT, composed by the aforementioned SAR sensor and envisioning a double optical camera configuration to cover the visible and the near-infrared spectrum. The flexibility on the optical payload election, ranging from professional, medium-format cameras to mass-market, small-format cameras, is discussed as a driver in the SARVANT development. The paper also focuses on the navigation and orientation payloads, including the sensors (IMU and GNSS), the measurement acquisition system and the proposed navigation and orientation methods. The latter includes the Fast AT procedure, which performs close to traditional Integrated Sensor Orientation (ISO) and better than Direct Sensor Orientation (Di

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

    National Research Council Canada - National Science Library

    Rosenblum, Mark; Gothard, Benny

    2006-01-01

    .... In the military sense, appropriate navigation implies the robot will avoid collision or contact with hazards, will not be falsely re-routed around traversible terrain due to false hazard detections...

  2. Flexible Particle Filter Navigation System for Analysis and Operations, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Odyssey Space Research proposes to develop a modular navigation software package to provide precise state information for offline analysis and real-time...

  3. Rapid Development of Guidance, Navigation, and Control Core Flight System Software Applications Using Simulink Models

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal of this proposal is to demonstrate a new Guidance, Navigation, and Control (GNC) Flight Software (FSW) application development paradigm which takes...

  4. Evaluation of Navigation System Accuracy Indexes for Deviation Reading from Average Range

    Directory of Open Access Journals (Sweden)

    Alexey Boykov

    2017-12-01

    Full Text Available The method for estimating the mean of square error, kurtosis and error correlation coefficient for deviations from the average range of three navigation parameter indications from the outputs of three information sensors is substantiated and developed.

  5. Autonomous Navigation Using LiAISON in the Earth-Moon System

    Data.gov (United States)

    National Aeronautics and Space Administration — An innovative technique using satellite-to-satellite tracking for onboard autonomous absolute navigation has been conceived at the Colorado Center for Astrodynamics...

  6. Enhancing fuzzy robot navigation systems by mimicking human visual perception of natural terrain traversibility

    Science.gov (United States)

    Tunstel, E.; Howard, A.; Edwards, D.; Carlson, A.

    2001-01-01

    This paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted from image data.

  7. Dynamic Parameter Update for Robot Navigation Systems through Unsupervised Environmental Situational Analysis

    OpenAIRE

    Shantia, Amirhossein; Bidoia, Francesco; Schomaker, Lambert; Wiering, Marco

    2017-01-01

    A robot’s local navigation is often done through forward simulation of robot velocities and measuring the possible trajectories against safety, distance to the final goal and the generated path of a global path planner. Then, the computed velocities vector for the winning trajectory is executed on the robot. This process is done continuously through the whole navigation process and requires an extensive amount of processing. This only allows for a very limited sampling space. In this paper, w...

  8. An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

    OpenAIRE

    Niu, Xiaoji; Yu, Tong; Tang, Jian; Chang, Le

    2017-01-01

    Multisensors (LiDAR/IMU/CAMERA) integrated Simultaneous Location and Mapping (SLAM) technology for navigation and mobile mapping in a GNSS-denied environment, such as indoor areas, dense forests, or urban canyons, becomes a promising solution. An online (real-time) version of such system can extremely extend its applications, especially for indoor mobile mapping. However, the real-time response issue of multisensors is a big challenge for an online SLAM system, due to the different sampling f...

  9. Intraocular robotic interventional surgical system (IRISS): Mechanical design, evaluation, and master-slave manipulation.

    Science.gov (United States)

    Wilson, Jason T; Gerber, Matthew J; Prince, Stephen W; Chen, Cheng-Wei; Schwartz, Steven D; Hubschman, Jean-Pierre; Tsao, Tsu-Chin

    2018-02-01

    Since the advent of robotic-assisted surgery, the value of using robotic systems to assist in surgical procedures has been repeatedly demonstrated. However, existing technologies are unable to perform complete, multi-step procedures from start to finish. Many intraocular surgical steps continue to be manually performed. An intraocular robotic interventional surgical system (IRISS) capable of performing various intraocular surgical procedures was designed, fabricated, and evaluated. Methods were developed to evaluate the performance of the remote centers of motion (RCMs) using a stereo-camera setup and to assess the accuracy and precision of positioning the tool tip using an optical coherence tomography (OCT) system. The IRISS can simultaneously manipulate multiple surgical instruments, change between mounted tools using an onboard tool-change mechanism, and visualize the otherwise invisible RCMs to facilitate alignment of the RCM to the surgical incision. The accuracy of positioning the tool tip was measured to be 0.205±0.003 mm. The IRISS was evaluated by trained surgeons in a remote surgical theatre using post-mortem pig eyes and shown to be effective in completing many key steps in a variety of intraocular surgical procedures as well as being capable of performing an entire cataract extraction from start to finish. The IRISS represents a necessary step towards fully automated intraocular surgery and demonstrated accurate and precise master-slave manipulation for cataract removal and-through visual feedback-retinal vein cannulation. Copyright © 2017 John Wiley & Sons, Ltd.

  10. Left lower lobe sleeve lobectomy for lung cancer using the Da Vinci surgical system.

    Science.gov (United States)

    Zhao, Yandong; Jiao, Wenjie; Ren, Xiaoyang; Zhang, Liangdong; Qiu, Tong; Fu, Bo; Wang, Lei

    2016-04-12

    Despite the robotic surgery is widely applied, sleeve lobectomy for lung cancer using the Da Vinci surgical system is still less performed. We described a sleeve lobectomy for adenocarcinoma located at the left lower lobe using the Da Vinci surgical system. A case of 57-year old female referred to our hospital. Computed tomography scan showed an occupation located at the left lower lobe and adenocarcinoma project from the lobe bronchus was diagnosed by bronchoscope examination. A sleeve lobectomy was performed using the Da Vinci surgical system and the postoperative recovery was uneventful. Robotic thoracic surgery is feasible to perform sleeve lobectomy inspite of inadequate experience.

  11. Tropospheric and ionospheric media calibrations based on global navigation satellite system observation data

    Science.gov (United States)

    Feltens, Joachim; Bellei, Gabriele; Springer, Tim; Kints, Mark V.; Zandbergen, René; Budnik, Frank; Schönemann, Erik

    2018-06-01

    Context: Calibration of radiometric tracking data for effects in the Earth atmosphere is a crucial element in the field of deep-space orbit determination (OD). The troposphere can induce propagation delays in the order of several meters, the ionosphere up to the meter level for X-band signals and up to tens of meters, in extreme cases, for L-band ones. The use of media calibrations based on Global Navigation Satellite Systems (GNSS) measurement data can improve the accuracy of the radiometric observations modelling and, as a consequence, the quality of orbit determination solutions. Aims: ESOC Flight Dynamics employs ranging, Doppler and delta-DOR (Delta-Differential One-Way Ranging) data for the orbit determination of interplanetary spacecraft. Currently, the media calibrations for troposphere and ionosphere are either computed based on empirical models or, under mission specific agreements, provided by external parties such as the Jet Propulsion Laboratory (JPL) in Pasadena, California. In order to become independent from external models and sources, decision fell to establish a new in-house internal service to create these media calibrations based on GNSS measurements recorded at the ESA tracking sites and processed in-house by the ESOC Navigation Support Office with comparable accuracy and quality. Methods: For its concept, the new service was designed to be as much as possible depending on own data and resources and as less as possible depending on external models and data. Dedicated robust and simple algorithms, well suited for operational use, were worked out for that task. This paper describes the approach built up to realize this new in-house internal media calibration service. Results: Test results collected during three months of running the new media calibrations in quasi-operational mode indicate that GNSS-based tropospheric corrections can remove systematic signatures from the Doppler observations and biases from the range ones. For the ionosphere, a

  12. Client-server Approach in the Navigation System for the Blind

    Directory of Open Access Journals (Sweden)

    Lukasz Markiewicz

    2013-09-01

    Full Text Available The article presents the client-server approach in the navigation system for the blind - “Voice Maps”. The authors were among the main creators of the prototype and currently the commercialization phase is being finished. In the implemented prototype only exemplary, limited spatial data were used, therefore they could be stored and analyzed (for pathfinding process in the mobile device’s memory without any difficulties. The resulting increase of spatial data scale and complexity required a modification of the data storage and operation. Consequently, the decision was made to maintain a central spatial database, which is accessed remotely. After that modification, the mobile application fetches the required batch of spatial data (with the pathfinding and search results from the central server through the mobile internet connection, which has also become necessary for other purposes (e.g. voice recognition. The authors present the advantages and disadvantages of this new approach along with the results of the server operational tests.

  13. Evaluation of an Autonomous Navigation and Positioning System for IAEA-SG Inspectors

    International Nuclear Information System (INIS)

    Finker, D.; Cai, R.; Rutkowski, J.; Kocjan, J.

    2015-01-01

    Documenting visual observations and other data taken during field missions such as inspections, complementary accesses and design information verification is a time-consuming process which requires considerable effort from the inspectors in the field. To streamline their work in the field, IAEA inspectors would benefit from being able to position themselves and navigate inside vast and complex sites. Automated positioning of the inspector will result in more accurate and complete documentation of the measurements and data that they collect. While outdoor positioning using GPS is a mature technology, an autonomous system providing ubiquitous positioning without relying on any infrastructure is still an emerging technology. This paper will present the results of the Technology Evaluation Workshop that was conducted in 2014 by the Department of Safeguards to assess the readiness level of existing technologies, identify gaps, and validate the identified operational needs. Potential implementation of the technology will be envisioned, and the presentation will highlight how they could benefit the efficiency of IAEA safeguards activities in the field and at Headquarters. Finally, it will be shown how the process of organizing technology evaluation workshops can be systematized to accelerate technological development and lower the risks associated with their deployment. (author)

  14. Precise positioning with current multi-constellation Global Navigation Satellite Systems: GPS, GLONASS, Galileo and BeiDou.

    Science.gov (United States)

    Li, Xingxing; Zhang, Xiaohong; Ren, Xiaodong; Fritsche, Mathias; Wickert, Jens; Schuh, Harald

    2015-02-09

    The world of satellite navigation is undergoing dramatic changes with the rapid development of multi-constellation Global Navigation Satellite Systems (GNSSs). At the moment more than 70 satellites are already in view, and about 120 satellites will be available once all four systems (BeiDou + Galileo + GLONASS + GPS) are fully deployed in the next few years. This will bring great opportunities and challenges for both scientific and engineering applications. In this paper we develop a four-system positioning model to make full use of all available observations from different GNSSs. The significant improvement of satellite visibility, spatial geometry, dilution of precision, convergence, accuracy, continuity and reliability that a combining utilization of multi-GNSS brings to precise positioning are carefully analyzed and evaluated, especially in constrained environments.

  15. Modeling and Assessment of Precise Time Transfer by Using BeiDou Navigation Satellite System Triple-Frequency Signals

    Science.gov (United States)

    Zhang, Pengfei; Zhang, Rui; Liu, Jinhai; Lu, Xiaochun

    2018-01-01

    This study proposes two models for precise time transfer using the BeiDou Navigation Satellite System triple-frequency signals: ionosphere-free (IF) combined precise point positioning (PPP) model with two dual-frequency combinations (IF-PPP1) and ionosphere-free combined PPP model with a single triple-frequency combination (IF-PPP2). A dataset with a short baseline (with a common external time frequency) and a long baseline are used for performance assessments. The results show that IF-PPP1 and IF-PPP2 models can both be used for precise time transfer using BeiDou Navigation Satellite System (BDS) triple-frequency signals, and the accuracy and stability of time transfer is the same in both cases, except for a constant system bias caused by the hardware delay of different frequencies, which can be removed by the parameter estimation and prediction with long time datasets or by a priori calibration. PMID:29596330

  16. The state of the vegetative nervous system in patients with gonarthrosis for surgical treatment before and after surgical treatment

    Directory of Open Access Journals (Sweden)

    Karaseva T.lu.

    2012-12-01

    Full Text Available Aim. Analyzing the vegetative tensity of organism» functional systems before and after surgical treatment of elderly patients with metabolic-and-dystrophic gonarthrosis. Methods. The evaluation of vegetative homeostasis, reactivity of the vegetative nervous system by the data of variation pulsometry («REAN-POLY» RGPA-6/12, Taganrog in 60 patients with gonarthrosis at the age of 50-72 years and the disease duration — 9+1.5 years before and after surgical treatment: total tunnelization (Group I, tunnelization with osteotomy of leg bones for correction of limb biomechanical axis (Group II, treatment-and-diagnostic arthroscopy (Group III. Results. The reduction of the level of hypoxia tolerance and the decrease of the processes of general adaptation one month after surgery in Group I was registered in 40% of patients. As for patients of Group II, by the end of the period of fixation with the llizarov device — in 50%. As for those of Group III after arthroscopy — in 10% of patients. Among the patients whose 1С / 1С calculated parameter after surgical treatment was registered <1.0, its values were >10.0 before treatment in 70% of cases. At rest, marked vagotonia was registered with hypersympathicotonic reaction to orthotest, as well as with sharp decrease of the proportion of second-order slow waves while transition to standing position (VLF proportion <10.0%, thereby reflecting organism»s energy deficiency state. Conclusion. Preoperative examination. When VLF proportion after orthotest is registered <10.0%, such patients should be referred to risk group and prescribed in-depth examination. The index of centralization (1С dynamics for orthotest (1С test/1С rest is one of the criteria of functional recovery level for the particular patient: its increase points to the positive dynamics of restorative rehabilitative process, and the values <1.0 —to the negative one.

  17. Gynecomastia Classification for Surgical Management: A Systematic Review and Novel Classification System.

    Science.gov (United States)

    Waltho, Daniel; Hatchell, Alexandra; Thoma, Achilleas

    2017-03-01

    Gynecomastia is a common deformity of the male breast, where certain cases warrant surgical management. There are several surgical options, which vary depending on the breast characteristics. To guide surgical management, several classification systems for gynecomastia have been proposed. A systematic review was performed to (1) identify all classification systems for the surgical management of gynecomastia, and (2) determine the adequacy of these classification systems to appropriately categorize the condition for surgical decision-making. The search yielded 1012 articles, and 11 articles were included in the review. Eleven classification systems in total were ascertained, and a total of 10 unique features were identified: (1) breast size, (2) skin redundancy, (3) breast ptosis, (4) tissue predominance, (5) upper abdominal laxity, (6) breast tuberosity, (7) nipple malposition, (8) chest shape, (9) absence of sternal notch, and (10) breast skin elasticity. On average, classification systems included two or three of these features. Breast size and ptosis were the most commonly included features. Based on their review of the current classification systems, the authors believe the ideal classification system should be universal and cater to all causes of gynecomastia; be surgically useful and easy to use; and should include a comprehensive set of clinically appropriate patient-related features, such as breast size, breast ptosis, tissue predominance, and skin redundancy. None of the current classification systems appears to fulfill these criteria.

  18. Anatomy and Physiology. Module Set II: Major Body Systems. Teacher Edition [and] Student Edition. Surgical Technology.

    Science.gov (United States)

    Hilley, Robert

    This document, which is the second part of a two-part set of modules on anatomy and physiology for future surgical technicians, contains the teacher and student editions of an introduction to anatomy and physiology that consists of modules on the following body systems: integumentary system; skeletal system; muscular system; nervous system;…

  19. Study of structure of marine specialist activity in an ergative system on monitoring and managing automatic control parameters of safe navigation process

    Directory of Open Access Journals (Sweden)

    Kholichev S. N.

    2016-12-01

    Full Text Available The study of structures' common features and dynamics of the technical object tuning circuit performing automatic adjustment of safe navigation options has been conducted for the first time in the theory of ergative systems. The research of the structure and process of ergative system functioning including an automatic control system with the option of safe navigation conditions has been fulfilled. The function of signals' selection performing optimal control law reconfiguration of the mentioned system has been given, and some sequence of marine specialist activities allowing solve the problem of navigation safety has been composed. The ergative system retargeted by the ship specialist has a two-tier hierarchy. The first level is an automatic control of the safe navigation parameter, and the second is the level of reconfiguration where the ship specialist changes the parameters of regulation act. The two-level hierarchical representation of the ergative navigation security settings management system makes it possible to introduce the concept of reconfiguration of regulation level as ship specialist activity which is to reduce the uncertainty in the environment in the operation of this layer. Such a reduction can be achieved as a result of exposure to the upper level associated with ideas of the ship specialist on the regulation of safe navigation parameters of the vessel on the lower level – the level of direct control automatic safe navigation option. As a result of studying the activities of the ship specialist in the ergative system on monitoring and managing automatic control parameters of safe navigation process it has been found that the main task of the ship specialist in the operation within the ergative system ensuring the navigation safety is to monitor the input and output of the automatic control system, decisions on the choice of reconfiguration laws regulating signal on the basis of information about deviations and the

  20. 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.

  1. 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

  2. Surgical smoke.

    Science.gov (United States)

    Fan, Joe King-Man; Chan, Fion Siu-Yin; Chu, Kent-Man

    2009-10-01

    Surgical smoke is the gaseous by-product formed during surgical procedures. Most surgeons, operating theatre staff and administrators are unaware of its potential health risks. Surgical smoke is produced by various surgical instruments including those used in electrocautery, lasers, ultrasonic scalpels, high speed drills, burrs and saws. The potential risks include carbon monoxide toxicity to the patient undergoing a laparoscopic operation, pulmonary fibrosis induced by non-viable particles, and transmission of infectious diseases like human papilloma virus. Cytotoxicity and mutagenicity are other concerns. Minimisation of the production of surgical smoke and modification of any evacuation systems are possible solutions. In general, a surgical mask can provide more than 90% protection to exposure to surgical smoke; however, in most circumstances it cannot provide air-tight protection to the user. An at least N95 grade or equivalent respirator offers the best protection against surgical smoke, but whether such protection is necessary is currently unknown.

  3. Wire in the Cable-Driven System of Surgical Robot

    Science.gov (United States)

    Wang, X. F.; Lv, N.; Mu, H. Z.; Xue, L. J.

    2017-07-01

    During the evolution of the surgical robot, cable plays an important role. It translates motion and force precisely from surgeon’s hand to the tool’s tips. In the paper, the vertical wires, the composition of cable, are mathematically modeled from a geometric point of view. The cable structure and tension are analyzed according to the characteristics of wire screw twist. The structural equations of the wires in different positions are derived for both non-bent cable and bent cable, respectively. The bending moment formula of bent cable is also obtained. This will help researchers find suitable cable and design more matched pulley.

  4. Disease Compass- a navigation system for disease knowledge based on ontology and linked data techniques.

    Science.gov (United States)

    Kozaki, Kouji; Yamagata, Yuki; Mizoguchi, Riichiro; Imai, Takeshi; Ohe, Kazuhiko

    2017-06-19

    Medical ontologies are expected to contribute to the effective use of medical information resources that store considerable amount of data. In this study, we focused on disease ontology because the complicated mechanisms of diseases are related to concepts across various medical domains. The authors developed a River Flow Model (RFM) of diseases, which captures diseases as the causal chains of abnormal states. It represents causes of diseases, disease progression, and downstream consequences of diseases, which is compliant with the intuition of medical experts. In this paper, we discuss a fact repository for causal chains of disease based on the disease ontology. It could be a valuable knowledge base for advanced medical information systems. We developed the fact repository for causal chains of diseases based on our disease ontology and abnormality ontology. This section summarizes these two ontologies. It is developed as linked data so that information scientists can access it using SPARQL queries through an Resource Description Framework (RDF) model for causal chain of diseases. We designed the RDF model as an implementation of the RFM for the fact repository based on the ontological definitions of the RFM. 1554 diseases and 7080 abnormal states in six major clinical areas, which are extracted from the disease ontology, are published as linked data (RDF) with SPARQL endpoint (accessible API). Furthermore, the authors developed Disease Compass, a navigation system for disease knowledge. Disease Compass can browse the causal chains of a disease and obtain related information, including abnormal states, through two web services that provide general information from linked data, such as DBpedia, and 3D anatomical images. Disease Compass can provide a complete picture of disease-associated processes in such a way that fits with a clinician's understanding of diseases. Therefore, it supports user exploration of disease knowledge with access to pertinent information

  5. Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

    Science.gov (United States)

    Asgari, Jamal; Mohammadloo, Tannaz H.; Amiri-Simkooei, Ali Reza

    2015-09-01

    GNSS kinematic techniques are capable of providing precise coordinates in extremely short observation time-span. These methods usually determine the coordinates of an unknown station with respect to a reference one. To enhance the precision, accuracy, reliability and integrity of the estimated unknown parameters, GNSS kinematic equations are to be augmented by possible constraints. Such constraints could be derived from the geometric relation of the receiver positions in motion. This contribution presents the formulation of the constrained kinematic global navigation satellite systems positioning. Constraints effectively restrict the definition domain of the unknown parameters from the three-dimensional space to a subspace defined by the equation of motion. To test the concept of the constrained kinematic positioning method, the equation of a circle is employed as a constraint. A device capable of moving on a circle was made and the observations from 11 positions on the circle were analyzed. Relative positioning was conducted by considering the center of the circle as the reference station. The equation of the receiver's motion was rewritten in the ECEF coordinates system. A special attention is drawn onto how a constraint is applied to kinematic positioning. Implementing the constraint in the positioning process provides much more precise results compared to the unconstrained case. This has been verified based on the results obtained from the covariance matrix of the estimated parameters and the empirical results using kinematic positioning samples as well. The theoretical standard deviations of the horizontal components are reduced by a factor ranging from 1.24 to 2.64. The improvement on the empirical standard deviation of the horizontal components ranges from 1.08 to 2.2.

  6. 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.

  7. Magnetic navigation system for the precise helical and translational motions of a microrobot in human blood vessels

    Science.gov (United States)

    Jeon, S. M.; Jang, G. H.; Choi, H. C.; Park, S. H.; Park, J. O.

    2012-04-01

    Different magnetic navigation systems (MNSs) have been investigated for the wireless manipulation of microrobots in human blood vessels. Here we propose a MNS and methodology for generation of both the precise helical and translational motions of a microrobot to improve its maneuverability in complex human blood vessel. We then present experiments demonstrating the helical and translational motions of a spiral-type microrobot to verify the proposed MNS.

  8. How Marginalized Young People Access, Engage With, and Navigate Health-Care Systems in the Digital Age: Systematic Review.

    Science.gov (United States)

    Robards, Fiona; Kang, Melissa; Usherwood, Tim; Sanci, Lena

    2018-04-01

    This systematic review examines how marginalized young people access and engage with health services and navigate health-care systems in high-income countries. Medline, CINAHL, PsychInfo, The University of Sydney Library database, and Google Scholar were searched to identify qualitative and quantitative original research, published from 2006 to 2017, that focused on selected definitions of marginalized young people (12 to 24 years), their parents/carers, and/or health professionals working with these populations. A thematic synthesis was undertaken identifying themes across and between groups on barriers and/or facilitators to access, engagement, and/or navigation of health-care systems. Of 1,796 articles identified, 68 studies in the final selection focused on marginalized young people who were homeless (n = 20), living in rural areas (n = 14), of refugee background (n = 11), gender and/or sexuality diverse