Relational coordination promotes quality of chronic care delivery in Dutch disease-management programs.

PubMed

Cramm, Jane Murray; Nieboer, Anna Petra

2012-01-01

Previous studies have shown that relational coordination is positively associated with the delivery of hospital care, acute care, emergency care, trauma care, and nursing home care. The effect of relational coordination in primary care settings, such as disease-management programs, remains unknown. This study examined relational coordination between general practitioners and other professionals in disease-management programs and assessed the impact of relational coordination on the delivery of chronic illness care. Professionals (n = 188; response rate = 57%) in 19 disease-management programs located throughout the Netherlands completed surveys that assessed relational coordination and chronic care delivery. We used a cross-sectional study design. Our study demonstrated that the delivery of chronic illness care was positively related to relational coordination. We found positive relationships with community linkages (r = .210, p < .01), self-management support (r = .217, p < .01), decision support (r = .190, p < .01), delivery system design (r = .278, p < .001), and clinical information systems (r = .193, p < .01). Organization of the health delivery system was not significantly related to relational coordination. The regression analyses showed that even after controlling for all background variables, relational coordination still significantly affected chronic care delivery (β = .212, p ≤ .01). As expected, our findings showed a lower degree of relational coordination among general practitioners than between general practitioners and other core disease-management team members: practice nurses (M = 2.69 vs. 3.73; p < .001), dieticians (M = 2.69 vs. 3.07; p < .01), physical therapists (M = 2.69 vs. 3.06; p < .01), medical specialists (M = 2.69 vs. 3.16; p < .01), and nurse practitioners (M = 2.69 vs. 3.19; p < .001). The enhancement of relational coordination among core disease-management professionals with different disciplines is expected to improve chronic illness care delivery.

Including Students with Severe Disabilities in School-Wide Positive Behavioral Interventions and Supports: Perceptions of State Coordinators

ERIC Educational Resources Information Center

Landers, Eric; Courtade, Ginevra; Ryndak, Diane

2012-01-01

The purpose of this study was to determine how the needs of students with disabilities are addressed by state coordinators of school-wide positive behavioral interventions and supports (PBIS) during professional development activities on positive behavioral strategies, school-wide systems, and school-wide commitment to the PBIS approach.…

Hipparchus' coordinate system

NASA Astrophysics Data System (ADS)

Duke, Dennis W.

2002-07-01

In his "Histoire de l'Astronomie Ancienne" Delambre concludes unequivocally that Hipparchus knew and used a definite system of celestial spherical coordinates, namely the right ascension and declination system that we use today. The basis of Delambre's conclusion was disarmingly simple: he pointed out that in the "Commentary to Aratus" Hipparchus actually quotes the positions of numerous stars directly in right ascension and declination (or more often its complement, polar distance). Nearly two centuries later, in his "A History of Ancient Mathematical Astronomy", Neugebauer not only completely ignores Delambre's conclusion on this issue, but goes further to propose his own, as we shall see quite fanciful, theory that begins "From the Commentary to Aratus, it is quite obvious that at Hipparchus' time a definite system of spherical coordinates for stellar positions did not yet exist." and concludes "...nowhere in Greek astronomy before the catalogue of stars in the Almagest is it attested that orthogonal spherical coordinates are used to determine stellar positions." Today it is clear that Neugebauer's theory is conventionally accepted. It is the purpose of this paper to offer fresh arguments that Delambre was correct.

Application of the Undifferenced GNSS Precise Positioning in Determining Coordinates in National Reference Frames

NASA Astrophysics Data System (ADS)

Krzan, Grzegorz; Stępniak, Katarzyna

2017-09-01

In high-accuracy positioning using GNSS, the most common solution is still relative positioning using double-difference observations of dual-frequency measurements. An increasingly popular alternative to relative positioning are undifferenced approaches, which are designed to make full use of modern satellite systems and signals. Positions referenced to global International Terrestrial Reference Frame (ITRF2008) obtained from Precise Point Positioning (PPP) or Undifferenced (UD) network solutions have to be transformed to national (regional) reference frame, which introduces additional bases related to the transformation process. In this paper, satellite observations from two test networks using different observation time series were processed. The first test concerns the positioning accuracy from processing one year of dual-frequency GPS observations from 14 EUREF Permanent Network (EPN) stations using NAPEOS 3.3.1 software. The results were transformed into a national reference frame (PL-ETRF2000) and compared to positions from an EPN cumulative solution, which was adopted as the true coordinates. Daily observations were processed using PPP and UD multi-station solutions to determine the final accuracy resulting from satellite positioning, the transformation to national coordinate systems and Eurasian intraplate plate velocities. The second numerical test involved similar processing strategies of post-processing carried out using different observation time series (30 min., 1 hour, 2 hours, daily) and different classes of GNSS receivers. The centimeter accuracy of results presented in the national coordinate system satisfies the requirements of many surveying and engineering applications.

Development of a high-precision selenodetic coordinate system for the physical surface of the Moon based on LED beacons on its surface

NASA Astrophysics Data System (ADS)

Shirenin, A. M.; Mazurova, E. M.; Bagrov, A. V.

2016-11-01

The paper presents a mathematical algorithm for processing an array of angular measurements of light beacons on images of the lunar surface onboard a polar artificial lunar satellite (PALS) during the Luna-Glob mission and coordinate-time referencing of the PALS for the development of reference selenocentric coordinate systems. The algorithm makes it possible to obtain angular positions of point light beacons located on the surface of the Moon in selenocentric celestial coordinates. The operation of measurement systems that determine the position and orientation of the PALS during its active existence have been numerically simulated. Recommendations have been made for the optimal use of different types of measurements, including ground radio trajectory measurements, navigational star sensors based on the onboard star catalog, gyroscopic orientation systems, and space videos of the lunar surface.

Extracting 3d Semantic Information from Video Surveillance System Using Deep Learning

NASA Astrophysics Data System (ADS)

Zhang, J. S.; Cao, J.; Mao, B.; Shen, D. Q.

2018-04-01

At present, intelligent video analysis technology has been widely used in various fields. Object tracking is one of the important part of intelligent video surveillance, but the traditional target tracking technology based on the pixel coordinate system in images still exists some unavoidable problems. Target tracking based on pixel can't reflect the real position information of targets, and it is difficult to track objects across scenes. Based on the analysis of Zhengyou Zhang's camera calibration method, this paper presents a method of target tracking based on the target's space coordinate system after converting the 2-D coordinate of the target into 3-D coordinate. It can be seen from the experimental results: Our method can restore the real position change information of targets well, and can also accurately get the trajectory of the target in space.

An investigation of errors and data processing techniques for an RF multilateration system. [position and velocity measurements of vertical takeoff aircraft during landing

NASA Technical Reports Server (NTRS)

Britt, C. L., Jr.

1975-01-01

The development of an RF Multilateration system to provide accurate position and velocity measurements during the approach and landing phase of Vertical Takeoff Aircraft operation is discussed. The system uses an angle-modulated ranging signal to provide both range and range rate measurements between an aircraft transponder and multiple ground stations. Range and range rate measurements are converted to coordinate measurements and the coordinate and coordinate rate information is transmitted by an integral data link to the aircraft. Data processing techniques are analyzed to show advantages and disadvantages. Error analyses are provided to permit a comparison of the various techniques.

Deriving a geocentric reference frame for satellite positioning and navigation

NASA Technical Reports Server (NTRS)

Malla, R. P.; Wu, S.-C.

1988-01-01

With the advent of Earth-orbiting geodetic satellites, nongeocentric datums or reference frames have become things of the past. Accurate geocentric three-dimensional positioning is now possible and is of great importance for various geodetic and oceanographic applications. While relative positioning accuracy of a few centimeters has become a reality using very long baseline interferometry (VLBI), the uncertainty in the offset of the adopted coordinate system origin from the geocenter is still believed to be on the order of 1 meter. Satellite laser ranging (SLR), however, is capable of determining this offset to better than 10 cm, but this is possible only after years of measurements. Global Positioning System (GPS) measurements provide a powerful tool for an accurate determination of this origin offset. Two strategies are discussed. The first strategy utilizes the precise relative positions that were predetermined by VLBI to fix the frame orientation and the absolute scaling, while the offset from the geocenter is determined from GPS measurements. Three different cases are presented under this strategy. The reference frame thus adopted will be consistent with the VLBI coordinate system. The second strategy establishes a reference frame by holding only the longitude of one of the tracking sites fixed. The absolute scaling is determined by the adopted gravitational constant (GM) of the Earth; and the latitude is inferred from the time signature of the Earth rotation in the GPS measurements. The coordinate system thus defined will be a geocentric Earth-fixed coordinate system.

Gravity-oriented satellite dynamics subject to gravitational and active damping torques

NASA Astrophysics Data System (ADS)

Sarychev, V. A.; Gutnik, S. A.

2018-01-01

The dynamics of the rotational motion of a satellite moving in the central Newtonian field of force over a circular orbit under the effect of gravitational and active damping torques, which depend on the satellite angular velocity projections, has been investigated. The paper proposes a method of determining all equilibrium positions (equilibrium orientations) of a satellite in the orbital coordinate system for specified values of damping coefficients and principal central moments of inertia. The conditions of their existence have been obtained. For a zero equilibrium position where the axes of the satellite-centered coordinate system coincide with the axes of the orbital coordinate system, the necessary and sufficient conditions for asymptotic stability are obtained using the Routh-Hurwitz criterion. A detailed analysis of the regions where the conditions of the asymptotic stability of a zero equilibrium position are fulfilled have been obtained depending on three dimensionless parameters of the problem, and the numerical study of the process of attenuation of satellite's spatial oscillations for various damping coefficients has been carried out. It has been shown that there is a wide range of damping parameters from which, by choosing the necessary values, one can provide the asymptotic stability of satellite's zero equilibrium position in the orbital coordinate system.

Software for Photometric and Astrometric Reduction of Video Meteors

NASA Astrophysics Data System (ADS)

Atreya, Prakash; Christou, Apostolos

2007-12-01

SPARVM is a Software for Photometric and Astrometric Reduction of Video Meteors being developed at Armagh Observatory. It is written in Interactive Data Language (IDL) and is designed to run primarily under Linux platform. The basic features of the software will be derivation of light curves, estimation of angular velocity and radiant position for single station data. For double station data, calculation of 3D coordinates of meteors, velocity, brightness, and estimation of meteoroid's orbit including uncertainties. Currently, the software supports extraction of time and date from video frames, estimation of position of cameras (Azimuth, Altitude), finding stellar sources in video frames and transformation of coordinates from video, frames to Horizontal coordinate system (Azimuth, Altitude), and Equatorial coordinate system (RA, Dec).

Automation of P-3 Simulations to Improve Operator Workload

DTIC Science & Technology

2012-09-01

Training GBE Group Behavior Engine GCC Geocentric Coordinates GCS Global Coordinate System GUI Graphical User Interface xiv HLA High...sonobuoys are in a different cell. Therefore, the sonobuoy positions in JSAF must be converted to geocentric coordinates (GCC) before applying the

Autonomous navigation system. [gyroscopic pendulum for air navigation

NASA Technical Reports Server (NTRS)

Merhav, S. J. (Inventor)

1981-01-01

An inertial navigation system utilizing a servo-controlled two degree of freedom pendulum to obtain specific force components in the locally level coordinate system is described. The pendulum includes a leveling gyroscope and an azimuth gyroscope supported on a two gimbal system. The specific force components in the locally level coordinate system are converted to components in the geographical coordinate system by means of a single Euler transformation. The standard navigation equations are solved to determine longitudinal and lateral velocities. Finally, vehicle position is determined by a further integration.

Intraformation positioning system

NASA Astrophysics Data System (ADS)

Sheldon, Stuart; Zadzora, Timothy

1996-05-01

The IntraFormation Positioning System is a networked relative navigation system currently being developed for rendezvous, join-up, and formation flight of Air Force helicopters and fixed wing aircraft in instrument meteorological conditions. The system is designed to be integrated into existing aircraft and will display relative positions of all aircraft within a formation, as well as the relative positions of other formations participating in coordinated missions. The system uses a Global Positioning System receiver integrated with the aircraft Inertial Navigation System to generate accurate aircraft position and velocity data. These data are transmitted over a data link to all participating aircraft and displayed as graphic symbols at the relative range and bearing to own aircraft on a situational awareness display format similar to a radar plan position indicator. Flight guidance computation is based on the difference between a desired formation slot position and current aircraft position relative to the formation lead aircraft. This information is presented on the flight director display allowing the pilot to null out position errors. The system is being developed for the Air Force Special Operations Command; however, it is applicable to all aircraft desiring improved formation situational awareness and formation flight coordination.

Position of the station Borowiec in the Doppler observation campaign WEDOC 80

NASA Astrophysics Data System (ADS)

Pachelski, W.

The position of the Doppler antenna located at the Borowiec Observatory, Poland, is analyzed based on data gathered during the WEDOC 80 study and an earlier study in 1977. Among other findings, it is determined that biases of the reference system origin can be partially eliminated by transforming absolute coordinates of two or more stations into station-to-station vector components, and by determining the vector length while the system scale remains affected by broadcast ephemerides. The standard deviations of absolute coordinates are shown to represent only the internal accuracy of the solution, and are found to depend on the geometrical configuration between the station position and the satellite passes. It is shown that significant correlations between station coordinates in translocation or multilocation are due to the poor conditioning of design matrices with respect to the origin and orientation of the reference system.

Motion correction for radiation therapy of prostate using B-mode ultrasound

NASA Astrophysics Data System (ADS)

Hummel, Johann; Figl, Michael; Schmidbauer, Jörg; Tinzl, Martina; Bergmann, Helmar; Birkfellner, Wolfgang

2007-03-01

The use of intensity modulated radiation therapy promises to spare organs at risk by applying better dose distribution on the tumor. The specific challenge of this methods is the exact positioning of the patient and the localization of the exposured organ. With respect to the filling of rectum and bladder the prostate can move several millimeters up to centimeters. Therefore, the position of the prostate should be determinated and corrected daily before irradiation. We used a B-mode US machine (Ultramark 9, advanced Technology Laboratories, USA) which was calibrated using an optical tracking system (Polaris, NDI, Can). After correct positioning of the patient in the simulation room three anatomical markers (apex prostate, prostate lateral sinister/dexter) were identified and their positions calculated with respect to the coordinate system of the simulator. The same situation is given in the treatment room. Both, simulator and accelerator are registered by a simple point-to-point registration using a block with five drilled holes with known coordinates in the block coordinate system. The block is aligned by means of laser markers. When the patient is placed on the treatment table, the three anatomical landmarks are located on the US images and their positions are calculated with respect to the coordinate system of the treatment room. Applying a point-to-point registration results in a rotation matrix and a translation vector in the desired coordinate system which can be used for repositioning by translating and rotating the patient table. Additionally, a fiducial registration error (FRE) is calculated which gives a dimension of the accuracy the three points were identified. We found an fiducial registration error (FRE) of 2.4 mm +/- 1.2 mm for the point-to-point registration of the anatomical landmarks. The FRE for the point-to-point registration between the block and the optical tracking system was 0.5 mm +/- 0.2 mm. According to the US calibration we found an error of 0.8 mm +/- 0.2 mm.

Indoor high precision three-dimensional positioning system based on visible light communication using modified genetic algorithm

NASA Astrophysics Data System (ADS)

Chen, Hao; Guan, Weipeng; Li, Simin; Wu, Yuxiang

2018-04-01

To improve the precision of indoor positioning and actualize three-dimensional positioning, a reversed indoor positioning system based on visible light communication (VLC) using genetic algorithm (GA) is proposed. In order to solve the problem of interference between signal sources, CDMA modulation is used. Each light-emitting diode (LED) in the system broadcasts a unique identity (ID) code using CDMA modulation. Receiver receives mixed signal from every LED reference point, by the orthogonality of spreading code in CDMA modulation, ID information and intensity attenuation information from every LED can be obtained. According to positioning principle of received signal strength (RSS), the coordinate of the receiver can be determined. Due to system noise and imperfection of device utilized in the system, distance between receiver and transmitters will deviate from the real value resulting in positioning error. By introducing error correction factors to global parallel search of genetic algorithm, coordinates of the receiver in three-dimensional space can be determined precisely. Both simulation results and experimental results show that in practical application scenarios, the proposed positioning system can realize high precision positioning service.

Effect of eye position during human visual-vestibular integration of heading perception.

PubMed

Crane, Benjamin T

2017-09-01

Visual and inertial stimuli provide heading discrimination cues. Integration of these multisensory stimuli has been demonstrated to depend on their relative reliability. However, the reference frame of visual stimuli is eye centered while inertia is head centered, and it remains unclear how these are reconciled with combined stimuli. Seven human subjects completed a heading discrimination task consisting of a 2-s translation with a peak velocity of 16 cm/s. Eye position was varied between 0° and ±25° left/right. Experiments were done with inertial motion, visual motion, or a combined visual-inertial motion. Visual motion coherence varied between 35% and 100%. Subjects reported whether their perceived heading was left or right of the midline in a forced-choice task. With the inertial stimulus the eye position had an effect such that the point of subjective equality (PSE) shifted 4.6 ± 2.4° in the gaze direction. With the visual stimulus the PSE shift was 10.2 ± 2.2° opposite the gaze direction, consistent with retinotopic coordinates. Thus with eccentric eye positions the perceived inertial and visual headings were offset ~15°. During the visual-inertial conditions the PSE varied consistently with the relative reliability of these stimuli such that at low visual coherence the PSE was similar to that of the inertial stimulus and at high coherence it was closer to the visual stimulus. On average, the inertial stimulus was weighted near Bayesian ideal predictions, but there was significant deviation from ideal in individual subjects. These findings support visual and inertial cue integration occurring in independent coordinate systems. NEW & NOTEWORTHY In multiple cortical areas visual heading is represented in retinotopic coordinates while inertial heading is in body coordinates. It remains unclear whether multisensory integration occurs in a common coordinate system. The experiments address this using a multisensory integration task with eccentric gaze positions making the effect of coordinate systems clear. The results indicate that the coordinate systems remain separate to the perceptual level and that during the multisensory task the perception depends on relative stimulus reliability. Copyright © 2017 the American Physiological Society.

A high precision dual feedback discrete control system designed for satellite trajectory simulator

NASA Astrophysics Data System (ADS)

Liu, Ximin; Liu, Liren; Sun, Jianfeng; Xu, Nan

2005-08-01

Cooperating with the free-space laser communication terminals, the satellite trajectory simulator is used to test the acquisition, pointing, tracking and communicating performances of the terminals. So the satellite trajectory simulator plays an important role in terminal ground test and verification. Using the double-prism, Sun etc in our group designed a satellite trajectory simulator. In this paper, a high precision dual feedback discrete control system designed for the simulator is given and a digital fabrication of the simulator is made correspondingly. In the dual feedback discrete control system, Proportional- Integral controller is used in velocity feedback loop and Proportional- Integral- Derivative controller is used in position feedback loop. In the controller design, simplex method is introduced and an improvement to the method is made. According to the transfer function of the control system in Z domain, the digital fabrication of the simulator is given when it is exposed to mechanism error and moment disturbance. Typically, when the mechanism error is 100urad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.49urad, 6.12urad, 4.56urad, 4.09urad respectively. When the moment disturbance is 0.1rad, the residual standard error of pitching angle, azimuth angle, x-coordinate position and y-coordinate position are 0.26urad, 0.22urad, 0.16urad, 0.15urad respectively. The digital fabrication results demonstrate that the dual feedback discrete control system designed for the simulator can achieve the anticipated high precision performance.

Leadership in multiteam systems.

PubMed

DeChurch, Leslie A; Marks, Michelle A

2006-03-01

This study examined 2 leader functions likely to be instrumental in synchronizing large systems of teams (i.e., multiteam systems [MTSs]). Leader strategizing and coordinating were manipulated through training, and effects on functional leadership, interteam coordination, and MTS performance were examined. Three hundred eighty-four undergraduate students participated in a laboratory simulation modeling a 3-team MTS performing an F-22 battle simulation task (N = 64 MTSs). Results indicate that both leader training manipulations improved functional leadership and interteam coordination and that functional leader behavior was positively related to MTS-level performance. Functional leadership mediated the effects of both types of training on interteam coordination, and interteam coordination fully mediated the effect of MTS leadership on MTS performance.

Using the auxiliary camera for system calibration of 3D measurement by digital speckle

NASA Astrophysics Data System (ADS)

Xue, Junpeng; Su, Xianyu; Zhang, Qican

2014-06-01

The study of 3D shape measurement by digital speckle temporal sequence correlation have drawn a lot of attention by its own advantages, however, the measurement mainly for depth z-coordinate, horizontal physical coordinate (x, y) are usually marked as image pixel coordinate. In this paper, a new approach for the system calibration is proposed. With an auxiliary camera, we made up the temporary binocular vision system, which are used for the calibration of horizontal coordinates (mm) while the temporal sequence reference-speckle-sets are calibrated. First, the binocular vision system has been calibrated using the traditional method. Then, the digital speckles are projected on the reference plane, which is moved by equal distance in the direction of depth, temporal sequence speckle images are acquired with camera as reference sets. When the reference plane is in the first position and final position, crossed fringe pattern are projected to the plane respectively. The control points of pixel coordinates are extracted by Fourier analysis from the images, and the physical coordinates are calculated by the binocular vision. The physical coordinates corresponding to each pixel of the images are calculated by interpolation algorithm. Finally, the x and y corresponding to arbitrary depth value z are obtained by the geometric formula. Experiments prove that our method can fast and flexibly measure the 3D shape of an object as point cloud.

Develop Direct Geo-referencing System Based on Open Source Software and Hardware Platform

NASA Astrophysics Data System (ADS)

Liu, H. S.; Liao, H. M.

2015-08-01

Direct geo-referencing system uses the technology of remote sensing to quickly grasp images, GPS tracks, and camera position. These data allows the construction of large volumes of images with geographic coordinates. So that users can be measured directly on the images. In order to properly calculate positioning, all the sensor signals must be synchronized. Traditional aerial photography use Position and Orientation System (POS) to integrate image, coordinates and camera position. However, it is very expensive. And users could not use the result immediately because the position information does not embed into image. To considerations of economy and efficiency, this study aims to develop a direct geo-referencing system based on open source software and hardware platform. After using Arduino microcontroller board to integrate the signals, we then can calculate positioning with open source software OpenCV. In the end, we use open source panorama browser, panini, and integrate all these to open source GIS software, Quantum GIS. A wholesome collection of data - a data processing system could be constructed.

System of donor hospital transplant coordinators maintained and financed by national transplant organization improves donation rates, but it is effective only in one half of hospitals.

PubMed

Czerwiński, J; Danek, T; Trujnara, M; Parulski, A; Danielewicz, R

2014-10-01

In 2010, the system of donor hospital transplant coordinators was implemented in 200 hospitals in Poland on the basis of contracts with Poltransplant. This study evaluated whether the system (nationwide, maintained and funded by national organization) is sufficient, improved donation after brain death rates, and hospital activities. Donation indicators over a 21-month period of coordinators' work were compared with the 21-month period before their employment. The number of hospitals with a positive effect and with no effect was analyzed overall and in groups of hospitals with specific profiles. The implemented system resulted in increasing the number of potential donors by 27% (effectively, 24%); increasing utilized organs by 20% and multiorgan retrievals from 54% to 56%; decreasing the rate of utilized organs/actual donors from 2.65 to 2.57; and increasing family refusals from 8.5% to 9.3%. A positive effect was achieved in 102 hospitals (51%). Better results were achieved in regions where donation were initially low, namely, 59% in university hospitals, 63% in hospitals in large cities, 77% in hospitals with 2 coordinators, 67% in hospitals for adults, and 52% in hospitals where the coordinator was a doctor and not a nurse. This system resulted globally in increasing donation rates, but was effective only in one half of hospitals. Additional activities should be introduced to improve these results (quality systems, trainings, techniques for monitoring potential of donation, changes in profile of a coordinator). A formal analysis of coordinators' activities gives also the national organization a rational basis for their employment policy, taking into account the characteristics of hospitals and coordination teams.

Single-lens stereovision system using a prism: position estimation of a multi-ocular prism.

PubMed

Cui, Xiaoyu; Lim, Kah Bin; Zhao, Yue; Kee, Wei Loon

2014-05-01

In this paper, a position estimation method using a prism-based single-lens stereovision system is proposed. A multifaced prism was considered as a single optical system composed of few refractive planes. A transformation matrix which relates the coordinates of an object point to its coordinates on the image plane through the refraction of the prism was derived based on geometrical optics. A mathematical model which is able to denote the position of an arbitrary faces prism with only seven parameters is introduced. This model further extends the application of the single-lens stereovision system using a prism to other areas. Experimentation results are presented to prove the effectiveness and robustness of our proposed model.

Construction of a patient observation system using KINECTTM

NASA Astrophysics Data System (ADS)

Miyaura, Kazunori; Kumazaki, Yu; Fukushima, Chika; Kato, Shingo; Saitoh, Hidetoshi

2014-03-01

Improvement in the positional accuracy of irradiation is expected by capturing patient motion (intra-fractional error) during irradiation. The present study reports the construction of a patient observation system using Microsoft® KINECTTM. By tracking movement, we made it possible to add a depth component to the acquired position coordinates and to display three-axis (X, Y, and Z) movement. Moreover, the developed system can be displayed in a graph which is constructed from the coordinate position at each time interval. Using the developed system, an observer can easily visualize patient movement. When the body phantom was moved a known distance in the X, Y, and Z directions, good coincidence was shown with each axis. We built a patient observation system which captures a patient's motion using KINECTTM.

Nonlinear normal vibration modes in the dynamics of nonlinear elastic systems

NASA Astrophysics Data System (ADS)

Mikhlin, Yu V.; Perepelkin, N. V.; Klimenko, A. A.; Harutyunyan, E.

2012-08-01

Nonlinear normal modes (NNMs) are a generalization of the linear normal vibrations. By the Kauderer-Rosenberg concept in the regime of the NNM all position coordinates are single-values functions of some selected position coordinate. By the Shaw-Pierre concept, the NNM is such a regime when all generalized coordinates and velocities are univalent functions of a couple of dominant (active) phase variables. The NNMs approach is used in some applied problems. In particular, the Kauderer-Rosenberg NNMs are analyzed in the dynamics of some pendulum systems. The NNMs of forced vibrations are investigated in a rotor system with an isotropic-elastic shaft. A combination of the Shaw-Pierre NNMs and the Rauscher method is used to construct the forced NNMs and the frequency responses in the rotor dynamics.

Lunar rovers and local positioning system

NASA Astrophysics Data System (ADS)

Avery, James; Su, Renjeng

1991-11-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running.

Lunar rovers and local positioning system

NASA Technical Reports Server (NTRS)

Avery, James; Su, Renjeng

1991-01-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Measuring Three-Dimensional Thorax Motion Via Biplane Radiographic Imaging: Technique and Preliminary Results.

PubMed

Baumer, Timothy G; Giles, Joshua W; Drake, Anne; Zauel, Roger; Bey, Michael J

2016-01-01

Measures of scapulothoracic motion are dependent on accurate imaging of the scapula and thorax. Advanced radiographic techniques can provide accurate measures of scapular motion, but the limited 3D imaging volume of these techniques often precludes measurement of thorax motion. To overcome this, a thorax coordinate system was defined based on the position of rib pairs and then compared to a conventional sternum/spine-based thorax coordinate system. Alignment of the rib-based coordinate system was dependent on the rib pairs used, with the rib3:rib4 pairing aligned to within 4.4 ± 2.1 deg of the conventional thorax coordinate system.

Algorithm for transforming the coordinates of lunar objects while changing from various coordinate systems into the selenocentric one

NASA Astrophysics Data System (ADS)

Mazurova, Elena; Mikhaylov, Aleksandr

2013-04-01

The selenocentric network of objects setting the coordinate system on the Moon, with the origin coinciding with the mass centre and axes directed along the inertia axes can become one of basic elements of the coordinate-time support for lunar navigation with use of cartographic materials and control objects. A powerful array of highly-precise and multiparameter information obtained by modern space vehicles allows one to establish Lunar Reference Frames (LRF) of an essentially another accuracy. Here, a special role is played by the results of scanning the lunar surface by the Lunar Reconnaissance Orbiter(LRO) American mission. The coordinates of points calculated only from the results of laser scanning have high enough accuracy of position definition with respect to each other, but it is possible to check up the real accuracy of spatial tie and improve the coordinates only by a network of points whose coordinates are computed both from laser scanning and other methods too, for example, by terrestrial laser location, space photogrammetry methods, and so on. The paper presents the algorithm for transforming selenocentric coordinate systems and the accuracy estimation of changing from one lunar coordinate system to another one. Keywords: selenocentric coordinate system, coordinate-time support.

SDRE control strategy applied to a nonlinear robotic including drive motor

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lima, Jeferson J. de, E-mail: jefersonjl82@gmail.com, E-mail: tusset@utfpr.edu.br, E-mail: fcjanzen@utfpr.edu.br, E-mail: piccirillo@utfpr.edu.br, E-mail: claudinor@utfpr.edu.br; Tusset, Angelo M., E-mail: jefersonjl82@gmail.com, E-mail: tusset@utfpr.edu.br, E-mail: fcjanzen@utfpr.edu.br, E-mail: piccirillo@utfpr.edu.br, E-mail: claudinor@utfpr.edu.br; Janzen, Frederic C., E-mail: jefersonjl82@gmail.com, E-mail: tusset@utfpr.edu.br, E-mail: fcjanzen@utfpr.edu.br, E-mail: piccirillo@utfpr.edu.br, E-mail: claudinor@utfpr.edu.br

A robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque betweenmore » the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.« less

Direction-sensitive smart monitoring of structures using heterogeneous smartphone sensor data and coordinate system transformation

NASA Astrophysics Data System (ADS)

Ozer, Ekin; Feng, Maria Q.

2017-04-01

Mobile, heterogeneous, and smart sensor networks produce pervasive structural health monitoring (SHM) information. With various embedded sensors, smartphones have emerged to innovate SHM by empowering citizens to serve as sensors. By default, smartphones meet the fundamental smart sensor criteria, thanks to the built-in processor, memory, wireless communication units and mobile operating system. SHM using smartphones, however, faces technical challenges due to citizen-induced uncertainties, undesired sensor-structure integration, and lack of control over the sensing platform. Previously, the authors presented successful applications of smartphone accelerometers for structural vibration measurement and proposed a monitoring framework under citizen-induced spatiotemporal uncertainties. This study aims at extending the capabilities of smartphone-based SHM with a special focus on the lack of control over the sensor (i.e., the phone) positioning by citizens resulting in unknown sensor orientations. Using smartphone gyroscope, accelerometer, and magnetometer; instantaneous sensor orientation can be obtained with respect to gravitational and magnetic north directions. Using these sensor data, mobile operating system frameworks return processed features such as attitude and heading that can be used to correct misaligned sensor signals. For this purpose, a coordinate transformation procedure is proposed and illustrated on a two-story laboratory structural model and real-scale bridges with various sensor positioning examples. The proposed method corrects the sensor signals by tracking their orientations and improves measurement accuracy. Moreover, knowing structure’s coordinate system a priori, even the data from arbitrarily positioned sensors can automatically be transformed to the structural coordinates. In addition, this paper also touches some secondary mobile and heterogeneous data issues including imperfect sampling and geolocation services. The coordinate system transformation methods proposed in this study can be implemented in other non-smartphone-based SHM systems as long as similar instrumentation is available.

SU-E-T-570: New Quality Assurance Method Using Motion Tracking for 6D Robotic Couches

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cheon, W; Cho, J; Ahn, S

Purpose: To accommodate geometrically accurate patient positioning, a robotic couch that is capable of 6-degrees of freedom has been introduced. However, conventional couch QA methods are not sufficient to enable the necessary accuracy of tests. Therefore, we have developed a camera based motion detection and geometry calibration system for couch QA. Methods: Employing a Visual-Tracking System (VTS, BonitaB10, Vicon, UK) which tracks infrared reflective(IR) markers, camera calibration was conducted using a 5.7 × 5.7 × 5.7 cm{sup 3} cube attached with IR markers at each corner. After positioning a robotic-couch at the origin with the cube on the table top,more » 3D coordinates of the cube’s eight corners were acquired by VTS in the VTS coordinate system. Next, positions in reference coordinates (roomcoordinates) were assigned using the known relation between each point. Finally, camera calibration was completed by finding a transformation matrix between VTS and reference coordinate systems and by applying a pseudo inverse matrix method. After the calibration, the accuracy of linear and rotational motions as well as couch sagging could be measured by analyzing the continuously acquired data of the cube while the couch moves to a designated position. Accuracy of the developed software was verified through comparison with measurement data when using a Laser tracker (FARO, Lake Mary, USA) for a robotic-couch installed for proton therapy. Results: VTS system could track couch motion accurately and measured position in room-coordinates. The VTS measurements and Laser tracker data agreed within 1% of difference for linear and rotational motions. Also because the program analyzes motion in 3-Dimension, it can compute couch sagging. Conclusion: Developed QA system provides submillimeter/ degree accuracy which fulfills the high-end couch QA. This work was supported by the National Research Foundation of Korea funded by Ministry of Science, ICT & Future Planning. (2013M2A2A7043507 and 2012M3A9B6055201)« less

Active marks structure optimization for optical-electronic systems of spatial position control of industrial objects

NASA Astrophysics Data System (ADS)

Sycheva, Elena A.; Vasilev, Aleksandr S.; Lashmanov, Oleg U.; Korotaev, Valery V.

2017-06-01

The article is devoted to the optimization of optoelectronic systems of the spatial position of objects. Probabilistic characteristics of the detection of an active structured mark on a random noisy background are investigated. The developed computer model and the results of the study allow us to estimate the probabilistic characteristics of detection of a complex structured mark on a random gradient background, and estimate the error of spatial coordinates. The results of the study make it possible to improve the accuracy of measuring the coordinates of the object. Based on the research recommendations are given on the choice of parameters of the optimal mark structure for use in opticalelectronic systems for monitoring the spatial position of large-sized structures.

The effect of transponder motion on the accuracy of the Calypso Electromagnetic localization system.

PubMed

Murphy, Martin J; Eidens, Richard; Vertatschitsch, Edward; Wright, J Nelson

2008-09-01

To determine position and velocity-dependent effects in the overall accuracy of the Calypso Electromagnetic localization system, under conditions that emulate transponder motion during normal free breathing. Three localization transponders were mounted on a remote-controlled turntable that could move the transponders along a circular trajectory at speeds up to 3 cm/s. A stationary calibration established the coordinates of multiple points on each transponder's circular path. Position measurements taken while the transponders were in motion at a constant speed were then compared with the stationary coordinates. No statistically significant changes in the transponder positions in (x,y,z) were detected when the transponders were in motion. The accuracy of the localization system is unaffected by transponder motion.

On the dynamical and geometrical symmetries of Keplerian motion

NASA Astrophysics Data System (ADS)

Wulfman, Carl E.

2009-05-01

The dynamical symmetries of classical, relativistic and quantum-mechanical Kepler systems are considered to arise from geometric symmetries in PQET phase space. To establish their interconnection, the symmetries are related with the aid of a Lie-algebraic extension of Dirac's correspondence principle, a canonical transformation containing a Cunningham-Bateman inversion, and a classical limit involving a preliminary canonical transformation in ET space. The Lie-algebraic extension establishes the conditions under which the uncertainty principle allows the local dynamical symmetry of a quantum-mechanical system to be the same as the geometrical phase-space symmetry of its classical counterpart. The canonical transformation converts Poincaré-invariant free-particle systems into ISO(3,1) invariant relativistic systems whose classical limit produces Keplerian systems. Locally Cartesian relativistic PQET coordinates are converted into a set of eight conjugate position and momentum coordinates whose classical limit contains Fock projective momentum coordinates and the components of Runge-Lenz vectors. The coordinate systems developed via the transformations are those in which the evolution and degeneracy groups of the classical system are generated by Poisson-bracket operators that produce ordinary rotation, translation and hyperbolic motions in phase space. The way in which these define classical Keplerian symmetries and symmetry coordinates is detailed. It is shown that for each value of the energy of a Keplerian system, the Poisson-bracket operators determine two invariant functions of positions and momenta, which together with its regularized Hamiltonian, define the manifold in six-dimensional phase space upon which motions evolve.

Modeling and Assessment of GPS/BDS Combined Precise Point Positioning.

PubMed

Chen, Junping; Wang, Jungang; Zhang, Yize; Yang, Sainan; Chen, Qian; Gong, Xiuqiang

2016-07-22

Precise Point Positioning (PPP) technique enables stand-alone receivers to obtain cm-level positioning accuracy. Observations from multi-GNSS systems can augment users with improved positioning accuracy, reliability and availability. In this paper, we present and evaluate the GPS/BDS combined PPP models, including the traditional model and a simplified model, where the inter-system bias (ISB) is treated in different way. To evaluate the performance of combined GPS/BDS PPP, kinematic and static PPP positions are compared to the IGS daily estimates, where 1 month GPS/BDS data of 11 IGS Multi-GNSS Experiment (MGEX) stations are used. The results indicate apparent improvement of GPS/BDS combined PPP solutions in both static and kinematic cases, where much smaller standard deviations are presented in the magnitude distribution of coordinates RMS statistics. Comparisons between the traditional and simplified combined PPP models show no difference in coordinate estimations, and the inter system biases between the GPS/BDS system are assimilated into receiver clock, ambiguities and pseudo-range residuals accordingly.

Two-Dimensional Simulation of the Automatic Aircraft Intercept Control System

DTIC Science & Technology

1950-01-26

G. Paine 26 January 1950 CfaSSif!,catlor Cf FI 7’-. AUTH I- By .... we, ure nd Grade Appro 4ed by: Mr. E . F. Kulikowski, Head, Systems Utilization...which are herein designated by the letter E with the proper subscripts). The observed coordinates for either bomber or fighter can be expressed by the...equations, "YV= Y + E (6) and X=X+Ex, (7) in which X and Y are the exact position coordinates and Ey, Ex the position errors. Since the’ - errors vary

Conference on Standards for the Interoperability of Defense Simulations (2nd) Held in Orlando, Florida on 15-17 January 1990. Volume 3. Position Papers

DTIC Science & Technology

1990-01-01

major part of Europe and include We recommend adoption of a Cartesian geocentric participation by Army, Air Force and Navy forces. In coordinate...The coordinate system chosen is the World Geodetic surface. For example, a location on a beach may be System, an Earth-centered ( geocentric ), Earth...toPlane Is W Figure 4. Universal Polar Stereographic (UPS) Projection 3. 0 ASSUMPTIONS 1. Geocentric coordinates: Earth geodetic centered, Earth-fixed

Design of Deformation Monitoring System for Volcano Mitigation

NASA Astrophysics Data System (ADS)

Islamy, M. R. F.; Salam, R. A.; Munir, M. M.; Irsyam, M.; Khairurrijal

2016-08-01

Indonesia has many active volcanoes that are potentially disastrous. It needs good mitigation systems to prevent victims and to reduce casualties from potential disaster caused by volcanoes eruption. Therefore, the system to monitor the deformation of volcano was built. This system employed telemetry with the combination of Radio Frequency (RF) communications of XBEE and General Packet Radio Service (GPRS) communication of SIM900. There are two types of modules in this system, first is the coordinator as a parent and second is the node as a child. Each node was connected to coordinator forming a Wireless Sensor Network (WSN) with a star topology and it has an inclinometer based sensor, a Global Positioning System (GPS), and an XBEE module. The coordinator collects data to each node, one a time, to prevent collision data between nodes, save data to SD Card and transmit data to web server via GPRS. Inclinometer was calibrated with self-built in calibrator and tested in high temperature environment to check the durability. The GPS was tested by displaying its position in web server via Google Map Application Protocol Interface (API v.3). It was shown that the coordinator can receive and transmit data from every node to web server very well and the system works well in a high temperature environment.

Increasing the Effectiveness of Community College Educational Programs Through the Use of Coordinated Instruction Systems.

ERIC Educational Resources Information Center

California Junior Coll. Association, Sacramento.

One of the more promising approaches to instructional improvement in the face of increasing enrollments is the Coordinated Instruction System (CIS), which includes the use of television, slide-tape combinations, and programed instruction materials. This position paper sees the CIS technology as a way to extend and reinforce basic teacher-student…

Reduced variability and execution time to reach a target with a needle GPS system: Comparison between physicians, residents and nurse anaesthetists.

PubMed

Fevre, Marie-Cécile; Vincent, Caroline; Picard, Julien; Vighetti, Arnaud; Chapuis, Claire; Detavernier, Maxime; Allenet, Benoît; Payen, Jean-François; Bosson, Jean-Luc; Albaladejo, Pierre

2018-02-01

Ultrasound (US) guided needle positioning is safer than anatomical landmark techniques for central venous access. Hand-eye coordination and execution time depend on the professional's ability, previous training and personal skills. Needle guidance positioning systems (GPS) may theoretically reduce execution time and facilitate needle positioning in specific targets, thus improving patient comfort and safety. Three groups of healthcare professionals (41 anaesthesiologists and intensivists, 41 residents in anaesthesiology and intensive care, 39 nurse anaesthetists) were included and required to perform 3 tasks (positioning the tip of a needle in three different targets in a silicon phantom) by using successively a conventional US-guided needle positioning and a needle GPS. We measured execution times to perform the tasks, hand-eye coordination and the number of repositioning occurrences or errors in handling the needle or the probe. Without the GPS system, we observed a significant inter-individual difference for execution time (P<0.05), hand-eye coordination and the number of errors/needle repositioning between physicians, residents and nurse anaesthetists. US training and video gaming were found to be independent factors associated with a shorter execution time. Use of GPS attenuated the inter-individual and group variability. We observed a reduced execution time and improved hand-eye coordination in all groups as compared to US without GPS. Neither US training, video gaming nor demographic personal or professional factors were found to be significantly associated with reduced execution time when GPS was used. US associated with GPS systems may improve safety and decrease execution time by reducing inter-individual variability between professionals for needle-handling procedures. Copyright © 2016 Société française d'anesthésie et de réanimation (Sfar). Published by Elsevier Masson SAS. All rights reserved.

Office of Positioning, Navigation and Timing (PNT) and Spectrum Management Program Overview.

DOT National Transportation Integrated Search

2017-01-01

Civil Global Positioning System (GPS)/PNT Leadership : Coordinate the development of departmental positions on PNT and : spectrum policy and protection from harmful radio frequency : interference and operational degradation of capabilities : ...

Video-Camera-Based Position-Measuring System

NASA Technical Reports Server (NTRS)

Lane, John; Immer, Christopher; Brink, Jeffrey; Youngquist, Robert

2005-01-01

A prototype optoelectronic system measures the three-dimensional relative coordinates of objects of interest or of targets affixed to objects of interest in a workspace. The system includes a charge-coupled-device video camera mounted in a known position and orientation in the workspace, a frame grabber, and a personal computer running image-data-processing software. Relative to conventional optical surveying equipment, this system can be built and operated at much lower cost; however, it is less accurate. It is also much easier to operate than are conventional instrumentation systems. In addition, there is no need to establish a coordinate system through cooperative action by a team of surveyors. The system operates in real time at around 30 frames per second (limited mostly by the frame rate of the camera). It continuously tracks targets as long as they remain in the field of the camera. In this respect, it emulates more expensive, elaborate laser tracking equipment that costs of the order of 100 times as much. Unlike laser tracking equipment, this system does not pose a hazard of laser exposure. Images acquired by the camera are digitized and processed to extract all valid targets in the field of view. The three-dimensional coordinates (x, y, and z) of each target are computed from the pixel coordinates of the targets in the images to accuracy of the order of millimeters over distances of the orders of meters. The system was originally intended specifically for real-time position measurement of payload transfers from payload canisters into the payload bay of the Space Shuttle Orbiters (see Figure 1). The system may be easily adapted to other applications that involve similar coordinate-measuring requirements. Examples of such applications include manufacturing, construction, preliminary approximate land surveying, and aerial surveying. For some applications with rectangular symmetry, it is feasible and desirable to attach a target composed of black and white squares to an object of interest (see Figure 2). For other situations, where circular symmetry is more desirable, circular targets also can be created. Such a target can readily be generated and modified by use of commercially available software and printed by use of a standard office printer. All three relative coordinates (x, y, and z) of each target can be determined by processing the video image of the target. Because of the unique design of corresponding image-processing filters and targets, the vision-based position- measurement system is extremely robust and tolerant of widely varying fields of view, lighting conditions, and varying background imagery.

[Optimization of end-tool parameters based on robot hand-eye calibration].

PubMed

Zhang, Lilong; Cao, Tong; Liu, Da

2017-04-01

A new one-time registration method was developed in this research for hand-eye calibration of a surgical robot to simplify the operation process and reduce the preparation time. And a new and practical method is introduced in this research to optimize the end-tool parameters of the surgical robot based on analysis of the error sources in this registration method. In the process with one-time registration method, firstly a marker on the end-tool of the robot was recognized by a fixed binocular camera, and then the orientation and position of the marker were calculated based on the joint parameters of the robot. Secondly the relationship between the camera coordinate system and the robot base coordinate system could be established to complete the hand-eye calibration. Because of manufacturing and assembly errors of robot end-tool, an error equation was established with the transformation matrix between the robot end coordinate system and the robot end-tool coordinate system as the variable. Numerical optimization was employed to optimize end-tool parameters of the robot. The experimental results showed that the one-time registration method could significantly improve the efficiency of the robot hand-eye calibration compared with the existing methods. The parameter optimization method could significantly improve the absolute positioning accuracy of the one-time registration method. The absolute positioning accuracy of the one-time registration method can meet the requirements of the clinical surgery.

Review on the Celestial Sphere Positioning of FITS Format Image Based on WCS and Research on General Visualization

NASA Astrophysics Data System (ADS)

Song, W. M.; Fan, D. W.; Su, L. Y.; Cui, C. Z.

2017-11-01

Calculating the coordinate parameters recorded in the form of key/value pairs in FITS (Flexible Image Transport System) header is the key to determine FITS images' position in the celestial system. As a result, it has great significance in researching the general process of calculating the coordinate parameters. By combining CCD related parameters of astronomical telescope (such as field, focal length, and celestial coordinates in optical axis, etc.), astronomical images recognition algorithm, and WCS (World Coordinate System) theory, the parameters can be calculated effectively. CCD parameters determine the scope of star catalogue, so that they can be used to build a reference star catalogue by the corresponding celestial region of astronomical images; Star pattern recognition completes the matching between the astronomical image and reference star catalogue, and obtains a table with a certain number of stars between CCD plane coordinates and their celestial coordinates for comparison; According to different projection of the sphere to the plane, WCS can build different transfer functions between these two coordinates, and the astronomical position of image pixels can be determined by the table's data we have worked before. FITS images are used to carry out scientific data transmission and analyze as a kind of mainstream data format, but only to be viewed, edited, and analyzed in the professional astronomy software. It decides the limitation of popular science education in astronomy. The realization of a general image visualization method is significant. FITS is converted to PNG or JPEG images firstly. The coordinate parameters in the FITS header are converted to metadata in the form of AVM (Astronomy Visualization Metadata), and then the metadata is added to the PNG or JPEG header. This method can meet amateur astronomers' general needs of viewing and analyzing astronomical images in the non-astronomical software platform. The overall design flow is realized through the java program and tested by SExtractor, WorldWide Telescope, picture viewer, and other software.

A New Method of High-Precision Positioning for an Indoor Pseudolite without Using the Known Point Initialization.

PubMed

Zhao, Yinzhi; Zhang, Peng; Guo, Jiming; Li, Xin; Wang, Jinling; Yang, Fei; Wang, Xinzhe

2018-06-20

Due to the great influence of multipath effect, noise, clock and error on pseudorange, the carrier phase double difference equation is widely used in high-precision indoor pseudolite positioning. The initial position is determined mostly by the known point initialization (KPI) method, and then the ambiguities can be fixed with the LAMBDA method. In this paper, a new method without using the KPI to achieve high-precision indoor pseudolite positioning is proposed. The initial coordinates can be quickly obtained to meet the accuracy requirement of the indoor LAMBDA method. The detailed processes of the method follows: Aiming at the low-cost single-frequency pseudolite system, the static differential pseudolite system (DPL) method is used to obtain the low-accuracy positioning coordinates of the rover station quickly. Then, the ambiguity function method (AFM) is used to search for the coordinates in the corresponding epoch. The real coordinates obtained by AFM can meet the initial accuracy requirement of the LAMBDA method, so that the double difference carrier phase ambiguities can be correctly fixed. Following the above steps, high-precision indoor pseudolite positioning can be realized. Several experiments, including static and dynamic tests, are conducted to verify the feasibility of the new method. According to the results of the experiments, the initial coordinates with the accuracy of decimeter level through the DPL can be obtained. For the AFM part, both a one-meter search scope and two-centimeter or four-centimeter search steps are used to ensure the precision at the centimeter level and high search efficiency. After dealing with the problem of multiple peaks caused by the ambiguity cosine function, the coordinate information of the maximum ambiguity function value (AFV) is taken as the initial value of the LAMBDA, and the ambiguities can be fixed quickly. The new method provides accuracies at the centimeter level for dynamic experiments and at the millimeter level for static ones.

Monitoring of stability of ASG-EUPOS network coordinates

NASA Astrophysics Data System (ADS)

Figurski, M.; Szafranek, K.; Wrona, M.

2009-04-01

ASG-EUPOS (Active Geodetic Network - European Position Determination System) is the national system of precise satellite positioning in Poland, which increases a density of regional and global GNSS networks and is widely used by public administration, national institutions, entrepreneurs and citizens (especially surveyors). In near future ASG-EUPOS is to take role of main national network. Control of proper activity of stations and realization of ETRS'89 is a necessity. User of the system needs to be sure that observations quality and coordinates accuracy are high enough. Coordinates of IGS (International GNSS Service) and EPN (European Permanent Network) stations are precisely determined and any changes are monitored all the time. Observations are verified before they are archived in regional and global databases. The same applies to ASG-EUPOS. This paper concerns standardization of GNSS observations from different stations (uniform adjustment), examination of solutions correctness according to IGS and EPN standards and stability of solutions and sites activity

AXAF Coordinate Transformation at XRCF

NASA Technical Reports Server (NTRS)

He, Helen; McDowell, Jonathan; Conroy, Maureen

1997-01-01

Coordinate transformation between focal plane and detector pixel systems must be handled carefully at the X-ray Calibration Facility (XRCF) as it will be during flight. The High Resolution Mirror Assembly (HRMA) X-ray Detection System (HXDS) stage dithers, and the five-axis mount (FAM) attachment points underwent various types of motion during testing. At the XRCF when the FAM moved, the Science Instrument Module (SIM) travel direction was not necessarily aligned with the mirror axis motion, and, in addition, an arbitrary position offset had to be calibrated. Misalignment from the mirror axis was assessed by measuring its displacement from the boresight configuration of the default FAM frame, and the HXDS stage was monitored for motion from the default FAM reference point. Mirror position, prescribed in a mirror modal coordinate system, was measured in HRMA pitch and yaw axes. Prior to corrections for dithering and FAM movement, the coordinate data at XRCF also had to be corrected for possible misalignments of the mirror mount relative to XRCF and the default FAM axes due to the movement of the FAM feet. Those misalignments were processed in terms of yaw-pitch-roll Euler angles in the mirror nodal coordinate, and in the default FAM frame, respectively. An AXAF Science Center (ASC) coordinate library, pixlib, has been built to support these coordinate transformations and was used during x-ray calibration at the George C. Marshall Space Flight Center, Huntsville, AL. The design and implementation of this library will be discussed.

Relative position finite-time coordinated tracking control of spacecraft formation without velocity measurements.

PubMed

Hu, Qinglei; Zhang, Jian

2015-01-01

This paper investigates finite-time relative position coordinated tracking problem by output feedback for spacecraft formation flying without velocity measurement. By employing homogeneous system theory, a finite-time relative position coordinated tracking controller by state feedback is firstly developed, where the desired time-varying trajectory given in advance can be tracked by the formation. Then, to address the problem of lack of velocity measurements, a finite-time output feedback controller is proposed by involving a novel filter to recover unknown velocity information in a finite time. Rigorous proof shows that the proposed control law ensures global stability and guarantees the position of spacecraft formation to track a time-varying reference in finite time. Finally, simulation results are presented to illustrate the performance of the proposed controller. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

X-ray and optical stereo-based 3D sensor fusion system for image-guided neurosurgery.

PubMed

Kim, Duk Nyeon; Chae, You Seong; Kim, Min Young

2016-04-01

In neurosurgery, an image-guided operation is performed to confirm that the surgical instruments reach the exact lesion position. Among the multiple imaging modalities, an X-ray fluoroscope mounted on C- or O-arm is widely used for monitoring the position of surgical instruments and the target position of the patient. However, frequently used fluoroscopy can result in relatively high radiation doses, particularly for complex interventional procedures. The proposed system can reduce radiation exposure and provide the accurate three-dimensional (3D) position information of surgical instruments and the target position. X-ray and optical stereo vision systems have been proposed for the C- or O-arm. Two subsystems have same optical axis and are calibrated simultaneously. This provides easy augmentation of the camera image and the X-ray image. Further, the 3D measurement of both systems can be defined in a common coordinate space. The proposed dual stereoscopic imaging system is designed and implemented for mounting on an O-arm. The calibration error of the 3D coordinates of the optical stereo and X-ray stereo is within 0.1 mm in terms of the mean and the standard deviation. Further, image augmentation with the camera image and the X-ray image using an artificial skull phantom is achieved. As the developed dual stereoscopic imaging system provides 3D coordinates of the point of interest in both optical images and fluoroscopic images, it can be used by surgeons to confirm the position of surgical instruments in a 3D space with minimum radiation exposure and to verify whether the instruments reach the surgical target observed in fluoroscopic images.

The Geolocation model for lunar-based Earth observation

NASA Astrophysics Data System (ADS)

Ding, Yixing; Liu, Guang; Ren, Yuanzhen; Ye, Hanlin; Guo, Huadong; Lv, Mingyang

2016-07-01

In recent years, people are more and more aware of that the earth need to treated as an entirety, and consequently to be observed in a holistic, systematic and multi-scale view. However, the interaction mechanism between the Earth's inner layers and outer layers is still unclear. Therefore, we propose to observe the Earth's inner layers and outer layers instantaneously on the Moon which may be helpful to the studies in climatology, meteorology, seismology, etc. At present, the Moon has been proved to be an irreplaceable platform for Earth's outer layers observation. Meanwhile, some discussions have been made in lunar-based observation of the Earth's inner layers, but the geolocation model of lunar-based observation has not been specified yet. In this paper, we present a geolocation model based on transformation matrix. The model includes six coordinate systems: The telescope coordinate system, the lunar local coordinate system, the lunar-reference coordinate system, the selenocentric inertial coordinate system, the geocentric inertial coordinate system and the geo-reference coordinate system. The parameters, lncluding the position of the Sun, the Earth, the Moon, the libration and the attitude of the Earth, can be acquired from the Ephemeris. By giving an elevation angle and an azimuth angle of the lunar-based telescope, this model links the image pixel to the ground point uniquely.

A practical indoor context-aware surveillance system with multi-Kinect sensors

NASA Astrophysics Data System (ADS)

Jia, Lili; You, Ying; Li, Tiezhu; Zhang, Shun

2014-11-01

In this paper we develop a novel practical application, which give scalable services to the end users when abnormal actives are happening. Architecture of the application has been presented consisting of network infrared cameras and a communication module. In this intelligent surveillance system we use Kinect sensors as the input cameras. Kinect is an infrared laser camera which its user can access the raw infrared sensor stream. We install several Kinect sensors in one room to track the human skeletons. Each sensor returns the body positions with 15 coordinates in its own coordinate system. We use calibration algorithms to calibrate all the body positions points into one unified coordinate system. With the body positions points, we can infer the surveillance context. Furthermore, the messages from the metadata index matrix will be sent to mobile phone through communication module. User will instantly be aware of an abnormal case happened in the room without having to check the website. In conclusion, theoretical analysis and experimental results in this paper show that the proposed system is reasonable and efficient. And the application method introduced in this paper is not only to discourage the criminals and assist police in the apprehension of suspects, but also can enabled the end-users monitor the indoor environments anywhere and anytime by their phones.

Magnetic Coordinate Systems

NASA Astrophysics Data System (ADS)

Laundal, K. M.; Richmond, A. D.

2017-03-01

Geospace phenomena such as the aurora, plasma motion, ionospheric currents and associated magnetic field disturbances are highly organized by Earth's main magnetic field. This is due to the fact that the charged particles that comprise space plasma can move almost freely along magnetic field lines, but not across them. For this reason it is sensible to present such phenomena relative to Earth's magnetic field. A large variety of magnetic coordinate systems exist, designed for different purposes and regions, ranging from the magnetopause to the ionosphere. In this paper we review the most common magnetic coordinate systems and describe how they are defined, where they are used, and how to convert between them. The definitions are presented based on the spherical harmonic expansion coefficients of the International Geomagnetic Reference Field (IGRF) and, in some of the coordinate systems, the position of the Sun which we show how to calculate from the time and date. The most detailed coordinate systems take the full IGRF into account and define magnetic latitude and longitude such that they are constant along field lines. These coordinate systems, which are useful at ionospheric altitudes, are non-orthogonal. We show how to handle vectors and vector calculus in such coordinates, and discuss how systematic errors may appear if this is not done correctly.

BrachyView: Combining LDR seed positions with transrectal ultrasound imaging in a prostate gel phantom.

PubMed

Alnaghy, S; Cutajar, D L; Bucci, J A; Enari, K; Safavi-Naeini, M; Favoino, M; Tartaglia, M; Carriero, F; Jakubek, J; Pospisil, S; Lerch, M; Rosenfeld, A B; Petasecca, M

2017-02-01

BrachyView is a novel in-body imaging system which aims to provide LDR brachytherapy seeds position reconstruction within the prostate in real-time. The first prototype is presented in this study: the probe consists of a gamma camera featuring three single cone pinhole collimators embedded in a tungsten tube, above three, high resolution pixelated detectors (Timepix). The prostate was imaged with a TRUS system using a sagittal crystal with a 2.5mm slice thickness. Eleven needles containing a total of thirty 0.508U 125 I seeds were implanted under ultrasound guidance. A CT scan was used to localise the seed positions, as well as provide a reference when performing the image co-registration between the BrachyView coordinate system and the TRUS coordinate system. An in-house visualisation software interface was developed to provide a quantitative 3D reconstructed prostate based on the TRUS images and co-registered with the LDR seeds in situ. A rigid body image registration was performed between the BrachyView and TRUS systems, with the BrachyView and CT-derived source locations compared. The reconstructed seed positions determined by the BrachyView probe showed a maximum discrepancy of 1.78mm, with 75% of the seeds reconstructed within 1mm of their nominal location. An accurate co-registration between the BrachyView and TRUS coordinate system was established. The BrachyView system has shown its ability to reconstruct all implanted LDR seeds within a tissue equivalent prostate gel phantom, providing both anatomical and seed position information in a single interface. Crown Copyright © 2017. Published by Elsevier Ltd. All rights reserved.

A novel optimal coordinated control strategy for the updated robot system for single port surgery.

PubMed

Bai, Weibang; Cao, Qixin; Leng, Chuntao; Cao, Yang; Fujie, Masakatsu G; Pan, Tiewen

2017-09-01

Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating. Copyright © 2017 John Wiley & Sons, Ltd.

AF-Geospace User’s Manual Version 2.5.1 and Version 2.51P

DTIC Science & Technology

2012-08-01

system of the grid. The choices are: GEOC: Geocentric coordinate system: The Z axis is aligned with the north rotational pole, the X axis pierces...the Greenwich Meridian on the equator (0 o Long, 0 o Lat), and the Y axis is minus the cross-product of X and Z. GSM: Geocentric solar magnetospheric...handed system and is positive towards dusk. GEI: Geocentric equatorial inertial coordinate system: The Z axis is the same as for the geocentric

On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach.

PubMed

Baigzadehnoe, Barmak; Rahmani, Zahra; Khosravi, Alireza; Rezaie, Behrooz

2017-09-01

In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Effect of reinforcement learning on coordination of multiangent systems

NASA Astrophysics Data System (ADS)

Bukkapatnam, Satish T. S.; Gao, Greg

2000-12-01

For effective coordination of distributed environments involving multiagent systems, learning ability of each agent in the environment plays a crucial role. In this paper, we develop a simple group learning method based on reinforcement, and study its effect on coordination through application to a supply chain procurement scenario involving a computer manufacturer. Here, all parties are represented by self-interested, autonomous agents, each capable of performing specific simple tasks. They negotiate with each other to perform complex tasks and thus coordinate supply chain procurement. Reinforcement learning is intended to enable each agent to reach a best negotiable price within a shortest possible time. Our simulations of the application scenario under different learning strategies reveals the positive effects of reinforcement learning on an agent's as well as the system's performance.

Modeling and simulation for fewer-axis grinding of complex surface

NASA Astrophysics Data System (ADS)

Li, Zhengjian; Peng, Xiaoqiang; Song, Ci

2017-10-01

As the basis of fewer-axis grinding of complex surface, the grinding mathematical model is of great importance. A mathematical model of the grinding wheel was established, and then coordinate and normal vector of the wheel profile could be calculated. Through normal vector matching at the cutter contact point and the coordinate system transformation, the grinding mathematical model was established to work out the coordinate of the cutter location point. Based on the model, interference analysis was simulated to find out the right position and posture of workpiece for grinding. Then positioning errors of the workpiece including the translation positioning error and the rotation positioning error were analyzed respectively, and the main locating datum was obtained. According to the analysis results, the grinding tool path was planned and generated to grind the complex surface, and good form accuracy was obtained. The grinding mathematical model is simple, feasible and can be widely applied.

Study on portable optical 3D coordinate measuring system

NASA Astrophysics Data System (ADS)

Ren, Tongqun; Zhu, Jigui; Guo, Yinbiao

2009-05-01

A portable optical 3D coordinate measuring system based on digital Close Range Photogrammetry (CRP) technology and binocular stereo vision theory is researched. Three ultra-red LED with high stability is set on a hand-hold target to provide measuring feature and establish target coordinate system. Ray intersection based field directional calibrating is done for the intersectant binocular measurement system composed of two cameras by a reference ruler. The hand-hold target controlled by Bluetooth wireless communication is free moved to implement contact measurement. The position of ceramic contact ball is pre-calibrated accurately. The coordinates of target feature points are obtained by binocular stereo vision model from the stereo images pair taken by cameras. Combining radius compensation for contact ball and residual error correction, object point can be resolved by transfer of axes using target coordinate system as intermediary. This system is suitable for on-field large-scale measurement because of its excellent portability, high precision, wide measuring volume, great adaptability and satisfying automatization. It is tested that the measuring precision is near to +/-0.1mm/m.

Angles-Only Navigation: Position and Velocity Solution from Absolute Triangulation

DTIC Science & Technology

2011-01-01

geocentric position vectors. Using two vectors derived from each such observation (see next section), a solution for a portion of the boat’s track was...t)x0 describes the curvature of the path in the direction x 0, which, for a geocentric coordinate system and /(t) < 0, will be toward the center of...finite distances, with geocentric coordinates known to a meter or better (readily available on the Internet) a straightfor- ward triangulation method

Voluntary coordination as a strategy of plan implementation for health systems agencies.

PubMed

Berry, D E; Candia, G R

1979-10-01

Health planning agencies are faced with the difficult mission of guiding change within a large complex social system whose power is dispersed. Initial short- and long-range plans have been established as frameworks, and now the major focus is implementation. Regulation (non-voluntary coordination) and voluntary coordination are the major means of implementation. Voluntary coordination is a significant strategy for consideration by Health Systems Agencies (HSAs). It may interact with regulation as a competitor, substitute, or complement. Because of limited regulatory powers, HSAs are dependent upon voluntary coordination as a major means of influencing behavior. Conflict, a major feature of voluntary coordination, has the potential of being used as a constructive means for dialogue; negotiation and bargaining may become positive approaches to arriving at decisions. Legitimized community authority is the primary source of authority in a strategy dominated by voluntary coordination as contrasted to state or federal mandates in a regulatory strategy. Knowledge of the environment within which the HSA operates will assist HSA staff and board to arrive at rational and realistic decisions.

Single molecule tracking

DOEpatents

Shera, E. Brooks

1988-01-01

A detection system is provided for identifying individual particles or molecules having characteristic emission in a flow train of the particles in a flow cell. A position sensitive sensor is located adjacent the flow cell in a position effective to detect the emissions from the particles within the flow cell and to assign spatial and temporal coordinates for the detected emissions. A computer is then enabled to predict spatial and temporal coordinates for the particle in the flow train as a function of a first detected emission. Comparison hardware or software then compares subsequent detected spatial and temporal coordinates with the predicted spatial and temporal coordinates to determine whether subsequently detected emissions originate from a particle in the train of particles. In one embodiment, the particles include fluorescent dyes which are excited to fluoresce a spectrum characteristic of the particular particle. Photones are emitted adjacent at least one microchannel plate sensor to enable spatial and temporal coordinates to be assigned. The effect of comparing detected coordinates with predicted coordinates is to define a moving sample volume which effectively precludes the effects of background emissions.

Single molecule tracking

DOEpatents

Shera, E.B.

1987-10-07

A detection system is provided for identifying individual particles or molecules having characteristic emission in a flow train of the particles in a flow cell. A position sensitive sensor is located adjacent the flow cell in a position effective to detect the emissions from the particles within the flow cell and to assign spatial and temporal coordinates for the detected emissions. A computer is then enabled to predict spatial and temporal coordinates for the particle in the flow train as a function of a first detected emission. Comparison hardware or software then compares subsequent detected spatial and temporal coordinates with the predicted spatial and temporal coordinates to determine whether subsequently detected emissions originate from a particle in the train of particles. In one embodiment, the particles include fluorescent dyes which are excited to fluoresce a spectrum characteristic of the particular particle. Photons are emitted adjacent at least one microchannel plate sensor to enable spatial and temporal coordinates to be assigned. The effect of comparing detected coordinates with predicted coordinates is to define a moving sample volume which effectively precludes the effects of background emissions. 3 figs.

Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

NASA Astrophysics Data System (ADS)

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.

A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence.

PubMed

Liu, Bailing; Zhang, Fumin; Qu, Xinghua; Shi, Xiaojia

2016-02-18

Coordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, this might result in no solution due to the use of ill conditioned matrices. In this paper, a novel coordinate transformation method is proposed, not based on the equation solution but based on the geometric transformation. We construct characteristic lines to represent the coordinate systems. According to the space geometry relation, the characteristic line scan is made to coincide by a series of rotations and translations. The transformation matrix can be obtained using matrix transformation theory. Experiments are designed to compare the proposed method with other methods. The results show that the proposed method has the same high accuracy, but the operation is more convenient and flexible. A multi-sensor combined measurement system is also presented to improve the position accuracy of a robot with the calibration of the robot kinematic parameters. Experimental verification shows that the position accuracy of robot manipulator is improved by 45.8% with the proposed method and robot calibration.

A Rapid Coordinate Transformation Method Applied in Industrial Robot Calibration Based on Characteristic Line Coincidence

PubMed Central

Liu, Bailing; Zhang, Fumin; Qu, Xinghua; Shi, Xiaojia

2016-01-01

Coordinate transformation plays an indispensable role in industrial measurements, including photogrammetry, geodesy, laser 3-D measurement and robotics. The widely applied methods of coordinate transformation are generally based on solving the equations of point clouds. Despite the high accuracy, this might result in no solution due to the use of ill conditioned matrices. In this paper, a novel coordinate transformation method is proposed, not based on the equation solution but based on the geometric transformation. We construct characteristic lines to represent the coordinate systems. According to the space geometry relation, the characteristic line scan is made to coincide by a series of rotations and translations. The transformation matrix can be obtained using matrix transformation theory. Experiments are designed to compare the proposed method with other methods. The results show that the proposed method has the same high accuracy, but the operation is more convenient and flexible. A multi-sensor combined measurement system is also presented to improve the position accuracy of a robot with the calibration of the robot kinematic parameters. Experimental verification shows that the position accuracy of robot manipulator is improved by 45.8% with the proposed method and robot calibration. PMID:26901203

The effect of implementing a care coordination program on team dynamics and the patient experience.

PubMed

Di Capua, Paul; Clarke, Robin; Tseng, Chi-Hong; Wilhalme, Holly; Sednew, Renee; McDonald, Kathryn M; Skootsky, Samuel A; Wenger, Neil

2017-08-01

Care coordination programs are frequently implemented in the redesign of primary care systems, focused on improving patient outcomes and reducing utilization. However, redesign can be disruptive, affect patient experiences, and undermine elements in the patient-centered medical home, such as team-based care. Case-controlled study with difference-in-differences (DID) and cross-sectional analyses. The phased implementation of a care coordination program permitted evaluation of a natural experiment to compare measures of patient experience and teamwork in practices with and without care coordinators. Patient experience scores were compared before and after the introduction of care coordinators, using DID analyses. Cross-sectional data were used to compare teamwork, based on the relational coordination survey, and physician-perceived barriers to coordinated care between clinics with and without care coordinators. We evaluated survey responses from 459 staff and physicians and 13,441 patients in 26 primary care practices. Practices with care coordinators did not have significantly different relational coordination scores compared with practices without care coordinators, and physicians in these practices did not report reduced barriers to coordinated care. After implementation of the program, patients in practices with care coordinators reported a more positive experience with staff over time (DID, 2.6 percentage points; P = .0009). A flexible program that incorporates care coordinators into the existing care team was minimally disruptive to existing team dynamics, and the embedded care coordinators were associated with a small increase in patient ratings that reflected a more positive experience with staff.

An intelligent position-specific training system for mission operations

NASA Technical Reports Server (NTRS)

Schneider, M. P.

1992-01-01

Marshall Space Flight Center's (MSFC's) payload ground controller training program provides very good generic training; however, ground controller position-specific training can be improved by including position-specific training systems in the training program. This report explains why MSFC needs to improve payload ground controller position-specific training. The report describes a generic syllabus for position-specific training systems, a range of system designs for position-specific training systems, and a generic development process for developing position-specific training systems. The report also describes a position-specific training system prototype that was developed for the crew interface coordinator payload operations control center ground controller position. The report concludes that MSFC can improve the payload ground controller training program by incorporating position-specific training systems for each ground controller position; however, MSFC should not develop position-specific training systems unless payload ground controller position experts will be available to participate in the development process.

15 CFR Appendix Vi to Subpart P of... - Special-Use Areas Boundary Coordinates and Use Designations

Code of Federal Regulations, 2010 CFR

2010-01-01

...)—[Based on differential Global Positioning Systems data] Point Latitude Longitude 1 24 deg.56.83′ N 80 deg... Global Positioning Systems data] Point Latitude Longitude 1 24 deg.29.84′ N 81 deg.39.59′ W. 2 24 deg.29....29.84′ N 81 deg.39.59′ W. Looe Key (Research Only)—[Based on differential Global Positioning Systems...

Self-calibration method for rotating laser positioning system using interscanning technology and ultrasonic ranging.

PubMed

Wu, Jun; Yu, Zhijing; Zhuge, Jingchang

2016-04-01

A rotating laser positioning system (RLPS) is an efficient measurement method for large-scale metrology. Due to multiple transmitter stations, which consist of a measurement network, the position relationship of these stations must be first calibrated. However, with such auxiliary devices such as a laser tracker, scale bar, and complex calibration process, the traditional calibration methods greatly reduce the measurement efficiency. This paper proposes a self-calibration method for RLPS, which can automatically obtain the position relationship. The method is implemented through interscanning technology by using a calibration bar mounted on the transmitter station. Each bar is composed of three RLPS receivers and one ultrasonic sensor whose coordinates are known in advance. The calibration algorithm is mainly based on multiplane and distance constraints and is introduced in detail through a two-station mathematical model. The repeated experiments demonstrate that the coordinate measurement uncertainty of spatial points by using this method is about 0.1 mm, and the accuracy experiments show that the average coordinate measurement deviation is about 0.3 mm compared with a laser tracker. The accuracy can meet the requirements of most applications, while the calibration efficiency is significantly improved.

Moon-Based INSAR Geolocation and Baseline Analysis

NASA Astrophysics Data System (ADS)

Liu, Guang; Ren, Yuanzhen; Ye, Hanlin; Guo, Huadong; Ding, Yixing; Ruan, Zhixing; Lv, Mingyang; Dou, Changyong; Chen, Zhaoning

2016-07-01

Earth observation platform is a host, the characteristics of the platform in some extent determines the ability for earth observation. Currently most developing platforms are satellite, in contrast carry out systematic observations with moon based Earth observation platform is still a new concept. The Moon is Earth's only natural satellite and is the only one which human has reached, it will give people different perspectives when observe the earth with sensors from the moon. Moon-based InSAR (SAR Interferometry), one of the important earth observation technology, has all-day, all-weather observation ability, but its uniqueness is still a need for analysis. This article will discuss key issues of geometric positioning and baseline parameters of moon-based InSAR. Based on the ephemeris data, the position, liberation and attitude of earth and moon will be obtained, and the position of the moon-base SAR sensor can be obtained by coordinate transformation from fixed seleno-centric coordinate systems to terrestrial coordinate systems, together with the Distance-Doppler equation, the positioning model will be analyzed; after establish of moon-based InSAR baseline equation, the different baseline error will be analyzed, the influence of the moon-based InSAR baseline to earth observation application will be obtained.

Comparison of Flux-Surface Aligned Curvilinear Coordinate Systems and Neoclassical Magnetic Field Predictions

NASA Astrophysics Data System (ADS)

Collart, T. G.; Stacey, W. M.

2015-11-01

Several methods are presented for extending the traditional analytic ``circular'' representation of flux-surface aligned curvilinear coordinate systems to more accurately describe equilibrium plasma geometry and magnetic fields in DIII-D. The formalism originally presented by Miller is extended to include different poloidal variations in the upper and lower hemispheres. A coordinate system based on separate Fourier expansions of major radius and vertical position greatly improves accuracy in edge plasma structure representation. Scale factors and basis vectors for a system formed by expanding the circular model minor radius can be represented using linear combinations of Fourier basis functions. A general method for coordinate system orthogonalization is presented and applied to all curvilinear models. A formalism for the magnetic field structure in these curvilinear models is presented, and the resulting magnetic field predictions are compared against calculations performed in a Cartesian system using an experimentally based EFIT prediction for the Grad-Shafranov equilibrium. Supported by: US DOE under DE-FG02-00ER54538.

A system to geometrically rectify and map airborne scanner imagery and to estimate ground area. [by computer

NASA Technical Reports Server (NTRS)

Spencer, M. M.; Wolf, J. M.; Schall, M. A.

1974-01-01

A system of computer programs were developed which performs geometric rectification and line-by-line mapping of airborne multispectral scanner data to ground coordinates and estimates ground area. The system requires aircraft attitude and positional information furnished by ancillary aircraft equipment, as well as ground control points. The geometric correction and mapping procedure locates the scan lines, or the pixels on each line, in terms of map grid coordinates. The area estimation procedure gives ground area for each pixel or for a predesignated parcel specified in map grid coordinates. The results of exercising the system with simulated data showed the uncorrected video and corrected imagery and produced area estimates accurate to better than 99.7%.

Segment coupling and coordination variability analyses of the roundhouse kick in taekwondo relative to the initial stance position.

PubMed

Estevan, Isaac; Freedman Silvernail, Julia; Jandacka, Daniel; Falco, Coral

2016-09-01

The initial stance position (ISP) has been observed as a factor affecting the execution technique during taekwondo kicks. In the present study, authors aimed to analyse a roundhouse kick to the chest by measuring movement coordination and the variability of coordination and comparing this across the different ISP (0°, 45° and 90°). Eight experienced taekwondo athletes performed consecutive kicking trials in random order from every of the three relative positions. The execution was divided into three phases (stance, first swing and second swing phase). A motion capture system was used to measure athletes' angular displacement of pelvis and thigh. A modified vector coding technique was used to quantify the coordination of the segments which contributed to the overall movement. The variability of this coordination (CV) for each ISP was also calculated. Comparative analysis showed that during the stance phase in the transverse plane, athletes coordinated movement of the trunk and thigh with a higher frequency of in-phase and lower frequency of exclusive thigh rotation in the 0° stance than the 90° stance position (P < 0.05). CV was also influenced by the different ISP. During the first swing and the majority of the second swing phase, predominant in-phase coordination of the pelvis and thigh was observed. Including exercises that require in-phase movement could not only help athletes to acquire coordination stability but also efficiency. The existence of a constraint such as ISP implies an increase of the variability when the athletes have to kick from ISP they are not used to adopt (i.e., 0° and 90° ISP) as an evidence of adaptability in the athletes' execution technique.

Acoustic imaging system

DOEpatents

Smith, Richard W.

1979-01-01

An acoustic imaging system for displaying an object viewed by a moving array of transducers as the array is pivoted about a fixed point within a given plane. A plurality of transducers are fixedly positioned and equally spaced within a laterally extending array and operatively directed to transmit and receive acoustic signals along substantially parallel transmission paths. The transducers are sequentially activated along the array to transmit and receive acoustic signals according to a preestablished sequence. Means are provided for generating output voltages for each reception of an acoustic signal, corresponding to the coordinate position of the object viewed as the array is pivoted. Receptions from each of the transducers are presented on the same display at coordinates corresponding to the actual position of the object viewed to form a plane view of the object scanned.

Intuition and deliberation: two systems for strategizing in the brain.

PubMed

Kuo, Wen-Jui; Sjöström, Tomas; Chen, Yu-Ping; Wang, Yen-Hsiang; Huang, Chen-Ying

2009-04-24

Dual-process theories distinguish between intuition (fast and emotional) and reasoning (slow and controlled) as a basis for human decision-making. We contrast dominance-solvable games, which can be solved by step-by-step deliberative reasoning, with pure coordination games, which must be solved intuitively. Using functional magnetic resonance imaging, we found that the middle frontal gyrus, the inferior parietal lobule, and the precuneus were more active in dominance-solvable games than in coordination games. The insula and anterior cingulate cortex showed the opposite pattern. Moreover, precuneus activity correlates positively with how "effortful" a dominance-solvable game is, whereas insula activity correlates positively with how "effortless" a coordination game is.

Image registration algorithm for high-voltage electric power live line working robot based on binocular vision

NASA Astrophysics Data System (ADS)

Li, Chengqi; Ren, Zhigang; Yang, Bo; An, Qinghao; Yu, Xiangru; Li, Jinping

2017-12-01

In the process of dismounting and assembling the drop switch for the high-voltage electric power live line working (EPL2W) robot, one of the key problems is the precision of positioning for manipulators, gripper and the bolts used to fix drop switch. To solve it, we study the binocular vision system theory of the robot and the characteristic of dismounting and assembling drop switch. We propose a coarse-to-fine image registration algorithm based on image correlation, which can improve the positioning precision of manipulators and bolt significantly. The algorithm performs the following three steps: firstly, the target points are marked respectively in the right and left visions, and then the system judges whether the target point in right vision can satisfy the lowest registration accuracy by using the similarity of target points' backgrounds in right and left visions, this is a typical coarse-to-fine strategy; secondly, the system calculates the epipolar line, and then the regional sequence existing matching points is generated according to neighborhood of epipolar line, the optimal matching image is confirmed by calculating the similarity between template image in left vision and the region in regional sequence according to correlation matching; finally, the precise coordinates of target points in right and left visions are calculated according to the optimal matching image. The experiment results indicate that the positioning accuracy of image coordinate is within 2 pixels, the positioning accuracy in the world coordinate system is within 3 mm, the positioning accuracy of binocular vision satisfies the requirement dismounting and assembling the drop switch.

The status of accurately locating forest inventory and analysis plots using the Global Positioning System

Treesearch

Michael Hoppus; Andrew Lister

2007-01-01

Historically, field crews used Global Positioning System (GPS) coordinates to establish and relocate plots, as well as document their general location. During the past 5 years, the increase in Geographic Information System (GIS) capabilities and in customer requests to use the spatial relationships between Forest Inventory and Analysis (FIA) plot data and other GIS...

Analysis of DGPS/INS and MLS/INS final approach navigation errors and control performance data

NASA Technical Reports Server (NTRS)

Hueschen, Richard M.; Spitzer, Cary R.

1992-01-01

Flight tests were conducted jointly by NASA Langley Research Center and Honeywell, Inc., on a B-737 research aircraft to record a data base for evaluating the performance of a differential DGPS/inertial navigation system (INS) which used GPS Course/Acquisition code receivers. Estimates from the DGPS/INS and a Microwave Landing System (MLS)/INS, and various aircraft parameter data were recorded in real time aboard the aircraft while flying along the final approach path to landing. This paper presents the mean and standard deviation of the DGPS/INS and MLS/INS navigation position errors computed relative to the laser tracker system and of the difference between the DGPS/INS and MLS/INS velocity estimates. RMS errors are presented for DGPS/INS and MLS/INS guidance errors (localizer and glideslope). The mean navigation position errors and standard deviation of the x position coordinate of the DGPS/INS and MLS/INS systems were found to be of similar magnitude while the standard deviation of the y and z position coordinate errors were significantly larger for DGPS/INS compared to MLS/INS.

Grid systems for Earth radiation budget experiment applications

NASA Technical Reports Server (NTRS)

Brooks, D. R.

1981-01-01

Spatial coordinate transformations are developed for several global grid systems of interest to the Earth Radiation Budget Experiment. The grid boxes are defined in terms of a regional identifier and longitude-latitude indexes. The transformations associate longitude with a particular grid box. The reverse transformations identify the center location of a given grid box. Transformations are given to relate the rotating (Earth-based) grid systems to solar position expressed in an inertial (nonrotating) coordinate system. The FORTRAN implementations of the transformations are given, along with sample input and output.

GNSS RTK-networks: The significance and issues to realize a recent reference coordinate system

NASA Astrophysics Data System (ADS)

Umnig, Elke; Möller, Gregor; Weber, Robert

2014-05-01

The upcoming release of the new global reference frame ITRF2013 will provide high accurate reference station positions and station velocities at the mm- and mm/year level, respectively. ITRF users benefit from this development in various ways. For example, this new frame allows for embedding high accurate GNSS baseline observations to an underlying reference of at least the same accuracy. Another advantage is that the IGS products are fully consistent with this frame and therefore all GNSS based zero-difference positioning results (Precise Point Positioning (PPP)) will be aligned to the ITRF2013. Unfortunately the transistion to a new frame (or just to a new epoch) implies also issues in particular for providers and users of real time positioning services. Thus providers have to perform arrangements, such as the readjustment of the reference station coordinates and the update of the transformation parameters from the homogenous GNSS coordinate frame into the national datum. Finally providers have to inform their clients appropriately about these changes and significant adjustments. Furthermore the aspect of the continental reference frame has to be considered: In Europe the use of the continental reference system/reference frame ETRS89/ETRF2000 is, due to cross-national guidelines, recommend by most national mapping authorities. Subsequently GNSS post-processing applications are degraded by the concurrent use of the reference systems and reference frames, to which terrestrial site coordinates and satellite coordinates are aligned. In this presentation we highlight all significant steps and hurdles which have to be jumped over when introducing a new reference frame from point of view of a typical regional RTK-reference station network provider. This network is located in Austria and parts of the neighbouring countries and consists of about 40 reference stations. Moreover, we discuss the significance of permanently monitoring the stability of the reference network sites and the determination of station velocities/rates for geodynamical investigations.

Use of global positioning system measurements to determine geocentric coordinates and variations in Earth orientation

NASA Technical Reports Server (NTRS)

Malla, R. P.; Wu, S.-C.; Lichten, S. M.

1993-01-01

Geocentric tracking station coordinates and short-period Earth-orientation variations can be measured with Global Positioning System (GPS) measurements. Unless calibrated, geocentric coordinate errors and changes in Earth orientation can lead to significant deep-space tracking errors. Ground-based GPS estimates of daily and subdaily changes in Earth orientation presently show centimeter-level precision. Comparison between GPS-estimated Earth-rotation variations, which are the differences between Universal Time 1 and Universal Coordinated Time (UT1-UTC), and those calculated from ocean tide models suggests that observed subdaily variations in Earth rotation are dominated by oceanic tidal effects. Preliminary GPS estimates for the geocenter location (from a 3-week experiment) agree with independent satellite laser-ranging estimates to better than 10 cm. Covariance analysis predicts that temporal resolution of GPS estimates for Earth orientation and geocenter improves significantly when data collected from low Earth-orbiting satellites as well as from ground sites are combined. The low Earth GPS tracking data enhance the accuracy and resolution for measuring high-frequency global geodynamical signals over time scales of less than 1 day.

Photogrammetry Tool for Forensic Analysis

NASA Technical Reports Server (NTRS)

Lane, John

2012-01-01

A system allows crime scene and accident scene investigators the ability to acquire visual scene data using cameras for processing at a later time. This system uses a COTS digital camera, a photogrammetry calibration cube, and 3D photogrammetry processing software. In a previous instrument developed by NASA, the laser scaling device made use of parallel laser beams to provide a photogrammetry solution in 2D. This device and associated software work well under certain conditions. In order to make use of a full 3D photogrammetry system, a different approach was needed. When using multiple cubes, whose locations relative to each other are unknown, a procedure that would merge the data from each cube would be as follows: 1. One marks a reference point on cube 1, then marks points on cube 2 as unknowns. This locates cube 2 in cube 1 s coordinate system. 2. One marks reference points on cube 2, then marks points on cube 1 as unknowns. This locates cube 1 in cube 2 s coordinate system. 3. This procedure is continued for all combinations of cubes. 4. The coordinate of all of the found coordinate systems is then merged into a single global coordinate system. In order to achieve maximum accuracy, measurements are done in one of two ways, depending on scale: when measuring the size of objects, the coordinate system corresponding to the nearest cube is used, or when measuring the location of objects relative to a global coordinate system, a merged coordinate system is used. Presently, traffic accident analysis is time-consuming and not very accurate. Using cubes with differential GPS would give absolute positions of cubes in the accident area, so that individual cubes would provide local photogrammetry calibration to objects near a cube.

Feedforward Coordinate Control of a Robotic Cell Injection Catheter.

PubMed

Cheng, Weyland; Law, Peter K

2017-08-01

Remote and robotically actuated catheters are the stepping-stones toward autonomous catheters, where complex intravascular procedures may be performed with minimal intervention from a physician. This article proposes a concept for the positional, feedforward control of a robotically actuated cell injection catheter used for the injection of myogenic or undifferentiated stem cells into the myocardial infarct boundary zones of the left ventricle. The prototype for the catheter system was built upon a needle-based catheter with a single degree of deflection, a 3-D printed handle combined with actuators, and the Arduino microcontroller platform. A bench setup was used to mimic a left ventricle catheter procedure starting from the femoral artery. Using Matlab and the open-source video modeling tool Tracker, the planar coordinates ( y, z) of the catheter position were analyzed, and a feedforward control system was developed based on empirical models. Using the Student's t test with a sample size of 26, it was determined that for both the y- and z-axes, the mean discrepancy between the calibrated and theoretical coordinate values had no significant difference compared to the hypothetical value of µ = 0. The root mean square error of the calibrated coordinates also showed an 88% improvement in the z-axis and 31% improvement in the y-axis compared to the unmodified trial run. This proof of concept investigation leads to the possibility of further developing a feedfoward control system in vivo using catheters with omnidirectional deflection. Feedforward positional control allows for more flexibility in the design of an automated catheter system where problems such as systemic time delay may be a hindrance in instances requiring an immediate reaction.

Accuracy of an acoustic location system for monitoring the position of duetting songbirds in tropical forest

PubMed Central

Mennill, Daniel J.; Burt, John M.; Fristrup, Kurt M.; Vehrencamp, Sandra L.

2008-01-01

A field test was conducted on the accuracy of an eight-microphone acoustic location system designed to triangulate the position of duetting rufous-and-white wrens (Thryothorus rufalbus) in Costa Rica’s humid evergreen forest. Eight microphones were set up in the breeding territories of twenty pairs of wrens, with an average inter-microphone distance of 75.2±2.6 m. The array of microphones was used to record antiphonal duets broadcast through stereo loudspeakers. The positions of the loudspeakers were then estimated by evaluating the delay with which the eight microphones recorded the broadcast sounds. Position estimates were compared to coordinates surveyed with a global-positioning system (GPS). The acoustic location system estimated the position of loudspeakers with an error of 2.82±0.26 m and calculated the distance between the “male” and “female” loudspeakers with an error of 2.12±0.42 m. Given the large range of distances between duetting birds, this relatively low level of error demonstrates that the acoustic location system is a useful tool for studying avian duets. Location error was influenced partly by the difficulties inherent in collecting high accuracy GPS coordinates of microphone positions underneath a lush tropical canopy, and partly by the complicating influence of irregular topography and thick vegetation on sound transmission. PMID:16708941

Coordinate-Based Clustering Method for Indoor Fingerprinting Localization in Dense Cluttered Environments.

PubMed

Liu, Wen; Fu, Xiao; Deng, Zhongliang

2016-12-02

Indoor positioning technologies has boomed recently because of the growing commercial interest in indoor location-based service (ILBS). Due to the absence of satellite signal in Global Navigation Satellite System (GNSS), various technologies have been proposed for indoor applications. Among them, Wi-Fi fingerprinting has been attracting much interest from researchers because of its pervasive deployment, flexibility and robustness to dense cluttered indoor environments. One challenge, however, is the deployment of Access Points (AP), which would bring a significant influence on the system positioning accuracy. This paper concentrates on WLAN based fingerprinting indoor location by analyzing the AP deployment influence, and studying the advantages of coordinate-based clustering compared to traditional RSS-based clustering. A coordinate-based clustering method for indoor fingerprinting location, named Smallest-Enclosing-Circle-based (SEC), is then proposed aiming at reducing the positioning error lying in the AP deployment and improving robustness to dense cluttered environments. All measurements are conducted in indoor public areas, such as the National Center For the Performing Arts (as Test-bed 1) and the XiDan Joy City (Floors 1 and 2, as Test-bed 2), and results show that SEC clustering algorithm can improve system positioning accuracy by about 32.7% for Test-bed 1, 71.7% for Test-bed 2 Floor 1 and 73.7% for Test-bed 2 Floor 2 compared with traditional RSS-based clustering algorithms such as K-means.

Coordinate-Based Clustering Method for Indoor Fingerprinting Localization in Dense Cluttered Environments

PubMed Central

Liu, Wen; Fu, Xiao; Deng, Zhongliang

2016-01-01

Indoor positioning technologies has boomed recently because of the growing commercial interest in indoor location-based service (ILBS). Due to the absence of satellite signal in Global Navigation Satellite System (GNSS), various technologies have been proposed for indoor applications. Among them, Wi-Fi fingerprinting has been attracting much interest from researchers because of its pervasive deployment, flexibility and robustness to dense cluttered indoor environments. One challenge, however, is the deployment of Access Points (AP), which would bring a significant influence on the system positioning accuracy. This paper concentrates on WLAN based fingerprinting indoor location by analyzing the AP deployment influence, and studying the advantages of coordinate-based clustering compared to traditional RSS-based clustering. A coordinate-based clustering method for indoor fingerprinting location, named Smallest-Enclosing-Circle-based (SEC), is then proposed aiming at reducing the positioning error lying in the AP deployment and improving robustness to dense cluttered environments. All measurements are conducted in indoor public areas, such as the National Center For the Performing Arts (as Test-bed 1) and the XiDan Joy City (Floors 1 and 2, as Test-bed 2), and results show that SEC clustering algorithm can improve system positioning accuracy by about 32.7% for Test-bed 1, 71.7% for Test-bed 2 Floor 1 and 73.7% for Test-bed 2 Floor 2 compared with traditional RSS-based clustering algorithms such as K-means. PMID:27918454

Optical 3D-coordinate measuring system using structured light

NASA Astrophysics Data System (ADS)

Schreiber, Wolfgang; Notni, Gunther; Kuehmstedt, Peter; Gerber, Joerg; Kowarschik, Richard M.

1996-09-01

The paper is aimed at the description of an optical shape measuring technique based on a consistent principle using fringe projection technique. We demonstrate a real 3D- coordinate measuring system where the sale of coordinates is given only by the illumination-structures. This method has the advantages that the aberration of the observing system and the depth-dependent imaging scale have no influence on the measuring accuracy and, moreover, the measurements are independent of the position of the camera with respect to the object under test. Furthermore, it is shown that the influence of specular effects of the surface on the measuring result can be eliminated. Moreover, we developed a very simple algorithm to calibrate the measuring system. The measuring examples show that a measuring accuracy of 10-4 (i.e. 10 micrometers ) within an object volume of 100 X 100 X 70 mm3 is achievable. Furthermore, it is demonstrated that the set of coordinate values can be processed in CNC- and CAD-systems.

Computer hardware and software for robotic control

NASA Technical Reports Server (NTRS)

Davis, Virgil Leon

1987-01-01

The KSC has implemented an integrated system that coordinates state-of-the-art robotic subsystems. It is a sensor based real-time robotic control system performing operations beyond the capability of an off-the-shelf robot. The integrated system provides real-time closed loop adaptive path control of position and orientation of all six axes of a large robot; enables the implementation of a highly configurable, expandable testbed for sensor system development; and makes several smart distributed control subsystems (robot arm controller, process controller, graphics display, and vision tracking) appear as intelligent peripherals to a supervisory computer coordinating the overall systems.

Indoor Navigation using Direction Sensor and Beacons

NASA Technical Reports Server (NTRS)

Shields, Joel; Jeganathan, Muthu

2004-01-01

A system for indoor navigation of a mobile robot includes (1) modulated infrared beacons at known positions on the walls and ceiling of a room and (2) a cameralike sensor, comprising a wide-angle lens with a position-sensitive photodetector at the focal plane, mounted in a known position and orientation on the robot. The system also includes a computer running special-purpose software that processes the sensor readings to obtain the position and orientation of the robot in all six degrees of freedom in a coordinate system embedded in the room.

Naval Biodynamics Laboratory 1993 Command History

DTIC Science & Technology

1993-01-01

position and alignment, camera optical calibration, photo target position, and standard anatomical coordinate systems based upon X-rays of each HRV...safety range. Before, during, and after each sled run, a physiological data acquisition system is used to collect and analyze physiological measurements ...experimental devices. It is also responsible for the configuring of field data measuring and acquisition systems for use aboard ships or at other field

Optic-electronic system for deformation of radio-telescope counter-reflector computer modeling

NASA Astrophysics Data System (ADS)

Konyakhin, Igor A.; Petrochenko, Andrew V.; Tolochek, Nina S.

2014-05-01

In article is described the method of the «angle photometric resection» and the definition of the parameters of the external orientation (spatial coordinates of the points of shooting and the angular position of the shooting plane) and his use for the optic-electronic system that determinates the position of counter-reflector.

Navigation system and method

NASA Technical Reports Server (NTRS)

Taylor, R. E.; Sennott, J. W. (Inventor)

1984-01-01

In a global positioning system (GPS), such as the NAVSTAR/GPS system, wherein the position coordinates of user terminals are obtained by processing multiple signals transmitted by a constellation of orbiting satellites, an acquisition-aiding signal generated by an earth-based control station is relayed to user terminals via a geostationary satellite to simplify user equipment. The aiding signal is FSK modulated on a reference channel slightly offset from the standard GPS channel. The aiding signal identifies satellites in view having best geometry and includes Doppler prediction data as well as GPS satellite coordinates and identification data associated with user terminals within an area being served by the control station and relay satellite. The aiding signal significantly reduces user equipment by simplifying spread spectrum signal demodulation and reducing data processing functions previously carried out at the user terminals.

Coordinate metrology using scanning probe microscopes

NASA Astrophysics Data System (ADS)

Marinello, F.; Savio, E.; Bariani, P.; Carmignato, S.

2009-08-01

New positioning, probing and measuring strategies in coordinate metrology are needed for the accomplishment of true three-dimensional characterization of microstructures, with uncertainties in the nanometre range. In the present work, the implementation of scanning probe microscopes (SPMs) as systems for coordinate metrology is discussed. A new non-raster measurement approach is proposed, where the probe is moved to sense points along free paths on the sample surface, with no loss of accuracy with respect to traditional raster scanning and scan time reduction. Furthermore, new probes featuring long tips with innovative geometries suitable for coordinate metrology through SPMs are examined and reported.

Relative position coordinated control for spacecraft formation flying with communication delays

NASA Astrophysics Data System (ADS)

Ran, Dechao; Chen, Xiaoqian; Misra, Arun K.; Xiao, Bing

2017-08-01

This study addresses a relative position coordinated control problem for spacecraft formation flying subject to directed communication topology. Two different kinds of communication delay cases, including time-varying delays and arbitrarily bounded delays are investigated. Using the backstepping control technique, two virtual velocity control inputs are firstly designed to achieve coordinated position tracking for the kinematic subsystem. Furthermore, a hyperbolic tangent function is introduced to guarantee the boundedness of the virtual controller. Then, a finite-time control algorithm is designed for the dynamic subsystem. It can guarantee that the virtual velocity can be followed by the real velocity after finite time. It is theoretically proved that the proposed control scheme can asymptotically stabilize the closed-loop system. Numerical simulations are further presented that not only highlight closed-loop performance benefiting from the proposed control scheme, but also illustrate its superiority in comparison with conventional formation control schemes.

NAPNAP Position Statement. Position Statement on Pediatric Health Care/Medical Home: Key Issues on Care Coordination, Transitions, and Leadership.

PubMed

2016-01-01

The National Association of Pediatric Nurse Practitioners (NAPNAP) affirms that the delivery of children's health care should be family-centered, accessible, comprehensive, coordinated, culturally appropriate, compassionate, and focused on the overall well-being of children and families. All qualified pediatric health care providers should collaborate in providing health care services for children in pediatric health care/medical homes. Interventions must address the concepts of family-centered partnerships, community-based systems, and transitional care from pediatric to adult services.

Post-Flight Estimation of Motion of Space Structures: Part 2

NASA Technical Reports Server (NTRS)

Brugarolas, Paul; Breckenridge, William

2008-01-01

A computer program related to the one described in the immediately preceding article estimates the relative position of two space structures that are hinged to each other. The input to the program consists of time-series data on distances, measured by two range finders at different positions on one structure, to a corner-cube retroreflector on the other structure. Given a Cartesian (x,y,z) coordinate system and the known x coordinate of the retroreflector relative to the y,z plane that contains the range finders, the program estimates the y and z coordinates of the retroreflector. The estimation process involves solving for the y,z coordinates of the intersection between (1) the y,z plane that contains the retroreflector and (2) spheres, centered on the range finders, having radii equal to the measured distances. In general, there are two such solutions and the program chooses the one consistent with the design of the structures. The program implements a Kalman filter. The output of the program is a time series of estimates of the relative position of the structures.

Improved Navigational Technology and Air Traffic Control: A Description of Controller Coordination and Workload

DOT National Transportation Integrated Search

1995-04-01

Improved navigational technology, such as microwave landing systems (MLS) or : global positioning systems (GPS), installed in today's commercial aircraft : enable the air traffic control (ATC) system to better utilize its airspace. : This increased e...

Inertial Pointing and Positioning System

NASA Technical Reports Server (NTRS)

Yee, Robert (Inventor); Robbins, Fred (Inventor)

1998-01-01

An inertial pointing and control system and method for pointing to a designated target with known coordinates from a platform to provide accurate position, steering, and command information. The system continuously receives GPS signals and corrects Inertial Navigation System (INS) dead reckoning or drift errors. An INS is mounted directly on a pointing instrument rather than in a remote location on the platform for-monitoring the terrestrial position and instrument attitude. and for pointing the instrument at designated celestial targets or ground based landmarks. As a result. the pointing instrument and die INS move independently in inertial space from the platform since the INS is decoupled from the platform. Another important characteristic of the present system is that selected INS measurements are combined with predefined coordinate transformation equations and control logic algorithms under computer control in order to generate inertial pointing commands to the pointing instrument. More specifically. the computer calculates the desired instrument angles (Phi, Theta. Psi). which are then compared to the Euler angles measured by the instrument- mounted INS. and forms the pointing command error angles as a result of the compared difference.

Versatile, low-cost, computer-controlled, sample positioning system for vacuum applications

NASA Technical Reports Server (NTRS)

Vargas-Aburto, Carlos; Liff, Dale R.

1991-01-01

A versatile, low-cost, easy to implement, microprocessor-based motorized positioning system (MPS) suitable for accurate sample manipulation in a Second Ion Mass Spectrometry (SIMS) system, and for other ultra-high vacuum (UHV) applications was designed and built at NASA LeRC. The system can be operated manually or under computer control. In the latter case, local, as well as remote operation is possible via the IEEE-488 bus. The position of the sample can be controlled in three linear orthogonal and one angular coordinates.

A virtual reality-based method of decreasing transmission time of visual feedback for a tele-operative robotic catheter operating system.

PubMed

Guo, Jin; Guo, Shuxiang; Tamiya, Takashi; Hirata, Hideyuki; Ishihara, Hidenori

2016-03-01

An Internet-based tele-operative robotic catheter operating system was designed for vascular interventional surgery, to afford unskilled surgeons the opportunity to learn basic catheter/guidewire skills, while allowing experienced physicians to perform surgeries cooperatively. Remote surgical procedures, limited by variable transmission times for visual feedback, have been associated with deterioration in operability and vascular wall damage during surgery. At the patient's location, the catheter shape/position was detected in real time and converted into three-dimensional coordinates in a world coordinate system. At the operation location, the catheter shape was reconstructed in a virtual-reality environment, based on the coordinates received. The data volume reduction significantly reduced visual feedback transmission times. Remote transmission experiments, conducted over inter-country distances, demonstrated the improved performance of the proposed prototype. The maximum error for the catheter shape reconstruction was 0.93 mm and the transmission time was reduced considerably. The results were positive and demonstrate the feasibility of remote surgery using conventional network infrastructures. Copyright © 2015 John Wiley & Sons, Ltd.

Transcranial magnetic stimulation for the treatment of tinnitus: a new coil positioning method and first results.

PubMed

Langguth, Berthold; Zowe, Marc; Landgrebe, Michael; Sand, Philipp; Kleinjung, Tobias; Binder, Harald; Hajak, Göran; Eichhammer, Peter

2006-01-01

Auditory phantom perceptions are associated with hyperactivity of the central auditory system. Neuronavigation guided repetitive transcranial magnetic stimulation (rTMS) of the area of increased activity was demonstrated to reduce tinnitus perception. The study aimed at developing an easy applicable standard procedure for transcranial magnetic stimulation of the primary auditory cortex and to investigate this coil positioning strategy for the treatment of chronic tinnitus in clinical practice. The left gyrus of Heschl was targeted in 25 healthy subjects using a frameless stereotactical system. Based on individual scalp coordinates of the coil, a positioning strategy with reference to the 10--20-EEG system was developed. Using this coil positioning approach we started an open treatment trial. 28 patients with chronic tinnitus received 10 sessions of rTMS (intensity 110% of motor threshold, 1 Hz, 2000 Stimuli/day). Being within a range of about 20 mm diameter, the scalp coordinates for stimulating the primary auditory cortex allowed to determine a standard procedure for coil positioning. Clinical validation of this coil positioning method resulted in a significant improvement of tinnitus complaints (p<0.001). The newly developed coil positioning strategy may have the potential to offer a more easy-to-use stimulation approach for treating chronic tinnitus as compared with highly sophisticated, imaging guided treatment methods.

Development features in large-range nanoscale coordinate metrology

NASA Astrophysics Data System (ADS)

Gruhlke, Martin; Recknagel, Christian; Rothe, Hendrik

2008-04-01

The Nanometer-Coordinate-Measuring-Machine (NCMM) has the ability to scan large areas at nanometer resolution for the purpose of quality assurance of nanostructured products. The device combines a conventional atomic force microscope (AFM) with a precise positioning system. By locating the AFM at a fixed point and moving the sample with the positioning system a scan range of 2.5 x 2.5 x 0.5 cm 3 and a repeatability of 0.1 nm is achieved. Since all movements of the positioning system are measured via laser interferometers, the Abbe-principle is kept in every dimension, the use of materials with a low thermal expansion coefficient (like Zerodur and FeNi36) and an overall coordinate system the system provides unique measurement conditions (traceability to the meter definition; repeatable and fast scans of the region of interest). In the past the NCMM was used to make the first large area scan of a microelectronic sample. Our present work focuses on automating critical dimension measurement through the use of a-priori-knowledge of the sample and optical navigation. A-priori-knowledge can be generated by the use of CAD-Data of the sample or scans with white light interferometry. Another present objective is the optimization of the measurement parameters for specific sample topologies using simulation and also empirical methods like the Ziegler-Nichols method. The need of efficient data processing and handling is also part of our current research.

Coordinated interaction of two hydraulic cylinders when moving large-sized objects

NASA Astrophysics Data System (ADS)

Kreinin, G. V.; Misyurin, S. Yu; Lunev, A. V.

2017-12-01

The problem of the choice of parameters and the control scheme of the dynamics system for the coordinated displacement of a large mass object by two hydraulic piston type engines is considered. As a first stage, the problem is solved with respect to a system in which a heavy load of relatively large geometric dimensions is lifted or lowered in the progressive motion by two unidirectional hydraulic cylinders while maintaining the plane of the lifted object in a strictly horizontal position.

The Addition of Enhanced Capabilities to NATO GMTIF STANAG 4607 to Support RADARSAT-2 GMTI Data

DTIC Science & Technology

2007-12-01

However, the cost is a loss in the accuracy of the position specification and its dependence on the particular ellipsoid and/or geoid models used in...platform provides these parameters. Table B-3. Reference Coordinate Systems COORDINATE SYSTEM VALUE Unidentified 0 GEI: Geocentric Equatorial...Inertial, also known as True Equator and True Equinox of Date, True of Date (TOD), ECI, or GCI 1 J2000: Geocentric Equatorial Inertial for epoch J2000.0

75 FR 25137 - Changes to Standard Numbering System, Vessel Identification System, and Boating Accident Report...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-05-07

... coordinator of the National Recreational Boating Safety Program, our leadership position in maritime law... discussion of several non-substantive style or format changes made solely to improve clarity or internal...

15 CFR Appendix IV to Subpart P of... - Ecological Reserves Boundary

Code of Federal Regulations, 2010 CFR

2010-01-01

... Boundary Coordinates (1) The boundary of the Western Sambo Ecological Reserve is formed by connecting in succession the points at the following coordinates: Western Sambo [Based on differential Global Positioning Systems data] Point Latitude Longitude 1 24 deg.33.70′ N 81 deg.40.80′ W. 2 24 deg.28.85′ N 81 deg.41.90...

Case report of a near medical event in stereotactic radiotherapy due to improper units of measure from a treatment planning system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gladstone, D. J.; Li, S.; Jarvis, L. A.

2011-07-15

Purpose: The authors hereby notify the Radiation Oncology community of a potentially lethal error due to improper implementation of linear units of measure in a treatment planning system. The authors report an incident in which a patient was nearly mistreated during a stereotactic radiotherapy procedure due to inappropriate reporting of stereotactic coordinates by the radiation therapy treatment planning system in units of centimeter rather than in millimeter. The authors suggest a method to detect such errors during treatment planning so they are caught and corrected prior to the patient positioning for treatment on the treatment machine. Methods: Using pretreatment imaging,more » the authors found that stereotactic coordinates are reported with improper linear units by a treatment planning system. The authors have implemented a redundant, independent method of stereotactic coordinate calculation. Results: Implementation of a double check of stereotactic coordinates via redundant, independent calculation is simple and accurate. Use of this technique will avoid any future error in stereotactic treatment coordinates due to improper linear units, transcription, or other similar errors. Conclusions: The authors recommend an independent double check of stereotactic treatment coordinates during the treatment planning process in order to avoid potential mistreatment of patients.« less

Refining the multisystem view of the stress response: coordination among cortisol, alpha-amylase, and subjective stress in response to relationship conflict.

PubMed

Laurent, Heidemarie K; Powers, Sally I; Granger, Douglas A

2013-07-02

This study investigated associations among young adults' hypothalamic-pituitary-adrenal axis activity, autonomic nervous system activity, and subjective stress in response to interpersonal conflict to better characterize coordination across stress systems. Seven saliva samples were collected from 199 young adult opposite-sex couples before, during, and after they discussed an unresolved relationship conflict. Samples were later assayed for cortisol and alpha-amylase (sAA). Couples rated anticipatory stress prior to the conflict and perceived stress immediately following the task. Growth curve modeling was used to examine two possible levels of within-person coordination across physiological systems: alignment between cortisol and sAA responses throughout the sampling period ("matched phase coordination"), and association between overall levels of cortisol and sAA in response to conflict ("average level coordination"). Whereas both partners showed the former type of coordination, only women showed the latter type. Positive anticipation of the stressor predicted stronger cortisol-sAA matched phase coordination for women. Pre-task ratings related to women's sAA, and post-task ratings related to both partners' cortisol responses. Implications for a multisystem interpretation of normal and pathological responses to daily stress are discussed. Copyright © 2013 Elsevier Inc. All rights reserved.

Visible light communication based vehicle positioning using LED street light and rolling shutter CMOS sensors

NASA Astrophysics Data System (ADS)

Do, Trong Hop; Yoo, Myungsik

2018-01-01

This paper proposes a vehicle positioning system using LED street lights and two rolling shutter CMOS sensor cameras. In this system, identification codes for the LED street lights are transmitted to camera-equipped vehicles through a visible light communication (VLC) channel. Given that the camera parameters are known, the positions of the vehicles are determined based on the geometric relationship between the coordinates of the LEDs in the images and their real world coordinates, which are obtained through the LED identification codes. The main contributions of the paper are twofold. First, the collinear arrangement of the LED street lights makes traditional camera-based positioning algorithms fail to determine the position of the vehicles. In this paper, an algorithm is proposed to fuse data received from the two cameras attached to the vehicles in order to solve the collinearity problem of the LEDs. Second, the rolling shutter mechanism of the CMOS sensors combined with the movement of the vehicles creates image artifacts that may severely degrade the positioning accuracy. This paper also proposes a method to compensate for the rolling shutter artifact, and a high positioning accuracy can be achieved even when the vehicle is moving at high speeds. The performance of the proposed positioning system corresponding to different system parameters is examined by conducting Matlab simulations. Small-scale experiments are also conducted to study the performance of the proposed algorithm in real applications.

Basal Ganglia Outputs Map Instantaneous Position Coordinates during Behavior

PubMed Central

Barter, Joseph W.; Li, Suellen; Sukharnikova, Tatyana; Rossi, Mark A.; Bartholomew, Ryan A.

2015-01-01

The basal ganglia (BG) are implicated in many movement disorders, yet how they contribute to movement remains unclear. Using wireless in vivo recording, we measured BG output from the substantia nigra pars reticulata (SNr) in mice while monitoring their movements with video tracking. The firing rate of most nigral neurons reflected Cartesian coordinates (either x- or y-coordinates) of the animal's head position during movement. The firing rates of SNr neurons are either positively or negatively correlated with the coordinates. Using an egocentric reference frame, four types of neurons can be classified: each type increases firing during movement in a particular direction (left, right, up, down), and decreases firing during movement in the opposite direction. Given the high correlation between the firing rate and the x and y components of the position vector, the movement trajectory can be reconstructed from neural activity. Our results therefore demonstrate a quantitative and continuous relationship between BG output and behavior. Thus, a steady BG output signal from the SNr (i.e., constant firing rate) is associated with the lack of overt movement, when a stable posture is maintained by structures downstream of the BG. Any change in SNr firing rate is associated with a change in position (i.e., movement). We hypothesize that the SNr output quantitatively determines the direction, velocity, and amplitude of voluntary movements. By changing the reference signals to downstream position control systems, the BG can produce transitions in body configurations and initiate actions. PMID:25673860

Geospatial Technology

ERIC Educational Resources Information Center

Reed, Philip A.; Ritz, John

2004-01-01

Geospatial technology refers to a system that is used to acquire, store, analyze, and output data in two or three dimensions. This data is referenced to the earth by some type of coordinate system, such as a map projection. Geospatial systems include thematic mapping, the Global Positioning System (GPS), remote sensing (RS), telemetry, and…

An anatomic study of nipple position and areola size in Asian men.

PubMed

Kasai, Shogo; Shimizu, Yusuke; Nagasao, Tomohisa; Ohnishi, Fumio; Minabe, Toshiharu; Momosawa, Akira; Kishi, Kazuo

2015-02-01

In planning gender-reassignment surgery for biological women and treating men with gynecomastia, surgeons must have a thorough understanding of anatomically correct nipple positions and appropriate areola sizes in men. The authors sought to determine whether body height or body mass index (BMI) affects nipple position or areola size in men. Anatomic measurements of the nipples and areolae of 50 Japanese men were obtained. A relative coordinate system was defined, where the medial-lateral and superior-inferior positions of the nipple were quantitatively indicated by distance ratios between anatomic landmarks. Nipple positions were evaluated for each patient by referring to this coordinate system, and the positions were compared between groups categorized by body height or BMI. Nipple position was not significantly affected by body height. However, the nipple tended to be located more laterally in participants with higher BMI. The vertical nipple position differed between standing and supine positions. Tall men had larger areolae than short men; however, areola size did not differ with respect to BMI. Nipple position and areola size vary by body shape. Consideration of the differences is recommended when performing procedures such as female-to-male gender-reassignment surgery or correction of gynecomastia. © 2015 The American Society for Aesthetic Plastic Surgery, Inc. Reprints and permission: journals.permissions@oup.com.

Hand-Eye Calibration of Robonaut

NASA Technical Reports Server (NTRS)

Nickels, Kevin; Huber, Eric

2004-01-01

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.

HIFiRE-5 Flight Test Preliminary Results (Postprint)

DTIC Science & Technology

2013-11-01

DMARS-R) IMU and Ashtech DG14 Global Positioning System receiver. Results show that a tripped transition occurred on the test article leading edge...Reference System (DMARS-R) IMU and Ashtech DG14 Global Positioning System receiver. Results show that a tripped transition occurred on the test...pitch angle relative to earth as measured by IMU , or flight-path elevation angle as measured by GPS or IMU , degrees  = body-fixed angular coordinate

Bound-Preserving Discontinuous Galerkin Methods for Conservative Phase Space Advection in Curvilinear Coordinates

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mezzacappa, Anthony; Endeve, Eirik; Hauck, Cory D.

We extend the positivity-preserving method of Zhang & Shu [49] to simulate the advection of neutral particles in phase space using curvilinear coordinates. The ability to utilize these coordinates is important for non-equilibrium transport problems in general relativity and also in science and engineering applications with specific geometries. The method achieves high-order accuracy using Discontinuous Galerkin (DG) discretization of phase space and strong stabilitypreserving, Runge-Kutta (SSP-RK) time integration. Special care in taken to ensure that the method preserves strict bounds for the phase space distribution function f; i.e., f ϵ [0, 1]. The combination of suitable CFL conditions and themore » use of the high-order limiter proposed in [49] is su cient to ensure positivity of the distribution function. However, to ensure that the distribution function satisfies the upper bound, the discretization must, in addition, preserve the divergencefree property of the phase space ow. Proofs that highlight the necessary conditions are presented for general curvilinear coordinates, and the details of these conditions are worked out for some commonly used coordinate systems (i.e., spherical polar spatial coordinates in spherical symmetry and cylindrical spatial coordinates in axial symmetry, both with spherical momentum coordinates). Results from numerical experiments - including one example in spherical symmetry adopting the Schwarzschild metric - demonstrate that the method achieves high-order accuracy and that the distribution function satisfies the maximum principle.« less

Segtor: Rapid Annotation of Genomic Coordinates and Single Nucleotide Variations Using Segment Trees

PubMed Central

Renaud, Gabriel; Neves, Pedro; Folador, Edson Luiz; Ferreira, Carlos Gil; Passetti, Fabio

2011-01-01

Various research projects often involve determining the relative position of genomic coordinates, intervals, single nucleotide variations (SNVs), insertions, deletions and translocations with respect to genes and their potential impact on protein translation. Due to the tremendous increase in throughput brought by the use of next-generation sequencing, investigators are routinely faced with the need to annotate very large datasets. We present Segtor, a tool to annotate large sets of genomic coordinates, intervals, SNVs, indels and translocations. Our tool uses segment trees built using the start and end coordinates of the genomic features the user wishes to use instead of storing them in a database management system. The software also produces annotation statistics to allow users to visualize how many coordinates were found within various portions of genes. Our system currently can be made to work with any species available on the UCSC Genome Browser. Segtor is a suitable tool for groups, especially those with limited access to programmers or with interest to analyze large amounts of individual genomes, who wish to determine the relative position of very large sets of mapped reads and subsequently annotate observed mutations between the reads and the reference. Segtor (http://lbbc.inca.gov.br/segtor/) is an open-source tool that can be freely downloaded for non-profit use. We also provide a web interface for testing purposes. PMID:22069465

Coordinated joint motion control system with position error correction

DOEpatents

Danko, George [Reno, NV

2011-11-22

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Coordinated joint motion control system with position error correction

DOEpatents

Danko, George L.

2016-04-05

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Close range fault tolerant noncontacting position sensor

DOEpatents

Bingham, D.N.; Anderson, A.A.

1996-02-20

A method and system are disclosed for locating the three dimensional coordinates of a moving or stationary object in real time. The three dimensional coordinates of an object in half space or full space are determined based upon the time of arrival or phase of the wave front measured by a plurality of receiver elements and an established vector magnitudes proportional to the measured time of arrival or phase at each receiver element. The coordinates of the object are calculated by solving a matrix equation or a set of closed form algebraic equations. 3 figs.

The coordinate system of the eye in cataract surgery: Performance comparison of the circle Hough transform and Daugman's algorithm

NASA Astrophysics Data System (ADS)

Vlachynska, Alzbeta; Oplatkova, Zuzana Kominkova; Sramka, Martin

2017-07-01

The aim of the work is to determine the coordinate system of an eye and insert a polar-axis system into images captured by a slip lamp. The image of the eye with the polar axis helps a surgeon accurately implant toric intraocular lens in the required position/rotation during the cataract surgery. In this paper, two common algorithms for pupil detection are compared: the circle Hough transform and Daugman's algorithm. The procedures were tested and analysed on the anonymous data set of 128 eyes captured at Gemini eye clinic in 2015.

Dynamic correction of the laser beam coordinate in fabrication of large-sized diffractive elements for testing aspherical mirrors

NASA Astrophysics Data System (ADS)

Shimansky, R. V.; Poleshchuk, A. G.; Korolkov, V. P.; Cherkashin, V. V.

2017-05-01

This paper presents a method of improving the accuracy of a circular laser system in fabrication of large-diameter diffractive optical elements by means of a polar coordinate system and the results of their use. An algorithm for correcting positioning errors of a circular laser writing system developed at the Institute of Automation and Electrometry, SB RAS, is proposed and tested. Highprecision synthesized holograms fabricated by this method and the results of using these elements for testing the 6.5 m diameter aspheric mirror of the James Webb space telescope (JWST) are described..

A Context-Aware Model to Provide Positioning in Disaster Relief Scenarios

PubMed Central

Moreno, Daniel; Ochoa, Sergio F.; Meseguer, Roc

2015-01-01

The effectiveness of the work performed during disaster relief efforts is highly dependent on the coordination of activities conducted by the first responders deployed in the affected area. Such coordination, in turn, depends on an appropriate management of geo-referenced information. Therefore, enabling first responders to count on positioning capabilities during these activities is vital to increase the effectiveness of the response process. The positioning methods used in this scenario must assume a lack of infrastructure-based communication and electrical energy, which usually characterizes affected areas. Although positioning systems such as the Global Positioning System (GPS) have been shown to be useful, we cannot assume that all devices deployed in the area (or most of them) will have positioning capabilities by themselves. Typically, many first responders carry devices that are not capable of performing positioning on their own, but that require such a service. In order to help increase the positioning capability of first responders in disaster-affected areas, this paper presents a context-aware positioning model that allows mobile devices to estimate their position based on information gathered from their surroundings. The performance of the proposed model was evaluated using simulations, and the obtained results show that mobile devices without positioning capabilities were able to use the model to estimate their position. Moreover, the accuracy of the positioning model has been shown to be suitable for conducting most first response activities. PMID:26437406

Global Coordinates and Exact Aberration Calculations Applied to Physical Optics Modeling of Complex Optical Systems

NASA Astrophysics Data System (ADS)

Lawrence, G.; Barnard, C.; Viswanathan, V.

1986-11-01

Historically, wave optics computer codes have been paraxial in nature. Folded systems could be modeled by "unfolding" the optical system. Calculation of optical aberrations is, in general, left for the analyst to do with off-line codes. While such paraxial codes were adequate for the simpler systems being studied 10 years ago, current problems such as phased arrays, ring resonators, coupled resonators, and grazing incidence optics require a major advance in analytical capability. This paper describes extension of the physical optics codes GLAD and GLAD V to include a global coordinate system and exact ray aberration calculations. The global coordinate system allows components to be positioned and rotated arbitrarily. Exact aberrations are calculated for components in aligned or misaligned configurations by using ray tracing to compute optical path differences and diffraction propagation. Optical path lengths between components and beam rotations in complex mirror systems are calculated accurately so that coherent interactions in phased arrays and coupled devices may be treated correctly.

Characteristics of the BDS Carrier Phase Multipath and Its Mitigation Methods in Relative Positioning

PubMed Central

Dai, Wujiao; Shi, Qiang; Cai, Changsheng

2017-01-01

The carrier phase multipath effect is one of the most significant error sources in the precise positioning of BeiDou Navigation Satellite System (BDS). We analyzed the characteristics of BDS multipath, and found the multipath errors of geostationary earth orbit (GEO) satellite signals are systematic, whereas those of inclined geosynchronous orbit (IGSO) or medium earth orbit (MEO) satellites are both systematic and random. The modified multipath mitigation methods, including sidereal filtering algorithm and multipath hemispherical map (MHM) model, were used to improve BDS dynamic deformation monitoring. The results indicate that the sidereal filtering methods can reduce the root mean square (RMS) of positioning errors in the east, north and vertical coordinate directions by 15%, 37%, 25% and 18%, 51%, 27% in the coordinate and observation domains, respectively. By contrast, the MHM method can reduce the RMS by 22%, 52% and 27% on average. In addition, the BDS multipath errors in static baseline solutions are a few centimeters in multipath-rich environments, which is different from that of Global Positioning System (GPS) multipath. Therefore, we add a parameter representing the GEO multipath error in observation equation to the adjustment model to improve the precision of BDS static baseline solutions. And the results show that the modified model can achieve an average precision improvement of 82%, 54% and 68% in the east, north and up coordinate directions, respectively. PMID:28387744

Characteristics of the BDS Carrier Phase Multipath and Its Mitigation Methods in Relative Positioning.

PubMed

Dai, Wujiao; Shi, Qiang; Cai, Changsheng

2017-04-07

The carrier phase multipath effect is one of the most significant error sources in the precise positioning of BeiDou Navigation Satellite System (BDS). We analyzed the characteristics of BDS multipath, and found the multipath errors of geostationary earth orbit (GEO) satellite signals are systematic, whereas those of inclined geosynchronous orbit (IGSO) or medium earth orbit (MEO) satellites are both systematic and random. The modified multipath mitigation methods, including sidereal filtering algorithm and multipath hemispherical map (MHM) model, were used to improve BDS dynamic deformation monitoring. The results indicate that the sidereal filtering methods can reduce the root mean square (RMS) of positioning errors in the east, north and vertical coordinate directions by 15%, 37%, 25% and 18%, 51%, 27% in the coordinate and observation domains, respectively. By contrast, the MHM method can reduce the RMS by 22%, 52% and 27% on average. In addition, the BDS multipath errors in static baseline solutions are a few centimeters in multipath-rich environments, which is different from that of Global Positioning System (GPS) multipath. Therefore, we add a parameter representing the GEO multipath error in observation equation to the adjustment model to improve the precision of BDS static baseline solutions. And the results show that the modified model can achieve an average precision improvement of 82%, 54% and 68% in the east, north and up coordinate directions, respectively.

Sample positioning in microgravity

NASA Technical Reports Server (NTRS)

Sridharan, Govind (Inventor)

1991-01-01

Repulsion forces arising from laser beams are provided to produce mild positioning forces on a sample in microgravity vacuum environments. The system of the preferred embodiment positions samples using a plurality of pulsed lasers providing opposing repulsion forces. The lasers are positioned around the periphery of a confinement area and expanded to create a confinement zone. The grouped laser configuration, in coordination with position sensing devices, creates a feedback servo whereby stable position control of a sample within microgravity environment can be achieved.

Sample positioning in microgravity

NASA Technical Reports Server (NTRS)

Sridharan, Govind (Inventor)

1993-01-01

Repulsion forces arising from laser beams are provided to produce mild positioning forces on a sample in microgravity vacuum environments. The system of the preferred embodiment positions samples using a plurality of pulsed lasers providing opposing repulsion forces. The lasers are positioned around the periphery of a confinement area and expanded to create a confinement zone. The grouped laser configuration, in coordination with position sensing devices, creates a feedback servo whereby stable position control of a sample within microgravity environment can be achieved.

An update to the analysis of the Canadian Spatial Reference System

NASA Astrophysics Data System (ADS)

Ferland, R.; Piraszewski, M.; Craymer, M.

2015-12-01

The primary objective of the Canadian Spatial Reference System (CSRS) is to provide users access to a consistent geo-referencing infrastructure over the Canadian landmass. Global Navigation Satellite System (GNSS) positioning accuracy requirements ranges from meter level to mm level (e.g.: crustal deformation). The highest level of the Canadian infrastructure consist of a network of continually operating GPS and GNSS receivers, referred to as active control stations. The network includes all Canadian public active control stations, some bordering US CORS and Alaska stations, Greenland active control stations, as well as a selection of IGS reference frame stations. The Bernese analysis software is used for the daily processing and the combination into weekly solutions which form the basis for this analysis. IGS weekly final orbit, Earth Rotation parameters (ERP's) and coordinates products are used in the processing. For the more demanding users, the time dependant changes of station coordinates is often more important.All station coordinate estimates and related covariance information is used in this analysis. For each input solution, variance factor, translation, rotation and scale (and if needed their rates) or subsets of these are estimated. In the combination of these weekly solutions, station positions and velocities are estimated. Since the time series from the stations in these networks often experience changes in behavior, new (or reuse of) parameters are generally used in these situations. As is often the case with real data, unrealistic coordinates may occur. Automatic detection and removal of outliers is used in these cases. For the transformation, position and velocity parameters loose apriori estimates and uncertainties are provided. Alignment using the usual Helmert transformation to the latest IGb08 realization of ITRF is also performed during the adjustment.

Plate measurement techniques and reduction methods used by the West German satellite observers, and resulting consequences for the observation

NASA Technical Reports Server (NTRS)

Deker, H.

1971-01-01

The West German tracking stations are equipped with ballistic cameras. Plate measurement and plate reduction must therefore follow photogrammetric methods. Approximately 100 star positions and 200 satellite positions are measured on each plate. The mathematical model for spatial rotation of the bundle of rays is extended by including terms for distortion and internal orientation of the camera as well as by providing terms for refraction which are computed for the measured coordinates of the star positions on the plate. From the measuring accuracy of the plate coordinates it follows that the timing accuracy for the exposures has to be about one millisecond, in order to obtain a homogeneous system.

Task decomposition for a multilimbed robot to work in reachable but unorientable space

NASA Technical Reports Server (NTRS)

Su, Chau; Zheng, Yuan F.

1991-01-01

Robot manipulators installed on legged mobile platforms are suggested for enlarging robot workspace. To plan the motion of such a system, the arm-platform motion coordination problem is raised, and a task decomposition is proposed to solve the problem. A given task described by the destination position and orientation of the end effector is decomposed into subtasks for arm manipulation and for platform configuration, respectively. The former is defined as the end-effector position and orientation with respect to the platform, and the latter as the platform position and orientation in the base coordinates. Three approaches are proposed for the task decomposition. The approaches are also evaluated in terms of the displacements, from which an optimal approach can be selected.

Stereo Imaging Velocimetry

NASA Technical Reports Server (NTRS)

McDowell, Mark (Inventor); Glasgow, Thomas K. (Inventor)

1999-01-01

A system and a method for measuring three-dimensional velocities at a plurality of points in a fluid employing at least two cameras positioned approximately perpendicular to one another. The cameras are calibrated to accurately represent image coordinates in world coordinate system. The two-dimensional views of the cameras are recorded for image processing and centroid coordinate determination. Any overlapping particle clusters are decomposed into constituent centroids. The tracer particles are tracked on a two-dimensional basis and then stereo matched to obtain three-dimensional locations of the particles as a function of time so that velocities can be measured therefrom The stereo imaging velocimetry technique of the present invention provides a full-field. quantitative, three-dimensional map of any optically transparent fluid which is seeded with tracer particles.

Design of an omnidirectional single-point photodetector for large-scale spatial coordinate measurement

NASA Astrophysics Data System (ADS)

Xie, Hongbo; Mao, Chensheng; Ren, Yongjie; Zhu, Jigui; Wang, Chao; Yang, Lei

2017-10-01

In high precision and large-scale coordinate measurement, one commonly used approach to determine the coordinate of a target point is utilizing the spatial trigonometric relationships between multiple laser transmitter stations and the target point. A light receiving device at the target point is the key element in large-scale coordinate measurement systems. To ensure high-resolution and highly sensitive spatial coordinate measurement, a high-performance and miniaturized omnidirectional single-point photodetector (OSPD) is greatly desired. We report one design of OSPD using an aspheric lens, which achieves an enhanced reception angle of -5 deg to 45 deg in vertical and 360 deg in horizontal. As the heart of our OSPD, the aspheric lens is designed in a geometric model and optimized by LightTools Software, which enables the reflection of a wide-angle incident light beam into the single-point photodiode. The performance of home-made OSPD is characterized with working distances from 1 to 13 m and further analyzed utilizing developed a geometric model. The experimental and analytic results verify that our device is highly suitable for large-scale coordinate metrology. The developed device also holds great potential in various applications such as omnidirectional vision sensor, indoor global positioning system, and optical wireless communication systems.

A design proposal of a certain missile tactical command system based on Beidou satellite communication and GPS positioning techniques

NASA Astrophysics Data System (ADS)

Ma, Jian; Hao, Yongsheng; Miao, Jian; Zhang, Jianmao

2007-11-01

This paper introduced a design proposal of tactical command system that applied to a kind of anti-tank missile carriers. The tactical command system was made up of embedded computer system based on PC104 bus, Linux operating system, digital military map, Beidou satellite communication equipments and GPS positioning equipments. The geographic coordinates was measured by the GPS receiver, the positioning data, commands and information were transmitted real-time between tactical command systems, tactical command systems and command center, by the Beidou satellite communication systems. The Beidou satellite communication equipments and GPS positioning equipments were integrated to an independent module, exchanging data with embedded computer through RS232 serial ports and USB ports. The decision support system software based on information fusion, calculates positioning data, geography information and battle field information synthetically, shows the position of allies and the position of enemy on the military map, and assesses the various threats of different enemy objects, educes a situation assessment and threat assessment.

Early and Late Inhibitions Elicited by a Peripheral Visual Cue on Manual Response to a Visual Target: Are They Based on Cartesian Coordinates?

ERIC Educational Resources Information Center

Gawryszewski, Luiz G.; Carreiro, Luiz Renato R.; Magalhaes, Fabio V.

2005-01-01

A non-informative cue (C) elicits an inhibition of manual reaction time (MRT) to a visual target (T). We report an experiment to examine if the spatial distribution of this inhibitory effect follows Polar or Cartesian coordinate systems. C appeared at one out of 8 isoeccentric (7[degrees]) positions, the C-T angular distances (in polar…

Assessment of Hybrid Coordinate Model Velocity Fields During Agulhas Return Current 2012 Cruise

DTIC Science & Technology

2013-06-01

Forecasts GDEM Generalized Digital Environmental Model GPS Global Positioning System HYCOM HYbrid Coordinate Ocean Model MICOM Miami Isopycnal...speed profiles was climatology from the Generalized Digital Environmental Model ( GDEM ; Teague et al. 1990). Made operational in 1999, the Modular... GDEM was the only tool a naval oceanographer had at his or her disposal to characterize ocean conditions where in-situ observations could not be

Linear magnetic spring and spring/motor combination

NASA Technical Reports Server (NTRS)

Patt, Paul J. (Inventor); Stolfi, Fred R. (Inventor)

1991-01-01

A magnetic spring, or a spring and motor combination, providing a linear spring force characteristic in each direction from a neutral position, in which the spring action may occur for any desired coordinate of a typical orthogonal coordinate system. A set of magnets are disposed, preferably symmetrically about a coordinate axis, poled orthogonally to the desired force direction. A second set of magnets, respectively poled opposite the first set, are arranged on the sprung article. The magnets of one of the sets are spaced a greater distance apart than those of the other, such that an end magnet from each set forms a pair having preferably planar faces parallel to the direction of spring force, the faces being offset so that in a neutral position the outer edge of the closer spaced magnet set is aligned with the inner edge of the greater spaced magnet set. For use as a motor, a coil can be arranged with conductors orthogonal to both the magnet pole directions and the direction of desired spring force, located across from the magnets of one set and fixed with respect to the magnets of the other set. In a cylindrical coordinate system having axial spring force, the magnets are radially poled and motor coils are concentric with the cylinder axis.

Refining the multisystem view of the stress response: Coordination among cortisol, alpha-amylase, and subjective stress in response to relationship conflict

PubMed Central

Powers, Sally I.; Granger, Douglas A.

2013-01-01

This study investigated associations among young adults' hypothalamic-pituitary-adrenal axis activity, autonomic nervous system activity, and subjective stress in response to interpersonal conflict to better characterize coordination across stress systems. Seven saliva samples were collected from 199 young adult opposite-sex couples before, during, and after they discussed an unresolved relationship conflict. Samples were later assayed for cortisol and alpha-amylase (sAA). Couples rated anticipatory stress prior to the conflict and perceived stress immediately following the task. Growth curve modeling was used to examine two possible levels of within-person coordination across physiological systems: alignment between cortisol and sAA responses throughout the sampling period (“matched phase coordination”), and association between overall levels of cortisol and sAA in response to conflict (“average level coordination”). Whereas both partners showed the former type of coordination, only women showed the latter type. Positive anticipation of the stressor predicted stronger cortisol-sAA matched phase coordination for women. Pre-task ratings related to women's sAA, and post-task ratings related to both partners' cortisol responses. Implications for a multisystem interpretation of normal and pathological responses to daily stress are discussed. PMID:23684904

Asymmetric interjoint feedback contributes to postural control of redundant multi-link systems

NASA Astrophysics Data System (ADS)

Bunderson, Nathan E.; Ting, Lena H.; Burkholder, Thomas J.

2007-09-01

Maintaining the postural configuration of a limb such as an arm or leg is a fundamental neural control task that involves the coordination of multiple linked body segments. Biological systems are known to use a complex network of inter- and intra-joint feedback mechanisms arising from muscles, spinal reflexes and higher neuronal structures to stabilize the limbs. While previous work has shown that a small amount of asymmetric heterogenic feedback contributes to the behavior of these systems, a satisfactory functional explanation for this non-conservative feedback structure has not been put forth. We hypothesized that an asymmetric multi-joint control strategy would confer both an energetic and stability advantage in maintaining endpoint position of a kinematically redundant system. We tested this hypothesis by using optimal control models incorporating symmetric versus asymmetric feedback with the goal of maintaining the endpoint location of a kinematically redundant, planar limb. Asymmetric feedback improved endpoint control performance of the limb by 16%, reduced energetic cost by 21% and increased interjoint coordination by 40% compared to the symmetric feedback system. The overall effect of the asymmetry was that proximal joint motion resulted in greater torque generation at distal joints than vice versa. The asymmetric organization is consistent with heterogenic stretch reflex gains measured experimentally. We conclude that asymmetric feedback has a functionally relevant role in coordinating redundant degrees of freedom to maintain the position of the hand or foot.

Asymmetric interjoint feedback contributes to postural control of redundant multi-link systems

PubMed Central

Bunderson, Nathan E.; Ting, Lena H.; Burkholder, Thomas J.

2008-01-01

Maintaining the postural configuration of a limb such as an arm or leg is a fundamental neural control task that involves the coordination of multiple linked body segments. Biological systems are known to use a complex network of inter- and intra-joint feedback mechanisms arising from muscles, spinal reflexes, and higher neuronal structures to stabilize the limbs. While previous work has shown that a small amount of asymmetric heterogenic feedback contributes to the behavior of these systems, a satisfactory functional explanation for this nonconservative feedback structure has not been put forth. We hypothesized that an asymmetric multi-joint control strategy would confer both an energetic and stability advantage in maintaining endpoint position of a kinematically redundant system. We tested this hypothesis by using optimal control models incorporating symmetric versus asymmetric feedback with the goal of maintaining the endpoint location of a kinematically redundant, planar limb. Asymmetric feedback improved endpoint control performance of the limb by 16%, reduced energetic cost by 21% and increased interjoint coordination by 40% compared to the symmetric feedback system. The overall effect of the asymmetry was that proximal joint motion resulted in greater torque generation at distal joints than vice versa. The asymmetric organization is consistent with heterogenic stretch reflex gains measured experimentally. We conclude that asymmetric feedback has a functionally relevant role in coordinating redundant degrees of freedom to maintain the position of the hand or foot. PMID:17873426

A computer system to analyze showers in nuclear emulsions: Center Director's discretionary fund report

NASA Technical Reports Server (NTRS)

Meegan, C. A.; Fountain, W. F.; Berry, F. A., Jr.

1987-01-01

A system to rapidly digitize data from showers in nuclear emulsions is described. A TV camera views the emulsions though a microscope. The TV output is superimposed on the monitor of a minicomputer. The operator uses the computer's graphics capability to mark the positions of particle tracks. The coordinates of each track are stored on a disk. The computer then predicts the coordinates of each track through successive layers of emulsion. The operator, guided by the predictions, thus tracks and stores the development of the shower. The system provides a significant improvement over purely manual methods of recording shower development in nuclear emulsion stacks.

Stability of Boundary Layer Flow.

DTIC Science & Technology

1980-03-01

climato- logical frequency of convection in the North Atlantic, and offered recom- U mendations on the modelling of triggered convection. The current ...support of the current investigation we have carried out several additional calculations of the marine boundary layer with SIGMET. These calculations...In a fixed coordinate system x ( positive eastward), y ( positive northward), and z ( positive vertically upward) the equations are au .U +vE + W+-U

Multi-limbed locomotion systems for space construction and maintenance

NASA Technical Reports Server (NTRS)

Waldron, K. J.; Klein, C. A.

1987-01-01

A well developed technology of coordination of multi-limbed locomotory systems is now available. Results from a NASA sponsored study of several years ago are presented. This was a simulation study of a three-limbed locomotion/manipulation system. Each limb had six degrees of freedom and could be used either as a locomotory grasping hand-holds, or as a manipulator. The focus of the study was kinematic coordination algorithms. The presentation will also include very recent results from the Adaptive Suspension Vehicle Project. The Adaptive Suspension Vehicle (ASV) is a legged locomotion system designed for terrestrial use which is capable of operating in completely unstructured terrain in either a teleoperated or operator-on-board mode. Future development may include autonomous operation. The ASV features a very advanced coordination and control system which could readily be adapted to operation in space. An inertial package with a vertical gyro, and rate gyros and accelerometers on three orthogonal axes provides body position information at high bandwidth. This is compared to the operator's commands, injected via a joystick to provide a commanded force system on the vehicle's body. This system is, in turn, decomposed by a coordination algorithm into force commands to those legs which are in contact with the ground.

[Method for evaluating the positional accuracy of a six-degrees-of-freedom radiotherapy couch using high definition digital cameras].

PubMed

Takemura, Akihiro; Ueda, Shinichi; Noto, Kimiya; Kurata, Yuichi; Shoji, Saori

2011-01-01

In this study, we proposed and evaluated a positional accuracy assessment method with two high-resolution digital cameras for add-on six-degrees-of-freedom radiotherapy (6D) couches. Two high resolution digital cameras (D5000, Nikon Co.) were used in this accuracy assessment method. These cameras were placed on two orthogonal axes of a linear accelerator (LINAC) coordinate system and focused on the isocenter of the LINAC. Pictures of a needle that was fixed on the 6D couch were taken by the cameras during couch motions of translation and rotation of each axis. The coordinates of the needle in the pictures were obtained using manual measurement, and the coordinate error of the needle was calculated. The accuracy of a HexaPOD evo (Elekta AB, Sweden) was evaluated using this method. All of the mean values of the X, Y, and Z coordinate errors in the translation tests were within ±0.1 mm. However, the standard deviation of the Z coordinate errors in the Z translation test was 0.24 mm, which is higher than the others. In the X rotation test, we found that the X coordinate of the rotational origin of the 6D couch was shifted. We proposed an accuracy assessment method for a 6D couch. The method was able to evaluate the accuracy of the motion of only the 6D couch and revealed the deviation of the origin of the couch rotation. This accuracy assessment method is effective for evaluating add-on 6D couch positioning.

Localization and Mapping Using a Non-Central Catadioptric Camera System

NASA Astrophysics Data System (ADS)

Khurana, M.; Armenakis, C.

2018-05-01

This work details the development of an indoor navigation and mapping system using a non-central catadioptric omnidirectional camera and its implementation for mobile applications. Omnidirectional catadioptric cameras find their use in navigation and mapping of robotic platforms, owing to their wide field of view. Having a wider field of view, or rather a potential 360° field of view, allows the system to "see and move" more freely in the navigation space. A catadioptric camera system is a low cost system which consists of a mirror and a camera. Any perspective camera can be used. A platform was constructed in order to combine the mirror and a camera to build a catadioptric system. A calibration method was developed in order to obtain the relative position and orientation between the two components so that they can be considered as one monolithic system. The mathematical model for localizing the system was determined using conditions based on the reflective properties of the mirror. The obtained platform positions were then used to map the environment using epipolar geometry. Experiments were performed to test the mathematical models and the achieved location and mapping accuracies of the system. An iterative process of positioning and mapping was applied to determine object coordinates of an indoor environment while navigating the mobile platform. Camera localization and 3D coordinates of object points obtained decimetre level accuracies.

Geographical Information Systems (GIS) Mapping of Environmental Samples across College Campuses

ERIC Educational Resources Information Center

Purvis-Roberts, Kathleen L.; Moeur, Harriet P.; Zanella, Andrew

2007-01-01

In this laboratory experiment, students take environmental samples at various locations around the college campuses, take geospatial coordinates with a global position systems (GPS) unit, and map their results on a geo-referenced campus map with geographical information systems (GIS) software. Nitrogen dioxide air pollution sampling is used as an…

Office of Space Flight standard spaceborne Global Positioning System user equipment project

NASA Technical Reports Server (NTRS)

Saunders, Penny E.

1991-01-01

The Global Positioning System (GPS) provides users autonomous, real-time navigation capability. A vehicle equipped with GPS user equipment can receive and process signals transmitted by a constellation of GPS satellites and derive from the resulting measurements the vehicle's position and velocity. Specified accuracies range from 16 to 76 meters and 0.1 to 1.0 meters/second for position and velocity, respectively. In a rendezvous and docking scenario, the use of a technique called relative GPS can provide range and range rate accuracies on the order of 1 meter and 0.01 meters/second, respectively. Relative GPS requires both vehicles to be equipped with GPS user equipment and a data communication link for transmission of GPS data and GPS satellite selection coordination information. Through coordinated satellite selection, GPS measurement errors common to both users are cancelled and improved relative position and velocity accuracies are achieved. The background, the design approach, the expected performance and capabilities, the development plan, and the project status are described. In addition, a description of relative GPS, the possible GPS hardware and software configurations, and its application to automated rendezvous and capture are presented.

A feasibility study of hand kinematics for EVA analysis using magnetic resonance imaging

NASA Technical Reports Server (NTRS)

Dickenson, Reuben D.; Lorenz, Christine H.; Peterson, Steven W.; Strauss, Alvin M.; Main, John A.

1992-01-01

A new method for analyzing the kinematics of joint motion using magnetic resonance imaging (MRI) is described. The reconstruction of the metacarpalphalangeal joint of the left index finger into a 3D graphic display is shown. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones are obtained and processed by analyzing the screw motion of the joint. Landmark positions are chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily 2D planar motion of this joint is then studied using a method of constructing coordinate systems using three or more points. A transformation matrix based on a world coordinate system describes the location and orientation of the local target coordinate system. The findings show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove design for EVA.

New nonlinear control algorithms for multiple robot arms

NASA Technical Reports Server (NTRS)

Tarn, T. J.; Bejczy, A. K.; Yun, X.

1988-01-01

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Application of composite small calibration objects in traffic accident scene photogrammetry.

PubMed

Chen, Qiang; Xu, Hongguo; Tan, Lidong

2015-01-01

In order to address the difficulty of arranging large calibration objects and the low measurement accuracy of small calibration objects in traffic accident scene photogrammetry, a photogrammetric method based on a composite of small calibration objects is proposed. Several small calibration objects are placed around the traffic accident scene, and the coordinate system of the composite calibration object is given based on one of them. By maintaining the relative position and coplanar relationship of the small calibration objects, the local coordinate system of each small calibration object is transformed into the coordinate system of the composite calibration object. The two-dimensional direct linear transformation method is improved based on minimizing the reprojection error of the calibration points of all objects. A rectified image is obtained using the nonlinear optimization method. The increased accuracy of traffic accident scene photogrammetry using a composite small calibration object is demonstrated through the analysis of field experiments and case studies.

Positive solutions of advanced differential systems.

PubMed

Diblík, Josef; Kúdelčíková, Mária

2013-01-01

We study asymptotic behavior of solutions of general advanced differential systems y(t) = F(t, y(t)), where F : Ω → [Symbol: see text] (n) is a continuous quasi-bounded functional which satisfies a local Lipschitz condition with respect to the second argument and Ω is a subset in [Symbol: see text] × C(r)(n), C(r)(n) := C([0, r], [Symbol: see text] (n)), y t [Symbol: see text]C(r)(n), and y t (θ) = y(t + θ), θ [Symbol: see text] [0, r]. A monotone iterative method is proposed to prove the existence of a solution defined for t → ∞ with the graph coordinates lying between graph coordinates of two (lower and upper) auxiliary vector functions. This result is applied to scalar advanced linear differential equations. Criteria of existence of positive solutions are given and their asymptotic behavior is discussed.

Development of an S-band cavity Beam Position Monitor for ATF2

NASA Astrophysics Data System (ADS)

Heo, A.; Kim, E.-S.; Kim, H.; Son, D.; Honda, Y.; Tauchi, T.

2013-04-01

We have developed an S-band cavity Beam Position Monitor (BPM) in order to measure the position of an electron beam in the final focus area at ATF2, which is the test facility for the final focus design for the International Linear Collider (ILC). The lattice of the ILC Beam Delivery System (BDS) has been modified, requiring a larger physical aperture of 40 mm in the final focus area. The beam orbit measurement in this area is now covered with high resolution S-Band cavity BPMs. In this paper we summarize the design of the cavity BPM and the first experimental results. The calibration slopes were measured as 0.87 counts/μm in the x-coordinate direction and 1.16 counts/μm in the y-coordinate direction.

A regional method for craniofacial reconstruction based on coordinate adjustments and a new fusion strategy.

PubMed

Deng, Qingqiong; Zhou, Mingquan; Wu, Zhongke; Shui, Wuyang; Ji, Yuan; Wang, Xingce; Liu, Ching Yiu Jessica; Huang, Youliang; Jiang, Haiyan

2016-02-01

Craniofacial reconstruction recreates a facial outlook from the cranium based on the relationship between the face and the skull to assist identification. But craniofacial structures are very complex, and this relationship is not the same in different craniofacial regions. Several regional methods have recently been proposed, these methods segmented the face and skull into regions, and the relationship of each region is then learned independently, after that, facial regions for a given skull are estimated and finally glued together to generate a face. Most of these regional methods use vertex coordinates to represent the regions, and they define a uniform coordinate system for all of the regions. Consequently, the inconsistence in the positions of regions between different individuals is not eliminated before learning the relationships between the face and skull regions, and this reduces the accuracy of the craniofacial reconstruction. In order to solve this problem, an improved regional method is proposed in this paper involving two types of coordinate adjustments. One is the global coordinate adjustment performed on the skulls and faces with the purpose to eliminate the inconsistence of position and pose of the heads; the other is the local coordinate adjustment performed on the skull and face regions with the purpose to eliminate the inconsistence of position of these regions. After these two coordinate adjustments, partial least squares regression (PLSR) is used to estimate the relationship between the face region and the skull region. In order to obtain a more accurate reconstruction, a new fusion strategy is also proposed in the paper to maintain the reconstructed feature regions when gluing the facial regions together. This is based on the observation that the feature regions usually have less reconstruction errors compared to rest of the face. The results demonstrate that the coordinate adjustments and the new fusion strategy can significantly improve the craniofacial reconstructions. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

[Primary Health Care in the coordination of health care networks: an integrative review].

PubMed

Rodrigues, Ludmila Barbosa Bandeira; Silva, Patricia Costa Dos Santos; Peruhype, Rarianne Carvalho; Palha, Pedro Fredemir; Popolin, Marcela Paschoal; Crispim, Juliane de Almeida; Pinto, Ione Carvalho; Monroe, Aline Aparecida; Arcêncio, Ricardo Alexandre

2014-02-01

Health systems organized in health care networks and coordinated by Primary Health Care can contribute to an improvement in clinical quality with a positive impact on health outcomes and user satisfaction (by improving access and resolubility) and a reduction in the costs of local health systems. Thus, the scope of this paper is to analyze the scientific output about the evidence, potential, challenges and prospects of Primary Health Care in the coordination of Health Care Networks. To achieve this, the integrative review method was selected covering the period between 2000 and 2011. The databases selected were Medline (Medical Literature Analysis and Retrieval System online), Lilacs (Latin American Literature in Health Sciences) and SciELO (Scientific Electronic Library Online). Eighteen articles fulfilled the selection criteria. It was seen that the potential impacts of primary care services supersede the inherent weaknesses. However, the results revealed the need for research with a higher level of classification of the scientific evidence about the role of Primary Healh Care in the coordination of Health Care Networks.

Bimanual coordination of bowing and fingering in violinists--effects of position changes and string changes.

PubMed

Kazennikov, Oleg; Wiesendanger, Mario

2009-07-01

Music performance is based on demanding motor control with much practice from young age onward. We have chosen to investigate basic bimanual movements played by violin amateurs and professionals. We posed the question whether position and string changes, two frequent mechanisms, may influence the time interval bowing (right)-fingering (left) coordination. The objective was to measure bimanual coordination, i.e., with or without position changes and string changes. The tendency was that the bimanual coordination was statistically only slightly increased or even unchanged but not perceptible. We conclude that the coordination index is limited up to 100 ms intervals, without any erroneous perception. Although the mentioned position changes and string changes are movements with their timing, they are executed in parallel rather than in series with the bow-fingering coordination.

Split-step eigenvector-following technique for exploring enthalpy landscapes at absolute zero.

PubMed

Mauro, John C; Loucks, Roger J; Balakrishnan, Jitendra

2006-03-16

The mapping of enthalpy landscapes is complicated by the coupling of particle position and volume coordinates. To address this issue, we have developed a new split-step eigenvector-following technique for locating minima and transition points in an enthalpy landscape at absolute zero. Each iteration is split into two steps in order to independently vary system volume and relative atomic coordinates. A separate Lagrange multiplier is used for each eigendirection in order to provide maximum flexibility in determining step sizes. This technique will be useful for mapping the enthalpy landscapes of bulk systems such as supercooled liquids and glasses.

GNSS Positioning by CORS and EGM2008 in Jilin Province, China

PubMed Central

Wu, Qiong; Kang, Jingyu; Li, Shuwen; Zhen, Jianing; Li, Hongqing

2015-01-01

The Continuously Operating Reference Station (CORS) technique has been widely applied in land resource management, surveying, mapping, deformation monitoring, precise navigation, etc. This article analyzed the positioning method using EGM2008 and CORS of Jilin Province, China. The vertical transformation of EGM2008 from WGS84 to China’s CGCS2000 datum and the horizontal coordinate transformation from CGCS2000 to a triangulation coordinate system were discussed. The results indicated that a local geoid with respect to CGCS2000 can be transferred from EGM2008 with the same accuracy, and the geoid correction between CGCS2000 and WGS84 varied from 0.023 m to 0.111 m. The coordinate transformation method based on the curve surface approximation method indicated that the theoretical error was less than 0.09 m in the grid within 10° longitudinal and 5° latitudinal, and less than 0.3 m in large area and 0.1 m in small area in field validation. The method proposed in this article expanded the positioning result and its application for JLCORS and other CORS with local datum. PMID:26690150

GNSS Positioning by CORS and EGM2008 in Jilin Province, China.

PubMed

Wu, Qiong; Kang, Jingyu; Li, Shuwen; Zhen, Jianing; Li, Hongqing

2015-12-04

The Continuously Operating Reference Station (CORS) technique has been widely applied in land resource management, surveying, mapping, deformation monitoring, precise navigation, etc. This article analyzed the positioning method using EGM2008 and CORS of Jilin Province, China. The vertical transformation of EGM2008 from WGS84 to China's CGCS2000 datum and the horizontal coordinate transformation from CGCS2000 to a triangulation coordinate system were discussed. The results indicated that a local geoid with respect to CGCS2000 can be transferred from EGM2008 with the same accuracy, and the geoid correction between CGCS2000 and WGS84 varied from 0.023 m to 0.111 m. The coordinate transformation method based on the curve surface approximation method indicated that the theoretical error was less than 0.09 m in the grid within 10° longitudinal and 5° latitudinal, and less than 0.3 m in large area and 0.1 m in small area in field validation. The method proposed in this article expanded the positioning result and its application for JLCORS and other CORS with local datum.

75 FR 59934 - Amendment to Class E Airspace; Smithfield, NC

Federal Register 2010, 2011, 2012, 2013, 2014

2010-09-29

... Class E airspace at Johnston County Airport, Smithfield, NC, by correcting an omission of the geographic coordinates of the Area Navigation (RNAV) Global Positioning System (GPS) Special Standard Instrument Approach... System. DATES: Effective 0901 UTC, January 13, 2011. The Director of the Federal Register approves this...

Linear CCD attitude measurement system based on the identification of the auxiliary array CCD

NASA Astrophysics Data System (ADS)

Hu, Yinghui; Yuan, Feng; Li, Kai; Wang, Yan

2015-10-01

Object to the high precision flying target attitude measurement issues of a large space and large field of view, comparing existing measurement methods, the idea is proposed of using two array CCD to assist in identifying the three linear CCD with multi-cooperative target attitude measurement system, and to address the existing nonlinear system errors and calibration parameters and more problems with nine linear CCD spectroscopic test system of too complicated constraints among camera position caused by excessive. The mathematical model of binocular vision and three linear CCD test system are established, co-spot composition triangle utilize three red LED position light, three points' coordinates are given in advance by Cooperate Measuring Machine, the red LED in the composition of the three sides of a triangle adds three blue LED light points as an auxiliary, so that array CCD is easier to identify three red LED light points, and linear CCD camera is installed of a red filter to filter out the blue LED light points while reducing stray light. Using array CCD to measure the spot, identifying and calculating the spatial coordinates solutions of red LED light points, while utilizing linear CCD to measure three red LED spot for solving linear CCD test system, which can be drawn from 27 solution. Measured with array CCD coordinates auxiliary linear CCD has achieved spot identification, and has solved the difficult problems of multi-objective linear CCD identification. Unique combination of linear CCD imaging features, linear CCD special cylindrical lens system is developed using telecentric optical design, the energy center of the spot position in the depth range of convergence in the direction is perpendicular to the optical axis of the small changes ensuring highprecision image quality, and the entire test system improves spatial object attitude measurement speed and precision.

Algorithm to find high density EEG scalp coordinates and analysis of their correspondence to structural and functional regions of the brain

PubMed Central

Giacometti, Paolo; Perdue, Katherine L.; Diamond, Solomon G.

2014-01-01

Background Interpretation and analysis of electroencephalography (EEG) measurements relies on the correspondence of electrode scalp coordinates to structural and functional regions of the brain. New Method An algorithm is introduced for automatic calculation of the International 10–20, 10-10, and 10-5 scalp coordinates of EEG electrodes on a boundary element mesh of a human head. The EEG electrode positions are then used to generate parcellation regions of the cerebral cortex based on proximity to the EEG electrodes. Results The scalp electrode calculation method presented in this study effectively and efficiently identifies EEG locations without prior digitization of coordinates. The average of electrode proximity parcellations of the cortex were tabulated with respect to structural and functional regions of the brain in a population of 20 adult subjects. Comparison with Existing Methods Parcellations based on electrode proximity and EEG sensitivity were compared. The parcellation regions based on sensitivity and proximity were found to have 44.0 ± 11.3% agreement when demarcated by the International 10–20, 32.4 ± 12.6% by the 10-10, and 24.7 ± 16.3% by the 10-5 electrode positioning system. Conclusions The EEG positioning algorithm is a fast and easy method of locating EEG scalp coordinates without the need for digitized electrode positions. The parcellation method presented summarizes the EEG scalp locations with respect to brain regions without computation of a full EEG forward model solution. The reference table of electrode proximity versus cortical regions may be used by experimenters to select electrodes that correspond to anatomical and functional regions of interest. PMID:24769168

Algorithm to find high density EEG scalp coordinates and analysis of their correspondence to structural and functional regions of the brain.

PubMed

Giacometti, Paolo; Perdue, Katherine L; Diamond, Solomon G

2014-05-30

Interpretation and analysis of electroencephalography (EEG) measurements relies on the correspondence of electrode scalp coordinates to structural and functional regions of the brain. An algorithm is introduced for automatic calculation of the International 10-20, 10-10, and 10-5 scalp coordinates of EEG electrodes on a boundary element mesh of a human head. The EEG electrode positions are then used to generate parcellation regions of the cerebral cortex based on proximity to the EEG electrodes. The scalp electrode calculation method presented in this study effectively and efficiently identifies EEG locations without prior digitization of coordinates. The average of electrode proximity parcellations of the cortex were tabulated with respect to structural and functional regions of the brain in a population of 20 adult subjects. Parcellations based on electrode proximity and EEG sensitivity were compared. The parcellation regions based on sensitivity and proximity were found to have 44.0 ± 11.3% agreement when demarcated by the International 10-20, 32.4 ± 12.6% by the 10-10, and 24.7 ± 16.3% by the 10-5 electrode positioning system. The EEG positioning algorithm is a fast and easy method of locating EEG scalp coordinates without the need for digitized electrode positions. The parcellation method presented summarizes the EEG scalp locations with respect to brain regions without computation of a full EEG forward model solution. The reference table of electrode proximity versus cortical regions may be used by experimenters to select electrodes that correspond to anatomical and functional regions of interest. Copyright © 2014 Elsevier B.V. All rights reserved.

Improved spring model-based collaborative indoor visible light positioning

NASA Astrophysics Data System (ADS)

Luo, Zhijie; Zhang, WeiNan; Zhou, GuoFu

2016-06-01

Gaining accuracy with indoor positioning of individuals is important as many location-based services rely on the user's current position to provide them with useful services. Many researchers have studied indoor positioning techniques based on WiFi and Bluetooth. However, they have disadvantages such as low accuracy or high cost. In this paper, we propose an indoor positioning system in which visible light radiated from light-emitting diodes is used to locate the position of receivers. Compared with existing methods using light-emitting diode light, we present a high-precision and simple implementation collaborative indoor visible light positioning system based on an improved spring model. We first estimate coordinate position information using the visible light positioning system, and then use the spring model to correct positioning errors. The system can be employed easily because it does not require additional sensors and the occlusion problem of visible light would be alleviated. We also describe simulation experiments, which confirm the feasibility of our proposed method.

Obstacles to the coordination of delivering integrated prenatal HIV, syphilis and hepatitis B testing services in Guangdong: using a needs assessment approach.

PubMed

Xia, Jianhong; Rutherford, Shannon; Ma, Yuanzhu; Wu, Li; Gao, Shuang; Chen, Tingting; Lu, Xiao; Zhang, Xiaozhuang; Chu, Cordia

2015-03-24

Integration of services for Prevention of Mother-To-Child Transmission of HIV (PMTCT) into routine maternal and child health care is promoted as a priority strategy by the WHO to facilitate the implementation of PMTCT. Integration of services emphasizes inter-sectoral coordination in the health systems to provide convenient services for clients. China has been integrating prenatal HIV, syphilis and hepatitis B testing services since 2009. However, as the individual health systems are complex, effective coordination among different health agencies is challenging. Few studies have examined the factors that affect the coordination of such complex systems. The aim of this study is to assess the effectiveness of and examine challenges for integrated service delivery. Findings will provide the basis for strategy development to enhance the effective delivery of integrated services. The research was conducted in Guangdong province in 2013 using a needs assessment approach that includes qualitative and quantitative methods. Quantitative data was collected through a survey and from routine monitoring for PMTCT and qualitative data was collected through stakeholder interviews. Routine monitoring data used to assess key indicators of coordination suggested numerous coordination problems. The rates of prenatal HIV (95%), syphilis (47%) and hepatitis B (47%) test were inconsistent. An average of only 20% of the HIV positive mothers was referred in the health systems. There were no regular meetings among different health agencies and the clients indicated complicated service processes. The major obstacles to the coordination of delivering these integrated services are lack of service resource integration; and lack of a mechanism for coordination of the health systems, with no uniform guidelines, clear roles or consistent evaluation. The key obstacles that have been identified in this study hinder the coordination of the delivery of integrated services. Our recommendations include: 1) Facilitate integration of the funding and information systems by fully combining the service resources of different health agencies into one unit; 2) Establish regular meetings to facilitate exchange of information and address problems; 3) Establish a client referral network between different health agencies with agreed guidelines, clear roles and consistent evaluation.

Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.

PubMed

Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos

2017-08-12

In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.

Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller

PubMed Central

Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos

2017-01-01

In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689

Femur-mounted navigation system for the arthroscopic treatment of femoroacetabular impingement

NASA Astrophysics Data System (ADS)

Park, S. H.; Hwang, D. S.; Yoon, Y. S.

2013-07-01

Femoroacetabular impingement stems from an abnormal shape of the acetabulum and proximal femur. It is treated by resection of damaged soft tissue and by the shaping of bone to resemble normal features. The arthroscopic treatment of femoroacetabular impingement has many advantages, including minimal incisions, rapid recovery, and less pain. However, in some cases, revision is needed owing to the insufficient resection of damaged bone from a misreading of the surgical site. The limited view of arthroscopy is the major reason for the complications. In this research, a navigation method for the arthroscopic treatment of femoroacetabular impingement is developed. The proposed navigation system consists of femur attachable measurement device and user interface. The bone mounted measurement devices measure points on head-neck junction for registration and position of surgical instrument. User interface shows the three-dimensional model of patient's femur and surgical instrument position that is tracked by measurement device. Surgeon can know the three-dimensional anatomical structure of hip joint and surgical instrument position on surgical site using navigation system. Surface registration was used to obtain relation between patient's coordinate at the surgical site and coordinate of three-dimensional model of femur. In this research, we evaluated the proposed navigation system using plastic model bone. It is expected that the surgical tool tracking position accuracy will be less than 1 mm.

Global Geodesy Using GPS Without Fiducial Sites

NASA Technical Reports Server (NTRS)

Heflin, Michael B.; Blewitt, Geoffrey

1994-01-01

Global Positioning System, GPS, used to make global geodetic measurements without use of fiducial site coordinates. Baseline lengths and geocentric radii for each site determined without having to fix any site coordinates. Given n globally distributed sites, n baseline lengths and n geocentric radii form polyhedron with each site at vertex and with geocenter at intersection of all radii. Geodetic information derived from structure of polyhedron and its change with time. Approach applied to any global geodetic technique.

A conservative finite difference algorithm for the unsteady transonic potential equation in generalized coordinates

NASA Technical Reports Server (NTRS)

Bridgeman, J. O.; Steger, J. L.; Caradonna, F. X.

1982-01-01

An implicit, approximate-factorization, finite-difference algorithm has been developed for the computation of unsteady, inviscid transonic flows in two and three dimensions. The computer program solves the full-potential equation in generalized coordinates in conservation-law form in order to properly capture shock-wave position and speed. A body-fitted coordinate system is employed for the simple and accurate treatment of boundary conditions on the body surface. The time-accurate algorithm is modified to a conventional ADI relaxation scheme for steady-state computations. Results from two- and three-dimensional steady and two-dimensional unsteady calculations are compared with existing methods.

Computer Simulation of an Aircraft Seat and Occupant in a Crash Environment. Volume 1. Technical Report

DTIC Science & Technology

1983-03-01

q18 q2 8 q 2 q1 9 = 06q 2 9 812 7 (11)1q0 3 q 2 0 : ś The above coordinates include the Cartesian coordinates of the mass ce-nter of segment 1 ( Xl ...l P0 zC SC Lap Lap belt anchor point ( XL ’ YL’ ZL) 0 Inertial coordinate system Figure 30. Forces acting on occupant torso (nose-down attitude). 87...position calculated by equation (104) for the level flight assumption. The angle is defined according to 0 = sin-- ZL)/ X - XL )2 + (Zp - ZL)2 (106

Experiences of working from a freestanding position as a case manager when supporting clients in the Swedish welfare system.

PubMed

Klockmo, Carolina; Marnetoft, Sven-Uno

2016-06-01

The Swedish state uses a case management function known as Personligt Ombud (PO). The role as PO differs from the traditional professional roles. It has a freestanding position in the welfare system. The aim of this study was to investigate POs' experiences of working from a freestanding position when supporting clients. Telephone interviews were conducted with 22 POs across Sweden. The interviews were recorded, transcribed, and analyzed by latent qualitative content analysis. The findings were reflected in three categories - freedom-promoted flexibility, surfing through a complex welfare system, and working for legitimacy. POs developed a holistic view to both the client as well as to the welfare system. POs experienced solely representing the client, which is a positive feature because part of the POs' role is advocating for the clients rights. The PO service differs from the PO service from other existing case management models and may need to develop strategies for decision-making and support in their own role. For example, they may use group supervision teams or 'reflective teams'. The freestanding position may also entail problems in terms of lack of legitimacy. It is important for POs to develop good platforms with the surrounding actors among others things to improve the co-ordination process. It could be interesting if the PO model would be tested in other countries that have a fragmented welfare system. The PO model may also be useful to other 'target groups' who are in need of co-ordinated rehabilitation services.

The research on calibration methods of dual-CCD laser three-dimensional human face scanning system

NASA Astrophysics Data System (ADS)

Wang, Jinjiang; Chang, Tianyu; Ge, Baozhen; Tian, Qingguo; Yang, Fengting; Shi, Shendong

2013-09-01

In this paper, on the basis of considering the performance advantages of two-step method, we combines the stereo matching of binocular stereo vision with active laser scanning to calibrate the system. Above all, we select a reference camera coordinate system as the world coordinate system and unity the coordinates of two CCD cameras. And then obtain the new perspective projection matrix (PPM) of each camera after the epipolar rectification. By those, the corresponding epipolar equation of two cameras can be defined. So by utilizing the trigonometric parallax method, we can measure the space point position after distortion correction and achieve stereo matching calibration between two image points. Experiments verify that this method can improve accuracy and system stability is guaranteed. The stereo matching calibration has a simple process with low-cost, and simplifies regular maintenance work. It can acquire 3D coordinates only by planar checkerboard calibration without the need of designing specific standard target or using electronic theodolite. It is found that during the experiment two-step calibration error and lens distortion lead to the stratification of point cloud data. The proposed calibration method which combining active line laser scanning and binocular stereo vision has the both advantages of them. It has more flexible applicability. Theory analysis and experiment shows the method is reasonable.

GPS Software Packages Deliver Positioning Solutions

NASA Technical Reports Server (NTRS)

2010-01-01

"To determine a spacecraft s position, the Jet Propulsion Laboratory (JPL) developed an innovative software program called the GPS (global positioning system)-Inferred Positioning System and Orbit Analysis Simulation Software, abbreviated as GIPSY-OASIS, and also developed Real-Time GIPSY (RTG) for certain time-critical applications. First featured in Spinoff 1999, JPL has released hundreds of licenses for GIPSY and RTG, including to Longmont, Colorado-based DigitalGlobe. Using the technology, DigitalGlobe produces satellite imagery with highly precise latitude and longitude coordinates and then supplies it for uses within defense and intelligence, civil agencies, mapping and analysis, environmental monitoring, oil and gas exploration, infrastructure management, Internet portals, and navigation technology."

High precision applications of the global positioning system

NASA Technical Reports Server (NTRS)

Lichten, Stephen M.

1991-01-01

The Global Positioning System (GPS) is a constellation of U.S. defense navigation satellites which can be used for military and civilian positioning applications. A wide variety of GPS scientific applications were identified and precise positioning capabilities with GPS were already demonstrated with data available from the present partial satellite constellation. Expected applications include: measurements of Earth crustal motion, particularly in seismically active regions; measurements of the Earth's rotation rate and pole orientation; high-precision Earth orbiter tracking; surveying; measurements of media propagation delays for calibration of deep space radiometric data in support of NASA planetary missions; determination of precise ground station coordinates; and precise time transfer worldwide.

Functional connectivity in the neuromuscular system underlying bimanual coordination

PubMed Central

de Vries, Ingmar E. J.; Daffertshofer, Andreas; Stegeman, Dick F.

2016-01-01

Neural synchrony has been suggested as a mechanism for integrating distributed sensorimotor systems involved in coordinated movement. To test the role of corticomuscular and intermuscular coherence in bimanual coordination, we experimentally manipulated the degree of coordination between hand muscles by varying the sensitivity of the visual feedback to differences in bilateral force. In 16 healthy participants, cortical activity was measured using EEG and muscle activity of the flexor pollicis brevis of both hands using high-density electromyography (HDsEMG). Using the uncontrolled manifold framework, coordination between bilateral forces was quantified by the synergy index RV in the time and frequency domain. Functional connectivity was assessed using corticomuscular coherence between muscle activity and cortical source activity and intermuscular coherence between bilateral EMG activity. The synergy index increased in the high coordination condition. RV was higher in the high coordination condition in frequencies between 0 and 0.5 Hz; for the 0.5- to 2-Hz frequency band, this pattern was inverted. Corticomuscular coherence in the beta band (16–30 Hz) was maximal in the contralateral motor cortex and was reduced in the high coordination condition. In contrast, intermuscular coherence was observed at 5–12 Hz and increased with bimanual coordination. Within-subject comparisons revealed a negative correlation between RV and corticomuscular coherence and a positive correlation between RV and intermuscular coherence. Our findings suggest two distinct neural pathways: 1) corticomuscular coherence reflects direct corticospinal projections involved in controlling individual muscles; and 2) intermuscular coherence reflects diverging pathways involved in the coordination of multiple muscles. PMID:27628205

Research notes : aggregate into the future.

DOT National Transportation Integrated Search

2000-03-01

Research staff is conducting an inventory of ODOT owned and leased quarry sites to estimate current aggregate resources. The research team is using Global Positioning System coordinates to locate and catalog sites. The study will identify sites with ...

Capturing Revolute Motion and Revolute Joint Parameters with Optical Tracking

NASA Astrophysics Data System (ADS)

Antonya, C.

2017-12-01

Optical tracking of users and various technical systems are becoming more and more popular. It consists of analysing sequence of recorded images using video capturing devices and image processing algorithms. The returned data contains mainly point-clouds, coordinates of markers or coordinates of point of interest. These data can be used for retrieving information related to the geometry of the objects, but also to extract parameters for the analytical model of the system useful in a variety of computer aided engineering simulations. The parameter identification of joints deals with extraction of physical parameters (mainly geometric parameters) for the purpose of constructing accurate kinematic and dynamic models. The input data are the time-series of the marker’s position. The least square method was used for fitting the data into different geometrical shapes (ellipse, circle, plane) and for obtaining the position and orientation of revolute joins.

Highly accurate articulated coordinate measuring machine

DOEpatents

Bieg, Lothar F.; Jokiel, Jr., Bernhard; Ensz, Mark T.; Watson, Robert D.

2003-12-30

Disclosed is a highly accurate articulated coordinate measuring machine, comprising a revolute joint, comprising a circular encoder wheel, having an axis of rotation; a plurality of marks disposed around at least a portion of the circumference of the encoder wheel; bearing means for supporting the encoder wheel, while permitting free rotation of the encoder wheel about the wheel's axis of rotation; and a sensor, rigidly attached to the bearing means, for detecting the motion of at least some of the marks as the encoder wheel rotates; a probe arm, having a proximal end rigidly attached to the encoder wheel, and having a distal end with a probe tip attached thereto; and coordinate processing means, operatively connected to the sensor, for converting the output of the sensor into a set of cylindrical coordinates representing the position of the probe tip relative to a reference cylindrical coordinate system.

Stability of Coordinates of The Slr Stations On A Basis of Lageos-1 and Lageos-2 Laser Ranging In 2000

NASA Astrophysics Data System (ADS)

Schillak, S.; Wnuk, E.

Determination of the stations coordinates and the control of their stability is one of the most important task in the satellite geodesy and geodynamics. This work is continu- ation of the similar paper about coordinates stability of the all SLR stations in 1999. The paper present results of positions determination for all SLR stations in 2000 cal- culated in the ITRF2000 system on the basis of data provided by the LAGEOS-1 and LAGEOS-2 laser ranging. The calculations were performed with the usage of the GEODYN II program. Coordinates of the stations were determined from monthly arcs for 2000. Typical RMS of (O-C) values for the monthly orbital arcs was on a level of 1.7 cm. The final stability of the geocentric coordinates of SLR stations per one year for all components varies from 5 millimetres to several centimetres.

An approach for real-time fast point positioning of the BeiDou Navigation Satellite System using augmentation information

NASA Astrophysics Data System (ADS)

Tu, Rui; Zhang, Rui; Zhang, Pengfei; Liu, Jinhai; Lu, Xiaochun

2018-07-01

This study proposes an approach to facilitate real-time fast point positioning of the BeiDou Navigation Satellite System (BDS) based on regional augmentation information. We term this as the precise positioning based on augmentation information (BPP) approach. The coordinates of the reference stations were highly constrained to extract the augmentation information, which contained not only the satellite orbit clock error correlated with the satellite running state, but also included the atmosphere error and unmodeled error, which are correlated with the spatial and temporal states. Based on these mixed augmentation corrections, a precise point positioning (PPP) model could be used for the coordinates estimation of the user stations, and the float ambiguity could be easily fixed for the single-difference between satellites. Thus, this technique provided a quick and high-precision positioning service. Three different datasets with small, medium, and large baselines (0.6 km, 30 km and 136 km) were used to validate the feasibility and effectiveness of the proposed BPP method. The validations showed that using the BPP model, 1–2 cm positioning service can be provided in a 100 km wide area after just 2 s of initialization. Thus, as the proposed approach not only capitalized on both PPP and RTK but also provided consistent application, it can be used for area augmentation positioning.

Ground target geolocation based on digital elevation model for airborne wide-area reconnaissance system

NASA Astrophysics Data System (ADS)

Qiao, Chuan; Ding, Yalin; Xu, Yongsen; Xiu, Jihong

2018-01-01

To obtain the geographical position of the ground target accurately, a geolocation algorithm based on the digital elevation model (DEM) is developed for an airborne wide-area reconnaissance system. According to the platform position and attitude information measured by the airborne position and orientation system and the gimbal angles information from the encoder, the line-of-sight pointing vector in the Earth-centered Earth-fixed coordinate frame is solved by the homogeneous coordinate transformation. The target longitude and latitude can be solved with the elliptical Earth model and the global DEM. The influences of the systematic error and measurement error on ground target geolocation calculation accuracy are analyzed by the Monte Carlo method. The simulation results show that this algorithm can improve the geolocation accuracy of ground target in rough terrain area obviously. The geolocation accuracy of moving ground target can be improved by moving average filtering (MAF). The validity of the geolocation algorithm is verified by the flight test in which the plane flies at a geodetic height of 15,000 m and the outer gimbal angle is <47°. The geolocation root mean square error of the target trajectory is <45 and <7 m after MAF.

Simulation of the planetary boundary layer with the UCLA general circulation model

NASA Technical Reports Server (NTRS)

Suarez, M. J.; Arakawa, A.; Randall, D. A.

1981-01-01

A planetary boundary layer (PBL) model is presented which employs a mixed layer entrainment formulation to describe the mass exchange between the mixed layer with the upper, laminar atmosphere. A modified coordinate system couples the mixed layer model with large scale and sub-grid scale processes of a general circulation model. The vertical coordinate is configured as a sigma coordinate with the lower boundary, the top of the PBL, and the prescribed pressure level near the tropopause expressed as coordinate surfaces. The entrainment mass flux is parameterized by assuming the dissipation rate of turbulent kinetic energy to be proportional to the positive part of the generation by convection or mechanical production. The results of a simulation of July are presented for the entire globe.

Accuracy of the HST Standard Astrometric Catalogs w.r.t. Gaia

NASA Astrophysics Data System (ADS)

Kozhurina-Platais, V.; Grogin, N.; Sabbi, E.

2018-02-01

The goal of astrometric calibration of the HST ACS/WFC and WFC3/UVIS imaging instruments is to provide a coordinate system free of distortion to the precision level of 0.1 pixel 4-5 mas or better. This astrometric calibration is based on two HST astrometric standard fields in the vicinity of the globular clusters, 47 Tuc and omega Cen, respectively. The derived calibration of the geometric distortion is assumed to be accurate down to 2-3 mas. Is this accuracy in agreement with the true value? Now, with the access to globally accurate positions from the first Gaia data release (DR1), we found that there are measurable offsets, rotation, scale and other deviations of distortion parameters in two HST standard astrometric catalogs. These deviations from the distortion-free and properly aligned coordinate system should be accounted and corrected for, so that the high precision HST positions are free of any systematic errors. We also found that the precision of the HST pixel coordinates is substantially better than the accuracy listed in the Gaia DR1. Therefore, in order to finalize the components of distortion in the HST standard catalogs, the next release of Gaia data is needed.

Accuracy of magnetic resonance imaging stereotactic coordinates with the cosman-roberts-wells frame.

PubMed

Carter, D A; Parsai, E I; Ayyangar, K M

1999-01-01

Quality assessment on the accuracy of a Cosman-Roberts-Wells (CRW) magnetic resonance imaging (MRI) stereotactic ring which had nonferrous stainless steel screws and positioning posts and a localizer with petroleum jelly in the fiducials, purchased in 1994, revealed errors of greater than 4 mm with targets in phantoms. Image fusion of objects within the phantom indicated the central area was accurately depicted by CT or MRI. We then tested a newer CRW- MRI ring (MRIA-IHR with titanium screws and posts) and localizer (MRIA-2-LF with fiducials filled with copper sulfate) and found that the MRI stereotactically calculated target coordinates matched both the known position of these targets in the phantom as well as the CT stereotactically calculated coordinates within approximately 1 mm. We also describe excellent superimposition of CT and MRI stereotactically determined surfaces in a recent clinical case using the new hardware. This shows that recent modifications to the CRW-MRI stereotactic system can make it accurate for small targets, but we emphasize that all systems need to undergo ongoing local quality assessment to ensure acceptable accuracy in practice. Copyright 2000 S. Karger AG, Basel

Extrinsic Calibration of Camera Networks Based on Pedestrians

PubMed Central

Guan, Junzhi; Deboeverie, Francis; Slembrouck, Maarten; Van Haerenborgh, Dirk; Van Cauwelaert, Dimitri; Veelaert, Peter; Philips, Wilfried

2016-01-01

In this paper, we propose a novel extrinsic calibration method for camera networks by analyzing tracks of pedestrians. First of all, we extract the center lines of walking persons by detecting their heads and feet in the camera images. We propose an easy and accurate method to estimate the 3D positions of the head and feet w.r.t. a local camera coordinate system from these center lines. We also propose a RANSAC-based orthogonal Procrustes approach to compute relative extrinsic parameters connecting the coordinate systems of cameras in a pairwise fashion. Finally, we refine the extrinsic calibration matrices using a method that minimizes the reprojection error. While existing state-of-the-art calibration methods explore epipolar geometry and use image positions directly, the proposed method first computes 3D positions per camera and then fuses the data. This results in simpler computations and a more flexible and accurate calibration method. Another advantage of our method is that it can also handle the case of persons walking along straight lines, which cannot be handled by most of the existing state-of-the-art calibration methods since all head and feet positions are co-planar. This situation often happens in real life. PMID:27171080

The Data Reliability of Volunteered Geographic Information with Using Traffic Accident Data

NASA Astrophysics Data System (ADS)

Sevinç, H. K.; Karaş, I. R.

2017-11-01

The development of mobile technologies is important in the lives of humans. Mobile devices constitute a great part of the daily lives of people. It has come to such a point that when people first wake up, they check their smart phones for the first thing. Users may share their positions with the GNSS sensors in mobile devices or they can add information about their positions in mobile applications. Users contribute to Geographical Information System with this sharing. These users consist of native (citizens) living in that geographical position not of the CBS specialists. Creating, collecting, sharing and disseminating the geographical data provided by voluntary individuals constitute the Volunteered Geographic Information System. The data in the Volunteered Geographic Information System are received from amateur users. "How reliable will the data received from amateur users instead of specialists of the field be in scientific terms?" In this study, the reliability between the data received from the voluntary users through Volunteered Geographic Information System and real data is investigated. The real data consist of the traffic accident coordinates. The data that will be received from users will be received through the speed values in the relevant coordinates and the marking of the users for possible accident points on the map.

Coordinated Flexibility: How Initial Gaze Position Modulates Eye-Hand Coordination and Reaching

ERIC Educational Resources Information Center

Adam, Jos J.; Buetti, Simona; Kerzel, Dirk

2012-01-01

Reaching to targets in space requires the coordination of eye and hand movements. In two experiments, we recorded eye and hand kinematics to examine the role of gaze position at target onset on eye-hand coordination and reaching performance. Experiment 1 showed that with eyes and hand aligned on the same peripheral start location, time lags…

Ambiguity resolution in systems using Omega for position location

NASA Technical Reports Server (NTRS)

Frenkel, G.; Gan, D. G.

1974-01-01

The lane ambiguity problem prevents the utilization of the Omega system for many applications such as locating buoys and balloons. The method of multiple lines of position introduced herein uses signals from four or more Omega stations for ambiguity resolution. The coordinates of the candidate points are determined first through the use of the Newton iterative procedure. Subsequently, a likelihood function is generated for each point, and the ambiguity is resolved by selecting the most likely point. The method was tested through simulation.

Health IT-Enabled Care Coordination: A National Survey of Patient-Centered Medical Home Clinicians.

PubMed

Morton, Suzanne; Shih, Sarah C; Winther, Chloe H; Tinoco, Aldo; Kessler, Rodger S; Scholle, Sarah Hudson

2015-01-01

Health information technology (IT) offers promising tools for improving care coordination. We assessed the feasibility and acceptability of 6 proposed care coordination objectives for stage 3 of the Centers for Medicare and Medicaid Services electronic health record incentive program (Meaningful Use) related to referrals, notification of care from other facilities, patient clinical summaries, and patient dashboards. We surveyed physician-owned and hospital/health system-affiliated primary care practices that achieved patient-centered medical home recognition and participated in the Meaningful Use program, and community health clinics with patient-centered medical home recognition (most with certified electronic health record systems). The response rate was 35.1%. We ascertained whether practices had implemented proposed objectives and perceptions of their importance. We analyzed the association of organizational and contextual factors with self-reported use of health IT to support care coordination activities. Although 78% of the 350 respondents viewed timely notification of hospital discharges as very important, only 48.7% used health IT systems to accomplish this task. The activity most frequently supported by health IT was providing clinical summaries to patients, in 76.6% of practices; however, merely 47.7% considered this activity very important. Greater use of health IT to support care coordination activities was positively associated with the presence of a nonclinician responsible for care coordination and the practice's capacity for systematic change. Even among practices having a strong commitment to the medical home model, the use of health IT to support care coordination objectives is not consistent. Health IT capabilities are not currently aligned with clinicians' priorities. Many practices will need financial and technical assistance for health IT to enhance care coordination. © 2015 Annals of Family Medicine, Inc.

Real-time deformations of organ based on structural mechanics for surgical simulators

NASA Astrophysics Data System (ADS)

Nakaguchi, Toshiya; Tagaya, Masashi; Tamura, Nobuhiko; Tsumura, Norimichi; Miyake, Yoichi

2006-03-01

This research proposes the deformation model of organs for the development of the medical training system using Virtual Reality (VR) technology. First, the proposed model calculates the strains of coordinate axis. Secondly, the deformation is obtained by mapping the coordinate of the object to the strained coordinate. We assume the beams in the coordinate space to calculate the strain of the coordinate axis. The forces acting on the object are converted to the forces applied to the beams. The bend and the twist of the beams are calculated based on the theory of structural mechanics. The bend is derived by the finite element method. We propose two deformation methods which differ in the position of the beams in the coordinate space. One method locates the beams along the three orthogonal axes (x, y, z). Another method locates the beam in the area where the deformation is large. In addition, the strain of the coordinate axis is attenuated in proportion to the distance from the point of action to consider the attenuation of the stress which is a viscoelastic feature of the organs. The proposed model needs less computational cost compared to the conventional deformation method since our model does not need to divide the object into the elasticity element. The proposed model was implemented in the laparoscopic surgery training system, and a real-time deformation can be realized.

A transformation method for deriving from a photograph, position and heading of a vehicle in a plane

NASA Technical Reports Server (NTRS)

Sleeper, R. K.; Smith, E. G.

1976-01-01

Equations have been derived that transform perspectively viewed planar surface coordinates, as seen in a photograph, into coordinates of the original plane surface. These transformation equations are developed in terms of nine geometric variables that define the photographic setup and are redefined in terms of eight parameters. The parameters are then treated as independent quantities that fully characterize the transformation and are expressed directly in terms of the four corner coordinates of a reference rectangle in the object plane and their coordinates as seen in a photograph. Vehicle position is determined by transforming the perspectively viewed coordinate position of a representative vehicle target into runway coordinates. Vehicle heading is determined from the runway coordinates of two vehicle target points. When the targets are elevated above the plane of the reference grid, the computation of the heading angle is unaffected; however, the computation of the target position may require adjustment of two parameters. Methods are given for adjusting the parameters for elevation and an example is included for both nonelevated and elevated target conditions.

Coordination of multiple robot arms

NASA Technical Reports Server (NTRS)

Barker, L. K.; Soloway, D.

1987-01-01

Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself.

A versatile photogrammetric camera automatic calibration suite for multispectral fusion and optical helmet tracking

NASA Astrophysics Data System (ADS)

de Villiers, Jason; Jermy, Robert; Nicolls, Fred

2014-06-01

This paper presents a system to determine the photogrammetric parameters of a camera. The lens distortion, focal length and camera six degree of freedom (DOF) position are calculated. The system caters for cameras of different sensitivity spectra and fields of view without any mechanical modifications. The distortion characterization, a variant of Brown's classic plumb line method, allows many radial and tangential distortion coefficients and finds the optimal principal point. Typical values are 5 radial and 3 tangential coefficients. These parameters are determined stably and demonstrably produce superior results to low order models despite popular and prevalent misconceptions to the contrary. The system produces coefficients to model both the distorted to undistorted pixel coordinate transformation (e.g. for target designation) and the inverse transformation (e.g. for image stitching and fusion) allowing deterministic rates far exceeding real time. The focal length is determined to minimise the error in absolute photogrammetric positional measurement for both multi camera systems or monocular (e.g. helmet tracker) systems. The system determines the 6 DOF position of the camera in a chosen coordinate system. It can also determine the 6 DOF offset of the camera relative to its mechanical mount. This allows faulty cameras to be replaced without requiring a recalibration of the entire system (such as an aircraft cockpit). Results from two simple applications of the calibration results are presented: stitching and fusion of the images from a dual-band visual/ LWIR camera array, and a simple laboratory optical helmet tracker.

Milestones Since Last Workshop [Global Positioning System Adjacent Band Compatibility Assessment Workshop V, 10/14/2016

DOT National Transportation Integrated Search

2016-10-14

Milestones Since Last Workshop - Finalized GPS/GNSS receiver test plan and test procedures - Coordinated government and manufacturer participation and executed Non-Disclosure Agreements (NDAs) - Developed/validated radiated RF test environment - Carr...

Realization of a CORDIC-Based Plug-In Accelerometer Module for PSG System in Head Position Monitoring for OSAS Patients

PubMed Central

Chou, Wen-Cheng; Shiao, Tsu-Hui; Shiao, Guang-Ming; Luo, Chin-Shan

2017-01-01

Overnight polysomnography (PSG) is currently the standard diagnostic procedure for obstructive sleep apnea (OSA). It has been known that monitoring of head position in sleep is crucial not only for the diagnosis (positional sleep apnea) but also for the management of OSA (positional therapy). However, there are no sensor systems available clinically to hook up with PSG for accurate head position monitoring. In this paper, an accelerometer-based sensing system for accurate head position monitoring is developed and realized. The core CORDIC- (COordinate Rotation DIgital Computer-) based tilting sensing algorithm is realized in the system to quickly and accurately convert accelerometer raw data into the desired head position tilting angles. The system can hook up with PSG devices for diagnosis to have head position information integrated with other PSG-monitored signals. It has been applied in an IRB test in Taipei Veterans General Hospital and has been proved that it can meet the medical needs of accurate head position monitoring for PSG diagnosis. PMID:29065608

Non-linear motions in reprocessed GPS station position time series

NASA Astrophysics Data System (ADS)

Rudenko, Sergei; Gendt, Gerd

2010-05-01

Global Positioning System (GPS) data of about 400 globally distributed stations obtained at time span from 1998 till 2007 were reprocessed using GFZ Potsdam EPOS (Earth Parameter and Orbit System) software within International GNSS Service (IGS) Tide Gauge Benchmark Monitoring (TIGA) Pilot Project and IGS Data Reprocessing Campaign with the purpose to determine weekly precise coordinates of GPS stations located at or near tide gauges. Vertical motions of these stations are used to correct the vertical motions of tide gauges for local motions and to tie tide gauge measurements to the geocentric reference frame. Other estimated parameters include daily values of the Earth rotation parameters and their rates, as well as satellite antenna offsets. The solution GT1 derived is based on using absolute phase center variation model, ITRF2005 as a priori reference frame, and other new models. The solution contributed also to ITRF2008. The time series of station positions are analyzed to identify non-linear motions caused by different effects. The paper presents the time series of GPS station coordinates and investigates apparent non-linear motions and their influence on GPS station height rates.

New approach for processing data provided by an INS/GPS system onboard a vehicle

NASA Astrophysics Data System (ADS)

Dumitrascu, Ana; Serbanescu, Ionut; Tamas, Razvan D.; Danisor, Alin; Caruntu, George; Ticu, Ionela

2016-12-01

Due to the technology development, navigation systems are widely used in ground vehicle applications such as position prediction, safety of life, etc. It is known that a hybrid navigation system consisting of a GPS and inertial navigation system (INS) can provide a more accurate position prediction. By applying a Method of Moments (MoM) approach on the acquired data with INS/GPS we can extract both the coordinate and important information concerning safety of life. This kind of system will be cost effective and can also be used as a black box on boats, cars, submersible ships and even on small aircrafts.

Impaired positioning of the gape in whiplash-associated disorders.

PubMed

Zafar, Hamayun; Nordh, Erik; Eriksson, Per-Olof

2006-01-01

We have previously introduced a new concept for natural jaw function suggesting that "functional jaw movements" are the result of coordinated jaw and neck muscle activation, leading to simultaneous movements in the temporomandibular, atlanto-occipital and cervical spine joints. Thus, jaw function requires a healthy state of both the jaw and the neck motor systems. The aim of this study was to examine the positioning of the gape in space during maximal jaw opening at fast and slow speed in healthy as well as whiplash-associated disorders (WAD) individuals. A wireless optoelectronic technique for three-dimensional movement recording was used. Subjects were seated in an upright position, with back support up to the mid-scapular level without headrest. The position of the gape in space was defined as the vertical midpoint position of the gape at maximal jaw opening (MP). In healthy, the MP generally coincided with the reference position at the start of jaw opening. In the WAD group, the MP was significantly lower than the reference position. No sex or speed related differences were found. The results suggest that both the width and orientation of the gape in space relies on coordinated jaw and neck muscle activation and mandibular and head-neck movements. This study also suggests an association between neck pain and dysfunction following trauma, and reduced width and impaired positioning of the gape in space. Finally, the MP seems to be a useful marker in evaluation of the functional state of the jaw-neck motor system.

Joint Coordination and Muscle Activities of Ballet Dancers During Tiptoe Standing.

PubMed

Tanabe, Hiroko; Fujii, Keisuke; Kouzaki, Motoki

2017-01-01

We aimed to investigate joint coordination of lower limbs in dancers during tiptoe standing and the relationship between joint coordination and muscle coactivation. Seven female ballet dancers performed tiptoe standing with six leg positions (fi e classical dance positions and one modern dance position) for 10 s. The kinematic data of the metatarsophalangeal (MP), ankle, knee, and hip joints was collected, and surface electromyography (EMG) of over 13 lower limb muscles was conducted. Principal component analysis was performed to determine joint coordination. MP-ankle and ankle-knee had in-phase coordination, whereas knee-hip showed anti-phase coordination in the sagittal plane. In addition, most EMG-EMG coherence around the MP and ankle joints was significant up to 50 Hz when these two joints swayed with in-phase. This suggests that different joint coordination patterns are associated with neural processing related to different muscle coactivation patterns. In conclusion, ballet dancers showed in-phase coordination from the MP to knee joints, which was associated with muscle coactivation to a higher frequency domain (up to 50 Hz) in comparison with anti-phase coordination.

A microcomputer-based position updating system for general aviation utilizing Loran-C

NASA Technical Reports Server (NTRS)

Fischer, J. P.

1982-01-01

Modern digital electronic technology is used to produce a device to convert LORAN C to useful pilot information using a simple software algebra and low cost microprocessor devices. Results indicate that the processor based LORAN C navigator has an accuracy of 1.0 nm or less over an area typically covered by a triad of Loran C stations and can execute a position update in less than 0.2 seconds. The system was tested in 30 hours of flight and proved that it can give reliable and accurate navigation information. Methods of converting time differences to position, design considerations for the microcomputer system, and the system for coordinate conversion are discussed. Testing with predetermined points and possible fixes for errors are also considered.

Application of Composite Small Calibration Objects in Traffic Accident Scene Photogrammetry

PubMed Central

Chen, Qiang; Xu, Hongguo; Tan, Lidong

2015-01-01

In order to address the difficulty of arranging large calibration objects and the low measurement accuracy of small calibration objects in traffic accident scene photogrammetry, a photogrammetric method based on a composite of small calibration objects is proposed. Several small calibration objects are placed around the traffic accident scene, and the coordinate system of the composite calibration object is given based on one of them. By maintaining the relative position and coplanar relationship of the small calibration objects, the local coordinate system of each small calibration object is transformed into the coordinate system of the composite calibration object. The two-dimensional direct linear transformation method is improved based on minimizing the reprojection error of the calibration points of all objects. A rectified image is obtained using the nonlinear optimization method. The increased accuracy of traffic accident scene photogrammetry using a composite small calibration object is demonstrated through the analysis of field experiments and case studies. PMID:26011052

Estimate of accuracy of determining the orientation of the star sensor system according to the experimental data

NASA Astrophysics Data System (ADS)

Avanesov, G. A.; Bessonov, R. V.; Kurkina, A. N.; Nikitin, A. V.; Sazonov, V. V.

2018-01-01

The BOKZ-M60 star sensor (Unit for Measuring Star Coordinates) is intended for determining the parameters of the orientation of the axes of the intrinsic coordinate system relative to the axes of the inertial system by observations of the regions of the stellar sky. It is convenient to characterize an error of the single determination of the orientation of the intrinsic coordinate system of the sensor by the vector of an infinitesimal turn of this system relative to its found position. Full-scale ground-based tests have shown that, for a resting sensor the root-mean-square values of the components of this vector along the axes of the intrinsic coordinate system lying in the plane of the sensor CCD matrix are less than 2″ and the component along the axis perpendicular to the matrix plane is characterized by the root-mean-square value of 15″. The joint processing of one-stage readings of several sensors installed on the same platform allows us to improve the indicated accuracy characteristics. In this paper, estimates of the accuracy of systems from BOKZ-M60 with two and four sensors performed from measurements carried out during the normal operation of these sensors on the Resurs-P satellite are given. Processing the measurements of the sensor system allowed us to increase the accuracy of determining the each of their orientations and to study random and systematic errors in these measurements.

Thematic mapping, land use, geological structure and water resources in central Spain

NASA Technical Reports Server (NTRS)

Delascuevas, N. (Principal Investigator)

1976-01-01

The author has identified the following significant results. The images can be positioned in an absolute reference system (geographical coordinates or polar stereographic coordinates) by means of their marginal indicators. By digital analysis of LANDSAT data and geometric positioning of pixels in UTM projection, accuracy was achieved for corrected MSS information which could be used for updating maps at scale 1:200,000 or smaller. Results show that adjustment of the UTM grid was better obtained by a first order, or even second order, algorithm of geometric correction. Digital analysis of LANDSAT data from the Madrid area showed that this line of study was promising for automatic classification of data applied to thematic cartography and soils identification.

Tracking Accuracy of a Real-Time Fiducial Tracking System for Patient Positioning and Monitoring in Radiation Therapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Shchory, Tal; Schifter, Dan; Lichtman, Rinat

Purpose: In radiation therapy there is a need to accurately know the location of the target in real time. A novel radioactive tracking technology has been developed to answer this need. The technology consists of a radioactive implanted fiducial marker designed to minimize migration and a linac mounted tracking device. This study measured the static and dynamic accuracy of the new tracking technology in a clinical radiation therapy environment. Methods and Materials: The tracking device was installed on the linac gantry. The radioactive marker was located in a tissue equivalent phantom. Marker location was measured simultaneously by the radioactive trackingmore » system and by a Microscribe G2 coordinate measuring machine (certified spatial accuracy of 0.38 mm). Localization consistency throughout a volume and absolute accuracy in the Fixed coordinate system were measured at multiple gantry angles over volumes of at least 10 cm in diameter centered at isocenter. Dynamic accuracy was measured with the marker located inside a breathing phantom. Results: The mean consistency for the static source was 0.58 mm throughout the tested region at all measured gantry angles. The mean absolute position error in the Fixed coordinate system for all gantry angles was 0.97 mm. The mean real-time tracking error for the dynamic source within the breathing phantom was less than 1 mm. Conclusions: This novel radioactive tracking technology has the potential to be useful in accurate target localization and real-time monitoring for radiation therapy.« less

Tracking accuracy of a real-time fiducial tracking system for patient positioning and monitoring in radiation therapy.

PubMed

Shchory, Tal; Schifter, Dan; Lichtman, Rinat; Neustadter, David; Corn, Benjamin W

2010-11-15

In radiation therapy there is a need to accurately know the location of the target in real time. A novel radioactive tracking technology has been developed to answer this need. The technology consists of a radioactive implanted fiducial marker designed to minimize migration and a linac mounted tracking device. This study measured the static and dynamic accuracy of the new tracking technology in a clinical radiation therapy environment. The tracking device was installed on the linac gantry. The radioactive marker was located in a tissue equivalent phantom. Marker location was measured simultaneously by the radioactive tracking system and by a Microscribe G2 coordinate measuring machine (certified spatial accuracy of 0.38 mm). Localization consistency throughout a volume and absolute accuracy in the Fixed coordinate system were measured at multiple gantry angles over volumes of at least 10 cm in diameter centered at isocenter. Dynamic accuracy was measured with the marker located inside a breathing phantom. The mean consistency for the static source was 0.58 mm throughout the tested region at all measured gantry angles. The mean absolute position error in the Fixed coordinate system for all gantry angles was 0.97 mm. The mean real-time tracking error for the dynamic source within the breathing phantom was less than 1 mm. This novel radioactive tracking technology has the potential to be useful in accurate target localization and real-time monitoring for radiation therapy. Copyright © 2010 Elsevier Inc. All rights reserved.

Automating the process for locating no-passing zones using georeferencing data.

DOT National Transportation Integrated Search

2012-08-01

This research created a method of using global positioning system (GPS) coordinates to identify the location of no-passing zones in two-lane highways. Analytical algorithms were developed for analyzing the availability of sight distance along the ali...

76 FR 45567 - Information Collection Being Reviewed by the Federal Communications Commission

Federal Register 2010, 2011, 2012, 2013, 2014

2011-07-29

... band. Using a Cartesian coordinate system wherein the X-axis is defined as tangent to the geostationary... plane, i.e., the plane of the geostationary orbit, over a range of 30 Degrees from the positive and...

Measuring levee elevation heights in North Louisiana.

DOT National Transportation Integrated Search

2010-01-01

The primary goals of this research are to measure the elevation and centerline coordinates of the top of federal and local levees and also to ensure that the resulting global positioning system (GPS) measurement data is within a precision interval of...

A method of reconstructing the spatial measurement network by mobile measurement transmitter for shipbuilding

NASA Astrophysics Data System (ADS)

Guo, Siyang; Lin, Jiarui; Yang, Linghui; Ren, Yongjie; Guo, Yin

2017-07-01

The workshop Measurement Position System (wMPS) is a distributed measurement system which is suitable for the large-scale metrology. However, there are some inevitable measurement problems in the shipbuilding industry, such as the restriction by obstacles and limited measurement range. To deal with these factors, this paper presents a method of reconstructing the spatial measurement network by mobile transmitter. A high-precision coordinate control network with more than six target points is established. The mobile measuring transmitter can be added into the measurement network using this coordinate control network with the spatial resection method. This method reconstructs the measurement network and broadens the measurement scope efficiently. To verify this method, two comparison experiments are designed with the laser tracker as the reference. The results demonstrate that the accuracy of point-to-point length is better than 0.4mm and the accuracy of coordinate measurement is better than 0.6mm.

Matching between the light spots and lenslets of an artificial compound eye system

NASA Astrophysics Data System (ADS)

He, Jianzheng; Jian, Huijie; Zhu, Qitao; Ma, Mengchao; Wang, Keyi

2017-10-01

As the visual organ of many arthropods, the compound eye has attracted a lot of attention with the advantage of wide field-of-view, multi-channel imaging ability and high agility. Extended from this concept, a new kind of artificial compound eye device is developed. There are 141 lenslets which share one image sensor distributed evenly on a curved surface, thus it is difficult to distinguish the lenslets which the light spot belongs to during calibration and positioning process. Therefore, the matching algorithm is proposed based on the device structure and the principle of calibration and positioning. Region partition of lenslet array is performed at first. Each lenslet and its adjacent lenslets are defined as cluster eyes and constructed into an index table. In the calibration process, a polar coordinate system is established, and the matching can be accomplished by comparing the rotary table position in the polar coordinate system and the central light spot angle in the image. In the positioning process, the spot is paired to the correct region according to the spots distribution firstly, and the final results is determined by the dispersion of the distance from the target point to the incident ray in the region traversal matching. Finally, the experiment results show that the presented algorithms provide a feasible and efficient way to match the spot to the lenslet, and perfectly meet the needs in the practical application of the compound eye system.

NASA directory of observation station locations, volume 1

NASA Technical Reports Server (NTRS)

1971-01-01

Geodetic information is presented for NASA tracking stations and observation stations in the NASA geodetic satellites program. A geodetic data sheet is provided for each station, giving the position of the station and describing briefly how it was established. Geodetic positions and geocentric coordinates of these stations are tabulated on local or major geodetic datums, and on selected world geodetic systems when available information permits.

Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation

PubMed Central

Nitti, Davide O.; Bovenga, Fabio; Chiaradia, Maria T.; Greco, Mario; Pinelli, Gianpaolo

2015-01-01

This study explores the potential of Synthetic Aperture Radar (SAR) to aid Unmanned Aerial Vehicle (UAV) navigation when Inertial Navigation System (INS) measurements are not accurate enough to eliminate drifts from a planned trajectory. This problem can affect medium-altitude long-endurance (MALE) UAV class, which permits heavy and wide payloads (as required by SAR) and flights for thousands of kilometres accumulating large drifts. The basic idea is to infer position and attitude of an aerial platform by inspecting both amplitude and phase of SAR images acquired onboard. For the amplitude-based approach, the system navigation corrections are obtained by matching the actual coordinates of ground landmarks with those automatically extracted from the SAR image. When the use of SAR amplitude is unfeasible, the phase content can be exploited through SAR interferometry by using a reference Digital Terrain Model (DTM). A feasibility analysis was carried out to derive system requirements by exploring both radiometric and geometric parameters of the acquisition setting. We showed that MALE UAV, specific commercial navigation sensors and SAR systems, typical landmark position accuracy and classes, and available DTMs lead to estimate UAV coordinates with errors bounded within ±12 m, thus making feasible the proposed SAR-based backup system. PMID:26225977

Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation.

PubMed

Nitti, Davide O; Bovenga, Fabio; Chiaradia, Maria T; Greco, Mario; Pinelli, Gianpaolo

2015-07-28

This study explores the potential of Synthetic Aperture Radar (SAR) to aid Unmanned Aerial Vehicle (UAV) navigation when Inertial Navigation System (INS) measurements are not accurate enough to eliminate drifts from a planned trajectory. This problem can affect medium-altitude long-endurance (MALE) UAV class, which permits heavy and wide payloads (as required by SAR) and flights for thousands of kilometres accumulating large drifts. The basic idea is to infer position and attitude of an aerial platform by inspecting both amplitude and phase of SAR images acquired onboard. For the amplitude-based approach, the system navigation corrections are obtained by matching the actual coordinates of ground landmarks with those automatically extracted from the SAR image. When the use of SAR amplitude is unfeasible, the phase content can be exploited through SAR interferometry by using a reference Digital Terrain Model (DTM). A feasibility analysis was carried out to derive system requirements by exploring both radiometric and geometric parameters of the acquisition setting. We showed that MALE UAV, specific commercial navigation sensors and SAR systems, typical landmark position accuracy and classes, and available DTMs lead to estimated UAV coordinates with errors bounded within ±12 m, thus making feasible the proposed SAR-based backup system.

Numerical Relations and Skill Level Constrain Co-Adaptive Behaviors of Agents in Sports Teams

PubMed Central

Silva, Pedro; Travassos, Bruno; Vilar, Luís; Aguiar, Paulo; Davids, Keith; Araújo, Duarte; Garganta, Júlio

2014-01-01

Similar to other complex systems in nature (e.g., a hunting pack, flocks of birds), sports teams have been modeled as social neurobiological systems in which interpersonal coordination tendencies of agents underpin team swarming behaviors. Swarming is seen as the result of agent co-adaptation to ecological constraints of performance environments by collectively perceiving specific possibilities for action (affordances for self and shared affordances). A major principle of invasion team sports assumed to promote effective performance is to outnumber the opposition (creation of numerical overloads) during different performance phases (attack and defense) in spatial regions adjacent to the ball. Such performance principles are assimilated by system agents through manipulation of numerical relations between teams during training in order to create artificially asymmetrical performance contexts to simulate overloaded and underloaded situations. Here we evaluated effects of different numerical relations differentiated by agent skill level, examining emergent inter-individual, intra- and inter-team coordination. Groups of association football players (national – NLP and regional-level – RLP) participated in small-sided and conditioned games in which numerical relations between system agents were manipulated (5v5, 5v4 and 5v3). Typical grouping tendencies in sports teams (major ranges, stretch indices, distances of team centers to goals and distances between the teams' opposing line-forces in specific team sectors) were recorded by plotting positional coordinates of individual agents through continuous GPS tracking. Results showed that creation of numerical asymmetries during training constrained agents' individual dominant regions, the underloaded teams' compactness and each team's relative position on-field, as well as distances between specific team sectors. We also observed how skill level impacted individual and team coordination tendencies. Data revealed emergence of co-adaptive behaviors between interacting neurobiological social system agents in the context of sport performance. Such observations have broader implications for training design involving manipulations of numerical relations between interacting members of social collectives. PMID:25191870

Numerical relations and skill level constrain co-adaptive behaviors of agents in sports teams.

PubMed

Silva, Pedro; Travassos, Bruno; Vilar, Luís; Aguiar, Paulo; Davids, Keith; Araújo, Duarte; Garganta, Júlio

2014-01-01

Similar to other complex systems in nature (e.g., a hunting pack, flocks of birds), sports teams have been modeled as social neurobiological systems in which interpersonal coordination tendencies of agents underpin team swarming behaviors. Swarming is seen as the result of agent co-adaptation to ecological constraints of performance environments by collectively perceiving specific possibilities for action (affordances for self and shared affordances). A major principle of invasion team sports assumed to promote effective performance is to outnumber the opposition (creation of numerical overloads) during different performance phases (attack and defense) in spatial regions adjacent to the ball. Such performance principles are assimilated by system agents through manipulation of numerical relations between teams during training in order to create artificially asymmetrical performance contexts to simulate overloaded and underloaded situations. Here we evaluated effects of different numerical relations differentiated by agent skill level, examining emergent inter-individual, intra- and inter-team coordination. Groups of association football players (national--NLP and regional-level--RLP) participated in small-sided and conditioned games in which numerical relations between system agents were manipulated (5v5, 5v4 and 5v3). Typical grouping tendencies in sports teams (major ranges, stretch indices, distances of team centers to goals and distances between the teams' opposing line-forces in specific team sectors) were recorded by plotting positional coordinates of individual agents through continuous GPS tracking. Results showed that creation of numerical asymmetries during training constrained agents' individual dominant regions, the underloaded teams' compactness and each team's relative position on-field, as well as distances between specific team sectors. We also observed how skill level impacted individual and team coordination tendencies. Data revealed emergence of co-adaptive behaviors between interacting neurobiological social system agents in the context of sport performance. Such observations have broader implications for training design involving manipulations of numerical relations between interacting members of social collectives.

A Low Cost Mobile Robot Based on Proportional Integral Derivative (PID) Control System and Odometer for Education

NASA Astrophysics Data System (ADS)

Haq, R.; Prayitno, H.; Dzulkiflih; Sucahyo, I.; Rahmawati, E.

2018-03-01

In this article, the development of a low cost mobile robot based on PID controller and odometer for education is presented. PID controller and odometer is applied for controlling mobile robot position. Two-dimensional position vector in cartesian coordinate system have been inserted to robot controller as an initial and final position. Mobile robot has been made based on differential drive and sensor magnetic rotary encoder which measured robot position from a number of wheel rotation. Odometry methode use data from actuator movements for predicting change of position over time. The mobile robot is examined to get final position with three different heading angle 30°, 45° and 60° by applying various value of KP, KD and KI constant.

Localization Based on Magnetic Markers for an All-Wheel Steering Vehicle

PubMed Central

Byun, Yeun Sub; Kim, Young Chol

2016-01-01

Real-time continuous localization is a key technology in the development of intelligent transportation systems. In these systems, it is very important to have accurate information about the position and heading angle of the vehicle at all times. The most widely implemented methods for positioning are the global positioning system (GPS), vision-based system, and magnetic marker system. Among these methods, the magnetic marker system is less vulnerable to indoor and outdoor environment conditions; moreover, it requires minimal maintenance expenses. In this paper, we present a position estimation scheme based on magnetic markers and odometry sensors for an all-wheel-steering vehicle. The heading angle of the vehicle is determined by using the position coordinates of the last two detected magnetic markers and odometer data. The instant position and heading angle of the vehicle are integrated with an extended Kalman filter to estimate the continuous position. GPS data with the real-time kinematics mode was obtained to evaluate the performance of the proposed position estimation system. The test results show that the performance of the proposed localization algorithm is accurate (mean error: 3 cm; max error: 9 cm) and reliable under unexpected missing markers or incorrect markers. PMID:27916827

Family Voice with Informed Choice: Coordinating Wraparound with Research-Based Treatment for Children and Adolescents

PubMed Central

Bruns, Eric J.; Walker, Janet S.; Bernstein, Adam; Daleiden, Eric; Pullmann, Michael D.; Chorpita, Bruce F.

2014-01-01

The wraparound process is a type of individualized, team-based care coordination that has become central to many state and system efforts to reform children’s mental health service delivery for youths with the most complex needs and their families. Although the emerging wraparound research base is generally positive regarding placements and costs, effect sizes are smaller for clinical and functional outcomes. This paper presents a review of literature on care coordination and wraparound models, with a focus on theory and research that indicates the need to better connect wraparound-enrolled children and adolescents to evidence-based treatment (EBT). The paper goes on to describe how recently developed applications of EBT that are based on quality improvement and flexible application of “common elements” of research-based care may provide a more individualized approach that better aligns with the philosophy and procedures of the wraparound process. Finally, this paper presents preliminary studies that show the feasibility and potential effectiveness of coordinating wraparound with the Managing and Adapting Practice (MAP) system, and discusses intervention development and research options that are currently underway. PMID:24325146

Line of sight pointing technology for laser communication system between aircrafts

NASA Astrophysics Data System (ADS)

Zhao, Xin; Liu, Yunqing; Song, Yansong

2017-12-01

In space optical communications, it is important to obtain the most efficient performance of line of sight (LOS) pointing system. The errors of position (latitude, longitude, and altitude), attitude angles (pitch, yaw, and roll), and installation angle among a different coordinates system are usually ineluctable when assembling and running an aircraft optical communication terminal. These errors would lead to pointing errors and make it difficult for the LOS system to point to its terminal to establish a communication link. The LOS pointing technology of an aircraft optical communication system has been researched using a transformation matrix between the coordinate systems of two aircraft terminals. A method of LOS calibration has been proposed to reduce the pointing error. In a flight test, a successful 144-km link was established between two aircrafts. The position and attitude angles of the aircraft have been obtained to calculate the pointing angle in azimuth and elevation provided by using a double-antenna GPS/INS system. The size of the field of uncertainty (FOU) and the pointing accuracy are analyzed based on error theory, and it has been also measured using an observation camera installed next to the optical LOS. Our results show that the FOU of aircraft optical communications is 10 mrad without a filter, which is the foundation to acquisition strategy and scanning time.

Adaptive sliding control of non-autonomous active suspension systems with time-varying loadings

NASA Astrophysics Data System (ADS)

Chen, Po-Chang; Huang, An-Chyau

2005-04-01

An adaptive sliding controller is proposed in this paper for controlling a non-autonomous quarter-car suspension system with time-varying loadings. The bound of the car-body loading is assumed to be available. Then, the reference coordinate is placed at the static position under the nominal loading so that the system dynamic equation is derived. Due to spring nonlinearities, the system property becomes asymmetric after coordinate transformation. Besides, in practical cases, system parameters are not easy to be obtained precisely for controller design. Therefore, in this paper, system uncertainties are lumped into two unknown time-varying functions. Since the variation bound of one of the unknown functions is not available, conventional adaptive schemes and robust designs are not applicable. To deal with this problem, the function approximation technique is employed to represent the unknown function as a finite combination of basis functions. The Lyapunov direct method can thus be used to find adaptive laws for updating coefficients in the approximating series and to prove stability of the closed-loop system. Since the position and velocity measurements of the unsprung mass are lumped into the unknown function, there is no need to install sensors on the axle and wheel assembly in the actual implementation. Simulation results are presented to show the performance of the proposed strategy.

Coordination pattern of baseball pitching among young pitchers of various ages and velocity levels.

PubMed

Chen, Hsiu-Hui; Liu, Chiang; Yang, Wen-Wen

2016-09-01

This study compared the whole-body movement coordination of pitching among 72 baseball players of various ages and velocity levels. Participants were classified as senior, junior, and little according to their age, with each group comprising 24 players. The velocity levels of the high-velocity (the top eight) and low-velocity (the lowest eight) groups were classified according to their pitching velocity. During pitching, the coordinates of 15 markers attached to the major joints of the whole-body movement system were collected for analysis. Sixteen kinematic parameters were calculated to compare the groups and velocity levels. Principal component analysis (PCA) was conducted to quantify the coordination pattern of pitching movement. The results were as follows: (1) five position and two velocity parameters significantly differed among the age groups, and two position and one velocity parameters significantly differed between the high- and low-velocity groups. (2) The coordination patterns of pitching movement could be described using three components, of which the eigenvalues and contents varied according to age and velocity level. In conclusion, the senior and junior players showed greater elbow angular velocity, whereas the little players exhibited a wider shoulder angle only at the beginning of pitching. The players with high velocity exhibited higher trunk and shoulder rotation velocity. The variations among groups found using PCA and kinematics parameter analyses were consistent.

A method for remote sounding of a bottom relief of water objects with using GPS

NASA Astrophysics Data System (ADS)

Mamontova, L. S.

2014-12-01

The no-fly automated system of small rivers' depth's measurement which is based on a combination of a differential method GPS-definition of the pro-measured vessel's coordinates both the method of depth's measurement with sonic depth finder and the method of the vessel's management was examined in this article.On the central station the digital card with a relief for a pro-measured zone of the reservoir is formed and the position of a pro-measured vessel on the tacks is controlled thanks to the coordinates of a pro-measured vessel and depth's measurements with sonic depth finder.The offered system allows to raise the level of depth's pro-measured works.

Development of a 3D parallel mechanism robot arm with three vertical-axial pneumatic actuators combined with a stereo vision system.

PubMed

Chiang, Mao-Hsiung; Lin, Hao-Ting

2011-01-01

This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for realizing a 3D motion in the X-Y-Z coordinate system of the robot's end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H(∞) tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to verify the feasibility of the proposed parallel mechanism robot driven by three vertical pneumatic servo actuators, a full-scale test rig of the proposed parallel mechanism pneumatic robot is set up. Thus, simulations and experiments for different complex 3D motion profiles of the robot end-effector can be successfully achieved. The desired, the actual and the calculated 3D position of the end-effector can be compared in the complex 3D motion control.

Development of a 3D Parallel Mechanism Robot Arm with Three Vertical-Axial Pneumatic Actuators Combined with a Stereo Vision System

PubMed Central

Chiang, Mao-Hsiung; Lin, Hao-Ting

2011-01-01

This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movable platform and a pneumatic servo system. The parallel mechanism are designed and analyzed first for realizing a 3D motion in the X-Y-Z coordinate system of the robot’s end-effector. The inverse kinematics and the forward kinematics of the parallel mechanism robot are investigated by using the Denavit-Hartenberg notation (D-H notation) coordinate system. The pneumatic actuators in the three vertical motion axes are modeled. In the control system, the Fourier series-based adaptive sliding-mode controller with H∞ tracking performance is used to design the path tracking controllers of the three vertical servo pneumatic actuators for realizing 3D path tracking control of the end-effector. Three optical linear scales are used to measure the position of the three pneumatic actuators. The 3D position of the end-effector is then calculated from the measuring position of the three pneumatic actuators by means of the kinematics. However, the calculated 3D position of the end-effector cannot consider the manufacturing and assembly tolerance of the joints and the parallel mechanism so that errors between the actual position and the calculated 3D position of the end-effector exist. In order to improve this situation, sensor collaboration is developed in this paper. A stereo vision system is used to collaborate with the three position sensors of the pneumatic actuators. The stereo vision system combining two CCD serves to measure the actual 3D position of the end-effector and calibrate the error between the actual and the calculated 3D position of the end-effector. Furthermore, to verify the feasibility of the proposed parallel mechanism robot driven by three vertical pneumatic servo actuators, a full-scale test rig of the proposed parallel mechanism pneumatic robot is set up. Thus, simulations and experiments for different complex 3D motion profiles of the robot end-effector can be successfully achieved. The desired, the actual and the calculated 3D position of the end-effector can be compared in the complex 3D motion control. PMID:22247676

A wireless sensor network based personnel positioning scheme in coal mines with blind areas.

PubMed

Liu, Zhigao; Li, Chunwen; Wu, Danchen; Dai, Wenhan; Geng, Shaobo; Ding, Qingqing

2010-01-01

This paper proposes a novel personnel positioning scheme for a tunnel network with blind areas, which compared with most existing schemes offers both low-cost and high-precision. Based on the data models of tunnel networks, measurement networks and mobile miners, the global positioning method is divided into four steps: (1) calculate the real time personnel location in local areas using a location engine, and send it to the upper computer through the gateway; (2) correct any localization errors resulting from the underground tunnel environmental interference; (3) determine the global three-dimensional position by coordinate transformation; (4) estimate the personnel locations in the blind areas. A prototype system constructed to verify the positioning performance shows that the proposed positioning system has good reliability, scalability, and positioning performance. In particular, the static localization error of the positioning system is less than 2.4 m in the underground tunnel environment and the moving estimation error is below 4.5 m in the corridor environment. The system was operated continuously over three months without any failures.

A Wireless Sensor Network Based Personnel Positioning Scheme in Coal Mines with Blind Areas

PubMed Central

Liu, Zhigao; Li, Chunwen; Wu, Danchen; Dai, Wenhan; Geng, Shaobo; Ding, Qingqing

2010-01-01

This paper proposes a novel personnel positioning scheme for a tunnel network with blind areas, which compared with most existing schemes offers both low-cost and high-precision. Based on the data models of tunnel networks, measurement networks and mobile miners, the global positioning method is divided into four steps: (1) calculate the real time personnel location in local areas using a location engine, and send it to the upper computer through the gateway; (2) correct any localization errors resulting from the underground tunnel environmental interference; (3) determine the global three-dimensional position by coordinate transformation; (4) estimate the personnel locations in the blind areas. A prototype system constructed to verify the positioning performance shows that the proposed positioning system has good reliability, scalability, and positioning performance. In particular, the static localization error of the positioning system is less than 2.4 m in the underground tunnel environment and the moving estimation error is below 4.5 m in the corridor environment. The system was operated continuously over three months without any failures. PMID:22163446

Configuration Analysis of the ERS Points in Large-Volume Metrology System

PubMed Central

Jin, Zhangjun; Yu, Cijun; Li, Jiangxiong; Ke, Yinglin

2015-01-01

In aircraft assembly, multiple laser trackers are used simultaneously to measure large-scale aircraft components. To combine the independent measurements, the transformation matrices between the laser trackers’ coordinate systems and the assembly coordinate system are calculated, by measuring the enhanced referring system (ERS) points. This article aims to understand the influence of the configuration of the ERS points that affect the transformation matrix errors, and then optimize the deployment of the ERS points to reduce the transformation matrix errors. To optimize the deployment of the ERS points, an explicit model is derived to estimate the transformation matrix errors. The estimation model is verified by the experiment implemented in the factory floor. Based on the proposed model, a group of sensitivity coefficients are derived to evaluate the quality of the configuration of the ERS points, and then several typical configurations of the ERS points are analyzed in detail with the sensitivity coefficients. Finally general guidance is established to instruct the deployment of the ERS points in the aspects of the layout, the volume size and the number of the ERS points, as well as the position and orientation of the assembly coordinate system. PMID:26402685

Single-baseline RTK GNSS Positioning for Hydrographic Surveying

NASA Astrophysics Data System (ADS)

Metin Alkan, Reha; Murat Ozulu, I.; Ilçi, Veli; Kahveci, Muzaffer

2015-04-01

Positioning with GNSS technique can be carried out in two ways, absolute and relative. It has been possible to reach a few meters absolute point positioning accuracies in real time after disabling SA permanently in May 2000. Today, accuracies obtainable from absolute point positioning using code observations are not sufficient for most surveying applications. Thus to meet higher accuracy requirements, differential methods using single or dual frequency geodetic-grade GNSS receivers that measure carrier phase have to be used. However, this method requires time-cost field and office works and if the measurement is not carried out with conventional RTK method, user needs a GNSS data processing software to estimate the coordinates. If RTK is used, at least two or more GNSS receivers are required, one as a reference and the other as a rover. Moreover, the distance between the receivers must not exceed 15-20 km in order to be able to rapidly and reliably resolve the carrier phase ambiguities. On the other hand, based on the innovations and improvements in satellite geodesy and GNSS modernization studies occurred within the last decade, many new positioning methods and new approaches have been developed. One of them is Network-RTK (or commonly known as CORS) and the other is Single-baseline RTK. These methods are widely used for many surveying applications in many countries. The user of the system can obtain his/her position within a few cm level of accuracy in real-time with only a single GNSS receiver that has Network RTK (CORS) capability. When compared with the conventional differential and RTK methods, this technique has several significant advantages as it is easy to use and it produces accurate, cost-effective and rapid solutions. In Turkey, establishment of a multi-base RTK network was completed and opened for civilian use in 2009. This network is called CORS-TR and consists of 146 reference stations having about 80-100 km interstation distances. It is possible for a user to determine his/her position with a few cm accuracy in real time in Turkey. Besides, there are some province municipalities in Turkey which have established their own local CORS networks such as Istanbul (with 9 reference stations) and Ankara (with 10 reference stations). There is also a local RTK base station which disseminates real time position corrections for surveyors in Çorum province and is operated by Çorum Municipality. This is the first step of establishing a complete local CORS network in Çorum (the municipality has plans to increase this number and establish a CORS network within a few years). At the time of this study, unfortunately, national CORS-TR stations in Çorum Province were under maintenance and thus we could not receive corrections from our national CORS network. Instead, Çorum Province's local RTK reference station's corrections were used during the study. The main purpose of this study is to investigate the accuracy performance of the Single-baseline RTK GNSS system operated by Çorum Municipality in marine environment. For this purpose, a kinematic test measurement was carried out at Obruk Dam, Çorum, Turkey. During the test measurement, a small vessel equipped with a dual-frequency geodetic-grade GNSS receiver, Spectra Precision ProMark 500, was used. The coordinates of the vessel were obtained from the Single-baseline RTK system in ITRF datum in real-time with fix solutions. At the same time, the raw kinematic GNSS data were also recorded to the receiver in order to estimate the known coordinates of the vessel with post-processed differential kinematic technique. In this way, GPS data were collected under the same conditions, which allowed precise assessment of the used system. The measurements were carried out along the survey profiles for about 1 hour. During the kinematic test, another receiver was set up on a geodetic point at the shore and data were collected in static mode to calculate the coordinates of the vessel for each epoch. As mentioned above, the vessel coordinates were estimated very accurately by using data collected on shore and vessel by using differential GNSS technique. The Single-baseline RTK-derived coordinates were compared with those obtained from the post-processing of the GNSS data for each epoch. Computed differences show that the coordinates agree with the relative solutions at 7 cm and below in position. Some marine applications like precise hydrographic surveying, monitoring silt accretion and erosion in rivers, lakes, estuaries, coastal waters and harbor areas; marine geodynamics; automatic docking; dredging; construction work; attitude control of ships, buoys and floating platforms, require high accuracy better than 0.1 m in position and height. Results obtained from this application show that Single-baseline RTK and/or CORS systems can reliably be utilized for the above mentioned marine applications and some others especially for positioning as a strong alternative to the conventional differential methods.

Positioning sensor by combining optical projection and photogrammetry

NASA Astrophysics Data System (ADS)

Zheng, Benrui

Six spatial parameters, (x, y, z) for translation, and pitch, roll, and yaw for rotation, are used to describe the 3-dimensional position and orientation of a rigid body---the 6 degrees of freedom (DOF). The ability to measure these parameters is required in a diverse range of applications including machine tool metrology, robot calibration, motion control, motion analysis, and reconstructive surgery. However, there are limitations associated with the currently available measurement systems. Shortcomings include some of the following: short dynamic range, limited accuracy, line of sight restrictions, and capital cost. The objective of this dissertation was to develop a new metrology system that overcomes line of sight restrictions, reduces system costs, allows large dynamic range and has the potential to provide high measurement accuracy. The new metrology system proposed in this dissertation is based on a combination of photogrammetry and optical pattern projection. This system has the potential to enable real-time measurement of a small lightweight module's location. The module generates an optical pattern that is observable on the surrounding walls, and photogrammetry is used to measure the absolute coordinates of features in the projected optical pattern with respect to a defined global coordinate system. By combining these absolute coordinates with the known angular information of the optical projection beams, a minimization algorithm can be used to extract the absolute coordinates and angular orientation of the module itself. The feasibility of the proposed metrology system was first proved through preliminary experimental tests. By using a module with a 7x7 dot matrix pattern, experimental agreement of 1 to 5 parts in 103 was obtained by translating the module over 0.9 m and by rotating it through 60°. The proposed metrology system was modeled through numerical simulations and factors affecting the uncertainty of the measurement were investigated. The simulation results demonstrate that optimum design of the projected pattern gives a lower associated measurement uncertainty than is possible by direct photogrammetric measurement with traditional tie points alone. Based on the simulation results, a few improvements have been made to the proposed metrology systems. These improvements include using a module with larger full view angle and larger number of dots, performing angle calibration for the module, using a virtual camera approach to determine the module location and employing multiple coordinates system for large range rotation measurement. With the new proposed virtual camera approach, experimental agreement at the level of 3 parts in 104 was observed for the one dimension translation test. The virtual camera approach is faster than the algorithm and an additional minimization analysis is no longer needed. In addition, the virtual camera approach offers an additional benefit that it is no longer necessary to identify all dots in the pattern and so is more amenable to use in realistic and usually complicated environments. A preliminary rotation test over 120° was conducted by tying three coordinate systems together. It was observed that the absolute values of the angle differences between the measured angle and the encoder reading are smaller than 0.23° for all measurements. It is found that this proposed metrology system has the ability to measure larger angle range (up to 360°) by using multiple coordinate systems. The uncertainty analysis of the proposed system was performed through Monte Carlo simulation and it was demonstrated that the experimental results are consistent with the analysis.

A New Method for Single-Epoch Ambiguity Resolution with Indoor Pseudolite Positioning.

PubMed

Li, Xin; Zhang, Peng; Guo, Jiming; Wang, Jinling; Qiu, Weining

2017-04-21

Ambiguity resolution (AR) is crucial for high-precision indoor pseudolite positioning. Due to the existing characteristics of the pseudolite positioning system, such as the geometry structure of the stationary pseudolite which is consistently invariant, the indoor signal is easy to interrupt and the first order linear truncation error cannot be ignored, and a new AR method based on the idea of the ambiguity function method (AFM) is proposed in this paper. The proposed method is a single-epoch and nonlinear method that is especially well-suited for indoor pseudolite positioning. Considering the very low computational efficiency of conventional AFM, we adopt an improved particle swarm optimization (IPSO) algorithm to search for the best solution in the coordinate domain, and variances of a least squares adjustment is conducted to ensure the reliability of the solving ambiguity. Several experiments, including static and kinematic tests, are conducted to verify the validity of the proposed AR method. Numerical results show that the IPSO significantly improved the computational efficiency of AFM and has a more elaborate search ability compared to the conventional grid searching method. For the indoor pseudolite system, which had an initial approximate coordinate precision better than 0.2 m, the AFM exhibited good performances in both static and kinematic tests. With the corrected ambiguity gained from our proposed method, indoor pseudolite positioning can achieve centimeter-level precision using a low-cost single-frequency software receiver.

Celestial Navigation with the Stereographic Projection

ERIC Educational Resources Information Center

Hutton, D. R.

1977-01-01

Presented is an exercise in the ability to navigate by the stars. It applies difficult concepts of positional astronomy concerning coordinate systems and time. Stereographic projection is utilized because it allows rapid completion of calculations and measurements and keeps the concepts clear to the students. (MA)

78 FR 67024 - Modification of Class E Airspace; Prineville, OR

Federal Register 2010, 2011, 2012, 2013, 2014

2013-11-08

... Prineville, OR, to accommodate Area Navigation (RNAV) Global Positioning System (GPS) standard instrument approach procedures at Prineville Airport. This improves the safety and management of Instrument Flight Rules (IFR) operations at the airport. This action also adjusts the geographic coordinates of the...

Hamiltonian Systems and Optimal Control in Computational Anatomy: 100 Years Since D'Arcy Thompson.

PubMed

Miller, Michael I; Trouvé, Alain; Younes, Laurent

2015-01-01

The Computational Anatomy project is the morphome-scale study of shape and form, which we model as an orbit under diffeomorphic group action. Metric comparison calculates the geodesic length of the diffeomorphic flow connecting one form to another. Geodesic connection provides a positioning system for coordinatizing the forms and positioning their associated functional information. This article reviews progress since the Euler-Lagrange characterization of the geodesics a decade ago. Geodesic positioning is posed as a series of problems in Hamiltonian control, which emphasize the key reduction from the Eulerian momentum with dimension of the flow of the group, to the parametric coordinates appropriate to the dimension of the submanifolds being positioned. The Hamiltonian viewpoint provides important extensions of the core setting to new, object-informed positioning systems. Several submanifold mapping problems are discussed as they apply to metamorphosis, multiple shape spaces, and longitudinal time series studies of growth and atrophy via shape splines.

Safety assessment of a home-based telecare system for adults with developmental disabilities in Indiana: a multi-stakeholder perspective.

PubMed

Brewer, Jeffrey L; Taber-Doughty, Teresa; Kubik, Sara

2010-01-01

We investigated the perceptions of people about the safety, security and privacy of a telecare monitoring system for adults with developmental disabilities living in residential settings. The telecare system was used by remote caregivers overnight, when staff were not present in the homes. We surveyed 127 people from different stakeholder groups in the state of Indiana. The people surveyed included those with knowledge or experience of telecare, and those without. The stakeholders were clients, their advocates, service provider administrators and independent case coordinators. The responses in each category for every group were positive except one: only 4 of the 11 telecare case coordinators agreed that the telecare system provided a secure environment. Overall, the telecare system was perceived to be as safe, secure and private as the conventional alternative of having staff in the home.

Visualizing curved spacetime

NASA Astrophysics Data System (ADS)

Jonsson, Rickard M.

2005-03-01

I present a way to visualize the concept of curved spacetime. The result is a curved surface with local coordinate systems (Minkowski systems) living on it, giving the local directions of space and time. Relative to these systems, special relativity holds. The method can be used to visualize gravitational time dilation, the horizon of black holes, and cosmological models. The idea underlying the illustrations is first to specify a field of timelike four-velocities uμ. Then, at every point, one performs a coordinate transformation to a local Minkowski system comoving with the given four-velocity. In the local system, the sign of the spatial part of the metric is flipped to create a new metric of Euclidean signature. The new positive definite metric, called the absolute metric, can be covariantly related to the original Lorentzian metric. For the special case of a two-dimensional original metric, the absolute metric may be embedded in three-dimensional Euclidean space as a curved surface.

Terminal Sliding Modes In Nonlinear Control Systems

NASA Technical Reports Server (NTRS)

Venkataraman, Subramanian T.; Gulati, Sandeep

1993-01-01

Control systems of proposed type called "terminal controllers" offers increased precision and stability of robotic operations in presence of unknown and/or changing parameters. Systems include special computer hardware and software implementing novel control laws involving terminal sliding modes of motion: closed-loop combination of robot and terminal controller converge, in finite time, to point of stable equilibrium in abstract space of velocity and/or position coordinates applicable to particular control problem.

The effects of rectification and Global Positioning System errors on satellite image-based estimates of forest area

Treesearch

Ronald E. McRoberts

2010-01-01

Satellite image-based maps of forest attributes are of considerable interest and are used for multiple purposes such as international reporting by countries that have no national forest inventory and small area estimation for all countries. Construction of the maps typically entails, in part, rectifying the satellite images to a geographic coordinate system, observing...

Algorithms used in the Airborne Lidar Processing System (ALPS)

USGS Publications Warehouse

Nagle, David B.; Wright, C. Wayne

2016-05-23

The Airborne Lidar Processing System (ALPS) analyzes Experimental Advanced Airborne Research Lidar (EAARL) data—digitized laser-return waveforms, position, and attitude data—to derive point clouds of target surfaces. A full-waveform airborne lidar system, the EAARL seamlessly and simultaneously collects mixed environment data, including submerged, sub-aerial bare earth, and vegetation-covered topographies.ALPS uses three waveform target-detection algorithms to determine target positions within a given waveform: centroid analysis, leading edge detection, and bottom detection using water-column backscatter modeling. The centroid analysis algorithm detects opaque hard surfaces. The leading edge algorithm detects topography beneath vegetation and shallow, submerged topography. The bottom detection algorithm uses water-column backscatter modeling for deeper submerged topography in turbid water.The report describes slant range calculations and explains how ALPS uses laser range and orientation measurements to project measurement points into the Universal Transverse Mercator coordinate system. Parameters used for coordinate transformations in ALPS are described, as are Interactive Data Language-based methods for gridding EAARL point cloud data to derive digital elevation models. Noise reduction in point clouds through use of a random consensus filter is explained, and detailed pseudocode, mathematical equations, and Yorick source code accompany the report.

[Effects of sports and media consumption on the trunk muscle strength, posture and flexibility of the spine in 12- to 14- year-old adolescents].

PubMed

Küster, M

2004-06-01

Back pain and posture deficits get more common in childhood and adolescents. Lack of movement, insufficient physical education and high amounts of TV and PC are known as risk factors for chronic low back pain in later life. In a cross-sectional study, trunk muscle strength, posture and spinal flexibility were assessed in 200 untrained schoolchildren (117 girls, 83 boys). Independent variables, collected by a standardized questionnaire: age, height, weight, gender, weekly scope of TV, PC and sports (conditional, conditional-coordinative, coordinative). spinal parameter, tested by the Zebris CMS-System and IPN Back Check. PC and TV-consumption had negative effects on the spinal parameter, whereas esp. conditional-coordinative sports correlated positively. For general health and preventive reasons, children need a daily minimum of 30 minutes of movement. Conditional-coordinative sports are suited best because of their multifactorial load.

The Coordinate Transformation Method of High Resolution dem Data

NASA Astrophysics Data System (ADS)

Yan, Chaode; Guo, Wang; Li, Aimin

2018-04-01

Coordinate transformation methods of DEM data can be divided into two categories. One reconstruct based on original vector elevation data. The other transforms DEM data blocks by transforming parameters. But the former doesn't work in the absence of original vector data, and the later may cause errors at joint places between adjoining blocks of high resolution DEM data. In view of this problem, a method dealing with high resolution DEM data coordinate transformation is proposed. The method transforms DEM data into discrete vector elevation points, and then adjusts positions of points by bi-linear interpolation respectively. Finally, a TIN is generated by transformed points, and the new DEM data in target coordinate system is reconstructed based on TIN. An algorithm which can find blocks and transform automatically is given in this paper. The method is tested in different terrains and proved to be feasible and valid.

A computer-aided detection (CAD) system with a 3D algorithm for small acute intracranial hemorrhage

NASA Astrophysics Data System (ADS)

Wang, Ximing; Fernandez, James; Deshpande, Ruchi; Lee, Joon K.; Chan, Tao; Liu, Brent

2012-02-01

Acute Intracranial hemorrhage (AIH) requires urgent diagnosis in the emergency setting to mitigate eventual sequelae. However, experienced radiologists may not always be available to make a timely diagnosis. This is especially true for small AIH, defined as lesion smaller than 10 mm in size. A computer-aided detection (CAD) system for the detection of small AIH would facilitate timely diagnosis. A previously developed 2D algorithm shows high false positive rates in the evaluation based on LAC/USC cases, due to the limitation of setting up correct coordinate system for the knowledge-based classification system. To achieve a higher sensitivity and specificity, a new 3D algorithm is developed. The algorithm utilizes a top-hat transformation and dynamic threshold map to detect small AIH lesions. Several key structures of brain are detected and are used to set up a 3D anatomical coordinate system. A rule-based classification of the lesion detected is applied based on the anatomical coordinate system. For convenient evaluation in clinical environment, the CAD module is integrated with a stand-alone system. The CAD is evaluated by small AIH cases and matched normal collected in LAC/USC. The result of 3D CAD and the previous 2D CAD has been compared.

Optical fixing the positions of the off-shore objects applying the method of two reference points

NASA Astrophysics Data System (ADS)

Naus, Krzysztof; Szulc, Dariusz

2014-06-01

The Paper presents the optical method of fixing the off-shore objects positions from the land. The method is based on application of two reference points, having the geographical coordinates defined. The first point was situated high on the sea shore, where also the camera was installed. The second point was intended for use to determine the topocentric horizon plane and it was situated at the water-level. The first section of the Paper contains the definition of space and disposed therein reference systems: connected with the Earth, water-level and the camera system. The second section of the Paper provides a description of the survey system model and the principles of the Charge Coupled Device - CCD array pixel's coordinates (plate coordinates) transformation into the geographic coordinates located on the water-level. In the final section there are presented the general rules of using the worked out method in the optical system. W artykule przedstawiono optyczną metodę wyznaczania pozycji obiektów nawodnych z lądu. Oparto ją na dwóch punktach odniesienia o znanych współrzędnych geograficznych. Pierwszy umiejscowiono wysoko na brzegu morza i przeznaczono do zamontowania kamery. Drugi przeznaczono do określania płaszczyzny horyzontu topocentrycznego i umiejscowiono na poziomie lustra wody. W pierwszej części artykułu zdefi niowano przestrzeń i rozmieszczone w niej układy odniesienia: związany z Ziemią, poziomem lustra wody i kamerą. Drugą część artykułu stanowi opis modelu układu pomiarowego oraz zasad transformacji współrzędnych piksela (tłowych) z matrycy CCD na współrzędne geograficzne punktu umiejscowionego na poziomie lustra wody. W części końcowej zaprezentowano ogólne zasady wykorzystywania opracowanej metody w systemie optycznym.

Computational design of a Zn2+ receptor that controls bacterial gene expression

NASA Astrophysics Data System (ADS)

Dwyer, M. A.; Looger, L. L.; Hellinga, H. W.

2003-09-01

The control of cellular physiology and gene expression in response to extracellular signals is a basic property of living systems. We have constructed a synthetic bacterial signal transduction pathway in which gene expression is controlled by extracellular Zn2+. In this system a computationally designed Zn2+-binding periplasmic receptor senses the extracellular solute and triggers a two-component signal transduction pathway via a chimeric transmembrane protein, resulting in transcriptional up-regulation of a -galactosidase reporter gene. The Zn2+-binding site in the designed receptor is based on a four-coordinate, tetrahedral primary coordination sphere consisting of histidines and glutamates. In addition, mutations were introduced in a secondary coordination sphere to satisfy the residual hydrogen-bonding potential of the histidines coordinated to the metal. The importance of the secondary shell interactions is demonstrated by their effect on metal affinity and selectivity, as well as protein stability. Three designed protein sequences, comprising two distinct metal-binding positions, were all shown to bind Zn2+ and to function in the cell-based assay, indicating the generality of the design methodology. These experiments demonstrate that biological systems can be manipulated with computationally designed proteins that have drastically altered ligand-binding specificities, thereby extending the repertoire of genetic control by extracellular signals.

Conceptualizing and measuring integration: findings from the health systems integration study.

PubMed

Gillies, R R; Shortell, S M; Anderson, D A; Mitchell, J B; Morgan, K L

1993-01-01

Given the pressures for health care reform, interest in the concept of integrated or organized delivery systems as a means to offer more coordinated cost-effective care is growing. This article has two primary objectives: (1) to clarify the different types of integration associated with the notion of an organized delivery system, and (2) to share the results from an ongoing study of 12 organized delivery systems. The findings indicate a moderate level of integration overall, particularly in the areas of culture, financial planning, and strategic planning. The study found that corporate staff respondents perceive their systems to be more integrated and effective than do operating unit managers, and that some functional integration areas are positively associated with both physician-system and clinical integration that, in turn, are positively related to each other. Overall, perceived integration was found to be positively associated with perceived effectiveness.

Rigorous accuracy assessment for 3D reconstruction using time-series Dual Fluoroscopy (DF) image pairs

NASA Astrophysics Data System (ADS)

Al-Durgham, Kaleel; Lichti, Derek D.; Kuntze, Gregor; Ronsky, Janet

2017-06-01

High-speed biplanar videoradiography, or clinically referred to as dual fluoroscopy (DF), imaging systems are being used increasingly for skeletal kinematics analysis. Typically, a DF system comprises two X-ray sources, two image intensifiers and two high-speed video cameras. The combination of these elements provides time-series image pairs of articulating bones of a joint, which permits the measurement of bony rotation and translation in 3D at high temporal resolution (e.g., 120-250 Hz). Assessment of the accuracy of 3D measurements derived from DF imaging has been the subject of recent research efforts by several groups, however with methodological limitations. This paper presents a novel and simple accuracy assessment procedure based on using precise photogrammetric tools. We address the fundamental photogrammetry principles for the accuracy evaluation of an imaging system. Bundle adjustment with selfcalibration is used for the estimation of the system parameters. The bundle adjustment calibration uses an appropriate sensor model and applies free-network constraints and relative orientation stability constraints for a precise estimation of the system parameters. A photogrammetric intersection of time-series image pairs is used for the 3D reconstruction of a rotating planar object. A point-based registration method is used to combine the 3D coordinates from the intersection and independently surveyed coordinates. The final DF accuracy measure is reported as the distance between 3D coordinates from image intersection and the independently surveyed coordinates. The accuracy assessment procedure is designed to evaluate the accuracy over the full DF image format and a wide range of object rotation. Experiment of reconstruction of a rotating planar object reported an average positional error of 0.44 +/- 0.2 mm in the derived 3D coordinates (minimum 0.05 and maximum 1.2 mm).

Two-UAV Intersection Localization System Based on the Airborne Optoelectronic Platform

PubMed Central

Bai, Guanbing; Liu, Jinghong; Song, Yueming; Zuo, Yujia

2017-01-01

To address the limitation of the existing UAV (unmanned aerial vehicles) photoelectric localization method used for moving objects, this paper proposes an improved two-UAV intersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference. This paper introduces the makeup and operating principle of intersection localization system, creates auxiliary coordinate systems, transforms the LOS (line of sight, from the UAV to the target) vectors into homogeneous coordinates, and establishes a two-UAV intersection localization model. In this paper, the influence of the positional relationship between UAVs and the target on localization accuracy has been studied in detail to obtain an ideal measuring position and the optimal localization position where the optimal intersection angle is 72.6318°. The result shows that, given the optimal position, the localization root mean square error (RMS) will be 25.0235 m when the target is 5 km away from UAV baselines. Finally, the influence of modified adaptive Kalman filtering on localization results is analyzed, and an appropriate filtering model is established to reduce the localization RMS error to 15.7983 m. Finally, An outfield experiment was carried out and obtained the optimal results: σB=1.63×10−4 (°), σL=1.35×10−4 (°), σH=15.8 (m), σsum=27.6 (m), where σB represents the longitude error, σL represents the latitude error, σH represents the altitude error, and σsum represents the error radius. PMID:28067814

Two-UAV Intersection Localization System Based on the Airborne Optoelectronic Platform.

PubMed

Bai, Guanbing; Liu, Jinghong; Song, Yueming; Zuo, Yujia

2017-01-06

To address the limitation of the existing UAV (unmanned aerial vehicles) photoelectric localization method used for moving objects, this paper proposes an improved two-UAV intersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference. This paper introduces the makeup and operating principle of intersection localization system, creates auxiliary coordinate systems, transforms the LOS (line of sight, from the UAV to the target) vectors into homogeneous coordinates, and establishes a two-UAV intersection localization model. In this paper, the influence of the positional relationship between UAVs and the target on localization accuracy has been studied in detail to obtain an ideal measuring position and the optimal localization position where the optimal intersection angle is 72.6318°. The result shows that, given the optimal position, the localization root mean square error (RMS) will be 25.0235 m when the target is 5 km away from UAV baselines. Finally, the influence of modified adaptive Kalman filtering on localization results is analyzed, and an appropriate filtering model is established to reduce the localization RMS error to 15.7983 m. Finally, An outfield experiment was carried out and obtained the optimal results: σ B = 1.63 × 10 - 4 ( ° ) , σ L = 1.35 × 10 - 4 ( ° ) , σ H = 15.8 ( m ) , σ s u m = 27.6 ( m ) , where σ B represents the longitude error, σ L represents the latitude error, σ H represents the altitude error, and σ s u m represents the error radius.

GPS disruptions : efforts to assess risks to critical infrastructure and coordinate agency actions should be enhanced.

DOT National Transportation Integrated Search

2013-11-01

To assess the risks and potential effects from disruptions in the Global : Positioning System (GPS) on critical infrastructure, the Department of Homeland : Security (DHS) published the GPS National Risk Estimate (NRE) in 2012. In : doing so, DHS con...

76 FR 69608 - Modification of Class E Airspace; Blythe, CA

Federal Register 2010, 2011, 2012, 2013, 2014

2011-11-09

... Blythe, CA, to accommodate aircraft using Area Navigation (RNAV) Global Positioning System (GPS) standard instrument approach procedures at Blythe Airport. This action also corrects geographic coordinates in the regulatory text. This improves the safety and management of Instrument Flight Rules (IFR) operations at the...

A map overlay error model based on boundary geometry

USGS Publications Warehouse

Gaeuman, D.; Symanzik, J.; Schmidt, J.C.

2005-01-01

An error model for quantifying the magnitudes and variability of errors generated in the areas of polygons during spatial overlay of vector geographic information system layers is presented. Numerical simulation of polygon boundary displacements was used to propagate coordinate errors to spatial overlays. The model departs from most previous error models in that it incorporates spatial dependence of coordinate errors at the scale of the boundary segment. It can be readily adapted to match the scale of error-boundary interactions responsible for error generation on a given overlay. The area of error generated by overlay depends on the sinuosity of polygon boundaries, as well as the magnitude of the coordinate errors on the input layers. Asymmetry in boundary shape has relatively little effect on error generation. Overlay errors are affected by real differences in boundary positions on the input layers, as well as errors in the boundary positions. Real differences between input layers tend to compensate for much of the error generated by coordinate errors. Thus, the area of change measured on an overlay layer produced by the XOR overlay operation will be more accurate if the area of real change depicted on the overlay is large. The model presented here considers these interactions, making it especially useful for estimating errors studies of landscape change over time. ?? 2005 The Ohio State University.

The KALI multi-arm robot programming and control environment

NASA Technical Reports Server (NTRS)

Backes, Paul; Hayati, Samad; Hayward, Vincent; Tso, Kam

1989-01-01

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

The Importance of Semi-Major Axis Knowledge in the Determination of Near-Circular Orbits

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell; Schiesser, Emil R.

1998-01-01

Modem orbit determination has mostly been accomplished using Cartesian coordinates. This usage has carried over in recent years to the use of GPS for satellite orbit determination. The unprecedented positioning accuracy of GPS has tended to focus attention more on the system's capability to locate the spacecraft's location at a particular epoch than on its accuracy in determination of the orbit, per se. As is well-known, the latter depends on a coordinated knowledge of position, velocity, and the correlation between their errors. Failure to determine a properly coordinated position/velocity state vector at a given epoch can lead to an epoch state that does not propagate well, and/or may not be usable for the execution of orbit adjustment maneuvers. For the quite common case of near-circular orbits, the degree to which position and velocity estimates are properly coordinated is largely captured by the error in semi-major axis (SMA) they jointly produce. Figure 1 depicts the relationships among radius error, speed error, and their correlation which exist for a typical low altitude Earth orbit. Two familiar consequences are the relationship Figure 1 shows are the following: (1) downrange position error grows at the per orbit rate of 3(pi) times the SMA error; (2) a velocity change imparted to the orbit will have an error of (pi) divided by the orbit period times the SMA error. A less familiar consequence occurs in the problem of initializing the covariance matrix for a sequential orbit determination filter. An initial covariance consistent with orbital dynamics should be used if the covariance is to propagate well. Properly accounting for the SMA error of the initial state in the construction of the initial covariance accomplishes half of this objective, by specifying the partition of the covariance corresponding to down-track position and radial velocity errors. The remainder of the in-plane covariance partition may be specified in terms of the flight path angle error of the initial state. Figure 2 illustrates the effect of properly and not properly initializing a covariance. This figure was produced by propagating the covariance shown on the plot, without process noise, in a circular low Earth orbit whose period is 5828.5 seconds. The upper subplot, in which the proper relationships among position, velocity, and their correlation has been used, shows overall error growth, in terms of the standard deviations of the inertial position coordinates, of about half of the lower subplot, whose initial covariance was based on other considerations.

A Spatial Division Clustering Method and Low Dimensional Feature Extraction Technique Based Indoor Positioning System

PubMed Central

Mo, Yun; Zhang, Zhongzhao; Meng, Weixiao; Ma, Lin; Wang, Yao

2014-01-01

Indoor positioning systems based on the fingerprint method are widely used due to the large number of existing devices with a wide range of coverage. However, extensive positioning regions with a massive fingerprint database may cause high computational complexity and error margins, therefore clustering methods are widely applied as a solution. However, traditional clustering methods in positioning systems can only measure the similarity of the Received Signal Strength without being concerned with the continuity of physical coordinates. Besides, outage of access points could result in asymmetric matching problems which severely affect the fine positioning procedure. To solve these issues, in this paper we propose a positioning system based on the Spatial Division Clustering (SDC) method for clustering the fingerprint dataset subject to physical distance constraints. With the Genetic Algorithm and Support Vector Machine techniques, SDC can achieve higher coarse positioning accuracy than traditional clustering algorithms. In terms of fine localization, based on the Kernel Principal Component Analysis method, the proposed positioning system outperforms its counterparts based on other feature extraction methods in low dimensionality. Apart from balancing online matching computational burden, the new positioning system exhibits advantageous performance on radio map clustering, and also shows better robustness and adaptability in the asymmetric matching problem aspect. PMID:24451470

Effect of Receiver Choosing on Point Positions Determination in Network RTK

NASA Astrophysics Data System (ADS)

Bulbul, Sercan; Inal, Cevat

2016-04-01

Nowadays, the developments in GNSS technique allow to determinate point positioning in real time. Initially, point positioning was determined by RTK (Real Time Kinematic) based on a reference station. But, to avoid systematic errors in this method, distance between the reference points and rover receiver must be shorter than10 km. To overcome this restriction in RTK method, the idea of setting more than one reference point had been suggested and, CORS (Continuously Operations Reference Systems) was put into practice. Today, countries like ABD, Germany, Japan etc. have set CORS network. CORS-TR network which has 146 reference points has also been established in 2009 in Turkey. In CORS-TR network, active CORS approach was adopted. In Turkey, CORS-TR reference stations covering whole country are interconnected and, the positions of these stations and atmospheric corrections are continuously calculated. In this study, in a selected point, RTK measurements based on CORS-TR, were made with different receivers (JAVAD TRIUMPH-1, TOPCON Hiper V, MAGELLAN PRoMark 500, PENTAX SMT888-3G, SATLAB SL-600) and with different correction techniques (VRS, FKP, MAC). In the measurements, epoch interval was taken as 5 seconds and measurement time as 1 hour. According to each receiver and each correction technique, means and differences between maximum and minimum values of measured coordinates, root mean squares in the directions of coordinate axis and 2D and 3D positioning precisions were calculated, the results were evaluated by statistical methods and the obtained graphics were interpreted. After evaluation of the measurements and calculations, for each receiver and each correction technique; the coordinate differences between maximum and minimum values were measured to be less than 8 cm, root mean squares in coordinate axis directions less than ±1.5 cm, 2D point positioning precisions less than ±1.5 cm and 3D point positioning precisions less than ±1.5 cm. In the measurement point, it has been concluded that VRS correction technique is generally better than other corrections techniques.

Results of the Ongoing Monitoring of the Position of a Geostationary Telecommunication Satellite by the Method of Spatially Separated Basis Receiving of Digital Satellite Television Signals

NASA Astrophysics Data System (ADS)

Bushuev, F.; Kaliuzhnyi, M.; Sybiryakova, Y.; Shulga, O.; Moskalenko, S.; Balagura, O.; Kulishenko, V.

2016-10-01

The results of the ongoing monitoring of the position of geostationary telecommunication satellite Eutelsat-13B (13° East) are presented in the article. The results were obtained using a radio engineering complex (RC) of four stations receiving digital satellite television and a data processing centre. The stations are located in Kyiv, Mukachevo, Kharkiv and Mykolaiv. The equipment of each station allows synchronous recording (by the GPS) of fragments of DVB-S signal from the quadrature detector output of the satellite television receiver. Samples of the complex signal are archived and sent to the data processing center through the Internet. Here three linearly independent slant range differences (Δr) for three pairs of the stations are determined as a result of correlation processing of received signals. Every second measured values of Δr are used to calculate Cartesian coordinates (XYZ) of the satellite in the coordinate system WGS84 by multilateration method. The time series of Δr, X, Y and Z obtained during continuous observations from March to May 2015 are presented in the article. Single-measurement errors of Δr, X, Y and Z are equal to 2.6 m, 3540 m, 705 m and 455 m, respectively. The complex is compared with known analogues. Ways of reduction of measurement errors of satellite coordinates are considered. The radio engineering complex could be considered a prototype of a system of independent ongoing monitoring of the position of geostationary telecommunication satellites.

The Neural Network In Coordinate Transformation

NASA Astrophysics Data System (ADS)

Urusan, Ahmet Yucel

2011-12-01

In international literature, Coordinate operations is divided into two categories. They are coordinate conversion and coordinate transformation. Coordinates converted from coordinate system A to coordinate system B in the same datum (mean origine, scale and axis directions are same) by coordinate conversion. There are two different datum in coordinate transformation. The basis of each datum to a different coordinate reference system. In Coordinate transformation, coordinates are transformed from coordinate reference system A to coordinate referance system B. Geodetic studies based on physical measurements. Coordinate transformation needs identical points which were measured in each coordinate reference system (A and B). However it is difficult (and need a big reserved budget) to measure in some places like as top of mountain, boundry of countries and seaside. In this study, this sample problem solution was researched. The method of learning which is one of the neural network methods, was used for solution of this problem.

Health IT–Enabled Care Coordination: A National Survey of Patient-Centered Medical Home Clinicians

PubMed Central

Morton, Suzanne; Shih, Sarah C.; Winther, Chloe H.; Tinoco, Aldo; Kessler, Rodger S.; Scholle, Sarah Hudson

2015-01-01

PURPOSE Health information technology (IT) offers promising tools for improving care coordination. We assessed the feasibility and acceptability of 6 proposed care coordination objectives for stage 3 of the Centers for Medicare and Medicaid Services electronic health record incentive program (Meaningful Use) related to referrals, notification of care from other facilities, patient clinical summaries, and patient dashboards. METHODS We surveyed physician-owned and hospital/health system–affiliated primary care practices that achieved patient-centered medical home recognition and participated in the Meaningful Use program, and community health clinics with patient-centered medical home recognition (most with certified electronic health record systems). The response rate was 35.1%. We ascertained whether practices had implemented proposed objectives and perceptions of their importance. We analyzed the association of organizational and contextual factors with self-reported use of health IT to support care coordination activities. RESULTS Although 78% of the 350 respondents viewed timely notification of hospital discharges as very important, only 48.7% used health IT systems to accomplish this task. The activity most frequently supported by health IT was providing clinical summaries to patients, in 76.6% of practices; however, merely 47.7% considered this activity very important. Greater use of health IT to support care coordination activities was positively associated with the presence of a nonclinician responsible for care coordination and the practice’s capacity for systematic change. CONCLUSIONS Even among practices having a strong commitment to the medical home model, the use of health IT to support care coordination objectives is not consistent. Health IT capabilities are not currently aligned with clinicians’ priorities. Many practices will need financial and technical assistance for health IT to enhance care coordination. PMID:25964403

Shuttle orbiter radar cross-sectional analysis

NASA Technical Reports Server (NTRS)

Cooper, D. W.; James, R.

1979-01-01

Theoretical and model simulation studies on signal to noise levels and shuttle radar cross section are described. Pre-mission system calibrations, system configuration, and postmission system calibration of the tracking radars are described. Conversion of target range, azimuth, and elevation into radar centered east north vertical position coordinates are evaluated. The location of the impinging rf energy with respect to the target vehicles body axis triad is calculated. Cross section correlation between the two radars is presented.

Accuracy Progressive Calculation of Lagrangian Trajectories from Gridded Velocity Field

DTIC Science & Technology

2014-01-01

traced (Vries and Doos 2001). The two types of velocity are convertible. Routine ocean data 36 assimilation systems (Galanis et al. 2006; Lozano et...1b) 54 The position of each fluid particle, R(t) = [x(t), y(t), z(t)], is specified in the Lagrangian system . 55 The connection...coordinate 233 system at the southwest corner (Fig. 6). The x*- and y*- axes point eastward and northward, 234 respectively. Here, the superscript

Study of the global positioning system for maritime concepts/applications: Study of the feasibility of replacing maritime shipborne navigation systems with NAVSTAR

NASA Technical Reports Server (NTRS)

Winn, C. B.; Huston, W.

1981-01-01

A geostationary reference satellite (REFSAT) that broadcasts every four seconds updated GPS satellite coordinates was developed. This procedure reduces the complexity of the GPS receiver. The economic and performance payoffs associated with replacing maritime stripborne navigation systems with NAVSTAR was quantified and the use of NAVSTAR for measurements of ocean currents in the broad ocean areas of the world was evaluated.

Automated system for acquisition and image processing for the control and monitoring boned nopal

NASA Astrophysics Data System (ADS)

Luevano, E.; de Posada, E.; Arronte, M.; Ponce, L.; Flores, T.

2013-11-01

This paper describes the design and fabrication of a system for acquisition and image processing to control the removal of thorns nopal vegetable (Opuntia ficus indica) in an automated machine that uses pulses of a laser of Nd: YAG. The areolas, areas where thorns grow on the bark of the Nopal, are located applying segmentation algorithms to the images obtained by a CCD. Once the position of the areolas is known, coordinates are sent to a motors system that controls the laser to interact with all areolas and remove the thorns of the nopal. The electronic system comprises a video decoder, memory for image and software storage, and digital signal processor for system control. The firmware programmed tasks on acquisition, preprocessing, segmentation, recognition and interpretation of the areolas. This system achievement identifying areolas and generating table of coordinates of them, which will be send the motor galvo system that controls the laser for removal

Analysis on influence of installation error of off-axis three-mirror optical system on imaging line-of-sight

NASA Astrophysics Data System (ADS)

Gao, Lingyu; Li, Xinghua; Guo, Qianrui; Quan, Jing; Hu, Zhengyue; Su, Zhikun; Zhang, Dong; Liu, Peilu; Li, Haopeng

2018-01-01

The internal structure of off-axis three-mirror system is commonly complex. The mirror installation error in assembly always affects the imaging line-of-sight and further degrades the image quality. Due to the complexity of the optical path in off-axis three-mirror optical system, the straightforward theoretical analysis on the variations of imaging line-of-sight is extremely difficult. In order to simplify the theoretical analysis, an equivalent single-mirror system is proposed and presented in this paper. In addition, the mathematical model of single-mirror system is established and the accurate expressions of imaging coordinate are derived. Utilizing the simulation software ZEMAX, off-axis three-mirror model and single-mirror model are both established. By adjusting the position of mirror and simulating the line-of-sight rotation of optical system, the variations of imaging coordinates are clearly observed. The final simulation results include: in off-axis three-mirror system, the varying sensitivity of the imaging coordinate to the rotation of line-of-sight is approximately 30 um/″; in single-mirror system, the varying sensitivity of the imaging coordinate to the rotation of line-of-sight is 31.5 um/″. Compared to the simulation results of the off-axis three-mirror model, the 5% relative error of single-mirror model analysis highly satisfies the requirement of equivalent analysis and also verifies its validity. This paper presents a new method to analyze the installation error of the mirror in the off-axis three-mirror system influencing on the imaging line-of-sight. Moreover, the off-axis three-mirror model is totally equivalent to the single-mirror model in theoretical analysis.

Bilateral assessment of functional tasks for robot-assisted therapy applications

PubMed Central

Wang, Sarah; Bai, Ping; Strachota, Elaine; Tchekanov, Guennady; Melbye, Jeff; McGuire, John

2011-01-01

This article presents a novel evaluation system along with methods to evaluate bilateral coordination of arm function on activities of daily living tasks before and after robot-assisted therapy. An affordable bilateral assessment system (BiAS) consisting of two mini-passive measuring units modeled as three degree of freedom robots is described. The process for evaluating functional tasks using the BiAS is presented and we demonstrate its ability to measure wrist kinematic trajectories. Three metrics, phase difference, movement overlap, and task completion time, are used to evaluate the BiAS system on a bilateral symmetric (bi-drink) and a bilateral asymmetric (bi-pour) functional task. Wrist position and velocity trajectories are evaluated using these metrics to provide insight into temporal and spatial bilateral deficits after stroke. The BiAS system quantified movements of the wrists during functional tasks and detected differences in impaired and unimpaired arm movements. Case studies showed that stroke patients compared to healthy subjects move slower and are less likely to use their arm simultaneously even when the functional task requires simultaneous movement. After robot-assisted therapy, interlimb coordination spatial deficits moved toward normal coordination on functional tasks. PMID:21881901

Nonsingular expansions of the gravity potential and its derivatives at satellite altitudes in the ellipsoidal coordinate system

NASA Astrophysics Data System (ADS)

Vershkov, A. N.; Petrovskaya, M. S.

2016-11-01

The series in ellipsoidal harmonics for derivatives of the Earth's gravity potential are used only on the reference ellipsoid enveloping the Earth due to their very complex mathematical structure. In the current study, the series in ellipsoidal harmonics are constructed for first- and second-order derivatives of the potential at satellite altitudes; their structure is similar to the series on the reference ellipsoid. The point P is chosen at a random satellite altitude; then, the ellipsoid of revolution is described, which passes through this point and is confocal to the reference ellipsoid. An object-centered coordinate system with the origin at the point P is considered. Using a sequence of transformations, the nonsingular series in ellipsoidal harmonics is constructed for first and second derivatives of the potential in the object-centered coordinate system. These series can be applied to develop a model of the Earth's potential, based on combined use of surface gravitational force measurements, data on the satellite orbital position, its acceleration, or measurements of the gravitational force gradients of the first and second order. The technique is applicable to any other planet of the Solar System.

Geostar - Navigation location system

NASA Astrophysics Data System (ADS)

Keyser, Donald A.

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

New measuring system for the distribution of a magnetic force by using an optical fiber

NASA Astrophysics Data System (ADS)

Ishigaki, H.; Oya, T.; Itoh, M.; Hida, A.; Iwata, K.

1993-01-01

A new measuring system using an optical fiber and a position sensing photodetector was developed to measure a three-dimensional distribution of a magnetic force. A steel ball attached to a cantilever made of an optical fiber generated force in a magnetic field. The displacement of the ball due to the force was detected by a position-sensing photodetector with the capability of detecting two-directional coordinates of the position. By scanning the sensing system in a magnetic field, we obtained distributions of two-directional component of the magnetic force vector. The component represents the gradient of a squared magnetic field. The usefulness of the system for measuring the magnetic field distribution in a narrow clearance and for evaluating superconducting machine components such as magnetic bearings was verified experimentally.

Implementation of Satellite Formation Flight Algorithms Using SPHERES Aboard the International Space Station

NASA Technical Reports Server (NTRS)

Mandy, Christophe P.; Sakamoto, Hiraku; Saenz-Otero, Alvar; Miller, David W.

2007-01-01

The MIT's Space Systems Laboratory developed the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES) as a risk-tolerant spaceborne facility to develop and mature control, estimation, and autonomy algorithms for distributed satellite systems for applications such as satellite formation flight. Tests performed study interferometric mission-type formation flight maneuvers in deep space. These tests consist of having the satellites trace a coordinated trajectory under tight control that would allow simulated apertures to constructively interfere observed light and measure the resulting increase in angular resolution. This paper focuses on formation initialization (establishment of a formation using limited field of view relative sensors), formation coordination (synchronization of the different satellite s motion) and fuel-balancing among the different satellites.

SU-E-T-99: Design and Development of Isocenter Parameter System for CT Simulation Laser Based On DICOM RT

DOE Office of Scientific and Technical Information (OSTI.GOV)

Luo, G

2014-06-01

Purpose: In order to receive DICOM files from treatment planning system and generate patient isocenter positioning parameter file for CT laser system automatically, this paper presents a method for communication with treatment planning system and calculation of isocenter parameter for each radiation field. Methods: Coordinate transformation and laser positioning file formats were analyzed, isocenter parameter was calculated via data from DICOM CT Data and DICOM RTPLAN file. An in-house software-DicomGenie was developed based on the object-oriented program platform-Qt with DCMTK SDK (Germany OFFIS company DICOM SDK) . DicomGenie was tested for accuracy using Philips CT simulation plan system (Tumor LOC,more » Philips) and A2J CT positioning laser system (Thorigny Sur Marne, France). Results: DicomGenie successfully established DICOM communication between treatment planning system, DICOM files were received by DicomGenie and patient laser isocenter information was generated accurately. Patient laser parameter data files can be used for for CT laser system directly. Conclusion: In-house software DicomGenie received and extracted DICOM data, isocenter laser positioning data files were created by DicomGenie and can be use for A2J laser positioning system.« less

Quantification of gait parameters in freely walking wild type and sensory deprived Drosophila melanogaster

PubMed Central

Mendes, César S; Bartos, Imre; Akay, Turgay; Márka, Szabolcs; Mann, Richard S

2013-01-01

Coordinated walking in vertebrates and multi-legged invertebrates such as Drosophila melanogaster requires a complex neural network coupled to sensory feedback. An understanding of this network will benefit from systems such as Drosophila that have the ability to genetically manipulate neural activities. However, the fly's small size makes it challenging to analyze walking in this system. In order to overcome this limitation, we developed an optical method coupled with high-speed imaging that allows the tracking and quantification of gait parameters in freely walking flies with high temporal and spatial resolution. Using this method, we present a comprehensive description of many locomotion parameters, such as gait, tarsal positioning, and intersegmental and left-right coordination for wild type fruit flies. Surprisingly, we find that inactivation of sensory neurons in the fly's legs, to block proprioceptive feedback, led to deficient step precision, but interleg coordination and the ability to execute a tripod gait were unaffected. DOI: http://dx.doi.org/10.7554/eLife.00231.001 PMID:23326642

The use of precise ephemerides, ionospheric data, and corrected antenna coordinates in a long-distance GPS time transfer

NASA Technical Reports Server (NTRS)

Lewandowski, Wlodzimierz W.; Petit, Gerard; Thomas, Claudine; Weiss, Marc A.

1990-01-01

Over intercontinental distances, the accuracy of The Global Positioning System (GPS) time transfers ranges from 10 to 20 ns. The principal error sources are the broadcast ionospheric model, the broadcast ephemerides and the local antenna coordinates. For the first time, the three major error sources for GPS time transfer can be reduced simultaneously for a particular time link. Ionospheric measurement systems of the National Institute of Standards and Technology (NIST) type are now operating on a regular basis at the National Institute of Standards and Technology in Boulder and at the Paris Observatory in Paris. Broadcast ephemerides are currently recorded for time-transfer tracks between these sites, this being necessary for using precise ephemerides. At last, corrected local GPS antenna coordinates are now introduced in GPS receivers at both sites. Shown here is the improvement in precision for this long-distance time comparison resulting from the reduction of these three error sources.

Advancements in LiDAR-based registration of FIA field plots

Treesearch

Demetrios Gatziolis

2012-01-01

Meaningful integration of National Forest Inventory field plot information with spectral imagery acquired from satellite or airborne platforms requires precise plot registration. Global positioning system-based plot registration procedures, such as the one employed by the Forest Inventory and Analysis (FIA) Program, yield plot coordinates that, although adequate for...

NASA directory of observation station locations, volume 2

NASA Technical Reports Server (NTRS)

1971-01-01

The directory documents geodetic information for NASA tracking stations and observation stations in the NASA Geodetic Satellites Program, including stations participating in the National Geodetic Satellite Program. Station positions of these facilities are given on local or preferred major datums, and on the Modified Mercury Datum 1968. A geodetic data sheet is provided for each station, giving the position of the station and describing briefly how it was established. Geodetic positions and geocentric coordinates of these stations are tabulated on local or major geodetic datums, and on selected world geodetic systems when available information permits.

Current Approaches to Tactical Performance Analyses in Soccer Using Position Data.

PubMed

Memmert, Daniel; Lemmink, Koen A P M; Sampaio, Jaime

2017-01-01

Tactical match performance depends on the quality of actions of individual players or teams in space and time during match-play in order to be successful. Technological innovations have led to new possibilities to capture accurate spatio-temporal information of all players and unravel the dynamics and complexity of soccer matches. The main aim of this article is to give an overview of the current state of development of the analysis of position data in soccer. Based on the same single set of position data of a high-level 11 versus 11 match (Bayern Munich against FC Barcelona) three different promising approaches from the perspective of dynamic systems and neural networks will be presented: Tactical performance analysis revealed inter-player coordination, inter-team and inter-line coordination before critical events, as well as team-team interaction and compactness coefficients. This could lead to a multi-disciplinary discussion on match analyses in sport science and new avenues for theoretical and practical implications in soccer.

Effects of curved midline and varying width on the description of the effective diffusivity of Brownian particles

NASA Astrophysics Data System (ADS)

Chávez, Yoshua; Chacón-Acosta, Guillermo; Dagdug, Leonardo

2018-05-01

Axial diffusion in channels and tubes of smoothly-varying geometry can be approximately described as one-dimensional diffusion in the entropy potential with a position-dependent effective diffusion coefficient, by means of the modified Fick–Jacobs equation. In this work, we derive analytical expressions for the position-dependent effective diffusivity for two-dimensional asymmetric varying-width channels, and for three-dimensional curved midline tubes, formed by straight walls. To this end, we use a recently developed theoretical framework using the Frenet–Serret moving frame as the coordinate system (2016 J. Chem. Phys. 145 074105). For narrow tubes and channels, an effective one-dimensional description reducing the diffusion equation to a Fick–Jacobs-like equation in general coordinates is used. From this last equation, one can calculate the effective diffusion coefficient applying Neumann boundary conditions.

Care coordination experiences of people with disabilities enrolled in medicaid managed care.

PubMed

Bowers, Anne; Owen, Randall; Heller, Tamar

2017-10-01

To understand the impact of experience and contacts with care coordinators on Medicaid Managed Care (MMC) enrollees with disabilities. Primary data was collected from a random sample of 6000 out of the 100,000 people with disabilities enrolled in one state's mandatory MMC program. Surveys were conducted through the mail, telephone, and Internet; 1041 surveys were completed. The sample used for analysis included 442 MMC enrollees who received care coordination. Regression analyses were conducted with the outcomes of number of unmet health care needs and enrollee appraisal of the health services they received. Race, age, gender, and disability variables controlled for demographic differences, and the independent variables included enrollee experience with a care coordinator (coordinator knowledge of enrollee medical history and whether the coordinator took into account enrollee wishes and input) and frequency of contact with a care coordinator. Positive enrollee experiences with care coordinators significantly related to more positive enrollee health service appraisals and fewer unmet health care needs; frequency of contact did not have any significant impacts. People with mental health disabilities and intellectual/developmental disabilities had significantly lower health service appraisals. People with mental health disabilities had significantly more unmet needs. Quality of care coordination, but not frequency of contact alone, is associated with better health outcomes for MMC enrollees. Implications for rehabilitation Care coordination is a core component of managed care and facilitates effective healthcare management for people with complex chronic conditions and disabilities. Better experiences with care coordinators is related to fewer unmet healthcare needs and more positive health care service appraisals for Medicaid managed care enrollees. The continuous development of person-centered care coordination strategies and training programs emphasizing quality relationships between coordinators and consumers should be prioritized.

Investigation of some selected strategies for multi-GNSS instantaneous RTK positioning

NASA Astrophysics Data System (ADS)

Paziewski, Jacek; Wielgosz, Pawel

2017-01-01

It is clear that we can benefit from multi-constellation GNSS in precise relative positioning. On the other hand, it is still an open problem how to combine multi-GNSS signals in a single functional model. This study presents methodology and quality assessment of selected methods allowing for multi-GNSS observations combining in relative kinematic positioning using baselines up to tens of kilometers. In specific, this paper characterizes loose and tight integration strategies applied to the ionosphere and troposphere weighted model. Performance assessment of the established strategies was based on the analyses of the integer ambiguity resolution and rover coordinates' repeatability obtained in the medium range instantaneous RTK positioning with the use of full constellation dual frequency GPS and Galileo signals. Since full constellation of Galileo satellites is not yet available, the observational data were obtained from a hardware GNSS signal simulator using regular geodetic GNSS receivers. The results indicate on similar and high performance of the loose, and tight integration with calibrated receiver ISBs strategies. These approaches have undeniable advantage over single system positioning in terms of reliability of the integer ambiguity resolution as well as rover coordinate repeatability.

A signal strength priority based position estimation for mobile platforms

NASA Astrophysics Data System (ADS)

Kalgikar, Bhargav; Akopian, David; Chen, Philip

2010-01-01

Global Positioning System (GPS) products help to navigate while driving, hiking, boating, and flying. GPS uses a combination of orbiting satellites to determine position coordinates. This works great in most outdoor areas, but the satellite signals are not strong enough to penetrate inside most indoor environments. As a result, a new strain of indoor positioning technologies that make use of 802.11 wireless LANs (WLAN) is beginning to appear on the market. In WLAN positioning the system either monitors propagation delays between wireless access points and wireless device users to apply trilateration techniques or it maintains the database of location-specific signal fingerprints which is used to identify the most likely match of incoming signal data with those preliminary surveyed and saved in the database. In this paper we investigate the issue of deploying WLAN positioning software on mobile platforms with typically limited computational resources. We suggest a novel received signal strength rank order based location estimation system to reduce computational loads with a robust performance. The proposed system performance is compared to conventional approaches.

Automated novel high-accuracy miniaturized positioning system for use in analytical instrumentation

NASA Astrophysics Data System (ADS)

Siomos, Konstadinos; Kaliakatsos, John; Apostolakis, Manolis; Lianakis, John; Duenow, Peter

1996-01-01

The development of three-dimensional automotive devices (micro-robots) for applications in analytical instrumentation, clinical chemical diagnostics and advanced laser optics, depends strongly on the ability of such a device: firstly to be positioned with high accuracy, reliability, and automatically, by means of user friendly interface techniques; secondly to be compact; and thirdly to operate under vacuum conditions, free of most of the problems connected with conventional micropositioners using stepping-motor gear techniques. The objective of this paper is to develop and construct a mechanically compact computer-based micropositioning system for coordinated motion in the X-Y-Z directions with: (1) a positioning accuracy of less than 1 micrometer, (the accuracy of the end-position of the system is controlled by a hard/software assembly using a self-constructed optical encoder); (2) a heat-free propulsion mechanism for vacuum operation; and (3) synchronized X-Y motion.

77 FR 260 - Forest Resource Coordinating Committee

Federal Register 2010, 2011, 2012, 2013, 2014

2012-01-04

... Resource Coordinating Committee AGENCY: Forest Service, USDA. ACTION: Notice of call for nominations. SUMMARY: The Forest Resource Coordinating Committee (FRCC) is filling eight vacant positions. Candidates who wish to be considered for membership on the Forest Resource Coordinating Committee should submit...

Object Locating System

NASA Technical Reports Server (NTRS)

Arndt, G. Dickey (Inventor); Carl, James R. (Inventor)

2000-01-01

A portable system is provided that is operational for determining, with three dimensional resolution, the position of a buried object or approximately positioned object that may move in space or air or gas. The system has a plurality of receivers for detecting the signal front a target antenna and measuring the phase thereof with respect to a reference signal. The relative permittivity and conductivity of the medium in which the object is located is used along with the measured phase signal to determine a distance between the object and each of the plurality of receivers. Knowing these distances. an iteration technique is provided for solving equations simultaneously to provide position coordinates. The system may also be used for tracking movement of an object within close range of the system by sampling and recording subsequent position of the object. A dipole target antenna. when positioned adjacent to a buried object, may be energized using a separate transmitter which couples energy to the target antenna through the medium. The target antenna then preferably resonates at a different frequency, such as a second harmonic of the transmitter frequency.

Fast Measurement and Reconstruction of Large Workpieces with Freeform Surfaces by Combining Local Scanning and Global Position Data

PubMed Central

Chen, Zhe; Zhang, Fumin; Qu, Xinghua; Liang, Baoqiu

2015-01-01

In this paper, we propose a new approach for the measurement and reconstruction of large workpieces with freeform surfaces. The system consists of a handheld laser scanning sensor and a position sensor. The laser scanning sensor is used to acquire the surface and geometry information, and the position sensor is utilized to unify the scanning sensors into a global coordinate system. The measurement process includes data collection, multi-sensor data fusion and surface reconstruction. With the multi-sensor data fusion, errors accumulated during the image alignment and registration process are minimized, and the measuring precision is significantly improved. After the dense accurate acquisition of the three-dimensional (3-D) coordinates, the surface is reconstructed using a commercial software piece, based on the Non-Uniform Rational B-Splines (NURBS) surface. The system has been evaluated, both qualitatively and quantitatively, using reference measurements provided by a commercial laser scanning sensor. The method has been applied for the reconstruction of a large gear rim and the accuracy is up to 0.0963 mm. The results prove that this new combined method is promising for measuring and reconstructing the large-scale objects with complex surface geometry. Compared with reported methods of large-scale shape measurement, it owns high freedom in motion, high precision and high measurement speed in a wide measurement range. PMID:26091396

[How management teams use information and control systems to manage hospitals].

PubMed

Naranjo-Gil, David

2016-01-01

To analyze the relationship between the characteristics of top management teams and the different use of management information and control systems (MICS) to implement policies that encourage cooperation and activity coordination in public hospitals. Data were collected through a questionnaire sent to each member of the top management teams of 231 Spanish public hospitals (chief executive director, medical director, nursing director and director for financial and social issues). A total of 457 valid questionnaires were returned, composing 86 full top management teams (37.23%). Top management team diversity was positively related to the interactive use of MICS. Management teams composed of younger members and members with longer service used MICS interactively. Top management teams with a predominantly clinical education and experience used MICS interactively, while top teams with a predominantly administrative education and experience used MICS diagnostically. The results also showed that cooperation and coordination in hospitals were positively related to the interactive use of MICS and were negatively related to the diagnostic use of MICS. The interactive use of MICS is an important mediator in the relationship between top team diversity and policies focused on hospital decentralization. Top management teams with diverse characteristics (e.g. age, length of service, education and experience) use management information interactively to enhance activity coordination and resource allocation in hospitals. Copyright © 2016 SESPAS. Published by Elsevier Espana. All rights reserved.

Characterization of a Dynamic String Method for the Construction of Transition Pathways in Molecular Reactions

PubMed Central

Johnson, Margaret E.; Hummer, Gerhard

2012-01-01

We explore the theoretical foundation of different string methods used to find dominant reaction pathways in high-dimensional configuration spaces. Pathways are assessed by the amount of reactive flux they carry and by their orientation relative to the committor function. By examining the effects of transforming between different collective coordinates that span the same underlying space, we unmask artificial coordinate dependences in strings optimized to follow the free energy gradient. In contrast, strings optimized to follow the drift vector produce reaction pathways that are significantly less sensitive to reparameterizations of the collective coordinates. The differences in these paths arise because the drift vector depends on both the free energy gradient and the diffusion tensor of the coarse collective variables. Anisotropy and position dependence of diffusion tensors arise commonly in spaces of coarse variables, whose generally slow dynamics are obtained by nonlinear projections of the strongly coupled atomic motions. We show here that transition paths constructed to account for dynamics by following the drift vector will (to a close approximation) carry the maximum reactive flux both in systems with isotropic position dependent diffusion, and in systems with constant but anisotropic diffusion. We derive a simple method for calculating the committor function along paths that follow the reactive flux. Lastly, we provide guidance for the practical implementation of the dynamic string method. PMID:22616575

Impossible is nothing: 5:3 and 4:3 multi-frequency bimanual coordination.

PubMed

Kovacs, Attila J; Buchanan, John J; Shea, Charles H

2010-03-01

The present findings demonstrate that when participants are provided a Lissajous display with cursor indicating the position of the limbs and a template illustrating the desired movement pattern they can rapidly (10 min) and effectively (continuous relative phase errors and variability ~10 degrees ) tune in a difficult 5:3 bimanual coordination pattern and without additional practice re-tune their responding to an equally difficult 4:3 coordination pattern. The findings indicate the extreme difficulty associated with producing complex polyrhythms in previous experiments has been due to split attention when Lissajous feedback has been provided and inability of the participant to detect and correct coordination errors when only provided vision of the limbs. Effective transfer to the 4:3 polyrhythm without previous practice suggests that the perception-action system's capabilities are extensive. The present findings when viewed in the context of recent experiments using similar protocols suggest that much, but not all, of the difficulty associated with producing a variety of bimanual coordination tasks should be viewed in terms of perceptual constraints imposed by the testing environment.

Global calibration of multi-cameras with non-overlapping fields of view based on photogrammetry and reconfigurable target

NASA Astrophysics Data System (ADS)

Xia, Renbo; Hu, Maobang; Zhao, Jibin; Chen, Songlin; Chen, Yueling

2018-06-01

Multi-camera vision systems are often needed to achieve large-scale and high-precision measurement because these systems have larger fields of view (FOV) than a single camera. Multiple cameras may have no or narrow overlapping FOVs in many applications, which pose a huge challenge to global calibration. This paper presents a global calibration method for multi-cameras without overlapping FOVs based on photogrammetry technology and a reconfigurable target. Firstly, two planar targets are fixed together and made into a long target according to the distance between the two cameras to be calibrated. The relative positions of the two planar targets can be obtained by photogrammetric methods and used as invariant constraints in global calibration. Then, the reprojection errors of target feature points in the two cameras’ coordinate systems are calculated at the same time and optimized by the Levenberg–Marquardt algorithm to find the optimal solution of the transformation matrix between the two cameras. Finally, all the camera coordinate systems are converted to the reference coordinate system in order to achieve global calibration. Experiments show that the proposed method has the advantages of high accuracy (the RMS error is 0.04 mm) and low cost and is especially suitable for on-site calibration.

Validation of instrumentation to monitor dynamic performance of olympic weightlifters.

PubMed

Bruenger, Adam J; Smith, Sarah L; Sands, William A; Leigh, Michael R

2007-05-01

The purpose of this study was to validate the accuracy and reliability of the Weightlifting Video Overlay System (WVOS) used by coaches and sport biomechanists at the United States Olympic Training Center. Static trials with the bar set at specific positions and dynamic trials of a power snatch were performed. Static and dynamic values obtained by the WVOS were compared with values obtained by tape measure and standard video kinematic analysis. Coordinate positions (horizontal [X] and vertical [Y]) were compared on both ends (left and right) of the bar. Absolute technical error of measurement between WVOS and kinematic values were calculated (0.97 cm [left X], 0.98 cm [right X], 0.88 cm [left Y], and 0.53 cm [right Y]) for the static data. Pearson correlations for all dynamic trials exceeded r = 0.88. The greatest discrepancies between the 2 measuring systems were found to occur when there was twisting of the bar during the performance. This error was probably due to the location on the bar where the coordinates were measured. The WVOS appears to provide accurate position information when compared with standard kinematics; however, care must be taken in evaluating position measurements if there is a significant amount of twisting in the movement. The WVOS appears to be reliable and valid within reasonable error limits for the determination of weightlifting movement technique.

Cloud structure evolution of heavy rain events from the East-West Pacific Ocean: a combined global observation analysis

NASA Astrophysics Data System (ADS)

Sekaranom, A. B.; Nurjani, E.; Pujiastuti, I.

2018-04-01

Heavy rain events are often associated with flood hazards as one of the most devastating events across the globe. It is therefore essential to identify the evolution of heavy rainfall cloud structures, primarily from global satellite observation, as a tool to provide better disaster early warning systems. To identify the mechanism of heavy rainfall systems and its relationship with cloud development, especially over The Pacific Ocean, we aim to study the westward evolution of the convective systems over this area. Several datasets from Tropical Rainfall Measuring Mission (TRMM), CloudSat GEOPROF product, and ECMWF-reanalysis (ERA) interim were utilized to characterize the evolution. Geolocation and orbital time-lag analysis of the three different datasets for more than 8 years (2006-2014) could provide information related to the evolution of cloud structures associated with heavy rain events. In the first step, a heavy rainfall database was generated from TRMM. The CloudSat coordinate and time position were then matched with TRMM coordinate and time position. All of the processes were programatically conducted in fortran programming language. The result shows a transition between East and West Pacific ocean for TMI data.

A new position measurement system using a motion-capture camera for wind tunnel tests.

PubMed

Park, Hyo Seon; Kim, Ji Young; Kim, Jin Gi; Choi, Se Woon; Kim, Yousok

2013-09-13

Considering the characteristics of wind tunnel tests, a position measurement system that can minimize the effects on the flow of simulated wind must be established. In this study, a motion-capture camera was used to measure the displacement responses of structures in a wind tunnel test, and the applicability of the system was tested. A motion-capture system (MCS) could output 3D coordinates using two-dimensional image coordinates obtained from the camera. Furthermore, this remote sensing system had some flexibility regarding lab installation because of its ability to measure at relatively long distances from the target structures. In this study, we performed wind tunnel tests on a pylon specimen and compared the measured responses of the MCS with the displacements measured with a laser displacement sensor (LDS). The results of the comparison revealed that the time-history displacement measurements from the MCS slightly exceeded those of the LDS. In addition, we confirmed the measuring reliability of the MCS by identifying the dynamic properties (natural frequency, damping ratio, and mode shape) of the test specimen using system identification methods (frequency domain decomposition, FDD). By comparing the mode shape obtained using the aforementioned methods with that obtained using the LDS, we also confirmed that the MCS could construct a more accurate mode shape (bending-deflection mode shape) with the 3D measurements.

A New Position Measurement System Using a Motion-Capture Camera for Wind Tunnel Tests

PubMed Central

Park, Hyo Seon; Kim, Ji Young; Kim, Jin Gi; Choi, Se Woon; Kim, Yousok

2013-01-01

Considering the characteristics of wind tunnel tests, a position measurement system that can minimize the effects on the flow of simulated wind must be established. In this study, a motion-capture camera was used to measure the displacement responses of structures in a wind tunnel test, and the applicability of the system was tested. A motion-capture system (MCS) could output 3D coordinates using two-dimensional image coordinates obtained from the camera. Furthermore, this remote sensing system had some flexibility regarding lab installation because of its ability to measure at relatively long distances from the target structures. In this study, we performed wind tunnel tests on a pylon specimen and compared the measured responses of the MCS with the displacements measured with a laser displacement sensor (LDS). The results of the comparison revealed that the time-history displacement measurements from the MCS slightly exceeded those of the LDS. In addition, we confirmed the measuring reliability of the MCS by identifying the dynamic properties (natural frequency, damping ratio, and mode shape) of the test specimen using system identification methods (frequency domain decomposition, FDD). By comparing the mode shape obtained using the aforementioned methods with that obtained using the LDS, we also confirmed that the MCS could construct a more accurate mode shape (bending-deflection mode shape) with the 3D measurements. PMID:24064600

Automated target recognition using passive radar and coordinated flight models

NASA Astrophysics Data System (ADS)

Ehrman, Lisa M.; Lanterman, Aaron D.

2003-09-01

Rather than emitting pulses, passive radar systems rely on illuminators of opportunity, such as TV and FM radio, to illuminate potential targets. These systems are particularly attractive since they allow receivers to operate without emitting energy, rendering them covert. Many existing passive radar systems estimate the locations and velocities of targets. This paper focuses on adding an automatic target recognition (ATR) component to such systems. Our approach to ATR compares the Radar Cross Section (RCS) of targets detected by a passive radar system to the simulated RCS of known targets. To make the comparison as accurate as possible, the received signal model accounts for aircraft position and orientation, propagation losses, and antenna gain patterns. The estimated positions become inputs for an algorithm that uses a coordinated flight model to compute probable aircraft orientation angles. The Fast Illinois Solver Code (FISC) simulates the RCS of several potential target classes as they execute the estimated maneuvers. The RCS is then scaled by the Advanced Refractive Effects Prediction System (AREPS) code to account for propagation losses that occur as functions of altitude and range. The Numerical Electromagnetic Code (NEC2) computes the antenna gain pattern, so that the RCS can be further scaled. The Rician model compares the RCS of the illuminated aircraft with those of the potential targets. This comparison results in target identification.

Doctors' opinions on clinical coordination between primary and secondary care in the Catalan healthcare system.

PubMed

Aller, Marta-Beatriz; Vargas, Ingrid; Coderch, Jordi; Calero, Sebastià; Cots, Francesc; Abizanda, Mercè; Colomés, Lluís; Farré, Joan; Vázquez-Navarrete, María-Luisa

2017-08-26

To analyse doctors' opinions on clinical coordination between primary and secondary care in different healthcare networks and on the factors influencing it. A qualitative descriptive-interpretative study was conducted, based on semi-structured interviews. A two-stage theoretical sample was designed: 1) healthcare networks with different management models; 2) primary care and secondary care doctors in each network. Final sample size (n = 50) was reached by saturation. A thematic content analysis was conducted. In all networks doctors perceived that primary and secondary care given to patients was coordinated in terms of information transfer, consistency and accessibility to SC following a referral. However, some problems emerged, related to difficulties in acceding non-urgent secondary care changes in prescriptions and the inadequacy of some referrals across care levels. Doctors identified the following factors: 1) organizational influencing factors: coordination is facilitated by mechanisms that facilitate information transfer, communication, rapid access and physical proximity that fosters positive attitudes towards collaboration; coordination is hindered by the insufficient time to use mechanisms, unshared incentives in prescription and, in two networks, the change in the organizational model; 2) professional factors: clinical skills and attitudes towards coordination. Although doctors perceive that primary and secondary care is coordinated, they also highlighted problems. Identified factors offer valuable insights on where to direct organizational efforts to improve coordination. Copyright © 2017. Publicado por Elsevier España, S.L.U.

Object detection system using SPAD proximity detectors

NASA Astrophysics Data System (ADS)

Stark, Laurence; Raynor, Jeffrey M.; Henderson, Robert K.

2011-10-01

This paper presents an object detection system based upon the use of multiple single photon avalanche diode (SPAD) proximity sensors operating upon the time-of-flight (ToF) principle, whereby the co-ordinates of a target object in a coordinate system relative to the assembly are calculated. The system is similar to a touch screen system in form and operation except that the lack of requirement of a physical sensing surface provides a novel advantage over most existing touch screen technologies. The sensors are controlled by FPGA-based firmware and each proximity sensor in the system measures the range from the sensor to the target object. A software algorithm is implemented to calculate the x-y coordinates of the target object based on the distance measurements from at least two separate sensors and the known relative positions of these sensors. Existing proximity sensors were capable of determining the distance to an object with centimetric accuracy and were modified to obtain a wide field of view in the x-y axes with low beam angle in z in order to provide a detection area as large as possible. Design and implementation of the firmware, electronic hardware, mechanics and optics are covered in the paper. Possible future work would include characterisation with alternative designs of proximity sensors, as this is the component which determines the highest achievable accur1acy of the system.

Improve wildlife species tracking—Implementing an enhanced global positioning system data management system for California condors

USGS Publications Warehouse

Waltermire, Robert G.; Emmerich, Christopher U.; Mendenhall, Laura C.; Bohrer, Gil; Weinzierl, Rolf P.; McGann, Andrew J.; Lineback, Pat K.; Kern, Tim J.; Douglas, David C.

2016-05-03

U.S. Fish and Wildlife Service (USFWS) staff in the Pacific Southwest Region and at the Hopper Mountain National Wildlife Refuge Complex requested technical assistance to improve their global positioning system (GPS) data acquisition, management, and archive in support of the California Condor Recovery Program. The USFWS deployed and maintained GPS units on individual Gymnogyps californianus (California condor) in support of long-term research and daily operational monitoring and management of California condors. The U.S. Geological Survey (USGS) obtained funding through the Science Support Program to provide coordination among project participants, provide GPS Global System for Mobile Communication (GSM) transmitters for testing, and compare GSM/GPS with existing Argos satellite GPS technology. The USFWS staff worked with private companies to design, develop, and fit condors with GSM/GPS transmitters. The Movebank organization, an online database of animal tracking data, coordinated with each of these companies to automatically stream their GPS data into Movebank servers and coordinated with USFWS to improve Movebank software for managing transmitter data, including proofing/error checking of incoming GPS data. The USGS arranged to pull raw GPS data from Movebank into the USGS California Condor Management and Analysis Portal (CCMAP) (https://my.usgs.gov/ccmap) for production and dissemination of a daily map of condor movements including various automated alerts. Further, the USGS developed an automatic archiving system for pulling raw and proofed Movebank data into USGS ScienceBase to comply with the Federal Information Security Management Act of 2002. This improved data management system requires minimal manual intervention resulting in more efficient data flow from GPS data capture to archive status. As a result of the project’s success, Pinnacles National Park and the Ventana Wildlife Society California condor programs became partners and adopted the same workflow, tracking, and data archive system. This GPS tracking data management model and workflow should be applicable and beneficial to other wildlife tracking programs.

A floor-map-aided WiFi/pseudo-odometry integration algorithm for an indoor positioning system.

PubMed

Wang, Jian; Hu, Andong; Liu, Chunyan; Li, Xin

2015-03-24

This paper proposes a scheme for indoor positioning by fusing floor map, WiFi and smartphone sensor data to provide meter-level positioning without additional infrastructure. A topology-constrained K nearest neighbor (KNN) algorithm based on a floor map layout provides the coordinates required to integrate WiFi data with pseudo-odometry (P-O) measurements simulated using a pedestrian dead reckoning (PDR) approach. One method of further improving the positioning accuracy is to use a more effective multi-threshold step detection algorithm, as proposed by the authors. The "go and back" phenomenon caused by incorrect matching of the reference points (RPs) of a WiFi algorithm is eliminated using an adaptive fading-factor-based extended Kalman filter (EKF), taking WiFi positioning coordinates, P-O measurements and fused heading angles as observations. The "cross-wall" problem is solved based on the development of a floor-map-aided particle filter algorithm by weighting the particles, thereby also eliminating the gross-error effects originating from WiFi or P-O measurements. The performance observed in a field experiment performed on the fourth floor of the School of Environmental Science and Spatial Informatics (SESSI) building on the China University of Mining and Technology (CUMT) campus confirms that the proposed scheme can reliably achieve meter-level positioning.

The Effect of Ignoring Earth Curvature on Near-Regional Traveltime Tomography and Earthquake Hypocentral Determination

NASA Astrophysics Data System (ADS)

Bai, Chao-ying; Li, Xing-wang; Wang, Di; Greenhalgh, Stewart

2017-12-01

Earthquake hypocenter determination and traveltime tomography with local earthquake data are normally conducted using a Cartesian coordinate system and assuming a flat Earth model, but for regional and teleseismic data Earth curvature is incorporated and a spherical coordinate system employed. However, when the study region is from the local to near-regional scale (1°-4°), it is unclear what coordinate system to use and what kind of incorrect anomalies or location errors might arise when using the Cartesian coordinate frame. In this paper we investigate in a quantitative sense through two near-regional crustal models and five different inversion methods, the hypocenter errors, reflector perturbation and incorrect velocity anomalies that can arise due to the selection of the wrong coordinate system and inversion method. The simulated inversion results show that the computed traveltime errors are larger than 0.1 s when the epicentral distance exceeds 150 km, and increases linearly with increasing epicentral distance. Such predicted traveltime errors will result in different patterns of incorrect velocity anomalous structures, a perturbed Moho interface for traveltime tomography and source position which deviate for earthquake locations. The maximum magnitude of a velocity image artifact is larger than 1.0% for an epicentral distance of less than 500 km and is up to 0.9% for epicentral distances of less than 300 km. The earthquake source location error is more than 2.0 km for epicentral distances less than 500 km and is up to 1.5 km for epicentral distances less than 300 km. The Moho depth can be in error by up 1.0 km for epicentral distances of less than 500 km but is less than 0.5 km at distances below 300 km. We suggest that spherical coordinate geometry (or time correction) be used whenever there are ray paths at epicentral distances in excess of 150 km.

Dual-user nonlinear teleoperation subjected to varying time delay and bounded inputs.

PubMed

Zakerimanesh, Amir; Hashemzadeh, Farzad; Ghiasi, Amir Rikhtehgar

2017-05-01

A novel trilateral control architecture for Dual-master/Single-slave teleoperation system with taking account of saturation in actuators, nonlinear dynamics for telemanipulators and bounded varying time delay which affects the transmitted signals in the communication channels, is proposed in this paper. In this research, we will address the stability and desired position coordination problem of trilateral teleoperation system by extension of (nP+D) controller that is used for Single-master/Single-slave teleoperation system. Our proposed controller is weighted summation of nonlinear Proportional plus Damping (nP+D) controller that incorporate gravity compensation and the weights are specified by the dominance factor, which determines the supremacy of each user over the slave robot and over the other user. The asymptotic stability of closed loop dynamics is studied using Lyapunov-Krasovskii functional under conditions on the controller parameters, the actuator saturation characteristics and the maximum values of varying time delays. It is shown that these controllers satisfy the desired position coordination problem in free motion condition. To show the effectiveness of the proposed method, a number of simulations have been conducted on a varying time delay Dual-master/Single-slave teleoperation system using 3-DOF planar robots for each telemanipulator subjected to actuator saturation. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Photogrammetric determination of discrepancies between actual and planned position of dental implants

NASA Astrophysics Data System (ADS)

Forlani, G.; Rivara, F.

2014-05-01

The paper describes the design and testing of a photogrammetric measurement protocol set up to determine the discrepancies between the planned and actual position of computer-guided template-based dental implants. Two moulds with the implants positioned in pre- and post- intervention are produced and separately imaged with a highly redundant block of convergent images; the model with the implants is positioned on a steel frame with control points and with suitable targets attached. The theoretical accuracy of the system is better than 20 micrometers and 0.3-0.4° respectively for positions of implants and directions of implant axes. In order to compare positions and angles between the planned and actual position of an implant, coordinates and axes directions are brought to a common reference system with a Helmert transformation. A procedure for comparison of positions and directions to identify out-of-tolerance discrepancies is presented; a numerical simulation study shows the effectiveness of the procedure in identifying the implants with significant discrepancies between pre- and post- intervention.

Investigating Team Coordination in Baseball Using a Novel Joint Decision Making Paradigm

PubMed Central

Gray, Rob; Cooke, Nancy J.; McNeese, Nathan J.; McNabb, Jaimie

2017-01-01

A novel joint decision making paradigm for assessing team coordination was developed and tested using baseball infielders. Balls launched onto an infield at different trajectories were filmed using four video cameras that were each placed at one of the typical positions of the four infielders. Each participant viewed temporally occluded videos for one of the four positions and were asked to say either “ball” if they would attempt to field it or the name of the bag that they would cover. The evaluation of two experienced coaches was used to assign a group coordination score for each trajectory and group decision times were calculated. Thirty groups of 4 current college baseball players were: (i) teammates (players from same team/view from own position), (ii) non-teammates (players from different teams/view from own position), or (iii) scrambled teammates (players from same team/view not from own position). Teammates performed significantly better (i.e., faster and more coordinated decisions) than the other two groups, whereas scrambled teammates performed significantly better than non-teammates. These findings suggest that team coordination is achieved through both experience with one’s teammates’ responses to particular events (e.g., a ball hit up the middle) and one’s own general action capabilities (e.g., running speed). The sensitivity of our joint decision making paradigm to group makeup provides support for its use as a method for studying team coordination. PMID:28638354

SU-E-T-754: Three-Dimensional Patient Modeling Using Photogrammetry for Collision Avoidance

DOE Office of Scientific and Technical Information (OSTI.GOV)

Popple, R; Cardan, R

2015-06-15

Purpose: To evaluate photogrammetry for creating a three-dimensional patient model. Methods: A mannequin was configured on the couch of a CT scanner to simulate a patient setup using an indexed positioning device. A CT fiducial was placed on the indexed CT table-overlay at the reference index position. Two dimensional photogrammetry targets were placed on the table in known positions. A digital SLR camera was used to obtain 27 images from different positions around the CT table. The images were imported into a commercial photogrammetry package and a 3D model constructed. Each photogrammetry target was identified on 2 to 5 images.more » The CT DICOM metadata and the position of the CT fiducial were used to calculate the coordinates of the photogrammetry targets in the CT image frame of reference. The coordinates were transferred to the photogrammetry software to orient the 3D model. The mannequin setup was transferred to the treatment couch of a linear accelerator and positioned at isocenter using in-room lasers. The treatment couch coordinates were noted and compared with prediction. The collision free regions were measured over the full range of gantry and table motion and were compared with predictions obtained using a general purpose polygon interference algorithm. Results: The reconstructed 3D model consisted of 180000 triangles. The difference between the predicted and measured couch positions were 5 mm, 1 mm, and 1 mm for longitudinal, lateral, and vertical, respectively. The collision prediction tested 64620 gantry table combinations in 11.1 seconds. The accuracy was 96.5%, with false positive and negative results occurring at the boundaries of the collision space. Conclusion: Photogrammetry can be used as a tool for collision avoidance during treatment planning. The results indicate that a buffer zone is necessary to avoid false negatives at the boundary of the collision-free zone. Testing with human patients is underway. Research partially supported by a grant from Varian Medical Systems.« less

Cutting Solid Figures by Plane--Analytical Solution and Spreadsheet Implementation

ERIC Educational Resources Information Center

Benacka, Jan

2012-01-01

In some secondary mathematics curricula, there is a topic called Stereometry that deals with investigating the position and finding the intersection, angle, and distance of lines and planes defined within a prism or pyramid. Coordinate system is not used. The metric tasks are solved using Pythagoras' theorem, trigonometric functions, and sine and…

15 CFR Appendix II to Subpart P of... - Existing Management Areas Boundary Coordinates

Code of Federal Regulations, 2014 CFR

2014-01-01

....43.8′ N 81 deg.48.6′ W. Key West National Wildlife Refuge [Based on the North American Datum of 1983... COMMERCE OCEAN AND COASTAL RESOURCE MANAGEMENT NATIONAL MARINE SANCTUARY PROGRAM REGULATIONS Florida Keys... Administration Key Largo-Management Area [Based on differential Global Positioning Systems data] Point Latitude...

15 CFR Appendix II to Subpart P of... - Existing Management Areas Boundary Coordinates

Code of Federal Regulations, 2011 CFR

2011-01-01

....43.8′ N 81 deg.48.6′ W. Key West National Wildlife Refuge [Based on the North American Datum of 1983... COMMERCE OCEAN AND COASTAL RESOURCE MANAGEMENT NATIONAL MARINE SANCTUARY PROGRAM REGULATIONS Florida Keys... Administration Key Largo-Management Area [Based on differential Global Positioning Systems data] Point Latitude...

15 CFR Appendix II to Subpart P of... - Existing Management Areas Boundary Coordinates

Code of Federal Regulations, 2010 CFR

2010-01-01

....43.8′ N 81 deg.48.6′ W. Key West National Wildlife Refuge [Based on the North American Datum of 1983... COMMERCE OCEAN AND COASTAL RESOURCE MANAGEMENT NATIONAL MARINE SANCTUARY PROGRAM REGULATIONS Florida Keys... Administration Key Largo-Management Area [Based on differential Global Positioning Systems data] Point Latitude...

15 CFR Appendix II to Subpart P of... - Existing Management Areas Boundary Coordinates

Code of Federal Regulations, 2013 CFR

2013-01-01

....43.8′ N 81 deg.48.6′ W. Key West National Wildlife Refuge [Based on the North American Datum of 1983... COMMERCE OCEAN AND COASTAL RESOURCE MANAGEMENT NATIONAL MARINE SANCTUARY PROGRAM REGULATIONS Florida Keys... Administration Key Largo-Management Area [Based on differential Global Positioning Systems data] Point Latitude...

15 CFR Appendix II to Subpart P of... - Existing Management Areas Boundary Coordinates

Code of Federal Regulations, 2012 CFR

2012-01-01

....43.8′ N 81 deg.48.6′ W. Key West National Wildlife Refuge [Based on the North American Datum of 1983... COMMERCE OCEAN AND COASTAL RESOURCE MANAGEMENT NATIONAL MARINE SANCTUARY PROGRAM REGULATIONS Florida Keys... Administration Key Largo-Management Area [Based on differential Global Positioning Systems data] Point Latitude...

Coordinate Time and Proper Time in the GPS

ERIC Educational Resources Information Center

Matolcsi, T.; Matolcsi, M.

2008-01-01

The global positioning system (GPS) provides an excellent educational example of how the theory of general relativity is put into practice and becomes part of our everyday life. This paper gives a short and instructive derivation of an important formula used in the GPS, and is aimed at graduate students and general physicists. The authors…

An AlgU-regulated antisense transcript encoded within the Pseudomonas syringae fleQ gene has a positive effect on motility

USDA-ARS?s Scientific Manuscript database

Bacterial flagella production is controlled by a multi-tiered regulatory system that coordinates expression of 40-50 subunits and correct assembly of these complicated structures. Flagellar expression is environmentally controlled, presumably to optimize the benefits and liabilities of flagellar ex...

Precise FIA plot registration using field and dense LIDAR data

Treesearch

Demetrios Gatziolis

2009-01-01

Precise registration of forest inventory and analysis (FIA) plots is a prerequisite for an effective fusion of field data with ancillary spatial information, which is an approach commonly employed in the mapping of various forest parameters. Although the adoption of Global Positioning System technology has improved the precision of plot coordinates obtained during...

Swift Data Products in GCN

NASA Astrophysics Data System (ADS)

Barthelmy, Scott D.

2006-09-01

The Swift mission produces a much larger range of data products for the GRB Coordinates Distribution (GCN) system than any previous mission. Beyond the normal position-containing notices, the extra products are lightcurves, spectra, and images. We will present examples of these new data products and how they can be used to guide GRB follow-up observation campaigns.

H2LIFT: global navigation simulation ship tracking and WMD detection in the maritime domain

NASA Astrophysics Data System (ADS)

Wyffels, Kevin

2007-04-01

This paper presents initial results for a tracking simulation of multiple maritime vehicles for use in a data fusion program detecting Weapons of Mass Destruction (WMD). This simulation supports a fusion algorithm (H2LIFT) for collecting and analyzing data providing a heuristic analysis tool for detecting weapons of mass destruction in the maritime domain. Tools required to develop a navigational simulation fitting a set of project objectives are introduced for integration into the H2LIFT algorithm. Emphasis is placed on the specific requirements of the H2LIFT project, however the basic equations, algorithms, and methodologies can be used as tools in a variety of scenario simulations. Discussion will be focused on track modeling (e.g. position tracking of ships), navigational techniques, WMD detection, and simulation of these models using Matlab and Simulink. Initial results provide absolute ship position data for a given multi-ship maritime scenario with random generation of a given ship containing a WMD. Required coordinate systems, conversions between coordinate systems, Earth modeling techniques, and navigational conventions and techniques are introduced for development of the simulations.

Three-dimensional transformation optics for arbitrary coordinate systems: transforming conductive materials and boundaries.

PubMed

Kazemzadeh, Mohammad-Rahim; Alighanbari, Abbas

2018-04-16

A three-dimensional transformation optics method, leading to homogeneous materials, applicable to any non-Cartesian coordinate systems or waveguides/objects of arbitrary cross-sections is presented. Both the conductive boundary and internal material of the desired device is determined by the proposed formulation. The method is applicable to a wide range of waveguide, radiation, and cloaking problems, and is demonstrated for circular waveguide couplers and an external cloak. An advantage of the present method is that the material properties are simplified by appropriately selecting the conductive boundaries. For instance, a right-angle circular waveguide bend is presented which uses only one homogenous material. Also, transformation of conductive materials and boundaries are studied. The conditions in which the transformed boundaries remain conductive are discussed. In addition, it is demonstrated that negative infinite conductivity can be replaced with positive conductivity, without affecting the field outside the conductive boundary. It is also observed that a negative finite conductivity can be replaced with a positive one, by accepting some small errors. The general mathematical procedure and formulation for calculating the parametric surface equations of the conductive peripheries are presented.

In vitro validation and reliability study of electromagnetic skin sensors for evaluation of end range of motion positions of the hip.

PubMed

Audenaert, E A; Vigneron, L; Van Hoof, T; D'Herde, K; van Maele, G; Oosterlinck, D; Pattyn, C

2011-12-01

There is growing evidence that femoroacetabular impingement (FAI) is a probable risk factor for the development of early osteoarthritis in the nondysplastic hip. As FAI arises with end range of motion activities, measurement errors related to skin movement might be higher than anticipated when using previously reported methods for kinematic evaluation of the hip. We performed an in vitro validation and reliability study of a noninvasive method to define pelvic and femur positions in end range of motion activities of the hip using an electromagnetic tracking device. Motion data, collected from sensors attached to the bone and skin of 11 cadaver hips, were simultaneously obtained and compared in a global reference frame. Motion data were then transposed in the hip joint local coordinate systems. Observer-related variability in locating the anatomical landmarks required to define the local coordinate system and variability of determining the hip joint center was evaluated. Angular root mean square (RMS) differences between the bony and skin sensors averaged 3.2° (SD 3.5°) and 1.8° (SD 2.3°) in the global reference frame for the femur and pelvic sensors, respectively. Angular RMS differences between the bony and skin sensors in the hip joint local coordinate systems ranged at end range of motion and dependent on the motion under investigation from 1.91 to 5.81°. The presented protocol for evaluation of hip motion seems to be suited for the 3-D description of motion relevant to the experimental and clinical evaluation of femoroacetabular impingement.

Hybrid position and orientation tracking for a passive rehabilitation table-top robot.

PubMed

Wojewoda, K K; Culmer, P R; Gallagher, J F; Jackson, A E; Levesley, M C

2017-07-01

This paper presents a real time hybrid 2D position and orientation tracking system developed for an upper limb rehabilitation robot. Designed to work on a table-top, the robot is to enable home-based upper-limb rehabilitative exercise for stroke patients. Estimates of the robot's position are computed by fusing data from two tracking systems, each utilizing a different sensor type: laser optical sensors and a webcam. Two laser optical sensors are mounted on the underside of the robot and track the relative motion of the robot with respect to the surface on which it is placed. The webcam is positioned directly above the workspace, mounted on a fixed stand, and tracks the robot's position with respect to a fixed coordinate system. The optical sensors sample the position data at a higher frequency than the webcam, and a position and orientation fusion scheme is proposed to fuse the data from the two tracking systems. The proposed fusion scheme is validated through an experimental set-up whereby the rehabilitation robot is moved by a humanoid robotic arm replicating previously recorded movements of a stroke patient. The results prove that the presented hybrid position tracking system can track the position and orientation with greater accuracy than the webcam or optical sensors alone. The results also confirm that the developed system is capable of tracking recovery trends during rehabilitation therapy.

Doctors' opinion on the contribution of coordination mechanisms to improving clinical coordination between primary and outpatient secondary care in the Catalan national health system.

PubMed

Aller, Marta-Beatriz; Vargas, Ingrid; Coderch, Jordi; Vázquez, Maria-Luisa

2017-12-22

Clinical coordination is considered a health policy priority as its absence can lead to poor quality of care and inefficiency. A key challenge is to identify which strategies should be implemented to improve coordination. The aim is to analyse doctors' opinions on the contribution of mechanisms to improving clinical coordination between primary and outpatient secondary care and the factors influencing their use. A qualitative descriptive study in three healthcare networks of the Catalan national health system. A two-stage theoretical sample was designed: in the first stage, networks with different management models were selected; in the second, primary care (n = 26) and secondary care (n = 24) doctors. Data were collected using semi-structured interviews. Final sample size was reached by saturation. A thematic content analysis was conducted, segmented by network and care level. With few differences across networks, doctors identified similar mechanisms contributing to clinical coordination: 1) shared EMR facilitating clinical information transfer and uptake; 2) mechanisms enabling problem-solving communication and agreement on clinical approaches, which varied across networks (joint clinical case conferences, which also promote mutual knowledge and training of primary care doctors; virtual consultations through EMR and email); and 3) referral protocols and use of the telephone facilitating access to secondary care after referrals. Doctors identified organizational (insufficient time, incompatible timetables, design of mechanisms) and professional factors (knowing each other, attitude towards collaboration, concerns over misdiagnosis) that influence the use of mechanisms. Mechanisms that most contribute to clinical coordination are feedback mechanisms, that is those based on mutual adjustment, that allow doctors to exchange information and communicate. Their use might be enhanced by focusing on adequate working conditions, mechanism design and creating conditions that promote mutual knowledge and positive attitudes towards collaboration.

Development of a new calibration procedure and its experimental validation applied to a human motion capture system.

PubMed

Royo Sánchez, Ana Cristina; Aguilar Martín, Juan José; Santolaria Mazo, Jorge

2014-12-01

Motion capture systems are often used for checking and analyzing human motion in biomechanical applications. It is important, in this context, that the systems provide the best possible accuracy. Among existing capture systems, optical systems are those with the highest accuracy. In this paper, the development of a new calibration procedure for optical human motion capture systems is presented. The performance and effectiveness of that new calibration procedure are also checked by experimental validation. The new calibration procedure consists of two stages. In the first stage, initial estimators of intrinsic and extrinsic parameters are sought. The camera calibration method used in this stage is the one proposed by Tsai. These parameters are determined from the camera characteristics, the spatial position of the camera, and the center of the capture volume. In the second stage, a simultaneous nonlinear optimization of all parameters is performed to identify the optimal values, which minimize the objective function. The objective function, in this case, minimizes two errors. The first error is the distance error between two markers placed in a wand. The second error is the error of position and orientation of the retroreflective markers of a static calibration object. The real co-ordinates of the two objects are calibrated in a co-ordinate measuring machine (CMM). The OrthoBio system is used to validate the new calibration procedure. Results are 90% lower than those from the previous calibration software and broadly comparable with results from a similarly configured Vicon system.

SOLARTRAK. Solar Array Tracking Control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Manish, A.B.; Dudley, J.

1995-06-01

SolarTrak used in conjunction with various versions of 68HC11-based SolarTrack hardware boards provides control system for one or two axis solar tracking arrays. Sun position is computed from stored position data and time from an on-board clock/calendar chip. Position feedback can be by one or two offset motor turn counter square wave signals per axis, or by a position potentiometer. A limit of 256 counts resolution is imposed by the on-board analog to digital (A/D) convertor. Control is provided for one or two motors. Numerous options are provided to customize the controller for specific applications. Some options are imposed atmore » compile time, some are setable during operation. Software and hardware board designs are provided for Control Board and separate User Interface Board that accesses and displays variables from Control Board. Controller can be used with range of sensor options ranging from a single turn count sensor per motor to systems using dual turn-count sensors, limit sensors, and a zero reference sensor. Dual axis trackers oriented azimuth elevation, east west, north south, or polar declination can be controlled. Misalignments from these orientations can also be accommodated. The software performs a coordinate transformation using six parameters to compute sun position in misaligned coordinates of the tracker. Parameters account for tilt of tracker in two directions, rotation about each axis, and gear ration errors in each axis. The software can even measure and compute these prameters during an initial setup period if current from a sun position sensor or output from photovoltaic array is available as an anlog voltage to the control board`s A/D port. Wind or emergency stow to aj present position is available triggered by digital or analog signals. Night stow is also available. Tracking dead band is adjustable from narrow to wide. Numerous features of the hardware and software conserve energy for use with battery powered systems.« less

Solar Array Tracking Control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Maish, Alexander

1995-06-22

SolarTrak used in conjunction with various versions of 68HC11-based SolarTrack hardware boards provides control system for one or two axis solar tracking arrays. Sun position is computed from stored position data and time from an on-board clock/calendar chip. Position feedback can be by one or two offset motor turn counter square wave signals per axis, or by a position potentiometer. A limit of 256 counts resolution is imposed by the on-board analog to digital (A/D) convertor. Control is provided for one or two motors. Numerous options are provided to customize the controller for specific applications. Some options are imposed atmore » compile time, some are setable during operation. Software and hardware board designs are provided for Control Board and separate User Interface Board that accesses and displays variables from Control Board. Controller can be used with range of sensor options ranging from a single turn count sensor per motor to systems using dual turn-count sensors, limit sensors, and a zero reference sensor. Dual axis trackers oriented azimuth elevation, east west, north south, or polar declination can be controlled. Misalignments from these orientations can also be accommodated. The software performs a coordinate transformation using six parameters to compute sun position in misaligned coordinates of the tracker. Parameters account for tilt of tracker in two directions, rotation about each axis, and gear ration errors in each axis. The software can even measure and compute these prameters during an initial setup period if current from a sun position sensor or output from photovoltaic array is available as an anlog voltage to the control board''s A/D port. Wind or emergency stow to aj present position is available triggered by digital or analog signals. Night stow is also available. Tracking dead band is adjustable from narrow to wide. Numerous features of the hardware and software conserve energy for use with battery powered systems.« less

A versatile localization system for microscopic multiparametric analysis of cells.

PubMed

Thaw, H H; Rundquist, I; Johansson, U; Svensson, I; Collins, V P

1983-03-01

A new, simple and relatively inexpensive electronic digital position readout (DPRO) system which can be applied to the rapid localization and recovery of microscopic material is described. It is based upon a commercially available digital position readout system which is routinely utilized by industry for small machine tools and measuring equipment. This has been mounted onto the stage of various microscopic instrumentation to provide X and Y coordinates relative to an arbitrary reference point. The integration of small computers interfaced to scanning interferometric, microdensitometric and fluorescence microscopes were used to demonstrate the reliability, versatility and ease of application of this system to problems of multiparametric measurements and analysis of cultured cells. The system may be expanded and applied to clinical material to obtain automatized, multiparametric measurements of cells in haematology and clinical cytology.

The Design and Implementation of Indoor Localization System Using Magnetic Field Based on Smartphone

NASA Astrophysics Data System (ADS)

Liu, J.; Jiang, C.; Shi, Z.

2017-09-01

Sufficient signal nodes are mostly required to implement indoor localization in mainstream research. Magnetic field take advantage of high precision, stable and reliability, and the reception of magnetic field signals is reliable and uncomplicated, it could be realized by geomagnetic sensor on smartphone, without external device. After the study of indoor positioning technologies, choose the geomagnetic field data as fingerprints to design an indoor localization system based on smartphone. A localization algorithm that appropriate geomagnetic matching is designed, and present filtering algorithm and algorithm for coordinate conversion. With the implement of plot geomagnetic fingerprints, the indoor positioning of smartphone without depending on external devices can be achieved. Finally, an indoor positioning system which is based on Android platform is successfully designed, through the experiments, proved the capability and effectiveness of indoor localization algorithm.

Avoiding drift related to linear analysis update with Lagrangian coordinate models

NASA Astrophysics Data System (ADS)

Wang, Yiguo; Counillon, Francois; Bertino, Laurent

2015-04-01

When applying data assimilation to Lagrangian coordinate models, it is profitable to correct its grid (position, volume). In isopycnal ocean coordinate model, such information is provided by the layer thickness that can be massless but must remains positive (truncated Gaussian distribution). A linear gaussian analysis does not ensure positivity for such variable. Existing methods have been proposed to handle this issue - e.g. post processing, anamorphosis or resampling - but none ensures conservation of the mean, which is imperative in climate application. Here, a framework is introduced to test a new method, which proceed as following. First, layers for which analysis yields negative values are iteratively grouped with neighboring layers, resulting in a probability density function with a larger mean and smaller standard deviation that prevent appearance of negative values. Second, analysis increments of the grouped layer are uniformly distributed, which prevent massless layers to become filled and vice-versa. The new method is proved fully conservative with e.g. OI or 3DVAR but a small drift remains with ensemble-based methods (e.g. EnKF, DEnKF, …) during the update of the ensemble anomaly. However, the resulting drift with the latter is small (an order of magnitude smaller than with post-processing) and the increase of the computational cost moderate. The new method is demonstrated with a realistic application in the Norwegian Climate Prediction Model (NorCPM) that provides climate prediction by assimilating sea surface temperature with the Ensemble Kalman Filter in a fully coupled Earth System model (NorESM) with an isopycnal ocean model (MICOM). Over 25-year analysis period, the new method does not impair the predictive skill of the system but corrects the artificial steric drift introduced by data assimilation, and provide estimate in good agreement with IPCC AR5.

Framework for 2D-3D image fusion of infrared thermography with preoperative MRI.

PubMed

Hoffmann, Nico; Weidner, Florian; Urban, Peter; Meyer, Tobias; Schnabel, Christian; Radev, Yordan; Schackert, Gabriele; Petersohn, Uwe; Koch, Edmund; Gumhold, Stefan; Steiner, Gerald; Kirsch, Matthias

2017-11-27

Multimodal medical image fusion combines information of one or more images in order to improve the diagnostic value. While previous applications mainly focus on merging images from computed tomography, magnetic resonance imaging (MRI), ultrasonic and single-photon emission computed tomography, we propose a novel approach for the registration and fusion of preoperative 3D MRI with intraoperative 2D infrared thermography. Image-guided neurosurgeries are based on neuronavigation systems, which further allow us track the position and orientation of arbitrary cameras. Hereby, we are able to relate the 2D coordinate system of the infrared camera with the 3D MRI coordinate system. The registered image data are now combined by calibration-based image fusion in order to map our intraoperative 2D thermographic images onto the respective brain surface recovered from preoperative MRI. In extensive accuracy measurements, we found that the proposed framework achieves a mean accuracy of 2.46 mm.

Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms

PubMed Central

Togo, Shunta; Kagawa, Takahiro; Uno, Yoji

2016-01-01

The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the “UCM reference feedback control.” To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque change, the variance components, and the index of synergy as well as the human subjects. We concluded that UCM reference feedback control can reproduce human-like joint coordination. The inference for motor control of the human central nervous system based on the proposed method was discussed. PMID:27462215

Remarks upon the term stereotaxy: a linguistic and historical note.

PubMed

Grunert, Peter; Keiner, Doerthe; Oertel, Joachim

2015-01-01

The correct explanation of the term 'stereotaxy' is linguistically not self-evident because the Greek term stereon means not spatial but 'hard' or 'solid'. The aim of our study was to clarify the term stereotaxy historically and linguistically. We carried out our study by reviewing the neurosurgical and ancient Greek literature. The term stereotaxy is composed of two ancient Greek words: stereon and taxis. Stereon was used in particular as a technical term for geometrical solids in Greek mathematics. This term can be traced back to Platon and Euclid in the 4th and 3rd century BC, respectively. Only in this sense of the word does stereon in stereotaxy actually mean 'spatial' or '3-dimensional'. Taxis is derived from the verb tattein(τάττειν) with the meaning 'to position'. The terms 'stereotaxis' and 'stereotaxic apparatus' were introduced by Clarke and Horsley in 1908 to denote a method for the precise positioning of electrodes into the deep cerebellar nuclei of apes. The target in space was defined by 3 distances in relation to 3 orthogonal planes. Although this concept corresponded exactly to x-, y- and z-coordinates in a cartesian coordinate system, Clarke never used the concept of coordinates. The intuitive explanation of the term stereotaxy as spatial positioning is correct, but linguistically more complex than would be expected. © 2015 S. Karger AG, Basel.

Primary care physicians, acupuncture and chiropractic clinicians, and chronic pain patients: a qualitative analysis of communication and care coordination patterns.

PubMed

Penney, Lauren S; Ritenbaugh, Cheryl; Elder, Charles; Schneider, Jennifer; Deyo, Richard A; DeBar, Lynn L

2016-01-25

A variety of people, with multiple perspectives, make up the system comprising chronic musculoskeletal pain (CMP) treatment. While there are frequently problems in communication and coordination of care within conventional health systems, more opportunities for communicative disruptions seem possible when providers use different explanatory models and are not within the same health management system. We sought to describe the communication system surrounding the management of chronic pain from the perspectives of allopathic providers, acupuncture and chiropractor (A/C) providers, and CMP patients. We collected qualitative data from CMP patients (n = 90) and primary care physicians (PCPs) (n = 25) in a managed care system, and community acupuncture and chiropractic care providers (n = 14) who received high levels of referrals from the system, in the context of a longitudinal study of CMP patients' experience. Multiple points of divergence and communicative barriers were identified among the main stakeholders in the system. Those that were most frequently mentioned included issues surrounding the referral process (requesting, approving) and lack of consistent information flow back to providers that impairs overall management of patient care. We found that because of these problems, CMP patients were frequently tasked and sometimes overwhelmed with integrating and coordinating their own care, with little help from the system. Patients, PCPs, and A/C providers desire more communication; thus systems need to be created to facilitate more open communication which could positively benefit patient outcomes.

Regulating the Intersection of Metabolism and Pathogenesis in Gram-positive Bacteria

PubMed Central

RICHARDSON, ANTHONY R.; SOMERVILLE, GREG A.; SONENSHEIN, ABRAHAM L.

2015-01-01

Pathogenic bacteria must contend with immune systems that actively restrict the availability of nutrients and cofactors, and create a hostile growth environment. To deal with these hostile environments, pathogenic bacteria have evolved or acquired virulence determinants that aid in the acquisition of nutrients. This connection between pathogenesis and nutrition may explain why regulators of metabolism in nonpathogenic bacteria are used by pathogenic bacteria to regulate both metabolism and virulence. Such coordinated regulation is presumably advantageous because it conserves carbon and energy by aligning synthesis of virulence determinants with the nutritional environment. In Gram-positive bacterial pathogens, at least three metabolite-responsive global regulators, CcpA, CodY, and Rex, have been shown to coordinate the expression of metabolism and virulence genes. In this chapter, we discuss how environmental challenges alter metabolism, the regulators that respond to this altered metabolism, and how these regulators influence the host-pathogen interaction. PMID:26185086

The Care management Information system for the home Care Network (SI GESCAD): support for care coordination and continuity of care in the Brazilian Unified health system (SUS).

PubMed

Pires, Maria Raquel Gomes Maia; Gottems, Leila Bernarda Donato; Vasconcelos Filho, José Eurico; Silva, Kênia Lara; Gamarski, Ricardo

2015-06-01

The present article describes the development of the initial version of the Brazilian Care Management Information System for the Home Care Network (SI GESCAD). This system was created to enhance comprehensive care, care coordination and the continuity of care provided to the patients, family and caretakers of the Home Care (HC) program. We also present a reflection on the contributions, limitations and possibilities of the SI GESCAD within the scope of the Home Care Network of the Brazilian Unified Health System (RAS-AD). This was a study on technology production based on a multi-method protocol. It discussed software engineering and human-computer interaction (HCI) based on user-centered design, as well as evolutionary and interactive software process (prototyping and spiral). A functional prototype of the GESCAD was finalized, which allowed for the management of HC to take into consideration the patient's social context, family and caretakers. The system also proved to help in the management of activities of daily living (ADLs), clinical care and the monitoring of variables associated with type 2 HC. The SI GESCAD allowed for a more horizontal work process for HC teams at the RAS-AD/SUS level of care, with positive repercussions on care coordination and continuity of care.

Research on the error model of airborne celestial/inertial integrated navigation system

NASA Astrophysics Data System (ADS)

Zheng, Xiaoqiang; Deng, Xiaoguo; Yang, Xiaoxu; Dong, Qiang

2015-02-01

Celestial navigation subsystem of airborne celestial/inertial integrated navigation system periodically correct the positioning error and heading drift of the inertial navigation system, by which the inertial navigation system can greatly improve the accuracy of long-endurance navigation. Thus the navigation accuracy of airborne celestial navigation subsystem directly decides the accuracy of the integrated navigation system if it works for long time. By building the mathematical model of the airborne celestial navigation system based on the inertial navigation system, using the method of linear coordinate transformation, we establish the error transfer equation for the positioning algorithm of airborne celestial system. Based on these we built the positioning error model of the celestial navigation. And then, based on the positioning error model we analyze and simulate the positioning error which are caused by the error of the star tracking platform with the MATLAB software. Finally, the positioning error model is verified by the information of the star obtained from the optical measurement device in range and the device whose location are known. The analysis and simulation results show that the level accuracy and north accuracy of tracking platform are important factors that limit airborne celestial navigation systems to improve the positioning accuracy, and the positioning error have an approximate linear relationship with the level error and north error of tracking platform. The error of the verification results are in 1000m, which shows that the model is correct.

[Effect of physical activity on functional performance].

PubMed

Nikolaus, T

2001-02-01

Epidemiological studies clearly show a connection between physical activity and the occurrence of disabilities in old age. Physical exercise is possible and useful at every age. Numerous intervention trials have shown that training of endurance, strength and coordination has positive effects on the cardiovascular system, the lung, the musculo-skeletal system, metabolism and the immune system in elderly people. Even very frail elderly people can increase their muscle strength and functional capabilities by strength training. Group sessions may improve social interactions and additionally increase the quality of life.

Positional and Dimensional Accuracy Assessment of Drone Images Geo-referenced with Three Different GPSs

NASA Astrophysics Data System (ADS)

Cao, C.; Lee, X.; Xu, J.

2017-12-01

Unmanned Aerial Vehicles (UAVs) or drones have been widely used in environmental, ecological and engineering applications in recent years. These applications require assessment of positional and dimensional accuracy. In this study, positional accuracy refers to the accuracy of the latitudinal and longitudinal coordinates of locations on the mosaicked image in reference to the coordinates of the same locations measured by a Global Positioning System (GPS) in a ground survey, and dimensional accuracy refers to length and height of a ground target. Here, we investigate the effects of the number of Ground Control Points (GCPs) and the accuracy of the GPS used to measure the GCPs on positional and dimensional accuracy of a drone 3D model. Results show that using on-board GPS and a hand-held GPS produce a positional accuracy on the order of 2-9 meters. In comparison, using a differential GPS with high accuracy (30 cm) improves the positional accuracy of the drone model by about 40 %. Increasing the number of GCPs can compensate for the uncertainty brought by the GPS equipment with low accuracy. In terms of the dimensional accuracy of the drone model, even with the use of a low resolution GPS onboard the vehicle, the mean absolute errors are only 0.04 m for height and 0.10 m for length, which are well suited for some applications in precision agriculture and in land survey studies.

Coordinating medical education and health care systems: the power of the social accountability approach.

PubMed

Boelen, Charles

2018-01-01

As the purpose of medical education is to produce graduates able to most effectively address people's health concerns, there is general agreement that coordination with the health care system is essential. For too long, coordination has been dealt with in a subjective manner with only few landmarks to ensure objective and measurable achievements. Over the last 30 years, since the Edinburgh Declaration on medical education, progress has been made, namely with the concept of social accountability. The social accountability approach provides a way to plan, deliver and assess medical education with the explicit aim to contribute to effective, equitable and sustainable health system development. It is based on a system-wide scope exploring issues from identification of people's and society's health needs to verification of the effects of medical education in meeting those needs. A wide international consultation among medical education leaders led to the adoption of the Global Consensus on Social Accountability of Medical Schools. Benchmarks of social accountability are in the process of being conceived and tested, enabling medical schools to steer medical education in a more purposeful way in relation to determinants of health. A sample of schools using the social accountability approach claims to have had a positive influence on health care system performance and people's health status. Improved coordination of medical education and other key stakeholders in the health system is an important challenge for medical schools as well as for countries confronted with an urgent need for optimal use of their health workforce. There is growing interest worldwide in defining policies and strategies and supporting experiences in this regard. © 2017 John Wiley & Sons Ltd and The Association for the Study of Medical Education.

Interpersonal dynamics and relative positioning to scoring target of performers in 1 vs. 1 sub-phases of team sports.

PubMed

Esteves, Pedro T; Araújo, Duarte; Davids, Keith; Vilar, Luís; Travassos, Bruno; Esteves, Carlos

2012-01-01

In this study, we examined the effects of relative positioning of attacker-defender dyads to the basket on interpersonal coordination tendencies in basketball. To achieve this aim, four right-hand dominant basketball players performed in a 1 vs. 1 sub-phase, at nine different playing locations relative to the basket (from 0° to 180°, in 20° increments). Performers' movement displacement trajectories were video-recorded and digitized in 162 trials. Results showed that interpersonal coordination tendencies changed according to the scaling of the relative position of performers to the basket. Stable in-phase modes of coordination were observed between performers' longitudinal and lateral displacements (50.47% and 43.02%) on the left side of the court. On the right side of the court, a shift in the dominant mode of coordination was observed to a defender lead-lag of -30°, both for longitudinal and lateral displacements (30.51% and 32.65%). These results suggest how information about dribbler hand dominance and relative position to the basket may have constrained attacker-defender coordination tendencies in 1 vs. 1 sub-phases of basketball.

Adaptive Responses in Eye-Head-Hand Coordination Following Exposures to a Virtual Environment as a Possible Space Flight Analog

NASA Technical Reports Server (NTRS)

Harm, Deborah L.; Taylor, L. C.; Bloomberg, J. J.

2007-01-01

Virtual environments (VE) offer unique training opportunities, particularly for training astronauts and preadapting them to the novel sensory conditions of microgravity. Sensorimotor aftereffects of VEs are often quite similar to adaptive sensorimotor responses observed in astronauts during and/or following space flight. The purpose of this research was to compare disturbances in sensorimotor coordination produced by dome virtual environment display and to examine the effects of exposure duration, and repeated exposures to VR systems. The current study examined disturbances in eye-head-hand (EHH) and eye-head coordination. Preliminary results will be presented. Eleven subjects have participated in the study to date. One training session was completed in order to achieve stable performance on the EHH coordination and VE tasks. Three experimental sessions were performed each separated by one day. Subjects performed a navigation and pick and place task in a dome immersive display VE for 30 or 60 min. The subjects were asked to move objects from one set of 15 pedestals to the other set across a virtual square room through a random pathway as quickly and accurately as possible. EHH coordination was measured before, immediately after, and at 1 hr, 2 hr, 4 hr and 6 hr following exposure to VR. EHH coordination was measured as position errors and reaction time in a pointing task that included multiple horizontal and vertical LED targets. Repeated measures ANOVAs were used to analyze the data. In general, we observed significant increases in position errors for both horizontal and vertical targets. The largest decrements were observed immediately following exposure to VR and showed a fairly rapid recovery across test sessions, but not across days. Subjects generally showed faster RTs across days. Individuals recovered from the detrimental effects of exposure to the VE on position errors within 1-2 hours. The fact that subjects did not significantly improve across days suggests that in order to achieve dual adaptation of EHH coordination may require more than three training sessions. These findings provide some direction for developing training schedules for VE users that facilitate adaptation, support the idea that preflight training of astronauts may serve as useful countermeasure for the sensorimotor effects of space flight, and support the idea that VEs may serve as an analog for sensorimotor effects of spaceflight.

Controlling and fine tuning the physical properties of two identical metal coordination sites in de novo designed three stranded coiled coil peptides.

PubMed

Iranzo, Olga; Chakraborty, Saumen; Hemmingsen, Lars; Pecoraro, Vincent L

2011-01-19

Herein we report how de novo designed peptides can be used to investigate whether the position of a metal site along a linear sequence that folds into a three-stranded α-helical coiled coil defines the physical properties of Cd(II) ions in either CdS(3) or CdS(3)O (O-being an exogenous water molecule) coordination environments. Peptides are presented that bind Cd(II) into two identical coordination sites that are located at different topological positions at the interior of these constructs. The peptide GRANDL16PenL19IL23PenL26I binds two Cd(II) as trigonal planar 3-coordinate CdS(3) structures whereas GRANDL12AL16CL26AL30C sequesters two Cd(II) as pseudotetrahedral 4-coordinate CdS(3)O structures. We demonstrate how for the first peptide, having a more rigid structure, the location of the identical binding sites along the linear sequence does not affect the physical properties of the two bound Cd(II). However, the sites are not completely independent as Cd(II) bound to one of the sites ((113)Cd NMR chemical shift of 681 ppm) is perturbed by the metalation state (apo or [Cd(pep)(Hpep)(2)](+) or [Cd(pep)(3)](-)) of the second center ((113)Cd NMR chemical shift of 686 ppm). GRANDL12AL16CL26AL30C shows a completely different behavior. The physical properties of the two bound Cd(II) ions indeed depend on the position of the metal center, having pK(a2) values for the equilibrium [Cd(pep)(Hpep)(2)](+) → [Cd(pep)(3)](-) + 2H(+) (corresponding to deprotonation and coordination of cysteine thiols) that range from 9.9 to 13.9. In addition, the L26AL30C site shows dynamic behavior, which is not observed for the L12AL16C site. These results indicate that for these systems one cannot simply assign a "4-coordinate structure" and assume certain physical properties for that site since important factors such as packing of the adjacent Leu, size of the intended cavity (endo vs exo) and location of the metal site play crucial roles in determining the final properties of the bound Cd(II).

VizieR Online Data Catalog: HI4PI spectra and column density maps (HI4PI team+, 2016)

NASA Astrophysics Data System (ADS)

Hi4PI Collaboration; Ben Bekhti, N.; Floeer, L.; Keller, R.; Kerp, J.; Lenz, D.; Winkel, B.; Bailin, J.; Calabretta, M. R.; Dedes, L.; Ford, H. A.; Gibson, B. K.; Haud, U.; Janowiecki, S.; Kalberla, P. M. W.; Lockman, F. J.; McClure-Griffiths, N. M.; Murphy, T.; Nakanishi, H.; Pisano, D. J.; Staveley-Smith, L.

2016-09-01

The HI4PI data release comprises 21-cm neutral atomic hydrogen data of the Milky Way (-600km/s0°; -470km/s

75 FR 57690 - Acquisition Regulation: Sustainable Acquisition

Federal Register 2010, 2011, 2012, 2013, 2014

2010-09-22

... coordinate its activities with and submit required reports through the Environmental Sustainability... reports directly to the Prime Contractor's Environmental Sustainability Coordinator at the supported... reports through the Environmental Sustainability Coordinator or equivalent position. Reporting under this...

48 CFR 952.223-78 - Sustainable acquisition program.

Code of Federal Regulations, 2014 CFR

2014-10-01

... activities with and submit required reports through the Environmental Sustainability Coordinator or... Prime Contractor's Environmental Sustainability Coordinator at the supported facility. The Subcontractor... reports through the Environmental Sustainability Coordinator or equivalent position. Reporting under this...

48 CFR 952.223-78 - Sustainable acquisition program.

Code of Federal Regulations, 2012 CFR

2012-10-01

... activities with and submit required reports through the Environmental Sustainability Coordinator or... Prime Contractor's Environmental Sustainability Coordinator at the supported facility. The Subcontractor... reports through the Environmental Sustainability Coordinator or equivalent position. Reporting under this...

48 CFR 952.223-78 - Sustainable acquisition program.

Code of Federal Regulations, 2011 CFR

2011-10-01

... activities with and submit required reports through the Environmental Sustainability Coordinator or... Prime Contractor's Environmental Sustainability Coordinator at the supported facility. The Subcontractor... reports through the Environmental Sustainability Coordinator or equivalent position. Reporting under this...

48 CFR 952.223-78 - Sustainable acquisition program.

Code of Federal Regulations, 2013 CFR

2013-10-01

... activities with and submit required reports through the Environmental Sustainability Coordinator or... Prime Contractor's Environmental Sustainability Coordinator at the supported facility. The Subcontractor... reports through the Environmental Sustainability Coordinator or equivalent position. Reporting under this...

Improved treatment of global positioning system force parameters in precise orbit determination applications

NASA Technical Reports Server (NTRS)

Vigue, Y.; Lichten, S. M.; Muellerschoen, R. J.; Blewitt, G.; Heflin, M. B.

1993-01-01

Data collected from a worldwide 1992 experiment were processed at JPL to determine precise orbits for the satellites of the Global Positioning System (GPS). A filtering technique was tested to improve modeling of solar-radiation pressure force parameters for GPS satellites. The new approach improves orbit quality for eclipsing satellites by a factor of two, with typical results in the 25- to 50-cm range. The resultant GPS-based estimates for geocentric coordinates of the tracking sites, which include the three DSN sites, are accurate to 2 to 8 cm, roughly equivalent to 3 to 10 nrad of angular measure.

Suicide risk and mental health co-morbidities in a probationer population.

PubMed

Cardarelli, Roberto; Balyakina, Elizabeth; Malone, Kendra; Fulda, Kimberly G; Ellison, Michael; Sivernell, Ron; Shabu, Tanjina

2015-02-01

Mental health problems are disproportionately represented in the community corrections system with limited information on the epidemiology of mental health and correlated factors such as suicide among probationers. This study recruited 2,077 probationers who completed screeners for mental health and substance disorders and suicide risk. Results found 13% of probationers were at high risk of suicide. Those who screened positive for a mental health condition were between 2 and 8 times more likely to screen positive for suicide risk. Allocation of additional resources to mental health in the criminal justice system and to effectively coordinate existing mental health services is needed.

Apparatus and methods for controlling electron microscope stages

DOE Office of Scientific and Technical Information (OSTI.GOV)

Duden, Thomas

Methods and apparatus for generating an image of a specimen with a microscope (e.g., TEM) are disclosed. In one aspect, the microscope may generally include a beam generator, a stage, a detector, and an image generator. A plurality of crystal parameters, which describe a plurality of properties of a crystal sample, are received. In a display associated with the microscope, an interactive control sphere based at least in part on the received crystal parameters and that is rotatable by a user to different sphere orientations is presented. The sphere includes a plurality of stage coordinates that correspond to a pluralitymore » of positions of the stage and a plurality of crystallographic pole coordinates that correspond to a plurality of polar orientations of the crystal sample. Movement of the sphere causes movement of the stage, wherein the stage coordinates move in conjunction with the crystallographic coordinates represented by pole positions so as to show a relationship between stage positions and the pole positions.« less

Autonomous Navigation Apparatus With Neural Network for a Mobile Vehicle

NASA Technical Reports Server (NTRS)

Quraishi, Naveed (Inventor)

1996-01-01

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

Differences in physical fitness and gross motor coordination in boys aged 6-12 years specializing in one versus sampling more than one sport.

PubMed

Fransen, Job; Pion, Johan; Vandendriessche, Joric; Vandorpe, Barbara; Vaeyens, Roel; Lenoir, Matthieu; Philippaerts, Renaat M

2012-01-01

The Developmental Model of Sports Participation proposes two pathways towards expertise in sports between 6 and 12 years of age: early specialization and early diversification. This study investigated the effect of sampling various sports and of spending many or few hours in sports on fitness and gross motor coordination. Altogether, 735 boys in three age groups (6-8, 8-10, and 10-12 years) were profiled using a fitness test battery. A computerized physical activity questionnaire was used to obtain data on sports participation. In the eldest group, (M)ANCOVA showed a positive effect of sampling various sports on strength, speed, endurance, and gross motor coordination (P < 0.05). A positive effect of many hours per week spent in sports was apparent in every age group. These data suggest an acute positive effect of many hours in sports and a latent positive effect of early sampling on fitness and gross motor coordination. Multiple comparisons revealed that boys aged 10-12 years, who spent many hours in various sports, performed better on standing broad jump (P < 0.05) and gross motor coordination (P < 0.05) than boys specializing in a single sport. Therefore, our results highlight the importance of spending many hours in sports and sampling various sports in the development of fitness and gross motor coordination.

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

NASA Astrophysics Data System (ADS)

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.

Influence of ionospheric disturbances onto long-baseline relative positioning in kinematic mode

NASA Astrophysics Data System (ADS)

Wezka, Kinga; Herrera, Ivan; Cokrlic, Marija; Galas, Roman

2013-04-01

Ionospheric disturbances are fast and random variabilities in the ionosphere and they are difficult to detect and model. Some strong disturbances can cause, among others, interruption of GNSS signal or even lead to loss of signal lock. These phenomena are especially harmful for kinematic real-time applications, where the system availability is one of the most important parameters influencing positioning reliability. Our investigations were conducted using long time series of GNSS observations gathered at high latitude, where ionospheric disturbances more frequently occur. Selected processing strategy was used to monitor ionospheric signatures in time series of the coordinates. Quality of the data of input and of the processing results were examined and described by a set of proposed parameters. Variations in the coordinates were compared with available information about the state of ionosphere derived from Neustrelitz TEC Model (NTCM) and with the time series of raw observations. Some selected parameters were also calculated with the "iono-tools" module of the TUB-NavSolutions software developed by the Precise Navigation and Positioning Group at Technische Universitaet Berlin. The paper presents very first results of evaluation of the robustness of positioning algorithms with respect to ionospheric anomalies using the NTCM model and our calculated ionospheric parameters.

Calibration of Magnetometers with GNSS Receivers and Magnetometer-Aided GNSS Ambiguity Fixing

PubMed Central

Henkel, Patrick

2017-01-01

Magnetometers provide compass information, and are widely used for navigation, orientation and alignment of objects. As magnetometers are affected by sensor biases and eventually by systematic distortions of the Earth magnetic field, a calibration is needed. In this paper, a method for calibration of magnetometers with three Global Navigation Satellite System (GNSS) receivers is presented. We perform a least-squares estimation of the magnetic flux and sensor biases using GNSS-based attitude information. The attitude is obtained from the relative positions between the GNSS receivers in the North-East-Down coordinate frame and prior knowledge of these relative positions in the platform’s coordinate frame. The relative positions and integer ambiguities of the periodic carrier phase measurements are determined with an integer least-squares estimation using an integer decorrelation and sequential tree search. Prior knowledge on the relative positions is used to increase the success rate of ambiguity fixing. We have validated the proposed method with low-cost magnetometers and GNSS receivers on a vehicle in a test drive. The calibration enabled a consistent heading determination with an accuracy of five degrees. This precise magnetometer-based attitude information allows an instantaneous GNSS integer ambiguity fixing. PMID:28594369

Multiaxial Polarity Determines Individual Cellular and Nuclear Chirality

PubMed Central

Raymond, Michael J.; Ray, Poulomi; Kaur, Gurleen; Fredericks, Michael; Singh, Ajay V.; Wan, Leo Q.

2016-01-01

Intrinsic cell chirality has been implicated in the left-right (LR) asymmetry of embryonic development. Impaired cell chirality could lead to severe birth defects in laterality. Previously, we detected cell chirality with an in vitro micropatterning system. Here, we demonstrate for the first time that chirality can be quantified as the coordination of multiaxial polarization of individual cells and nuclei. Using an object labeling, connected component based method, we characterized cell chirality based on cell and nuclear shape polarization and nuclear positioning of each cell in multicellular patterns of epithelial cells. We found that the cells adopted a LR bias the boundaries by positioning the sharp end towards the leading edge and leaving the nucleus at the rear. This behavior is consistent with the directional migration observed previously on the boundary of micropatterns. Although the nucleus is chirally aligned, it is not strongly biased towards or away from the boundary. As the result of the rear positioning of nuclei, the nuclear positioning has an opposite chirality to that of cell alignment. Overall, our results have revealed deep insights of chiral morphogenesis as the coordination of multiaxial polarization at the cellular and subcellular levels. PMID:28360944

Multiaxial Polarity Determines Individual Cellular and Nuclear Chirality.

PubMed

Raymond, Michael J; Ray, Poulomi; Kaur, Gurleen; Fredericks, Michael; Singh, Ajay V; Wan, Leo Q

2017-02-01

Intrinsic cell chirality has been implicated in the left-right (LR) asymmetry of embryonic development. Impaired cell chirality could lead to severe birth defects in laterality. Previously, we detected cell chirality with an in vitro micropatterning system. Here, we demonstrate for the first time that chirality can be quantified as the coordination of multiaxial polarization of individual cells and nuclei. Using an object labeling, connected component based method, we characterized cell chirality based on cell and nuclear shape polarization and nuclear positioning of each cell in multicellular patterns of epithelial cells. We found that the cells adopted a LR bias the boundaries by positioning the sharp end towards the leading edge and leaving the nucleus at the rear. This behavior is consistent with the directional migration observed previously on the boundary of micropatterns. Although the nucleus is chirally aligned, it is not strongly biased towards or away from the boundary. As the result of the rear positioning of nuclei, the nuclear positioning has an opposite chirality to that of cell alignment. Overall, our results have revealed deep insights of chiral morphogenesis as the coordination of multiaxial polarization at the cellular and subcellular levels.

Calibration of Magnetometers with GNSS Receivers and Magnetometer-Aided GNSS Ambiguity Fixing.

PubMed

Henkel, Patrick

2017-06-08

Magnetometers provide compass information, and are widely used for navigation, orientation and alignment of objects. As magnetometers are affected by sensor biases and eventually by systematic distortions of the Earth magnetic field, a calibration is needed. In this paper, a method for calibration of magnetometers with three Global Navigation Satellite System (GNSS) receivers is presented. We perform a least-squares estimation of the magnetic flux and sensor biases using GNSS-based attitude information. The attitude is obtained from the relative positions between the GNSS receivers in the North-East-Down coordinate frame and prior knowledge of these relative positions in the platform's coordinate frame. The relative positions and integer ambiguities of the periodic carrier phase measurements are determined with an integer least-squares estimation using an integer decorrelation and sequential tree search. Prior knowledge on the relative positions is used to increase the success rate of ambiguity fixing. We have validated the proposed method with low-cost magnetometers and GNSS receivers on a vehicle in a test drive. The calibration enabled a consistent heading determination with an accuracy of five degrees. This precise magnetometer-based attitude information allows an instantaneous GNSS integer ambiguity fixing.

Cadastral Database Positional Accuracy Improvement

NASA Astrophysics Data System (ADS)

Hashim, N. M.; Omar, A. H.; Ramli, S. N. M.; Omar, K. M.; Din, N.

2017-10-01

Positional Accuracy Improvement (PAI) is the refining process of the geometry feature in a geospatial dataset to improve its actual position. This actual position relates to the absolute position in specific coordinate system and the relation to the neighborhood features. With the growth of spatial based technology especially Geographical Information System (GIS) and Global Navigation Satellite System (GNSS), the PAI campaign is inevitable especially to the legacy cadastral database. Integration of legacy dataset and higher accuracy dataset like GNSS observation is a potential solution for improving the legacy dataset. However, by merely integrating both datasets will lead to a distortion of the relative geometry. The improved dataset should be further treated to minimize inherent errors and fitting to the new accurate dataset. The main focus of this study is to describe a method of angular based Least Square Adjustment (LSA) for PAI process of legacy dataset. The existing high accuracy dataset known as National Digital Cadastral Database (NDCDB) is then used as bench mark to validate the results. It was found that the propose technique is highly possible for positional accuracy improvement of legacy spatial datasets.

Measuring Positions of Objects using Two or More Cameras

NASA Technical Reports Server (NTRS)

Klinko, Steve; Lane, John; Nelson, Christopher

2008-01-01

An improved method of computing positions of objects from digitized images acquired by two or more cameras (see figure) has been developed for use in tracking debris shed by a spacecraft during and shortly after launch. The method is also readily adaptable to such applications as (1) tracking moving and possibly interacting objects in other settings in order to determine causes of accidents and (2) measuring positions of stationary objects, as in surveying. Images acquired by cameras fixed to the ground and/or cameras mounted on tracking telescopes can be used in this method. In this method, processing of image data starts with creation of detailed computer- aided design (CAD) models of the objects to be tracked. By rotating, translating, resizing, and overlaying the models with digitized camera images, parameters that characterize the position and orientation of the camera can be determined. The final position error depends on how well the centroids of the objects in the images are measured; how accurately the centroids are interpolated for synchronization of cameras; and how effectively matches are made to determine rotation, scaling, and translation parameters. The method involves use of the perspective camera model (also denoted the point camera model), which is one of several mathematical models developed over the years to represent the relationships between external coordinates of objects and the coordinates of the objects as they appear on the image plane in a camera. The method also involves extensive use of the affine camera model, in which the distance from the camera to an object (or to a small feature on an object) is assumed to be much greater than the size of the object (or feature), resulting in a truly two-dimensional image. The affine camera model does not require advance knowledge of the positions and orientations of the cameras. This is because ultimately, positions and orientations of the cameras and of all objects are computed in a coordinate system attached to one object as defined in its CAD model.

Relativistic time transfer in the vicinity of the Earth and in the solar system

NASA Astrophysics Data System (ADS)

Nelson, Robert A.

2011-08-01

The algorithms for relativistic time transfer in the vicinity of the Earth and in the solar system are derived. The concepts of proper time and coordinate time are distinguished. The coordinate time elapsed during the transport of a clock and the propagation of an electromagnetic signal is analysed in three coordinate systems: an Earth-Centred Inertial (ECI) coordinate system, an Earth-Centred Earth-Fixed (ECEF) coordinate system and a barycentric coordinate system. The timescales of Geocentric Coordinate Time (TCG), Terrestrial Time (TT) and Barycentric Coordinate Time (TCB) are defined and their relationships are discussed. Some numerical examples are provided to illustrate the magnitudes of the effects.

Error Checking and Graphical Representation of Multiple–Complete–Digest (MCD) Restriction-Fragment Maps

PubMed Central

Thayer, Edward C.; Olson, Maynard V.; Karp, Richard M.

1999-01-01

Genetic and physical maps display the relative positions of objects or markers occurring within a target DNA molecule. In constructing maps, the primary objective is to determine the ordering of these objects. A further objective is to assign a coordinate to each object, indicating its distance from a reference end of the target molecule. This paper describes a computational method and a body of software for assigning coordinates to map objects, given a solution or partial solution to the ordering problem. We describe our method in the context of multiple–complete–digest (MCD) mapping, but it should be applicable to a variety of other mapping problems. Because of errors in the data or insufficient clone coverage to uniquely identify the true ordering of the map objects, a partial ordering is typically the best one can hope for. Once a partial ordering has been established, one often seeks to overlay a metric along the map to assess the distances between the map objects. This problem often proves intractable because of data errors such as erroneous local length measurements (e.g., large clone lengths on low-resolution physical maps). We present a solution to the coordinate assignment problem for MCD restriction-fragment mapping, in which a coordinated set of single-enzyme restriction maps are simultaneously constructed. We show that the coordinate assignment problem can be expressed as the solution of a system of linear constraints. If the linear system is free of inconsistencies, it can be solved using the standard Bellman–Ford algorithm. In the more typical case where the system is inconsistent, our program perturbs it to find a new consistent system of linear constraints, close to those of the given inconsistent system, using a modified Bellman–Ford algorithm. Examples are provided of simple map inconsistencies and the methods by which our program detects candidate data errors and directs the user to potential suspect regions of the map. PMID:9927487

Effects of relational coordination among colleagues and span of control on work engagement among home-visiting nurses.

PubMed

Naruse, Takashi; Sakai, Mahiro; Nagata, Satoko

2016-04-01

Home-visiting nursing agencies are required to foster staff nurse's work engagement; thus, the factors related to work engagement require identification. This study examined relational coordination among colleagues and agency span of control on the work engagement of home-visiting nurses. Cross-sectional data from 93 staff nurses in 31 home-visiting nursing agencies were collected via a survey and analyzed using mixed linear regression. There was no significant main effect of relational coordination among nurse colleagues on work engagement. In large agencies with a large span of control, relational coordination among nursing colleagues predicted work engagement. Nursing managers' relational coordination was found to be positively associated with staff nurse work engagement. Agency span of control is a moderating factor on the positive effect of relational coordination with nursing colleagues on staff nurse work engagement. © 2016 Japan Academy of Nursing Science.

Functionally interpretable local coordinate systems for the upper extremity using inertial & magnetic measurement systems.

PubMed

de Vries, W H K; Veeger, H E J; Cutti, A G; Baten, C; van der Helm, F C T

2010-07-20

Inertial Magnetic Measurement Systems (IMMS) are becoming increasingly popular by allowing for measurements outside the motion laboratory. The latest models enable long term, accurate measurement of segment motion in terms of joint angles, if initial segment orientations can accurately be determined. The standard procedure for definition of segmental orientation is based on the measurement of positions of bony landmarks (BLM). However, IMMS do not deliver position information, so an alternative method to establish IMMS based, anatomically understandable segment orientations is proposed. For five subjects, IMMS recordings were collected in a standard anatomical position for definition of static axes, and during a series of standardized motions for the estimation of kinematic axes of rotation. For all axes, the intra- and inter-individual dispersion was estimated. Subsequently, local coordinate systems (LCS) were constructed on the basis of the combination of IMMS axes with the lowest dispersion and compared with BLM based LCS. The repeatability of the method appeared to be high; for every segment at least two axes could be determined with a dispersion of at most 3.8 degrees. Comparison of IMMS based with BLM based LCS yielded compatible results for the thorax, but less compatible results for the humerus, forearm and hand, where differences in orientation rose to 17.2 degrees. Although different from the 'gold standard' BLM based LCS, IMMS based LCS can be constructed repeatable, enabling the estimation of segment orientations outside the laboratory. A procedure for the definition of local reference frames using IMMS is proposed. 2010 Elsevier Ltd. All rights reserved.

Boundary-fitted coordinate systems for numerical solution of partial differential equations - A review

NASA Technical Reports Server (NTRS)

Thompson, J. F.; Warsi, Z. U. A.; Mastin, C. W.

1982-01-01

A comprehensive review of methods of numerically generating curvilinear coordinate systems with coordinate lines coincident with all boundary segments is given. Some general mathematical framework and error analysis common to such coordinate systems is also included. The general categories of generating systems are those based on conformal mapping, orthogonal systems, nearly orthogonal systems, systems produced as the solution of elliptic and hyperbolic partial differential equations, and systems generated algebraically by interpolation among the boundaries. Also covered are the control of coordinate line spacing by functions embedded in the partial differential operators of the generating system and by subsequent stretching transformation. Dynamically adaptive coordinate systems, coupled with the physical solution, and time-dependent systems that follow moving boundaries are treated. References reporting experience using such coordinate systems are reviewed as well as those covering the system development.

Sunspot positions, areas, and group tilt angles for 1611-1631 from observations by Christoph Scheiner

NASA Astrophysics Data System (ADS)

Arlt, R.; Senthamizh Pavai, V.; Schmiel, C.; Spada, F.

2016-11-01

Aims: Digital images of observations printed in the books Rosa Ursina sive solis and Prodromus pro sole mobili by Christoph Scheiner, as well as the drawings from Scheiner's letters to Marcus Welser, are analysed to obtain information on the positions and sizes of sunspots that appeared before the Maunder minimum. Methods: In most cases, the given orientation of the ecliptic is used to set up the heliographic coordinate system for the drawings. Positions and sizes are measured manually on screen. Very early drawings have no indication of their orientation. A rotational matching using common spots of adjacent days is used in some cases, while in other cases, the assumption that images were aligned with a zenith-horizon coordinate system appeared to be the most probable. Results: In total, 8167 sunspots were measured. A distribution of sunspot latitudes versus time (butterfly diagram) is obtained for Scheiner's observations. The observations of 1611 are very inaccurate, the drawings of 1612 have at least an indication of their orientation, while the remaining part of the spot positions from 1618-1631 have good to very good accuracy. We also computed 697 tilt angles of apparently bipolar sunspot groups observed in the period 1618-1631. We find that the average tilt angle of nearly 4 degrees is not significantly different from 20th-century values. Data on the sunspot position and area are only available at the CDS via anonymous ftp to http://cdsarc.u-strasbg.fr (http://130.79.128.5) or via http://cdsarc.u-strasbg.fr/viz-bin/qcat?J/A+A/595/A104

A Robust High-Accuracy Ultrasound Indoor Positioning System Based on a Wireless Sensor Network.

PubMed

Qi, Jun; Liu, Guo-Ping

2017-11-06

This paper describes the development and implementation of a robust high-accuracy ultrasonic indoor positioning system (UIPS). The UIPS consists of several wireless ultrasonic beacons in the indoor environment. Each of them has a fixed and known position coordinate and can collect all the transmissions from the target node or emit ultrasonic signals. Every wireless sensor network (WSN) node has two communication modules: one is WiFi, that transmits the data to the server, and the other is the radio frequency (RF) module, which is only used for time synchronization between different nodes, with accuracy up to 1 μ s. The distance between the beacon and the target node is calculated by measuring the time-of-flight (TOF) for the ultrasonic signal, and then the position of the target is computed by some distances and the coordinate of the beacons. TOF estimation is the most important technique in the UIPS. A new time domain method to extract the envelope of the ultrasonic signals is presented in order to estimate the TOF. This method, with the envelope detection filter, estimates the value with the sampled values on both sides based on the least squares method (LSM). The simulation results show that the method can achieve envelope detection with a good filtering effect by means of the LSM. The highest precision and variance can reach 0.61 mm and 0.23 mm, respectively, in pseudo-range measurements with UIPS. A maximum location error of 10.2 mm is achieved in the positioning experiments for a moving robot, when UIPS works on the line-of-sight (LOS) signal.

Wire-Guide Manipulator For Automated Welding

NASA Technical Reports Server (NTRS)

Morris, Tim; White, Kevin; Gordon, Steve; Emerich, Dave; Richardson, Dave; Faulkner, Mike; Stafford, Dave; Mccutcheon, Kim; Neal, Ken; Milly, Pete

1994-01-01

Compact motor drive positions guide for welding filler wire. Drive part of automated wire feeder in partly or fully automated welding system. Drive unit contains three parallel subunits. Rotations of lead screws in three subunits coordinated to obtain desired motions in three degrees of freedom. Suitable for both variable-polarity plasma arc welding and gas/tungsten arc welding.

Understanding Universities in Ontario, Canada: An Industry Analysis Using Porter's Five Forces Framework

ERIC Educational Resources Information Center

Pringle, James; Huisman, Jeroen

2011-01-01

In analyses of higher education systems, many models and frameworks are based on governance, steering, or coordination models. Although much can be gained by such analyses, we argue that the language used in the present-day policy documents (knowledge economy, competitive position, etc.) calls for an analysis of higher education as an industry. In…

Monovision techniques for telerobots

NASA Technical Reports Server (NTRS)

Goode, P. W.; Carnils, K.

1987-01-01

The primary task of the vision sensor in a telerobotic system is to provide information about the position of the system's effector relative to objects of interest in its environment. The subtasks required to perform the primary task include image segmentation, object recognition, and object location and orientation in some coordinate system. The accomplishment of the vision task requires the appropriate processing tools and the system methodology to effectively apply the tools to the subtasks. The functional structure of the telerobotic vision system used in the Langley Research Center's Intelligent Systems Research Laboratory is discussed as well as two monovision techniques for accomplishing the vision subtasks.

Deranged jaw-neck motor control in whiplash-associated disorders.

PubMed

Eriksson, Per-Olof; Zafar, Hamayun; Häggman-Henrikson, Birgitta

2004-02-01

Recent findings of simultaneous and well coordinated head-neck movements during single as well as rhythmic jaw opening-closing tasks has led to the conclusion that 'functional jaw movements' are the result of activation of jaw as well as neck muscles, leading to simultaneous movements in the temporomandibular, atlanto-occipital and cervical spine joints. It can therefore be assumed that disease or injury to any of these joint systems would disturb natural jaw function. To test this hypothesis, amplitudes, temporal coordination, and spatiotemporal consistency of concomitant mandibular and head-neck movements during single maximal jaw opening-closing tasks were analysed in 25 individuals suffering from whiplash-associated disorders (WAD) using optoelectronic movement recording technique. In addition, the relative durations for which the head position was equal to, leading ahead of, or lagging behind the mandibular position during the entire jaw opening-closing cycle were determined. Compared with healthy individuals, the WAD group showed smaller amplitudes, and changed temporal coordination between mandibular and head-neck movements. No divergence from healthy individuals was found for the spatiotemporal consistency or for the analysis during the entire jaw opening-closing cycle. These findings in the WAD group of a 'faulty', but yet consistent, jaw-neck behavior may reflect a basic importance of linked control of the jaw and neck sensory-motor systems. In conclusion, the present results suggest that neck injury is associated with deranged control of mandibular and head-neck movements during jaw opening-closing tasks, and therefore might compromise natural jaw function.

A novel method of robot location using RFID and stereo vision

NASA Astrophysics Data System (ADS)

Chen, Diansheng; Zhang, Guanxin; Li, Zhen

2012-04-01

This paper proposed a new global localization method for mobile robot based on RFID (Radio Frequency Identification Devices) and stereo vision, which makes the robot obtain global coordinates with good accuracy when quickly adapting to unfamiliar and new environment. This method uses RFID tags as artificial landmarks, the 3D coordinate of the tags under the global coordinate system is written in the IC memory. The robot can read it through RFID reader; meanwhile, using stereo vision, the 3D coordinate of the tags under the robot coordinate system is measured. Combined with the robot's attitude coordinate system transformation matrix from the pose measuring system, the translation of the robot coordinate system to the global coordinate system is obtained, which is also the coordinate of the robot's current location under the global coordinate system. The average error of our method is 0.11m in experience conducted in a 7m×7m lobby, the result is much more accurate than other location method.

Design and Principles Enabling the Space Reference FOM

NASA Technical Reports Server (NTRS)

Moeller, Bjoern; Dexter, Dan; Madden, Michael; Crues, Edwin Z.; Garro, Alfredo; Skuratovskiy, Anton

2017-01-01

A first complete draft of the Simulation Interoperability Standards Organization (SISO) Space Reference Federation Object Model (FOM) has now been produced. This paper provides some insights into its capabilities and discusses the opportunity for reuse in other domains. The focus of this first version of the standard is execution control, time management and coordinate systems, well-known reference frames, as well as some basic support for physical entities. The biggest part of the execution control is the coordinated start-up process. This process contains a number of steps, including checking of required federates, handling of early versus late joiners, sharing of federation wide configuration data and multi-phase initialization. An additional part of Execution Control is the coordinated and synchronized transition between Run mode, Freeze mode and Shutdown. For time management, several time lines are defined, including real-time, scenario time, High Level Architecture (HLA) logical time and physical time. A strategy for mixing simulations that use different time steps is introduced, as well as an approach for finding common boundaries for fully synchronized freeze. For describing spatial information, a mechanism with a set of reference frames is specified. Each reference frame has a position and orientation related to a parent reference frame. This makes it possible for federates to perform calculations in reference frames that are convenient to them. An operation on the Moon can be performed using lunar coordinates whereas an operation on Earth can be performed using Earth coordinates. At the same time, coordinates in one reference frame have an unambiguous relationship to a coordinate in another reference frame. While the Space Reference FOM is originally being developed for Space operations, the authors believe that many parts of it can be reused for any simulation that has a focus on physical processes with one or more coordinate systems, and require high fidelity and repeatability.

Target tracking and pointing for arrays of phase-locked lasers

NASA Astrophysics Data System (ADS)

Macasaet, Van P.; Hughes, Gary B.; Lubin, Philip; Madajian, Jonathan; Zhang, Qicheng; Griswold, Janelle; Kulkarni, Neeraj; Cohen, Alexander; Brashears, Travis

2016-09-01

Arrays of phase-locked lasers are envisioned for planetary defense and exploration systems. High-energy beams focused on a threatening asteroid evaporate surface material, creating a reactionary thrust that alters the asteroid's orbit. The same system could be used to probe an asteroid's composition, to search for unknown asteroids, and to propel interplanetary and interstellar spacecraft. Phased-array designs are capable of producing high beam intensity, and allow beam steering and beam profile manipulation. Modular designs allow ongoing addition of emitter elements to a growing array. This paper discusses pointing control for extensible laser arrays. Rough pointing is determined by spacecraft attitude control. Lateral movement of the laser emitter tips behind the optical elements provides intermediate pointing adjustment for individual array elements and beam steering. Precision beam steering and beam formation is accomplished by coordinated phase modulation across the array. Added cells are incorporated into the phase control scheme by precise alignment to local mechanical datums using fast, optical relative position sensors. Infrared target sensors are also positioned within the datum scheme, and provide information about the target vector relative to datum coordinates at each emitter. Multiple target sensors allow refined determination of the target normal plane, providing information to the phase controller for each emitter. As emitters and sensors are added, local position data allows accurate prediction of the relative global position of emitters across the array, providing additional constraints to the phase controllers. Mechanical design and associated phase control that is scalable for target distance and number of emitters is presented.

An anatomically oriented breast model for MRI

NASA Astrophysics Data System (ADS)

Kutra, Dominik; Bergtholdt, Martin; Sabczynski, Jörg; Dössel, Olaf; Buelow, Thomas

2015-03-01

Breast cancer is the most common cancer in women in the western world. In the breast cancer care-cycle, MRIis e.g. employed in lesion characterization and therapy assessment. Reading of a single three dimensional image or comparing a multitude of such images in a time series is a time consuming task. Radiological reporting is done manually by translating the spatial position of a finding in an image to a generic representation in the form of a breast diagram, outlining quadrants or clock positions. Currently, registration algorithms are employed to aid with the reading and interpretation of longitudinal studies by providing positional correspondence. To aid with the reporting of findings, knowledge about the breast anatomy has to be introduced to translate from patient specific positions to a generic representation. In our approach we fit a geometric primitive, the semi-super-ellipsoid to patient data. Anatomical knowledge is incorporated by fixing the tip of the super-ellipsoid to the mammilla position and constraining its center-point to a reference plane defined by landmarks on the sternum. A coordinate system is then constructed by linearly scaling the fitted super-ellipsoid, defining a unique set of parameters to each point in the image volume. By fitting such a coordinate system to a different image of the same patient, positional correspondence can be generated. We have validated our method on eight pairs of baseline and follow-up scans (16 breasts) that were acquired for the assessment of neo-adjuvant chemotherapy. On average, the location predicted and the actual location of manually set landmarks are within a distance of 5.6 mm. Our proposed method allows for automatic reporting simply by uniformly dividing the super-ellipsoid around its main axis.

Noninertial coordinate time: A new concept affecting time standards, time transfers, and clock synchronization

NASA Technical Reports Server (NTRS)

Deines, Steven D.

1992-01-01

Relativity compensations must be made in precise and accurate measurements whenever an observer is accelerated. Although many believe the Earth-centered frame is sufficiently inertial, accelerations of the Earth, as evidenced by the tides, prove that it is technically a noninertial system for even an Earth-based observer. Using the constant speed of light, a set of fixed remote clocks in an inertial frame can be synchronized to a fixed master clock transmitting its time in that frame. The time on the remote clock defines the coordinate time at that coordinate position. However, the synchronization procedure for an accelerated frame is affected, because the distance between the master and remote clocks is altered due to the acceleration of the remote clock toward or away from the master clock during the transmission interval. An exact metric that converts observations from noninertial frames to inertial frames was recently derived. Using this metric with other physical relationships, a new concept of noninertial coordinate time is defined. This noninertial coordinate time includes all relativity compensations. This new issue raises several timekeeping issues, such as proper time standards, time transfer process, and clock synchronization, all in a noninertial frame such as Earth.

Dynamic localization of HmpF regulates type IV pilus activity and directional motility in the filamentous cyanobacterium Nostoc punctiforme.

PubMed

Cho, Ye Won; Gonzales, Alfonso; Harwood, Thomas V; Huynh, Jessica; Hwang, Yeji; Park, Jun Sang; Trieu, Anthony Q; Italia, Parth; Pallipuram, Vivek K; Risser, Douglas D

2017-10-01

Many cyanobacteria exhibit surface motility powered by type 4 pili (T4P). In the model filamentous cyanobacterium Nostoc punctiforme, the T4P systems are arrayed in static, bipolar rings in each cell. The chemotaxis-like Hmp system is essential for motility and the coordinated polar accumulation of PilA on cells in motile filaments, while the Ptx system controls positive phototaxis. Using transposon mutagenesis, a gene, designated hmpF, was identified as involved in motility. Synteny among filamentous cyanobacteria and the similar expression patterns for hmpF and hmpD imply that HmpF is part of the Hmp system. Deletion of hmpF produced a phenotype distinct from other hmp genes, but indistinguishable from pilB or pilQ. Both an HmpF-GFPuv fusion protein, and PilA, as assessed by in situ immunofluorescence, displayed coordinated, unipolar localization at the leading pole of each cell. Reversals were modulated by changes in light intensity and preceded by the migration of HmpF-GFPuv to the lagging cell poles. These results are consistent with a model where direct interaction between HmpF and the T4P system activates pilus extension, the Hmp system facilitates coordinated polarity of HmpF to establish motility, and the Ptx system modulates HmpF localization to initiate reversals in response to changes in light intensity. © 2017 John Wiley & Sons Ltd.

Three-dimensional, automated, real-time video system for tracking limb motion in brain-machine interface studies.

PubMed

Peikon, Ian D; Fitzsimmons, Nathan A; Lebedev, Mikhail A; Nicolelis, Miguel A L

2009-06-15

Collection and analysis of limb kinematic data are essential components of the study of biological motion, including research into biomechanics, kinesiology, neurophysiology and brain-machine interfaces (BMIs). In particular, BMI research requires advanced, real-time systems capable of sampling limb kinematics with minimal contact to the subject's body. To answer this demand, we have developed an automated video tracking system for real-time tracking of multiple body parts in freely behaving primates. The system employs high-contrast markers painted on the animal's joints to continuously track the three-dimensional positions of their limbs during activity. Two-dimensional coordinates captured by each video camera are combined and converted to three-dimensional coordinates using a quadratic fitting algorithm. Real-time operation of the system is accomplished using direct memory access (DMA). The system tracks the markers at a rate of 52 frames per second (fps) in real-time and up to 100fps if video recordings are captured to be later analyzed off-line. The system has been tested in several BMI primate experiments, in which limb position was sampled simultaneously with chronic recordings of the extracellular activity of hundreds of cortical cells. During these recordings, multiple computational models were employed to extract a series of kinematic parameters from neuronal ensemble activity in real-time. The system operated reliably under these experimental conditions and was able to compensate for marker occlusions that occurred during natural movements. We propose that this system could also be extended to applications that include other classes of biological motion.

48 CFR 970.5223-7 - Sustainable acquisition program.

Code of Federal Regulations, 2010 CFR

2010-10-01

... coordinate its activities with and submit required reports through the Environmental Sustainability... clause, the Contractor shall coordinate its activities with and submit required reports through the Environmental Sustainability Coordinator or equivalent position. (g) The Contractor shall prepare and submit...

GPS inferred geocentric reference frame for satellite positioning and navigation

NASA Technical Reports Server (NTRS)

Malla, Rajendra P.; Wu, Sien-Chong

1989-01-01

Accurate geocentric three-dimensional positioning is of great importance for various geodetic and oceanographic applications. While relative positioning accuracy of a few centimeters has become a reality using Very Long Baseline Interferometry (VLBI), the uncertainty in the offset of the adopted coordinate system origin from the geocenter is still believed to be of the order of one meter. Satellite Laser Ranging (SLR) is capable of determining this offset to better than 10 cm, though, because of the limited number of satellites, this requires a long arc of data. The Global Positioning System (GPS) measurements provide a powerful alternative for an accurate determination of this origin offset in relatively short period of time. Two strategies are discussed, the first utilizes the precise relative positions predetermined by VLBI, whereas the second establishes a reference frame by holding only one of the tracking sites longitude fixed. Covariance analysis studies indicate that geocentric positioning to an accuracy of a few centimeters can be achieved with just one day of precise GPS pseudorange and carrier phase data.

Cooperative multisensor system for real-time face detection and tracking in uncontrolled conditions

NASA Astrophysics Data System (ADS)

Marchesotti, Luca; Piva, Stefano; Turolla, Andrea; Minetti, Deborah; Regazzoni, Carlo S.

2005-03-01

The presented work describes an innovative architecture for multi-sensor distributed video surveillance applications. The aim of the system is to track moving objects in outdoor environments with a cooperative strategy exploiting two video cameras. The system also exhibits the capacity of focusing its attention on the faces of detected pedestrians collecting snapshot frames of face images, by segmenting and tracking them over time at different resolution. The system is designed to employ two video cameras in a cooperative client/server structure: the first camera monitors the entire area of interest and detects the moving objects using change detection techniques. The detected objects are tracked over time and their position is indicated on a map representing the monitored area. The objects" coordinates are sent to the server sensor in order to point its zooming optics towards the moving object. The second camera tracks the objects at high resolution. As well as the client camera, this sensor is calibrated and the position of the object detected on the image plane reference system is translated in its coordinates referred to the same area map. In the map common reference system, data fusion techniques are applied to achieve a more precise and robust estimation of the objects" track and to perform face detection and tracking. The work novelties and strength reside in the cooperative multi-sensor approach, in the high resolution long distance tracking and in the automatic collection of biometric data such as a person face clip for recognition purposes.

Coordination of the Arc Regulatory System and Pheromone-Mediated Positive Feedback in Controlling the Vibrio fischeri lux Operon

PubMed Central

Septer, Alecia N.; Stabb, Eric V.

2012-01-01

Bacterial pheromone signaling is often governed both by environmentally responsive regulators and by positive feedback. This regulatory combination has the potential to coordinate a group response among distinct subpopulations that perceive key environmental stimuli differently. We have explored the interplay between an environmentally responsive regulator and pheromone-mediated positive feedback in intercellular signaling by Vibrio fischeri ES114, a bioluminescent bacterium that colonizes the squid Euprymna scolopes. Bioluminescence in ES114 is controlled in part by N-(3-oxohexanoyl)-L-homoserine lactone (3OC6), a pheromone produced by LuxI that together with LuxR activates transcription of the luxICDABEG operon, initiating a positive feedback loop and inducing luminescence. The lux operon is also regulated by environmentally responsive regulators, including the redox-responsive ArcA/ArcB system, which directly represses lux in culture. Here we show that inactivating arcA leads to increased 3OC6 accumulation to initiate positive feedback. In the absence of positive feedback, arcA-mediated control of luminescence was only ∼2-fold, but luxI-dependent positive feedback contributed more than 100 fold to the net induction of luminescence in the arcA mutant. Consistent with this overriding importance of positive feedback, 3OC6 produced by the arcA mutant induced luminescence in nearby wild-type cells, overcoming their ArcA repression of lux. Similarly, we found that artificially inducing ArcA could effectively repress luminescence before, but not after, positive feedback was initiated. Finally, we show that 3OC6 produced by a subpopulation of symbiotic cells can induce luminescence in other cells co-colonizing the host. Our results suggest that even transient loss of ArcA-mediated regulation in a sub-population of cells can induce luminescence in a wider community. Moreover, they indicate that 3OC6 can communicate information about both cell density and the state of ArcA/ArcB. PMID:23152924

Station coordinates, baselines, and earth rotation from Lageos laser ranging - 1976-1984

NASA Technical Reports Server (NTRS)

Tapley, B. D.; Schultz, B. E.; Eanes, R. J.

1985-01-01

The orbit of the Lageos satellite is well suited as a reference frame for studying the rotation of the earth and the relative motion of points on the earth's crust. The satellite laser measurements can determine the location of a set of tracking stations in an appropriate terrestrial coordinate system. The motion of the earth's rotation axis relative to this system can be studied on the basis of the established tracking station locations. The present investigation is concerned with an analysis of 7.7 years of Lageos laser ranging data. In the first solution considered, the entire data span was used to adjust a single set of station positions simultaneously with orbit and earth rotation parameters. Attention is given to the accuracy of earth rotation parameters which are determined as an inherent part of the solution process.

Mathematical calibration procedure of a capacitive sensor-based indexed metrology platform

NASA Astrophysics Data System (ADS)

Brau-Avila, A.; Santolaria, J.; Acero, R.; Valenzuela-Galvan, M.; Herrera-Jimenez, V. M.; Aguilar, J. J.

2017-03-01

The demand for faster and more reliable measuring tasks for the control and quality assurance of modern production systems has created new challenges for the field of coordinate metrology. Thus, the search for new solutions in coordinate metrology systems and the need for the development of existing ones still persists. One example of such a system is the portable coordinate measuring machine (PCMM), the use of which in industry has considerably increased in recent years, mostly due to its flexibility for accomplishing in-line measuring tasks as well as its reduced cost and operational advantages compared to traditional coordinate measuring machines. Nevertheless, PCMMs have a significant drawback derived from the techniques applied in the verification and optimization procedures of their kinematic parameters. These techniques are based on the capture of data with the measuring instrument from a calibrated gauge object, fixed successively in various positions so that most of the instrument measuring volume is covered, which results in time-consuming, tedious and expensive verification and optimization procedures. In this work the mathematical calibration procedure of a capacitive sensor-based indexed metrology platform (IMP) is presented. This calibration procedure is based on the readings and geometric features of six capacitive sensors and their targets with nanometer resolution. The final goal of the IMP calibration procedure is to optimize the geometric features of the capacitive sensors and their targets in order to use the optimized data in the verification procedures of PCMMs.

A Floor-Map-Aided WiFi/Pseudo-Odometry Integration Algorithm for an Indoor Positioning System

PubMed Central

Wang, Jian; Hu, Andong; Liu, Chunyan; Li, Xin

2015-01-01

This paper proposes a scheme for indoor positioning by fusing floor map, WiFi and smartphone sensor data to provide meter-level positioning without additional infrastructure. A topology-constrained K nearest neighbor (KNN) algorithm based on a floor map layout provides the coordinates required to integrate WiFi data with pseudo-odometry (P-O) measurements simulated using a pedestrian dead reckoning (PDR) approach. One method of further improving the positioning accuracy is to use a more effective multi-threshold step detection algorithm, as proposed by the authors. The “go and back” phenomenon caused by incorrect matching of the reference points (RPs) of a WiFi algorithm is eliminated using an adaptive fading-factor-based extended Kalman filter (EKF), taking WiFi positioning coordinates, P-O measurements and fused heading angles as observations. The “cross-wall” problem is solved based on the development of a floor-map-aided particle filter algorithm by weighting the particles, thereby also eliminating the gross-error effects originating from WiFi or P-O measurements. The performance observed in a field experiment performed on the fourth floor of the School of Environmental Science and Spatial Informatics (SESSI) building on the China University of Mining and Technology (CUMT) campus confirms that the proposed scheme can reliably achieve meter-level positioning. PMID:25811224

Enhancing communication by using the Coordinated Care Classification System.

PubMed

O'Neal, P V; Kozeny, D K; Garland, P P; Gaunt, S M; Gordon, S C

1998-07-01

Because of the changes in our healthcare system, some clinical nurse specialists (CNSs) are having to expand their traditional roles of clinician, educator, consultant, leader, and researcher to include case management activities. The CNSs at Promina Gwinnett Health System in Lawrenceville, Georgia, have combined CNS and case manager activities and have adopted the title "CNS/Outcomes Coordinator." The CNS/Outcomes Coordinator is responsible for coordinating patient care, promoting team collaboration, and facilitating communication. To inform the healthcare team of the CNS/Outcomes Coordinator's patient responsibilities, the CNS/Outcomes Coordinators developed a Coordinated Care Classification System. This article describes how coordinating patient care, promoting team collaboration, and facilitating communication can be enhanced by the use of a classification system.

Articulated Arm Coordinate Measuring Machine Calibration by Laser Tracker Multilateration

PubMed Central

Majarena, Ana C.; Brau, Agustín; Velázquez, Jesús

2014-01-01

A new procedure for the calibration of an articulated arm coordinate measuring machine (AACMM) is presented in this paper. First, a self-calibration algorithm of four laser trackers (LTs) is developed. The spatial localization of a retroreflector target, placed in different positions within the workspace, is determined by means of a geometric multilateration system constructed from the four LTs. Next, a nonlinear optimization algorithm for the identification procedure of the AACMM is explained. An objective function based on Euclidean distances and standard deviations is developed. This function is obtained from the captured nominal data (given by the LTs used as a gauge instrument) and the data obtained by the AACMM and compares the measured and calculated coordinates of the target to obtain the identified model parameters that minimize this difference. Finally, results show that the procedure presented, using the measurements of the LTs as a gauge instrument, is very effective by improving the AACMM precision. PMID:24688418

Localization, correlation, and visualization of electroencephalographic surface electrodes and brain anatomy in epilepsy studies

NASA Astrophysics Data System (ADS)

Brinkmann, Benjamin H.; O'Brien, Terence J.; Robb, Richard A.; Sharbrough, Frank W.

1997-05-01

Advances in neuroimaging have enhanced the clinician's ability to localize the epileptogenic zone in focal epilepsy, but 20-50 percent of these cases still remain unlocalized. Many sophisticated modalities have been used to study epilepsy, but scalp electrode recorded electroencephalography is particularly useful due to its noninvasive nature and excellent temporal resolution. This study is aimed at specific locations of scalp electrode EEG information for correlation with anatomical structures in the brain. 3D position localizing devices commonly used in virtual reality systems are used to digitize the coordinates of scalp electrodes in a standard clinical configuration. The electrode coordinates are registered with a high- resolution MRI dataset using a robust surface matching algorithm. Volume rendering can then be used to visualize the electrodes and electrode potentials interpolated over the scalp. The accuracy of the coordinate registration is assessed quantitatively with a realistic head phantom.

Gravisensing in single-celled systems - update on characean rhizoids and protonemata

NASA Astrophysics Data System (ADS)

Braun, M.; Limbach, C.

Single-celled and tip-growing rhizoids and protonemata of the characean algae have been intensively studied and there is considerable progress in the understanding of the molecular and cellular mechanisms underlying gravisensing and gravity-dependent growth. In higher plant statocytes, the role of actin in both processes is still a matter of intense debate, but there is clear evidence that actin coordinates both processes in characean rhizoids and protonemata. The multiple functions and dynamic nature of the actin cytoskeleton in these cells are based on the concerted action of a variety of actin-binding proteins. Profilin, actin-depolymerizing factor, a spectrin-like protein, villin and fimbrin have been detected which control apical actin polymerization and regulate the dynamic remodeling of the actin arrangement. An actomyosin-based system was shown to (i) mediate the transport of secretory vesicles to the growing tip, (ii) establish the incorporation of cell wall material and (iii) coordinate the tip-focussed distribution of calcium channels which establish the tip-high calcium gradient for local exocytosis. Experiments performed in microgravity have shown that the actomyosin system precisely coordinates the position of statoliths in rhizoids and protonemata and, upon a change in orientation, directs sedimenting statoliths to specific areas at the plasma membrane where physical contact with gravisensor molecules initiates growth reorientation. The upward growth response of protonemata was shown to be preceded by a statolith-induced and actin-dependent relocalization of the Ca2+-gradient to the upper flank that does not occur in positively gravitropic rhizoids, in which sedimented statoliths cause differential growth of the opposite subapical cell flank. Thus, constant actin polymerization in the growing tip and the spatiotemporal control of actin remodeling by numerous actin-binding proteins are essential for gravity sensing and polarized growth of characean rhizoids and protonemata.

An affinity-structure database of helix-turn-helix: DNA complexes with a universal coordinate system.

PubMed

AlQuraishi, Mohammed; Tang, Shengdong; Xia, Xide

2015-11-19

Molecular interactions between proteins and DNA molecules underlie many cellular processes, including transcriptional regulation, chromosome replication, and nucleosome positioning. Computational analyses of protein-DNA interactions rely on experimental data characterizing known protein-DNA interactions structurally and biochemically. While many databases exist that contain either structural or biochemical data, few integrate these two data sources in a unified fashion. Such integration is becoming increasingly critical with the rapid growth of structural and biochemical data, and the emergence of algorithms that rely on the synthesis of multiple data types to derive computational models of molecular interactions. We have developed an integrated affinity-structure database in which the experimental and quantitative DNA binding affinities of helix-turn-helix proteins are mapped onto the crystal structures of the corresponding protein-DNA complexes. This database provides access to: (i) protein-DNA structures, (ii) quantitative summaries of protein-DNA binding affinities using position weight matrices, and (iii) raw experimental data of protein-DNA binding instances. Critically, this database establishes a correspondence between experimental structural data and quantitative binding affinity data at the single basepair level. Furthermore, we present a novel alignment algorithm that structurally aligns the protein-DNA complexes in the database and creates a unified residue-level coordinate system for comparing the physico-chemical environments at the interface between complexes. Using this unified coordinate system, we compute the statistics of atomic interactions at the protein-DNA interface of helix-turn-helix proteins. We provide an interactive website for visualization, querying, and analyzing this database, and a downloadable version to facilitate programmatic analysis. This database will facilitate the analysis of protein-DNA interactions and the development of programmatic computational methods that capitalize on integration of structural and biochemical datasets. The database can be accessed at http://ProteinDNA.hms.harvard.edu.

A hierarchical 3D segmentation method and the definition of vertebral body coordinate systems for QCT of the lumbar spine.

PubMed

Mastmeyer, André; Engelke, Klaus; Fuchs, Christina; Kalender, Willi A

2006-08-01

We have developed a new hierarchical 3D technique to segment the vertebral bodies in order to measure bone mineral density (BMD) with high trueness and precision in volumetric CT datasets. The hierarchical approach starts with a coarse separation of the individual vertebrae, applies a variety of techniques to segment the vertebral bodies with increasing detail and ends with the definition of an anatomic coordinate system for each vertebral body, relative to which up to 41 trabecular and cortical volumes of interest are positioned. In a pre-segmentation step constraints consisting of Boolean combinations of simple geometric shapes are determined that enclose each individual vertebral body. Bound by these constraints viscous deformable models are used to segment the main shape of the vertebral bodies. Volume growing and morphological operations then capture the fine details of the bone-soft tissue interface. In the volumes of interest bone mineral density and content are determined. In addition, in the segmented vertebral bodies geometric parameters such as volume or the length of the main axes of inertia can be measured. Intra- and inter-operator precision errors of the segmentation procedure were analyzed using existing clinical patient datasets. Results for segmented volume, BMD, and coordinate system position were below 2.0%, 0.6%, and 0.7%, respectively. Trueness was analyzed using phantom scans. The bias of the segmented volume was below 4%; for BMD it was below 1.5%. The long-term goal of this work is improved fracture prediction and patient monitoring in the field of osteoporosis. A true 3D segmentation also enables an accurate measurement of geometrical parameters that may augment the clinical value of a pure BMD analysis.

Direct evidence for a position input to the smooth pursuit system.

PubMed

Blohm, Gunnar; Missal, Marcus; Lefèvre, Philippe

2005-07-01

When objects move in our environment, the orientation of the visual axis in space requires the coordination of two types of eye movements: saccades and smooth pursuit. The principal input to the saccadic system is position error, whereas it is velocity error for the smooth pursuit system. Recently, it has been shown that catch-up saccades to moving targets are triggered and programmed by using velocity error in addition to position error. Here, we show that, when a visual target is flashed during ongoing smooth pursuit, it evokes a smooth eye movement toward the flash. The velocity of this evoked smooth movement is proportional to the position error of the flash; it is neither influenced by the velocity of the ongoing smooth pursuit eye movement nor by the occurrence of a saccade, but the effect is absent if the flash is ignored by the subject. Furthermore, the response started around 85 ms after the flash presentation and decayed with an average time constant of 276 ms. Thus this is the first direct evidence of a position input to the smooth pursuit system. This study shows further evidence for a coupling between saccadic and smooth pursuit systems. It also suggests that there is an interaction between position and velocity error signals in the control of more complex movements.

48 CFR 970.5223-7 - Sustainable acquisition program.

Code of Federal Regulations, 2012 CFR

2012-10-01

... Environmental Sustainability Coordinator or equivalent position. (g) The Contractor shall prepare and submit... Sustainability Coordinator at the supported facility. The Subcontractor will advise the Contractor if it is... coordinate its activities with and submit required reports through the Environmental Sustainability...

48 CFR 970.5223-7 - Sustainable acquisition program.

Code of Federal Regulations, 2013 CFR

2013-10-01

... Environmental Sustainability Coordinator or equivalent position. (g) The Contractor shall prepare and submit... Sustainability Coordinator at the supported facility. The Subcontractor will advise the Contractor if it is... coordinate its activities with and submit required reports through the Environmental Sustainability...

48 CFR 970.5223-7 - Sustainable acquisition program.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Environmental Sustainability Coordinator or equivalent position. (g) The Contractor shall prepare and submit... Sustainability Coordinator at the supported facility. The Subcontractor will advise the Contractor if it is... coordinate its activities with and submit required reports through the Environmental Sustainability...

48 CFR 970.5223-7 - Sustainable acquisition program.

Code of Federal Regulations, 2014 CFR

2014-10-01

... Environmental Sustainability Coordinator or equivalent position. (g) The Contractor shall prepare and submit... Sustainability Coordinator at the supported facility. The Subcontractor will advise the Contractor if it is... coordinate its activities with and submit required reports through the Environmental Sustainability...

NASA directory of observation station locations, volume 1

NASA Technical Reports Server (NTRS)

1973-01-01

Geodetic information for NASA tracking stations and for observation stations cooperating in NASA geodetic satellite programs is presented. A Geodetic Data Sheet is provided for each station, giving the position of the station and describing briefly how it was established. Geodetic positions and geocentric coordinates of these stations are tabulated on local or major geodetic datums and on selected world geodetic systems. The principal tracking facilities used by NASA, including the Spaceflight Tracking and Data Network, the Deep Space Network, and several large radio telescopes are discussed. Positions of these facilities are tabulated on their local or national datums, the Mercury Spheroid 1960, the Modified Mercury Datum 1968, and the Spaceflight Tracking and Data Network System. Observation stations in the NASA Geodetic Satellites Program are included along with stations participating in the National Geodetic Satellite Program. Positions of these facilities are given on local or preferred major datums, and on the Modified Mercury Datum 1968.

Positive deviance: an elegant solution to a complex problem.

PubMed

Lindberg, Curt; Clancy, Thomas R

2010-04-01

As systems evolve over time, their natural tendency is to become increasingly more complex. Studies in the field of complex systems have generated new perspectives on management in social organizations such as hospitals. Much of this research appears as a natural extension of the cross-disciplinary field of systems theory. This is the 13th in a series of articles applying complex systems science to the traditional management concepts of planning, organizing, directing, coordinating, and controlling. This article provides one example of how concepts taken from complex systems theory can be applied to real-world problems facing nurses today.

Movement coordination of the lumbar spine and hip during a picking up activity in low back pain subjects.

PubMed

Shum, Gary L K; Crosbie, Jack; Lee, Raymond Y W

2007-06-01

The effect of low back pain, with or without nerve root signs, on the joint coordination and kinematics of the lumbar spine and hips during everyday activities, such as picking up an object from the floor, are largely unknown. An experimental study was designed to compare lumbar spine and hip joint kinematics and coordination in subjects with and without sub-acute low back pain, while picking up an object in a sitting position. A three-dimensional real-time electromagnetic tracking device was used to measure movements of the lumbar spine and hips. Sixty participants with subacute low back pain, with or without straight leg raise signs, and twenty healthy asymptomatic participants were recruited. The ranges of motions of lumbar spine and hips were determined. Movement coordination between the two regions was examined by cross-correlation. Results showed that mobility was significantly reduced in subjects with back pain, who compensated for limited motion through various strategies. The contribution of the lumbar spine relative to that of the hip was, however, found to be similar in all groups. The lumbar spine-hip joint coordination was substantially altered in subjects with back pain, in particular, those with a positive straight leg raise sign. We conclude that changes in the lumbar and hip kinematics were related to back pain and limitation in straight leg raise. Lumbar-hip coordination was mainly affected by the presence of positive straight leg raise sign when picking up an object in a sitting position.

Method and apparatus for determining the coordinates of an object

DOEpatents

Pedersen, Paul S; Sebring, Robert

2003-01-01

A method and apparatus is described for determining the coordinates on the surface of an object which is illuminated by a beam having pixels which have been modulated according to predetermined mathematical relationships with pixel position within the modulator. The reflected illumination is registered by an image sensor at a known location which registers the intensity of the pixels as received. Computations on the intensity, which relate the pixel intensities received to the pixel intensities transmitted at the modulator, yield the proportional loss of intensity and planar position of the originating pixels. The proportional loss and position information can then be utilized within triangulation equations to resolve the coordinates of associated surface locations on the object.

A Study of the Development of Steady and Periodic Unsteady Turbulent Wakes Through Curved Channels at Positive, Zero, and Negative Streamwise Pressure Gradients, Part 1

NASA Technical Reports Server (NTRS)

Schobeiri, M. T.; John, J.

1996-01-01

The turbomachinery wake flow development is largely influenced by streamline curvature and streamwise pressure gradient. The objective of this investigation is to study the development of the wake under the influence of streamline curvature and streamwise pressure gradient. The experimental investigation is carried out in two phases. The first phase involves the study of the wake behind a stationary circular cylinder (steady wake) in curved channels at positive, zero, and negative streamwise pressure gradients. The mean velocity and Reynolds stress components are measured using a X-hot-film probe. The measured quantities obtained in probe coordinates are transformed to a curvilinear coordinate system along the wake centerline and are presented in similarity coordinates. The results of the steady wakes suggest strong asymmetry in velocity and Reynolds stress components. However, the velocity defect profiles in similarity coordinates are almost symmetrical and follow the same distribution as the zero pressure gradient straight wake. The results of Reynolds stress distributions show higher values on the inner side of the wake than the outer side. Other quantities, including the decay of maximum velocity defect, growth of wake width, and wake integral parameters, are also presented for the three different pressure gradient cases of steady wake. The decay rate of velocity defect is fastest for the negative streamwise pressure gradient case and slowest for the positive pressure gradient case. Conversely, the growth of the wake width is fastest for the positive streamwise pressure gradient case and slowest for the negative streamwise pressure gradient. The second phase studies the development of periodic unsteady wakes generated by the circular cylinders of the rotating wake generator in a curved channel at zero streamwise pressure gradient. Instantaneous velocity components of the periodic unsteady wakes, measured with a stationary X-hot-film probe, are analyzed by the phase averaging techniques. The temporal distribution of velocity and Reynolds stress components obtained in a stationary frame of reference are transformed to a spatial distribution in a relative frame of reference. Profiles of phase-averaged velocity and Reynolds stress distributions in the relative frame of reference and similarity coordinates are presented. The velocity defect and Reynolds stress distributions agree with the results of the wake development behind a stationary cylinder in the curved channel at zero streamwise pressure gradient. The phase-averaged third-order correlations, presented in the relative frame of reference and similarity coordinates, show pronounced asymmetric features.

Cargo-Positioning System for Next-Generation Spacecraft

NASA Technical Reports Server (NTRS)

Holladay, Jon; Colton, Jonathan

2006-01-01

A report discusses a proposed system for mounting loaded pallets in the cargo bay of a next-generation space-shuttle-like spacecraft, such that the center of mass of the cargo would lie within a 1-in. (2.54-cm) cube that would also contain the center of mass of the spacecraft. The system would include (1) an algorithm for planning the locations of the pallets, given the geometric and weight properties of the pallets, and the geometric restrictions of the cargo bay; (2) quick-connect/quick-disconnect mounting mechanisms similar to those now used on air hoses; (3) other mounting mechanisms, comprising mostly spring-loaded pins, in a locking subsystem that would prevent shifting of the pallets under load; and (4) mechanisms for performing fine position adjustments to satisfy the center-of-mass requirement. The position- adjusting mechanisms would be motor-driven lead-screw mechanisms in groups of three - one for positioning each pin of the locking subsystem along each of three mutually perpendicular coordinate axes. The system also would include a triple-threaded screw that would provide compensation for thermal expansion or contraction of the spacecraft.

Determination of Exterior Orientation Parameters Through Direct Geo-Referencing in a Real-Time Aerial Monitoring System

NASA Astrophysics Data System (ADS)

Kim, H.; Lee, J.; Choi, K.; Lee, I.

2012-07-01

Rapid responses for emergency situations such as natural disasters or accidents often require geo-spatial information describing the on-going status of the affected area. Such geo-spatial information can be promptly acquired by a manned or unmanned aerial vehicle based multi-sensor system that can monitor the emergent situations in near real-time from the air using several kinds of sensors. Thus, we are in progress of developing such a real-time aerial monitoring system (RAMS) consisting of both aerial and ground segments. The aerial segment acquires the sensory data about the target areas by a low-altitude helicopter system equipped with sensors such as a digital camera and a GPS/IMU system and transmits them to the ground segment through a RF link in real-time. The ground segment, which is a deployable ground station installed on a truck, receives the sensory data and rapidly processes them to generate ortho-images, DEMs, etc. In order to generate geo-spatial information, in this system, exterior orientation parameters (EOP) of the acquired images are obtained through direct geo-referencing because it is difficult to acquire coordinates of ground points in disaster area. The main process, since the data acquisition stage until the measurement of EOP, is discussed as follows. First, at the time of data acquisition, image acquisition time synchronized by GPS time is recorded as part of image file name. Second, the acquired data are then transmitted to the ground segment in real-time. Third, by processing software for ground segment, positions/attitudes of acquired images are calculated through a linear interpolation using the GPS time of the received position/attitude data and images. Finally, the EOPs of images are obtained from position/attitude data by deriving the relationships between a camera coordinate system and a GPS/IMU coordinate system. In this study, we evaluated the accuracy of the EOP decided by direct geo-referencing in our system. To perform this, we used the precisely calculated EOP through the digital photogrammetry workstation (DPW) as reference data. The results of the evaluation indicate that the accuracy of the EOP acquired by our system is reasonable in comparison with the performance of GPS/IMU system. Also our system can acquire precise multi-sensory data to generate the geo-spatial information in emergency situations. In the near future, we plan to complete the development of the rapid generation system of the ground segment. Our system is expected to be able to acquire the ortho-image and DEM on the damaged area in near real-time. Its performance along with the accuracy of the generated geo-spatial information will also be evaluated and reported in the future work.

Transition Planning for Students with Chronic Health Conditions. Position Statement

ERIC Educational Resources Information Center

Baszler, Rita; Rochkes, Laura; Dolatowski, Rosemary; Mendes, Irene; Yow, Barbara; Butler, Sarah; Fekaris, Nina

2014-01-01

It is the position of the National Association of School Nurses (NASN) that all children with chronic health conditions should receive coordinated and deliberate transition planning to maximize lifelong functioning and well-being. Transition planning refers to a coordinated set of activities to assist students with chronic health conditions to…

The Faculty Liaison as Research Coordinator: A Growing Need for the Academic Community.

ERIC Educational Resources Information Center

Grochmal, Helen M.

This paper recommends the creation of a position of research coordinator by expanding the role of faculty liaison within colleges and universities to help bring services generally provided by special libraries to academic researchers. Reasons given for academic institutions to create such a position include the practicability of applying new…

Impact and Estimation of Balance Coordinate System Rotations and Translations in Wind-Tunnel Testing

NASA Technical Reports Server (NTRS)

Toro, Kenneth G.; Parker, Peter A.

2017-01-01

Discrepancies between the model and balance coordinate systems lead to biases in the aerodynamic measurements during wind-tunnel testing. The reference coordinate system relative to the calibration coordinate system at which the forces and moments are resolved is crucial to the overall accuracy of force measurements. This paper discusses sources of discrepancies and estimates of coordinate system rotation and translation due to machining and assembly differences. A methodology for numerically estimating the coordinate system biases will be discussed and developed. Two case studies are presented using this methodology to estimate the model alignment. Examples span from angle measurement system shifts on the calibration system to discrepancies in actual wind-tunnel data. The results from these case-studies will help aerodynamic researchers and force balance engineers to better the understand and identify potential differences in calibration systems due to coordinate system rotation and translation.

Egocentric and allocentric representations in auditory cortex

PubMed Central

Brimijoin, W. Owen; Bizley, Jennifer K.

2017-01-01

A key function of the brain is to provide a stable representation of an object’s location in the world. In hearing, sound azimuth and elevation are encoded by neurons throughout the auditory system, and auditory cortex is necessary for sound localization. However, the coordinate frame in which neurons represent sound space remains undefined: classical spatial receptive fields in head-fixed subjects can be explained either by sensitivity to sound source location relative to the head (egocentric) or relative to the world (allocentric encoding). This coordinate frame ambiguity can be resolved by studying freely moving subjects; here we recorded spatial receptive fields in the auditory cortex of freely moving ferrets. We found that most spatially tuned neurons represented sound source location relative to the head across changes in head position and direction. In addition, we also recorded a small number of neurons in which sound location was represented in a world-centered coordinate frame. We used measurements of spatial tuning across changes in head position and direction to explore the influence of sound source distance and speed of head movement on auditory cortical activity and spatial tuning. Modulation depth of spatial tuning increased with distance for egocentric but not allocentric units, whereas, for both populations, modulation was stronger at faster movement speeds. Our findings suggest that early auditory cortex primarily represents sound source location relative to ourselves but that a minority of cells can represent sound location in the world independent of our own position. PMID:28617796

Lorentz symmetric n-particle systems without ``multiple times''

NASA Astrophysics Data System (ADS)

Smith, Felix

2013-05-01

The need for multiple times in relativistic n-particle dynamics is a consequence of Minkowski's postulated symmetry between space and time coordinates in a space-time s = [x1 , . . ,x4 ] = [ x , y , z , ict ] , Eq. (1). Poincaré doubted the need for this space-time symmetry, believing Lorentz covariance could also prevail in some geometries with a three-dimensional position space and a quite different time coordinate. The Hubble expansion observed later justifies a specific geometry of this kind, a negatively curved position 3-space expanding with time at the Hubble rate lH (t) =lH , 0 + cΔt (F. T. Smith, Ann. Fond. L. de Broglie, 30, 179 (2005) and 35, 395 (2010)). Its position 4-vector is not s but q = [x1 , . . ,x4 ] = [ x , y , z , ilH (t) ] , and shows no 4-space symmetry. What is observed is always a difference 4-vector Δq = [ Δx , Δy , Δz , icΔt ] , and this displays the structure of Eq. (1) perfectly. Thus we find the standard 4-vector of special relativity in a geometry that does not require a Minkowski space-time at all, but a quite different geometry with a expanding 3-space symmetry and an independent time. The same Lorentz symmetry with but a single time extends to 2 and n-body systems.

Computer Programs to Display and Modify Data in Geographic Coordinates and Methods to Transfer Positions to and from Maps, with Applications to Gravity Data Processing, Global Positioning Systems, and 30-Meter Digital Elevation Models

USGS Publications Warehouse

Plouff, Donald

1998-01-01

Computer programs were written in the Fortran language to process and display gravity data with locations expressed in geographic coordinates. The programs and associated processes have been tested for gravity data in an area of about 125,000 square kilometers in northwest Nevada, southeast Oregon, and northeast California. This report discusses the geographic aspects of data processing. Utilization of the programs begins with application of a template (printed in PostScript format) to transfer locations obtained with Global Positioning Systems to and from field maps and includes a 5-digit geographic-based map naming convention for field maps. Computer programs, with source codes that can be copied, are used to display data values (printed in PostScript format) and data coverage, insert data into files, extract data from files, shift locations, test for redundancy, and organize data by map quadrangles. It is suggested that 30-meter Digital Elevation Models needed for gravity terrain corrections and other applications should be accessed in a file search by using the USGS 7.5-minute map name as a file name, for example, file '40117_B8.DEM' contains elevation data for the map with a southeast corner at lat 40? 07' 30' N. and lon 117? 52' 30' W.

D Coordinate Transformation Using Artificial Neural Networks

NASA Astrophysics Data System (ADS)

Konakoglu, B.; Cakır, L.; Gökalp, E.

2016-10-01

Two coordinate systems used in Turkey, namely the ED50 (European Datum 1950) and ITRF96 (International Terrestrial Reference Frame 1996) coordinate systems. In most cases, it is necessary to conduct transformation from one coordinate system to another. The artificial neural network (ANN) is a new method for coordinate transformation. One of the biggest advantages of the ANN is that it can determine the relationship between two coordinate systems without a mathematical model. The aim of this study was to investigate the performances of three different ANN models (Feed Forward Back Propagation (FFBP), Cascade Forward Back Propagation (CFBP) and Radial Basis Function Neural Network (RBFNN)) with regard to 2D coordinate transformation. To do this, three data sets were used for the same study area, the city of Trabzon. The coordinates of data sets were measured in the ED50 and ITRF96 coordinate systems by using RTK-GPS technique. Performance of each transformation method was investigated by using the coordinate differences between the known and estimated coordinates. The results showed that the ANN algorithms can be used for 2D coordinate transformation in cases where optimum model parameters are selected.

An analysis of a discrete complex skill using Bernstein's stages of learning.

PubMed

Smith, D R; McCabe, D R; Wilkerson, J D

2001-08-01

The purpose of this study was to provide quantitative data about changes in coordination after practicing a racquetball forehand drive serve. Novice women (N = 10) were videotaped before and after 10 min. of practicing a racquetball forehand drive serve on Day 1, and after 10-min. practice sessions on consecutive Days 2 through 5. The PEAK5 Motion Measurement System was used to evaluate the following dependent variables: (a) range of motion of the wrist, elbow, upper torso, and pelvis from backswing to ball contact: (b) racket head velocity at ball contact; and (c) coordination. Coordination was evaluated based on analysis of the angular velocity graphs of each performance to assess sequencing and timing of the segmental contributions. Shared positive contribution was assessed between adjacent 2-segment combinations: pelvis-torso and elbow-wrist. A repeated-measures analysis of variance indicated racket velocity, pelvic rotation, and upper torso rotation significantly increased over the 5 days of practice. Although participants increased their pelvic and torso ranges of motion and racket velocity, improvement in coordination was not documented.

System and method for evaluating wind flow fields using remote sensing devices

DOEpatents

Schroeder, John; Hirth, Brian; Guynes, Jerry

2016-12-13

The present invention provides a system and method for obtaining data to determine one or more characteristics of a wind field using a first remote sensing device and a second remote sensing device. Coordinated data is collected from the first and second remote sensing devices and analyzed to determine the one or more characteristics of the wind field. The first remote sensing device is positioned to have a portion of the wind field within a first scanning sector of the first remote sensing device. The second remote sensing device is positioned to have the portion of the wind field disposed within a second scanning sector of the second remote sensing device.

Global Positioning System Time Transfer Receiver (GPS/TTR) prototype design and initial test evaluation

NASA Technical Reports Server (NTRS)

Oaks, J.; Frank, A.; Falvey, S.; Lister, M.; Buisson, J.; Wardrip, C.; Warren, H.

1982-01-01

Time transfer equipment and techniques used with the Navigation Technology Satellites were modified and extended for use with the Global Positioning System (GPS) satellites. A prototype receiver was built and field tested. The receiver uses the GPS L1 link at 1575 MHz with C/A code only to resolve a measured range to the satellite. A theoretical range is computed from the satellite ephemeris transmitted in the data message and the user's coordinates. Results of user offset from GPS time are obtained by differencing the measured and theoretical ranges and applying calibration corrections. Results of the first field test evaluation of the receiver are presented.

Geosynchronous Orbit Determination Using Space Surveillance Network Observations and Improved Radiative Force Modeling

DTIC Science & Technology

2004-06-01

equinoctial elements , because both sets of orbital elements reference the equinoctial coordinate system. In fact, to...spacecraft position and velocity vectors, or an element set , which represents the orbit using scalar quantities and angle measurements called orbital ...common element sets used to describe elliptical orbits (including circular orbits ) are Keplerian elements , also called classical orbital

The Art Consultant as Writer: A Retrospective of Ontario Publications, 1945-1995

ERIC Educational Resources Information Center

Clark, Roger Allen

2008-01-01

Consultant, supervisor, coordinator--though the official titles may have changed with locale and decade, the position of art consultant has remained an enduring fixture of the Ontario education system since World War II. In this paper, I will trace the evolution of Ontario art consultancies from 1945 to 1995. My focus will be a novel one: the…

Motivation and morality: Insights into political ideology.

PubMed

Janoff-Bulman, Ronnie; Carnes, Nate C

2014-06-01

Our past work linking motivation and morality provides a basis for understanding differences in political ideology and positions across the political spectrum. Conservatism is rooted in avoidance-based proscriptive morality, whereas liberalism is rooted in approach-based prescriptive morality. Two distinct, binding, group moralities reflect these different regulatory systems and emphasize social coordination through Social Order versus social cooperation through Social Justice.

Railway clearance intrusion detection method with binocular stereo vision

NASA Astrophysics Data System (ADS)

Zhou, Xingfang; Guo, Baoqing; Wei, Wei

2018-03-01

In the stage of railway construction and operation, objects intruding railway clearance greatly threaten the safety of railway operation. Real-time intrusion detection is of great importance. For the shortcomings of depth insensitive and shadow interference of single image method, an intrusion detection method with binocular stereo vision is proposed to reconstruct the 3D scene for locating the objects and judging clearance intrusion. The binocular cameras are calibrated with Zhang Zhengyou's method. In order to improve the 3D reconstruction speed, a suspicious region is firstly determined by background difference method of a single camera's image sequences. The image rectification, stereo matching and 3D reconstruction process are only executed when there is a suspicious region. A transformation matrix from Camera Coordinate System(CCS) to Track Coordinate System(TCS) is computed with gauge constant and used to transfer the 3D point clouds into the TCS, then the 3D point clouds are used to calculate the object position and intrusion in TCS. The experiments in railway scene show that the position precision is better than 10mm. It is an effective way for clearance intrusion detection and can satisfy the requirement of railway application.

Real-time 3D ultrasound guidance of autonomous surgical robot for shrapnel detection and breast biopsy

NASA Astrophysics Data System (ADS)

Rogers, Albert J.; Light, Edward D.; von Allmen, Daniel; Smith, Stephen W.

2009-02-01

Two studies have been conducted using real time 3D ultrasound and an automated robot system for carrying out surgical tasks. The first task is to perform a breast lesion biopsy automatically after detection by ultrasound. Combining 3D ultrasound with traditional mammography allows real time guidance of the biopsy needle. Image processing techniques analyze volumes to calculate the location of a target lesion. This position was converted into the coordinate system of a three axis robot which moved a needle probe to touch the lesion. The second task is to remove shrapnel from a tissue phantom autonomously. In some emergency situations, shrapnel detection in the body is necessary for quick treatment. Furthermore, small or uneven shrapnel geometry may hinder location by typical ultrasound imaging methods. Vibrations and small displacements can be induced in ferromagnetic shrapnel by a variable electromagnet. We used real time 3D color Doppler to locate this motion for 2 mm long needle fragments and determined the 3D position of the fragment in the scanner coordinates. The rms error of the image guided robot for 5 trials was 1.06 mm for this task which was accomplished in 76 seconds.

Coordination of dual robot arms using kinematic redundancy

NASA Technical Reports Server (NTRS)

Suh, Il Hong; Shin, Kang G.

1988-01-01

A method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom (dof), giving the follower more maneuvering capabilities. In particular, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, an example system with two PUMA 560 robots carrying a beam is analyzed.

Multi-axis planar slide system

DOEpatents

Bieg, Lothar F.

2002-01-01

An apparatus for positioning an item that provides two-dimensional, independent orthogonal motion of a platform in a X-Y plane. A pair of master and slave disks engages opposite sides of the platform. Rotational drivers are connected to master disks so the disks rotate eccentrically about axes of rotation. Opposing slave disks are connected to master disks on opposite sides of the platform by a timing belt, or are electronically synchronized together using stepper motors, to effect coordinated motion. The coordinated eccentric motion of the pairs of master/slave disks compels smooth linear motion of the platform in the X-Y plane without backlash. The apparatus can be a planar mechanism implemented in a MEMS device.

An isocenter estimation tool for proton gantry alignment

NASA Astrophysics Data System (ADS)

Hansen, Peter; Hu, Dongming

2017-12-01

A novel tool has been developed to automate the process of locating the isocenter, center of rotation, and sphere of confusion of a proton therapy gantry. The tool uses a Radian laser tracker to estimate how the coordinate frame of the front-end beam-line components changes as the gantry rotates. The coordinate frames serve as an empirical model of gantry flexing. Using this model, the alignment of the front and back-end beam-line components can be chosen to minimize the sphere of confusion, improving the overall beam positioning accuracy of the gantry. This alignment can be performed without the beam active, improving the efficiency of installing new systems at customer sites.

System For Research On Multiple-Arm Robots

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Hayati, Samad; Tso, Kam S.; Hayward, Vincent

1991-01-01

Kali system of computer programs and equipment provides environment for research on distributed programming and distributed control of coordinated-multiple-arm robots. Suitable for telerobotics research involving sensing and execution of low level tasks. Software and configuration of hardware designed flexible so system modified easily to test various concepts in control and programming of robots, including multiple-arm control, redundant-arm control, shared control, traded control, force control, force/position hybrid control, design and integration of sensors, teleoperation, task-space description and control, methods of adaptive control, control of flexible arms, and human factors.

Near-real-time biplanar fluoroscopic tracking system for the video tumor fighter

NASA Astrophysics Data System (ADS)

Lawson, Michael A.; Wika, Kevin G.; Gilles, George T.; Ritter, Rogers C.

1991-06-01

We have developed software capable of the three-dimensional tracking of objects in the brain volume, and the subsequent overlaying of an image of the object onto previously obtained MR or CT scans. This software has been developed for use with the Magnetic Stereotaxis System (MSS), also called the 'Video Tumor Fighter' (VTF). The software was written for a Sun 4/110 SPARC workstation with an ANDROX ICS-400 image processing card installed to manage this task. At present, the system uses input from two orthogonally-oriented, visible- light cameras and a simulated scene to determine the three-dimensional position of the object of interest. The coordinates are then transformed into MR or CT coordinates and an image of the object is displayed in the appropriate intersecting MR slice on a computer screen. This paper describes the tracking algorithm and discusses how it was implemented in software. The system's hardware is also described. The limitations of the present system are discussed and plans for incorporating bi-planar, x-ray fluoroscopy are presented.

Lane Level Localization; Using Images and HD Maps to Mitigate the Lateral Error

NASA Astrophysics Data System (ADS)

Hosseinyalamdary, S.; Peter, M.

2017-05-01

In urban canyon where the GNSS signals are blocked by buildings, the accuracy of measured position significantly deteriorates. GIS databases have been frequently utilized to improve the accuracy of measured position using map matching approaches. In map matching, the measured position is projected to the road links (centerlines) in this approach and the lateral error of measured position is reduced. By the advancement in data acquision approaches, high definition maps which contain extra information, such as road lanes are generated. These road lanes can be utilized to mitigate the positional error and improve the accuracy in position. In this paper, the image content of a camera mounted on the platform is utilized to detect the road boundaries in the image. We apply color masks to detect the road marks, apply the Hough transform to fit lines to the left and right road boundaries, find the corresponding road segment in GIS database, estimate the homography transformation between the global and image coordinates of the road boundaries, and estimate the camera pose with respect to the global coordinate system. The proposed approach is evaluated on a benchmark. The position is measured by a smartphone's GPS receiver, images are taken from smartphone's camera and the ground truth is provided by using Real-Time Kinematic (RTK) technique. Results show the proposed approach significantly improves the accuracy of measured GPS position. The error in measured GPS position with average and standard deviation of 11.323 and 11.418 meters is reduced to the error in estimated postion with average and standard deviation of 6.725 and 5.899 meters.

Estimating the coordinates of pillars and posts in the parking lots for intelligent parking assist system

NASA Astrophysics Data System (ADS)

Choi, Jae Hyung; Kuk, Jung Gap; Kim, Young Il; Cho, Nam Ik

2012-01-01

This paper proposes an algorithm for the detection of pillars or posts in the video captured by a single camera implemented on the fore side of a room mirror in a car. The main purpose of this algorithm is to complement the weakness of current ultrasonic parking assist system, which does not well find the exact position of pillars or does not recognize narrow posts. The proposed algorithm is consisted of three steps: straight line detection, line tracking, and the estimation of 3D position of pillars. In the first step, the strong lines are found by the Hough transform. Second step is the combination of detection and tracking, and the third is the calculation of 3D position of the line by the analysis of trajectory of relative positions and the parameters of camera. Experiments on synthetic and real images show that the proposed method successfully locates and tracks the position of pillars, which helps the ultrasonic system to correctly locate the edges of pillars. It is believed that the proposed algorithm can also be employed as a basic element for vision based autonomous driving system.

Photographic observations of six comets

NASA Astrophysics Data System (ADS)

de Sanctis, G.; Ferreri, W.; Zappala, V.

Sixty-nine positions of six comets are given as obtained from photographic observations made at the Observatory of Torino from October 1980 to September 1982. Positions are given for Comets Encke, Stephan-Oterma, Meier, Bradfield, Panther, and Austin. Plates were measured with a Zeiss two-coordinate measuring machine. The AGK3 catalog was used to obtain the positions of reference stars and the coordinates of an additional cataloged star near the position of the comet on the plate. The mean values of the differences between the cataloged positions were found to be 0.72 arcsec and 0.52 arcsec in right ascension and declination, respectively.

A phantom evaluation of a stereo-vision surface imaging system for radiotherapy patient setup

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bert, Christoph; Metheany, Katherine G.; Doppke, Karen

2005-09-15

External beam irradiation requires precise positioning of the target relative to the treatment planning coordinate system. A three-dimensional (3D) surface imaging system for patient positioning has recently been installed in one of our linear accelerator (linac) rooms. The device utilizes close-range photogrammetry to generate a 3D model of the patient's surface. This geometric model can be made to look like a digital camera image if wrapped with a gray-level image (texture mapping) that shows surface coloration. The system is calibrated to the linac coordinate system and has been designed as a patient setup device. To reproduce patient position in fractionatedmore » radiotherapy, the daily patient surface model is registered to a previously recorded reference surface. Using surface registration, the system calculates the rigid-body transformation that minimizes the distance between the treatment and the reference surface models in a region-of-interest (ROI). This transformation is expressed as a set of new couch coordinates at which the patient position best matches with the reference data. If respiratory motion is a concern, the surface can be obtained with a gated acquisition at a specified phase of the respiratory cycle. To analyze the accuracy of the system, we performed several experiments with phantoms to assess stability, alignment accuracy, precision of the gating function, and surface topology. The reproducibility of surface measurements was tested for periods up to 57 h. Each recorded frame was registered to the reference surface to calculate the required couch adjustment. The system stability over this time period was better than 0.5 mm. To measure the accuracy of the system to detect and quantify patient shift relative to a reference image, we compared the shift detected by the surface imaging system with known couch transitions in a phantom study. The maximum standard deviation was 0.75 mm for the three translational degrees of freedom, and less than 0.1 deg. for each rotation. Surface model precision was tested against computed tomography (CT)-derived surface topology. The root-mean-square rms of the distance between the surfaces was 0.65 mm, excluding regions where beam hardening caused artifacts in the CT data. Measurements were made to test the gated acquisition mode. The time-dependent amplitude was measured with the surface imaging system and an established respiratory gating system based on infrared (IR)-marker detection. The measured motion trajectories from both systems were compared to the known trajectory of the stage. The standard deviations of the amplitude differences to the motor trajectory were 0.04 and 0.15 mm for the IR-marker system and the 3D surface imaging system, respectively. A limitation of the surface-imaging device is the frame rate of 6.5 Hz, because rapid changes of the motion trajectory cannot be detected. In conclusion, the system is accurate and sufficiently stable to be used in the clinic. The errors computed when comparing the surface model with CT geometry were submillimeter, and deviations in the alignment and gating-signal tests were of the same magnitude.« less

Humanoid monocular stereo measuring system with two degrees of freedom using bionic optical imaging system

NASA Astrophysics Data System (ADS)

Du, Jia-Wei; Wang, Xuan-Yin; Zhu, Shi-Qiang

2017-10-01

Based on the process by which the spatial depth clue is obtained by a single eye, a monocular stereo vision to measure the depth information of spatial objects was proposed in this paper and a humanoid monocular stereo measuring system with two degrees of freedom was demonstrated. The proposed system can effectively obtain the three-dimensional (3-D) structure of spatial objects of different distances without changing the position of the system and has the advantages of being exquisite, smart, and flexible. The bionic optical imaging system we proposed in a previous paper, named ZJU SY-I, was employed and its vision characteristic was just like the resolution decay of the eye's vision from center to periphery. We simplified the eye's rotation in the eye socket and the coordinated rotation of other organs of the body into two rotations in the orthogonal direction and employed a rotating platform with two rotation degrees of freedom to drive ZJU SY-I. The structure of the proposed system was described in detail. The depth of a single feature point on the spatial object was deduced, as well as its spatial coordination. With the focal length adjustment of ZJU SY-I and the rotation control of the rotation platform, the spatial coordinates of all feature points on the spatial object could be obtained and then the 3-D structure of the spatial object could be reconstructed. The 3-D structure measurement experiments of two spatial objects with different distances and sizes were conducted. Some main factors affecting the measurement accuracy of the proposed system were analyzed and discussed.

Astrometry of Single-Chord Occultations: Application to the 1993 Triton Event

NASA Technical Reports Server (NTRS)

Olkin, Catherine B.; Elliot, J. L.; Bus, Schelte J.; McDonald, Stephen W.; Dahn, Conrad C.

1996-01-01

This paper outlines a method for reducing astrometric data to derive the closest approach time and distance to the center of an occultation shadow for a single observer. The method applies to CCD frames, strip scans or photographic plates and uses a set of field stars of unknown positions to define a common coordinate system for all frames. The motion of the occulting body is used to establish the transformation between this common coordinate system and the celestial coordinate system of the body's ephemeris. This method is demonstrated by application to the Tr6O occultation by Triton on 1993 July 10 UT. Over an interval of four nights that included the occultation time, 80 frames of Triton and Tr6O were taken near the meridian with the U.S. Naval Observatory (USNO) 61-inch astrometric reflector. Application of the method presented here to these data yields a closest approach distance of 359 +/- 133 km (corresponding to 0.017 +/- 0.006 arcsec) for the occultation chord obtained with the Kuiper Airborne Observatory (KAO). Comparison of the astrometric closest approach time with the KAO light-curve midtime shows a difference of 2.2 +/- 4.1 s. Relative photometry of Triton and Tr6O, needed for photometric calibration of the occultation light curve, is also presented.

Adding source positions to the IVS Combination

NASA Astrophysics Data System (ADS)

Bachmann, S.; Thaller, D.

2016-12-01

Simultaneous estimation of source positions, Earth orientation parameters (EOPs) and station positions in one common adjustment is crucial for a consistent generation of celestial and terrestrial reference frame (CRF and TRF, respectively). VLBI is the only technique to guarantee this consistency. Previous publications showed that the VLBI intra-technique combination could improve the quality of the EOPs and station coordinates compared to the individual contributions. By now, the combination of EOP and station coordinates is well established within the IVS and in combination with other space geodetic techniques (e.g. inter-technique combined TRF like the ITRF). Most of the contributing IVS Analysis Centers (AC) now provide source positions as a third parameter type (besides EOP and station coordinates), which have not been used for an operational combined solution yet. A strategy for the combination of source positions has been developed and integrated into the routine IVS combination. Investigations are carried out to compare the source positions derived from different IVS ACs with the combined estimates to verify whether the source positions are improved by the combination, as it has been proven for EOP and station coordinates. Furthermore, global solutions of source positions, i.e., so-called catalogues describing a CRF, are generated consistently with the TRF similar to the IVS operational combined quarterly solution. The combined solutions of the source positions time series and the consistently generated TRF and CRF are compared internally to the individual solutions of the ACs as well as to external CRF catalogues and TRFs. Additionally, comparisons of EOPs based on different CRF solutions are presented as an outlook for consistent EOP, CRF and TRF realizations.

Calibration for single multi-mode fiber digital scanning microscopy imaging system

NASA Astrophysics Data System (ADS)

Yin, Zhe; Liu, Guodong; Liu, Bingguo; Gan, Yu; Zhuang, Zhitao; Chen, Fengdong

2015-11-01

Single multimode fiber (MMF) digital scanning imaging system is a development tendency of modern endoscope. We concentrate on the calibration method of the imaging system. Calibration method comprises two processes, forming scanning focused spots and calibrating the couple factors varied with positions. Adaptive parallel coordinate algorithm (APC) is adopted to form the focused spots at the multimode fiber (MMF) output. Compare with other algorithm, APC contains many merits, i.e. rapid speed, small amount calculations and no iterations. The ratio of the optics power captured by MMF to the intensity of the focused spots is called couple factor. We setup the calibration experimental system to form the scanning focused spots and calculate the couple factors for different object positions. The experimental result the couple factor is higher in the center than the edge.

Accuracy of a hexapod parallel robot kinematics based external fixator.

PubMed

Faschingbauer, Maximilian; Heuer, Hinrich J D; Seide, Klaus; Wendlandt, Robert; Münch, Matthias; Jürgens, Christian; Kirchner, Rainer

2015-12-01

Different hexapod-based external fixators are increasingly used to treat bone deformities and fractures. Accuracy has not been measured sufficiently for all models. An infrared tracking system was applied to measure positioning maneuvers with a motorized Precision Hexapod® fixator, detecting three-dimensional positions of reflective balls mounted in an L-arrangement on the fixator, simulating bone directions. By omitting one dimension of the coordinates, projections were simulated as if measured on standard radiographs. Accuracy was calculated as the absolute difference between targeted and measured positioning values. In 149 positioning maneuvers, the median values for positioning accuracy of translations and rotations (torsions/angulations) were below 0.3 mm and 0.2° with quartiles ranging from -0.5 mm to 0.5 mm and -1.0° to 0.9°, respectively. The experimental setup was found to be precise and reliable. It can be applied to compare different hexapod-based fixators. Accuracy of the investigated hexapod system was high. Copyright © 2014 John Wiley & Sons, Ltd.

Control Program for an Optical-Calibration Robot

NASA Technical Reports Server (NTRS)

Johnston, Albert

2005-01-01

A computer program provides semiautomatic control of a moveable robot used to perform optical calibration of video-camera-based optoelectronic sensor systems that will be used to guide automated rendezvous maneuvers of spacecraft. The function of the robot is to move a target and hold it at specified positions. With the help of limit switches, the software first centers or finds the target. Then the target is moved to a starting position. Thereafter, with the help of an intuitive graphical user interface, an operator types in coordinates of specified positions, and the software responds by commanding the robot to move the target to the positions. The software has capabilities for correcting errors and for recording data from the guidance-sensor system being calibrated. The software can also command that the target be moved in a predetermined sequence of motions between specified positions and can be run in an advanced control mode in which, among other things, the target can be moved beyond the limits set by the limit switches.

Orthonormal aberration polynomials for anamorphic optical imaging systems with circular pupils.

PubMed

Mahajan, Virendra N

2012-06-20

In a recent paper, we considered the classical aberrations of an anamorphic optical imaging system with a rectangular pupil, representing the terms of a power series expansion of its aberration function. These aberrations are inherently separable in the Cartesian coordinates (x,y) of a point on the pupil. Accordingly, there is x-defocus and x-coma, y-defocus and y-coma, and so on. We showed that the aberration polynomials orthonormal over the pupil and representing balanced aberrations for such a system are represented by the products of two Legendre polynomials, one for each of the two Cartesian coordinates of the pupil point; for example, L(l)(x)L(m)(y), where l and m are positive integers (including zero) and L(l)(x), for example, represents an orthonormal Legendre polynomial of degree l in x. The compound two-dimensional (2D) Legendre polynomials, like the classical aberrations, are thus also inherently separable in the Cartesian coordinates of the pupil point. Moreover, for every orthonormal polynomial L(l)(x)L(m)(y), there is a corresponding orthonormal polynomial L(l)(y)L(m)(x) obtained by interchanging x and y. These polynomials are different from the corresponding orthogonal polynomials for a system with rotational symmetry but a rectangular pupil. In this paper, we show that the orthonormal aberration polynomials for an anamorphic system with a circular pupil, obtained by the Gram-Schmidt orthogonalization of the 2D Legendre polynomials, are not separable in the two coordinates. Moreover, for a given polynomial in x and y, there is no corresponding polynomial obtained by interchanging x and y. For example, there are polynomials representing x-defocus, balanced x-coma, and balanced x-spherical aberration, but no corresponding y-aberration polynomials. The missing y-aberration terms are contained in other polynomials. We emphasize that the Zernike circle polynomials, although orthogonal over a circular pupil, are not suitable for an anamorphic system as they do not represent balanced aberrations for such a system.

Generic, scalable and decentralized fault detection for robot swarms.

PubMed

Tarapore, Danesh; Christensen, Anders Lyhne; Timmis, Jon

2017-01-01

Robot swarms are large-scale multirobot systems with decentralized control which means that each robot acts based only on local perception and on local coordination with neighboring robots. The decentralized approach to control confers number of potential benefits. In particular, inherent scalability and robustness are often highlighted as key distinguishing features of robot swarms compared with systems that rely on traditional approaches to multirobot coordination. It has, however, been shown that swarm robotics systems are not always fault tolerant. To realize the robustness potential of robot swarms, it is thus essential to give systems the capacity to actively detect and accommodate faults. In this paper, we present a generic fault-detection system for robot swarms. We show how robots with limited and imperfect sensing capabilities are able to observe and classify the behavior of one another. In order to achieve this, the underlying classifier is an immune system-inspired algorithm that learns to distinguish between normal behavior and abnormal behavior online. Through a series of experiments, we systematically assess the performance of our approach in a detailed simulation environment. In particular, we analyze our system's capacity to correctly detect robots with faults, false positive rates, performance in a foraging task in which each robot exhibits a composite behavior, and performance under perturbations of the task environment. Results show that our generic fault-detection system is robust, that it is able to detect faults in a timely manner, and that it achieves a low false positive rate. The developed fault-detection system has the potential to enable long-term autonomy for robust multirobot systems, thus increasing the usefulness of robots for a diverse repertoire of upcoming applications in the area of distributed intelligent automation.

Documentation of program AFTBDY to generate coordinate system for 3D after body using body fitted curvilinear coordinates, part 1

NASA Technical Reports Server (NTRS)

Kumar, D.

1980-01-01

The computer program AFTBDY generates a body fitted curvilinear coordinate system for a wedge curved after body. This wedge curved after body is being used in an experimental program. The coordinate system generated by AFTBDY is used to solve 3D compressible N.S. equations. The coordinate system in the physical plane is a cartesian x,y,z system, whereas, in the transformed plane a rectangular xi, eta, zeta system is used. The coordinate system generated is such that in the transformed plane coordinate spacing in the xi, eta, zeta direction is constant and equal to unity. The physical plane coordinate lines in the different regions are clustered heavily or sparsely depending on the regions where physical quantities to be solved for by the N.S. equations have high or low gradients. The coordinate distribution in the physical plane is such that x stays constant in eta and zeta direction, whereas, z stays constant in xi and eta direction. The desired distribution in x and z is input to the program. Consequently, only the y-coordinate is solved for by the program AFTBDY.

Medical tomograph system using ultrasonic transmission

NASA Technical Reports Server (NTRS)

Heyser, Richard C. (Inventor); Nathan, Robert (Inventor)

1978-01-01

Ultrasonic energy transmission in rectilinear array scanning patterns of soft tissue provides projection density values of the tissue which are recorded as a function of scanning position and angular relationship, .theta., of the subject with a fixed coordinate system. A plurality of rectilinear scan arrays in the same plane for different angular relationships .theta..sub.1 . . . .theta..sub.n thus recorded are superimposed. The superimposition of intensity values thus yields a tomographic image of an internal section of the tissue in the scanning plane.

Learning alternative movement coordination patterns using reinforcement feedback.

PubMed

Lin, Tzu-Hsiang; Denomme, Amber; Ranganathan, Rajiv

2018-05-01

One of the characteristic features of the human motor system is redundancy-i.e., the ability to achieve a given task outcome using multiple coordination patterns. However, once participants settle on using a specific coordination pattern, the process of learning to use a new alternative coordination pattern to perform the same task is still poorly understood. Here, using two experiments, we examined this process of how participants shift from one coordination pattern to another using different reinforcement schedules. Participants performed a virtual reaching task, where they moved a cursor to different targets positioned on the screen. Our goal was to make participants use a coordination pattern with greater trunk motion, and to this end, we provided reinforcement by making the cursor disappear if the trunk motion during the reach did not cross a specified threshold value. In Experiment 1, we compared two reinforcement schedules in two groups of participants-an abrupt group, where the threshold was introduced immediately at the beginning of practice; and a gradual group, where the threshold was introduced gradually with practice. Results showed that both abrupt and gradual groups were effective in shifting their coordination patterns to involve greater trunk motion, but the abrupt group showed greater retention when the reinforcement was removed. In Experiment 2, we examined the basis of this advantage in the abrupt group using two additional control groups. Results showed that the advantage of the abrupt group was because of a greater number of practice trials with the desired coordination pattern. Overall, these results show that reinforcement can be successfully used to shift coordination patterns, which has potential in the rehabilitation of movement disorders.

Comparison of Satellite Surveying to Traditional Surveying Methods for the Resources Industry

NASA Astrophysics Data System (ADS)

Osborne, B. P.; Osborne, V. J.; Kruger, M. L.

Modern ground-based survey methods involve detailed survey, which provides three-space co-ordinates for surveyed points, to a high level of accuracy. The instruments are operated by surveyors, who process the raw results to create survey location maps for the subject of the survey. Such surveys are conducted for a location or region and referenced to the earth global co- ordinate system with global positioning system (GPS) positioning. Due to this referencing the survey is only as accurate as the GPS reference system. Satellite survey remote sensing utilise satellite imagery which have been processed using commercial geographic information system software. Three-space co-ordinate maps are generated, with an accuracy determined by the datum position accuracy and optical resolution of the satellite platform.This paper presents a case study, which compares topographic surveying undertaken by traditional survey methods with satellite surveying, for the same location. The purpose of this study is to assess the viability of satellite remote sensing for surveying in the resources industry. The case study involves a topographic survey of a dune field for a prospective mining project area in Pakistan. This site has been surveyed using modern surveying techniques and the results are compared to a satellite survey performed on the same area.Analysis of the results from traditional survey and from the satellite survey involved a comparison of the derived spatial co- ordinates from each method. In addition, comparisons have been made of costs and turnaround time for both methods.The results of this application of remote sensing is of particular interest for survey in areas with remote and extreme environments, weather extremes, political unrest, poor travel links, which are commonly associated with mining projects. Such areas frequently suffer language barriers, poor onsite technical support and resources.

The impact of victim-focused outreach on criminal legal system outcomes following police-reported intimate partner abuse.

PubMed

DePrince, Anne P; Belknap, Joanne; Labus, Jennifer S; Buckingham, Susan E; Gover, Angela R

2012-08-01

Randomized control designs have been used in the public health and psychological literatures to examine the relationship between victim outreach following intimate partner abuse (IPA) and various outcomes. These studies have largely relied on samples drawn from health providers and shelters to examine outcomes outside the criminal legal system. Based on the positive findings from this body of research, we expected that a victim-focused, community-coordinated outreach intervention would improve criminal legal system outcomes. The current study used a randomized, longitudinal design to recruit 236 ethnically diverse women with police-reported IPA to compare treatment-as-usual with an innovative community-coordinated, victim-focused outreach program. Findings indicated that the outreach program was effective in increasing women's engagement with prosecution tasks as well as likelihood of taking part in prosecution of their abusers. Results were particularly robust among women marginalized by ethnicity and class, and those still living with their abusers after the target incident.

Polymorphic robotic system controlled by an observing camera

NASA Astrophysics Data System (ADS)

Koçer, Bilge; Yüksel, Tugçe; Yümer, M. Ersin; Özen, C. Alper; Yaman, Ulas

2010-02-01

Polymorphic robotic systems, which are composed of many modular robots that act in coordination to achieve a goal defined on the system level, have been drawing attention of industrial and research communities since they bring additional flexibility in many applications. This paper introduces a new polymorphic robotic system, in which the detection and control of the modules are attained by a stationary observing camera. The modules do not have any sensory equipment for positioning or detecting each other. They are self-powered, geared with means of wireless communication and locking mechanisms, and are marked to enable the image processing algorithm detect the position and orientation of each of them in a two dimensional space. Since the system does not depend on the modules for positioning and commanding others, in a circumstance where one or more of the modules malfunction, the system will be able to continue operating with the rest of the modules. Moreover, to enhance the compatibility and robustness of the system under different illumination conditions, stationary reference markers are employed together with global positioning markers, and an adaptive filtering parameter decision methodology is enclosed. To the best of authors' knowledge, this is the first study to introduce a remote camera observer to control modules of a polymorphic robotic system.

Electrostatically Embedded Many-Body Expansion for Neutral and Charged Metalloenzyme Model Systems.

PubMed

Kurbanov, Elbek K; Leverentz, Hannah R; Truhlar, Donald G; Amin, Elizabeth A

2012-01-10

The electrostatically embedded many-body (EE-MB) method has proven accurate for calculating cohesive and conformational energies in clusters, and it has recently been extended to obtain bond dissociation energies for metal-ligand bonds in positively charged inorganic coordination complexes. In the present paper, we present four key guidelines that maximize the accuracy and efficiency of EE-MB calculations for metal centers. Then, following these guidelines, we show that the EE-MB method can also perform well for bond dissociation energies in a variety of neutral and negatively charged inorganic coordination systems representing metalloenzyme active sites, including a model of the catalytic site of the zinc-bearing anthrax toxin lethal factor, a popular target for drug development. In particular, we find that the electrostatically embedded three-body (EE-3B) method is able to reproduce conventionally calculated bond-breaking energies in a series of pentacoordinate and hexacoordinate zinc-containing systems with an average absolute error (averaged over 25 cases) of only 0.98 kcal/mol.

Soft tissue displacement over pelvic anatomical landmarks during 3-D hip movements.

PubMed

Camomilla, V; Bonci, T; Cappozzo, A

2017-09-06

The position, in a pelvis-embedded anatomical coordinate system, of skin points located over the following anatomical landmarks (AL) was determined while the hip assumed different spatial postures: right and left anterior superior and posterior superior iliac spines, and the sacrum. Postures were selected as occurring during walking and during a flexion-extension and circumduction movement, as used to determine the hip joint centre position (star-arc movement). Five volunteers, characterised by a wide range of body mass indices (22-37), were investigated. Subject-specific MRI pelvis digital bone models were obtained. For each posture, the pose of the pelvis-embedded anatomical coordinate system was determined by registering this bone model with points digitised over bony prominences of the pelvis, using a wand carrying a marker-cluster and stereophotogrammetry. The knowledge of how the position of the skin points varies as a function of the hip posture provided information regarding the soft tissue artefact (STA) that would affect skin markers located over those points during stereophotogrammetric movement analysis. The STA was described in terms of amplitude (relative to the position of the AL during an orthostatic posture), diameter (distance between the positions of the AL which were farthest away from each other), and pelvis orientation. The STA amplitude, exhibited, over all postures, a median [inter-quartile] value of 9[6] and 16[11]mm, for normal and overweight volunteers, respectively. STA diameters were larger for the star-arc than for the walking postures, and the direction was predominantly upwards. Consequent errors in pelvic orientation were in the range 1-9 and 4-11 degrees, for the two groups respectively. Copyright © 2017 Elsevier Ltd. All rights reserved.

A Robust High-Accuracy Ultrasound Indoor Positioning System Based on a Wireless Sensor Network

PubMed Central

Qi, Jun; Liu, Guo-Ping

2017-01-01

This paper describes the development and implementation of a robust high-accuracy ultrasonic indoor positioning system (UIPS). The UIPS consists of several wireless ultrasonic beacons in the indoor environment. Each of them has a fixed and known position coordinate and can collect all the transmissions from the target node or emit ultrasonic signals. Every wireless sensor network (WSN) node has two communication modules: one is WiFi, that transmits the data to the server, and the other is the radio frequency (RF) module, which is only used for time synchronization between different nodes, with accuracy up to 1 μs. The distance between the beacon and the target node is calculated by measuring the time-of-flight (TOF) for the ultrasonic signal, and then the position of the target is computed by some distances and the coordinate of the beacons. TOF estimation is the most important technique in the UIPS. A new time domain method to extract the envelope of the ultrasonic signals is presented in order to estimate the TOF. This method, with the envelope detection filter, estimates the value with the sampled values on both sides based on the least squares method (LSM). The simulation results show that the method can achieve envelope detection with a good filtering effect by means of the LSM. The highest precision and variance can reach 0.61 mm and 0.23 mm, respectively, in pseudo-range measurements with UIPS. A maximum location error of 10.2 mm is achieved in the positioning experiments for a moving robot, when UIPS works on the line-of-sight (LOS) signal. PMID:29113126

Relationship between seismic status of Earth and relative position of bodies in sun-earth-moon system

NASA Astrophysics Data System (ADS)

Kulanin, N. V.

1985-03-01

The time spectrum of variations in seismicity is quite broad. There are seismic seasons, as well as multiannual variations. The range of characteristic times of variation from days to about one year is studied. Seismic activity as a function of the position of the moon relative to the Earth and the direction toward the Sun is studied. The moments of strong earthquakes, over 5.8 on the Richter scale, between 1968 and June 1980 are plotted in time coordinates relating them to the relative positions of the three bodies in the sun-earth-moon system. Methods of mathematical statistics are applied to the points produced, indicating at least 99% probability that the distribution was not random. a periodicity of the earth's seismic state of 413 days is observed.

Multipole Structure and Coordinate Systems

ERIC Educational Resources Information Center

Burko, Lior M.

2007-01-01

Multipole expansions depend on the coordinate system, so that coefficients of multipole moments can be set equal to zero by an appropriate choice of coordinates. Therefore, it is meaningless to say that a physical system has a nonvanishing quadrupole moment, say, without specifying which coordinate system is used. (Except if this moment is the…

Connection Between the ICRF and the Dynamical Reference Frame for the Outer Planets

NASA Astrophysics Data System (ADS)

da Silva Neto, D. N.; Assafin, M.; Andrei, A. H.; Vieira Martins, R.

2005-01-01

This work brings an approach intending to improve the connection between the Dynamical Reference Frame and the Extragalactic Reference Frame. For that, close encounters of outer Solar System objects and quasars are used. With this goal, Uranus, Neptune and two quasars were observed at Laborat´orio Nacional de Astrof´ısica (LNA), Brazil. The optical reference frame is the HCRF, as given by the UCAC2 catalogue. The first results show an accuracy of 45 mas - 50 mas in the optical positions. The optical minus radio offsets give the local orientation between the catalogue and radio frame. From this, it is possible to place the optical planet coordinates on the extragalactic frame. A comparison between the new corrected optical coordinates and the respective DE ephemeris to these planets can give the instant orientations of the Dynamical Reference Frame with regard to the ICRS, for this zone of outer Solar System.

Principles of dynamical modularity in biological regulatory networks

PubMed Central

Deritei, Dávid; Aird, William C.; Ercsey-Ravasz, Mária; Regan, Erzsébet Ravasz

2016-01-01

Intractable diseases such as cancer are associated with breakdown in multiple individual functions, which conspire to create unhealthy phenotype-combinations. An important challenge is to decipher how these functions are coordinated in health and disease. We approach this by drawing on dynamical systems theory. We posit that distinct phenotype-combinations are generated by interactions among robust regulatory switches, each in control of a discrete set of phenotypic outcomes. First, we demonstrate the advantage of characterizing multi-switch regulatory systems in terms of their constituent switches by building a multiswitch cell cycle model which points to novel, testable interactions critical for early G2/M commitment to division. Second, we define quantitative measures of dynamical modularity, namely that global cell states are discrete combinations of switch-level phenotypes. Finally, we formulate three general principles that govern the way coupled switches coordinate their function. PMID:26979940

Radiographic-directed local coordinate systems critical in kinematic analysis of walking in diabetes-related medial column foot deformity.

PubMed

Hastings, Mary K; Woodburn, James; Mueller, Michael J; Strube, Michael J; Johnson, Jeffrey E; Beckert, Krista S; Stein, Michelle L; Sinacore, David R

2014-01-01

Diabetic foot deformity onset and progression maybe associated with abnormal foot and ankle motion. The modified Oxford multi-segmental foot model allows kinematic assessment of inter-segmental foot motion. However, there are insufficient anatomical landmarks to accurately representation the alignment of the hindfoot and forefoot segments during model construction. This is most notable for the sagittal plane which is referenced parallel to the floor, allowing comparison of inter-segmental excursion but not capturing important sagittal hind-to-forefoot deformity associated with diabetic foot disease and can potentially underestimate true kinematic differences. The purpose of the study was to compare walking kinematics using local coordinate systems derived from the modified Oxford model and the radiographic directed model which incorporated individual calcaneal and 1st metatarsal declination pitch angles for the hindfoot and forefoot. We studied twelve participants in each of the following groups: (1) diabetes mellitus, peripheral neuropathy and medial column foot deformity (DMPN+), (2) DMPN without medial column deformity (DMPN-) and (3) age- and weight-match controls. The modified Oxford model coordinate system did not identify differences between groups in the initial, peak, final, or excursion hindfoot relative to shank or forefoot relative to hindfoot dorsiflexion/plantarflexion during walking. The radiographic coordinate system identified the DMPN+ group to have an initial, peak and final position of the forefoot relative to hindfoot that was more dorsiflexed (lower arch phenotype) than the DMPN- group (p<.05). Use of radiographic alignment in kinematic modeling of those with foot deformity reveals segmental motion occurring upon alignment indicative of a lower arch. Copyright © 2014 Elsevier B.V. All rights reserved.

Generic, scalable and decentralized fault detection for robot swarms

PubMed Central

Christensen, Anders Lyhne; Timmis, Jon

2017-01-01

Robot swarms are large-scale multirobot systems with decentralized control which means that each robot acts based only on local perception and on local coordination with neighboring robots. The decentralized approach to control confers number of potential benefits. In particular, inherent scalability and robustness are often highlighted as key distinguishing features of robot swarms compared with systems that rely on traditional approaches to multirobot coordination. It has, however, been shown that swarm robotics systems are not always fault tolerant. To realize the robustness potential of robot swarms, it is thus essential to give systems the capacity to actively detect and accommodate faults. In this paper, we present a generic fault-detection system for robot swarms. We show how robots with limited and imperfect sensing capabilities are able to observe and classify the behavior of one another. In order to achieve this, the underlying classifier is an immune system-inspired algorithm that learns to distinguish between normal behavior and abnormal behavior online. Through a series of experiments, we systematically assess the performance of our approach in a detailed simulation environment. In particular, we analyze our system’s capacity to correctly detect robots with faults, false positive rates, performance in a foraging task in which each robot exhibits a composite behavior, and performance under perturbations of the task environment. Results show that our generic fault-detection system is robust, that it is able to detect faults in a timely manner, and that it achieves a low false positive rate. The developed fault-detection system has the potential to enable long-term autonomy for robust multirobot systems, thus increasing the usefulness of robots for a diverse repertoire of upcoming applications in the area of distributed intelligent automation. PMID:28806756

Enhacements to the TTS-502 time transfer system

NASA Astrophysics Data System (ADS)

Vandierendonck, A. J.; Hua, Q. D.

1985-04-01

Two years ago STI introduced an affordable, relatively compact time transfer system on the market -- the TTS-502, and described that system at the 1981 PTTI conference. Over the past few months, that system has been improved, and new features have been added. In addition, new options have been made available to further enhance the capabilities of the system. These enhancements include the addition of a positioning algorithm and new options providing a corrected 5 MHz output that is phase coherent with the 1 pps output, and providing an internal Rubidium Oscillator. The Positioning Algorithm was developed because not all time transfer users had the luxury of the Defense Mapping Agency's (DMA) services for determining their position in WGS-72 coordinates. The enhanced TTS-502 determines the GPS position anywhere in the world, independent of how many GPS satellites are concurrently visible. However, convergence time to a solution is inversely proportional to the number of satellites concurrently visible and the quality of frequency standard used in conjunction with the TTS-502. Real World solution results will be presented for a variety of cases and satellite scheduling scenarios. Typically, positioning accuracies were achieved better than 5 to 10 meters r.s.s. using the C/A code only at Sunnyvale, California.

Spinal Locomotor Circuits Develop Using Hierarchical Rules Based on Motorneuron Position and Identity.

PubMed

Hinckley, Christopher A; Alaynick, William A; Gallarda, Benjamin W; Hayashi, Marito; Hilde, Kathryn L; Driscoll, Shawn P; Dekker, Joseph D; Tucker, Haley O; Sharpee, Tatyana O; Pfaff, Samuel L

2015-09-02

The coordination of multi-muscle movements originates in the circuitry that regulates the firing patterns of spinal motorneurons. Sensory neurons rely on the musculotopic organization of motorneurons to establish orderly connections, prompting us to examine whether the intraspinal circuitry that coordinates motor activity likewise uses cell position as an internal wiring reference. We generated a motorneuron-specific GCaMP6f mouse line and employed two-photon imaging to monitor the activity of lumbar motorneurons. We show that the central pattern generator neural network coordinately drives rhythmic columnar-specific motorneuron bursts at distinct phases of the locomotor cycle. Using multiple genetic strategies to perturb the subtype identity and orderly position of motorneurons, we found that neurons retained their rhythmic activity-but cell position was decoupled from the normal phasing pattern underlying flexion and extension. These findings suggest a hierarchical basis of motor circuit formation that relies on increasingly stringent matching of neuronal identity and position. Copyright © 2015 Elsevier Inc. All rights reserved.

Pig brain stereotaxic standard space: mapping of cerebral blood flow normative values and effect of MPTP-lesioning.

PubMed

Andersen, Flemming; Watanabe, Hideaki; Bjarkam, Carsten; Danielsen, Erik H; Cumming, Paul

2005-07-15

The analysis of physiological processes in brain by position emission tomography (PET) is facilitated when images are spatially normalized to a standard coordinate system. Thus, PET activation studies of human brain frequently employ the common stereotaxic coordinates of Talairach. We have developed an analogous stereotaxic coordinate system for the brain of the Gottingen miniature pig, based on automatic co-registration of magnetic resonance (MR) images obtained in 22 male pigs. The origin of the pig brain stereotaxic space (0, 0, 0) was arbitrarily placed in the centroid of the pineal gland as identified on the average MRI template. The orthogonal planes were imposed using the line between stereotaxic zero and the optic chiasm. A series of mean MR images in the coronal, sagittal and horizontal planes were generated. To test the utility of the common coordinate system for functional imaging studies of minipig brain, we calculated cerebral blood flow (CBF) maps from normal minipigs and from minipigs with a syndrome of parkisonism induced by 1-methyl-4-phenyl-1,2,3,6-tetrahydropyridine (MPTP)-poisoning. These maps were transformed from the native space into the common stereotaxic space. After global normalization of these maps, an undirected search for differences between the groups was then performed using statistical parametric mapping. Using this method, we detected a statistically significant focal increase in CBF in the left cerebellum of the MPTP-lesioned group. We expect the present approach to be of general use in the statistical parametric mapping of CBF and other physiological parameters in living pig brain.

Coordinates and intervals in graph-based reference genomes.

PubMed

Rand, Knut D; Grytten, Ivar; Nederbragt, Alexander J; Storvik, Geir O; Glad, Ingrid K; Sandve, Geir K

2017-05-18

It has been proposed that future reference genomes should be graph structures in order to better represent the sequence diversity present in a species. However, there is currently no standard method to represent genomic intervals, such as the positions of genes or transcription factor binding sites, on graph-based reference genomes. We formalize offset-based coordinate systems on graph-based reference genomes and introduce methods for representing intervals on these reference structures. We show the advantage of our methods by representing genes on a graph-based representation of the newest assembly of the human genome (GRCh38) and its alternative loci for regions that are highly variable. More complex reference genomes, containing alternative loci, require methods to represent genomic data on these structures. Our proposed notation for genomic intervals makes it possible to fully utilize the alternative loci of the GRCh38 assembly and potential future graph-based reference genomes. We have made a Python package for representing such intervals on offset-based coordinate systems, available at https://github.com/uio-cels/offsetbasedgraph . An interactive web-tool using this Python package to visualize genes on a graph created from GRCh38 is available at https://github.com/uio-cels/genomicgraphcoords .

Structural evidence of [Rh(Thio) 6] 3+ and [Rh(Thio) 5Cl] 2+ cations in three novel ionic systems based on Co(III) dioximates

NASA Astrophysics Data System (ADS)

Bourosh, Paulina N.; Coropceanu, Eduard B.; Rija, Andrei P.; Bologa, Olga A.; Gdaniec, Maria; Bulhac, Ion I.

2011-07-01

Multicomponent mixed metal ionic-type dioximates, [Со(DH) 2(Thio) 2][Rh(Thio) 6][BF 4] 4 ( 1), [Со(DH) 2(Thio) 2][Rh(Thio) 6][TiF 6] 2·H 2O ( 2) and [Со(NioxH) 2(Thio) 2] 2[Rh(Thio) 5Cl][TiF 6] 2·CH 3OH·3H 2O ( 3), where DH 2 is dimethylglyoxime, NioxH 2 is 1.2-cyclohexanedionedioxime, and Thio is thiourea, were synthesized and their structures were determined by an X-ray method. Compounds 1-3 consist of two different mononuclear coordination cations with cobalt(III) and rhodium(III) as octahedrally coordinated metal centers and fluorine-containing anions as counterions. In the studied systems, Rh(III) mostly binds Thio ligands instead of dioximes, while a typical bis-dioximate in trans geometry is formed by Co(III) with two Thio ligands placed in axial positions. A structural characterization of coordination cations [Rh(Thio) 6] 3+ and [Rh(Thio) 5Cl] 2+ is given for the first time. The interactions and arrangement of the components in crystals 1-3 are discussed.

Nonretinotopic visual processing in the brain.

PubMed

Melcher, David; Morrone, Maria Concetta

2015-01-01

A basic principle in visual neuroscience is the retinotopic organization of neural receptive fields. Here, we review behavioral, neurophysiological, and neuroimaging evidence for nonretinotopic processing of visual stimuli. A number of behavioral studies have shown perception depending on object or external-space coordinate systems, in addition to retinal coordinates. Both single-cell neurophysiology and neuroimaging have provided evidence for the modulation of neural firing by gaze position and processing of visual information based on craniotopic or spatiotopic coordinates. Transient remapping of the spatial and temporal properties of neurons contingent on saccadic eye movements has been demonstrated in visual cortex, as well as frontal and parietal areas involved in saliency/priority maps, and is a good candidate to mediate some of the spatial invariance demonstrated by perception. Recent studies suggest that spatiotopic selectivity depends on a low spatial resolution system of maps that operates over a longer time frame than retinotopic processing and is strongly modulated by high-level cognitive factors such as attention. The interaction of an initial and rapid retinotopic processing stage, tied to new fixations, and a longer lasting but less precise nonretinotopic level of visual representation could underlie the perception of both a detailed and a stable visual world across saccadic eye movements.

A method of indirect registration of the coordinates of condylar points with a six-degree-of-freedom jaw tracker.

PubMed

Huang, B Y; Durrant, C J; Johnson, C W L; Murray, G M

2002-06-30

Previous studies have indicated that the location of a condylar point can significantly influence its trajectory. The aim of this investigation was to develop a method of registering the location of radiographically defined condylar points in the coordinate system of a six-degree-of-freedom jaw-tracking device and to determine the accuracy of this method by using a perspex model in one experiment and a dry skull in another. A direct measurement ('the gold standard') of condylar point coordinates in the coordinate system of JAWS3D was done using a three-dimensional (3D) digitizer (MicroScribe-3DX). The indirect measurement used a distributed fiducial marker as the interface between the coordinate system of MicroScribe-3DX (which was used to register the fiducial marker and the JAWS3D coordinate system) and the coordinate system of the CT scans (used to define condyle anatomy and the relation with the fiducial marker). The coordinates of condylar points could then be calculated in the coordinate system of JAWS3D. The results showed that the indirect method could register condylar point coordinates on either side to an accuracy of approximately 0.5 mm.

A mass assembly of associative mechanisms: a dynamical systems account of natural social interaction.

PubMed

Duran, Nicholas D; Dale, Rick; Richardson, Daniel C

2014-04-01

The target article offers a negative, eliminativist thesis, dissolving the specialness of mirroring processes into a solution of associative mechanisms. We support the authors' project enthusiastically. What they are currently missing, we argue, is a positive, generative thesis about associative learning mechanisms and how they might give way to the complex, multimodal coordination that naturally arises in social interaction.

Treatment delivery software for a new clinical grade ultrasound system for thermoradiotherapy.

PubMed

Novák, Petr; Moros, Eduardo G; Straube, William L; Myerson, Robert J

2005-11-01

A detailed description of a clinical grade Scanning Ultrasound Reflector Linear Array System (SURLAS) applicator was given in a previous paper [Med. Phys. 32, 230-240 (2005)]. In this paper we concentrate on the design, development, and testing of the personal computer (PC) based treatment delivery software that runs the therapy system. The SURLAS requires the coordinated interaction between the therapy applicator and several peripheral devices for its proper and safe operation. One of the most important tasks was the coordination of the input power sequences for the elements of two parallel opposed ultrasound arrays (eight 1.5 cm x 2 cm elements/array, array 1 and 2 operate at 1.9 and 4.9 MHz, respectively) in coordination with the position of a dual-face scanning acoustic reflector. To achieve this, the treatment delivery software can divide the applicator's treatment window in up to 64 sectors (minimum size of 2 cm x 2 cm), and control the power to each sector independently by adjusting the power output levels from the channels of a 16-channel radio-frequency generator. The software coordinates the generator outputs with the position of the reflector as it scans back and forth between the arrays. Individual sector control and dual frequency operation allows the SURLAS to adjust power deposition in three dimensions to superficial targets coupled to its treatment window. The treatment delivery software also monitors and logs several parameters such as temperatures acquired using a 16-channel thermocouple thermometry unit. Safety (in particular to patients) was the paramount concern and design criterion. Failure mode and effects analysis (FMEA) was applied to the applicator as well as to the entire therapy system in order to identify safety issues and rank their relative importance. This analysis led to the implementation of several safety mechanisms and a software structure where each device communicates with the controlling PC independently of the others. In case of a malfunction in any part of the system or a violation of a user-defined safety criterion based on temperature readings, the software terminates treatment immediately and the user is notified. The software development process consisting of problem analysis, design, implementation, and testing is presented in this paper. Once the software was finished and integrated with the hardware, the therapy system was extensively tested. Results demonstrated that the software operates the SURLAS as intended with minimum risk to future patients.

Interactions of diamines with adenosine-5'-triphosphate (ATP) in the systems including copper(II) ions.

PubMed

Bregier-Jarzebowska, R; Gasowska, A; Hoffmann, S K; Lomozik, L

2016-09-01

Interactions were studied in the systems ATP/tn and ATP/Put (tn=1,3-diaminopropane, Put=putrescine) whereas the complexation reactions in ternary systems Cu(II)/ATP/tn and Cu(II)/ATP/Put. Results of the potentiometric and spectroscopic studies evidenced the formation of adducts of the type (ATP)H x (PA), where PA=diamine. The thermodynamic stability of the complexes and the mode of interactions were determined. On the basis of analysis of changes in the positions of NMR signals, in the pH range of (ATP)H 3 (Put) formation, the preferred centres of the interaction between ATP and Put are the endocyclic nitrogen atoms from the nucleotide. On the other hand, the shorter diamine tn in the entire pH range reacts with the phosphate groups from ATP. The positive centres of noncovalent interactions are the protonated NH x + groups from amines. In both complexes Cu(ATP)H 2 (tn) and Cu(ATP)H 3 (Put) formed in ternary systems at pH<6.5, the amines are in the outer sphere of coordination with the noncovalent interaction with anchoring Cu(ATP). Only the phosphate groups from the nucleotide take part in metalation. At higher pH in the range of Cu(ATP)(PA) complex formation, significant differences in the reactions of the two amines appear. The shorter one (tn) binds Cu(II) ions with two nitrogen atoms, while putrescine coordinates in the monofunctional mode, which is undoubtedly related to the differences in lengths of methylene chain. This explains the considerable differences in the stability of Cu(ATP)(tn) and Cu(ATP)(Put). In both complexes the nucleotide is coordinated through phosphate groups. As a result of noncovalent interactions ATP forms molecular complexes with 1,3-diaminopropane and 1,4-diaminobutane (putrescine). Significant differences in the mode of interactions between the two diamines were observed in ATP/diamine binary systems and in ternary systems Cu(II)/ATP/diamine, at high pH. Copyright © 2016 Elsevier Inc. All rights reserved.

Development of building security integration system using sensors, microcontroller and GPS (Global Positioning System) based android smartphone

NASA Astrophysics Data System (ADS)

Sihombing, P.; Siregar, Y. M.; Tarigan, J. T.; Jaya, I.; Turnip, A.

2018-03-01

Security system is one of the common problems to protect an environment such as personal house or a warehouse. There are numerous methods and technologies that can be used as part of a security system. In this paper, we present a security system that offers a better efficiency. The purpose of this study is to build a system that can monitor home security at any time in particular fire and theft. Through sensors, the system will be able to provide warning information of hazard conditions via LCD monitor, sound, and alarm. This information will be sent automatically to the home owner’s smartphone as well as to the corresponding to the security agency. Thus the prevention of theft and fire hazards can be immediately anticipated by the police and firefighters. The system will also notify the position of the coordinates of the location of the building (the house) by a link to the Google map in order to make it easier to get the location quickly.

Generic precise augmented reality guiding system and its calibration method based on 3D virtual model.

PubMed

Liu, Miao; Yang, Shourui; Wang, Zhangying; Huang, Shujun; Liu, Yue; Niu, Zhenqi; Zhang, Xiaoxuan; Zhu, Jigui; Zhang, Zonghua

2016-05-30

Augmented reality system can be applied to provide precise guidance for various kinds of manual works. The adaptability and guiding accuracy of such systems are decided by the computational model and the corresponding calibration method. In this paper, a novel type of augmented reality guiding system and the corresponding designing scheme are proposed. Guided by external positioning equipment, the proposed system can achieve high relative indication accuracy in a large working space. Meanwhile, the proposed system is realized with a digital projector and the general back projection model is derived with geometry relationship between digitized 3D model and the projector in free space. The corresponding calibration method is also designed for the proposed system to obtain the parameters of projector. To validate the proposed back projection model, the coordinate data collected by a 3D positioning equipment is used to calculate and optimize the extrinsic parameters. The final projecting indication accuracy of the system is verified with subpixel pattern projecting technique.

Applications of laser ranging and VLBI observations for selenodetic control

NASA Technical Reports Server (NTRS)

Fajemirokun, F. A.

1971-01-01

The observation equations necessary to utilize lunar laser ranging and very long baseline interferometry measurements were developed for the establishment of a primary control network on the moon. The network consists of coordinates of moon points in the selenodetic Cartesian coordinate system, which is fixed to the lunar body, oriented along the three principal axes of inertia of the moon, and centered at the lunar center of mass. The observation equations derived are based on a general model in which the unknown parameters included: the selenodetic Cartesian coordinates, the geocentric coordinates of earth stations, parameters of the orientation of the selenodetic coordinate system with respect to a fixed celestial system, the parameters of the orientation of the average terrestrial coordinate system with respect to a fixed celestial coordinate system, and the geocentric coordinates of the center of mass of the moon, given by a lunar ephemeris.

Recommended coordinate systems for thin spherocylindrical lenses.

PubMed

Deal, F C; Toop, J

1993-05-01

Because the set of thin spherocylindrical lenses forms a vector space, any such lens can be expressed in terms of its cartesian coordinates with respect to whatever set of basis lenses we may choose. Two types of cartesian coordinate systems have become prominent, those having coordinates associated with the lens power matrix and those having coordinates associated with the Humphrey Vision Analyzer. This paper emphasizes the value of a particular cartesian coordinate system of the latter type, and the cylindrical coordinate system related to it, by showing how it can simplify the trigonometry of adding lenses and how it preserves symmetry in depicting the sets of all spherical lenses, all Jackson crossed-cylinders, and all cylindrical lenses. It also discusses appropriate coordinates for keeping statistics on lenses and shows that an easy extension of the lens vector space to include general optical systems is not possible.

High accuracy step gauge interferometer

NASA Astrophysics Data System (ADS)

Byman, V.; Jaakkola, T.; Palosuo, I.; Lassila, A.

2018-05-01

Step gauges are convenient transfer standards for the calibration of coordinate measuring machines. A novel interferometer for step gauge calibrations implemented at VTT MIKES is described. The four-pass interferometer follows Abbe’s principle and measures the position of the inductive probe attached to a measuring head. The measuring head of the instrument is connected to a balanced boom above the carriage by a piezo translation stage. A key part of the measuring head is an invar structure on which the inductive probe and the corner cubes of the measuring arm of the interferometer are attached. The invar structure can be elevated so that the probe is raised without breaking the laser beam. During probing, the bending of the probe and the interferometer readings are recorded and the measurement face position is extrapolated to zero force. The measurement process is fully automated and the face positions of the steps can be measured up to a length of 2 m. Ambient conditions are measured continuously and the refractive index of air is compensated for. Before measurements the step gauge is aligned with an integrated 2D coordinate measuring system. The expanded uncertainty of step gauge calibration is U=\\sqrt{{{(64 nm)}2}+{{(88× {{10}-9}L)}2}} .

Combined measurement system for double shield tunnel boring machine guidance based on optical and visual methods.

PubMed

Lin, Jiarui; Gao, Kai; Gao, Yang; Wang, Zheng

2017-10-01

In order to detect the position of the cutting shield at the head of a double shield tunnel boring machine (TBM) during the excavation, this paper develops a combined measurement system which is mainly composed of several optical feature points, a monocular vision sensor, a laser target sensor, and a total station. The different elements of the combined system are mounted on the TBM in suitable sequence, and the position of the cutting shield in the reference total station frame is determined by coordinate transformations. Subsequently, the structure of the feature points and matching technique for them are expounded, the position measurement method based on monocular vision is presented, and the calibration methods for the unknown relationships among different parts of the system are proposed. Finally, a set of experimental platforms to simulate the double shield TBM is established, and accuracy verification experiments are conducted. Experimental results show that the mean deviation of the system is 6.8 mm, which satisfies the requirements of double shield TBM guidance.

Numerical analysis of seismic events distributions on the planetary scale and celestial bodies astrometrical parameters

NASA Astrophysics Data System (ADS)

Bulatova, Dr.

2012-04-01

Modern research in the domains of Earth sciences is developing from the descriptions of each individual natural phenomena to the systematic complex research in interdisciplinary areas. For studies of its kind in the form numerical analysis of three-dimensional (3D) systems, the author proposes space-time Technology (STT), based on a Ptolemaic geocentric system, consist of two modules, each with its own coordinate system: (1) - 3D model of a Earth, the coordinates of which provides databases of the Earth's events (here seismic), and (2) - a compact model of the relative motion of celestial bodies in space - time on Earth known as the "Method of a moving source" (MDS), which was developed in MDS (Bulatova, 1998-2000) for the 3D space. Module (2) was developed as a continuation of the geocentric Ptolemaic system of the world, built on the astronomical parameters heavenly bodies. Based on the aggregation data of Space and Earth Sciences, systematization, and cooperative analysis, this is an attempt to establish a cause-effect relationship between the position of celestial bodies (Moon, Sun) and Earth's seismic events.

A verification and errors analysis of the model for object positioning based on binocular stereo vision for airport surface surveillance

NASA Astrophysics Data System (ADS)

Wang, Huan-huan; Wang, Jian; Liu, Feng; Cao, Hai-juan; Wang, Xiang-jun

2014-12-01

A test environment is established to obtain experimental data for verifying the positioning model which was derived previously based on the pinhole imaging model and the theory of binocular stereo vision measurement. The model requires that the optical axes of the two cameras meet at one point which is defined as the origin of the world coordinate system, thus simplifying and optimizing the positioning model. The experimental data are processed and tables and charts are given for comparing the positions of objects measured with DGPS with a measurement accuracy of 10 centimeters as the reference and those measured with the positioning model. Sources of visual measurement model are analyzed, and the effects of the errors of camera and system parameters on the accuracy of positioning model were probed, based on the error transfer and synthesis rules. A conclusion is made that measurement accuracy of surface surveillances based on binocular stereo vision measurement is better than surface movement radars, ADS-B (Automatic Dependent Surveillance-Broadcast) and MLAT (Multilateration).

Performance Analysis of Web-Based Ppp Services with DİFFERENT Visibility Conditions

NASA Astrophysics Data System (ADS)

Albayrak, M.; Erkaya, H.; Ozludemir, M. T.; Ocalan, T.

2016-12-01

GNSS is being used effectively to precise position for many measuring and geodetic purposes at the present time. There is an increasing variety of these systems including the post-processing calculations in terms of number, quality and features and many different techniques are developed to determine position. Precise positioning intend to derive requires user experience and scientific or commercial software with costly license fees. However, in recent years important alternatives to this software that are user friendly and offer free web-based online precise point positioning service have become widely used in geodetic applications. The aim of this study is to test the performance of PPP techniques on ground control points with different visibility conditions. Within this framework, static observations were carried out for three hours a day repeatedly for six days, in YTU Davutpasa Campus on three different ground control points. The locations of these stations were selected by taking into account the impact of natural (trees, etc.) and artificial (buildings, etc.) obstacles. In order to compare the obtained GPS observations with PPP performances, first of all the accurate coordinates of the control points were computed with relative positioning technique in connection with the IGS stations using Bernese v5.0 software. Afterwards, three different web-based positioning services (CSRS-PPP, magicGNSS, GAPS) were used to analyze the GPS observations via PPP technique. To compare all of the obtained results, ITRF2008 datum measurement epoch coordinates were preferred by taking the service result criteria into consideration. In coordinate comparison, for the first station located nearby a building and possibly subjected to multipath effect horizontal discrepancies vary between 2-14.5 cm while vertical differences are between 3.5-16 cm. For the second point located partly in a forestry area, the discrepancies have been obtained as 1.5-8 cm and 2-10 cm for horizontal and vertical components, respectively. For the third point located in an area with no obstacles, 1.5-7 cm horizontal and 1-7 cm vertical differences have been obtained. The results show that the PPP technique could be used effectively in several positioning applications.

Reference coordinate systems: An update. Supplement 11

NASA Technical Reports Server (NTRS)

Mueller, Ivan I.

1988-01-01

A common requirement for all geodetic investigations is a well-defined coordinate system attached to the earth in some prescribed way, as well as a well-defined inertial coordinate system in which the motions of the terrestrial frame can be monitored. The paper deals with the problems encountered when establishing such coordinate systems and the transformations between them. In addition, problems related to the modeling of the deformable earth are discussed. This paper is an updated version of the earlier work, Reference Coordinate Systems for Earth Dynamics: A Preview, by the author.

Extending the ICRF into the Infrared: 2MASS - UCAC Astrometry

NASA Technical Reports Server (NTRS)

Zacharias, Norbert; McCallon, Howard L.; Kopan, Eugene; Cutri, Roc M.

2000-01-01

An external comparison between the infrared 2MASS and the optical UCAC positions was performed, both being on the same system, the ICRS. About 48 million sources in common were identified. Random errors of the 2MASS catalog positions are about 60 to 70 mas per coordinate for the Ks = 4 to 14 range, increasing to about 100 to 150 mas for saturated and very faint stars. Systematic position differences between the 2 catalogs are very small, about 5 to 10 mas as a function of magnitude and color, with somewhat larger errors as a function of right ascension and declination. The extension of the ICRF into the infrared has become a reality.

Wavelength dependence of position angle in polarization standards. [of stellar systems

NASA Technical Reports Server (NTRS)

Dolan, J. F.; Tapia, S.

1986-01-01

Eleven of the 15 stars on Serkowski's (1974) list of 'Standard Stars with Large Interstellar Polarization' were investigated to determine whether the orientation of the plane of their linear polarization showed any dependence on wavelength. Nine of the eleven stars exhibited a statistically significant wavelength dependence of position angle when measured with an accuracy of about 0.1 deg standard deviation. For the majority of these stars, the effect is caused primarily by intrinsic polarization. The calibration of polarimeter position angles in a celestial coordinate frame must evidently be done at the 0.1 deg level of accuracy by using only carefully selected standard stars or by using other astronomical or laboratory methods.

Care coordination and the essential role of the nurse.

PubMed

Cropley, Stacey; Sandrs, Ellare Duis

2013-01-01

Quality improvement and cost control rely on effective coordination of patient care. Registered nurses (RNs) across the continuum of care play an essential role in care coordination. Greater health care efficiencies can be realized through coordination of care centered on the needs and preferences of patients and their families. Professional nursing links these approaches, promoting quality, safety, and efficiency in care, resulting in improved health care outcomes that are consistent with nursing's holistic, patient-centered framework of care. This model for RN care coordination provides a guideline for nurses in direct care as well as those in highly specialized care coordination positions.

Electronic palliative care coordination systems: Devising and testing a methodology for evaluating documentation

PubMed Central

Allsop, Matthew J; Kite, Suzanne; McDermott, Sarah; Penn, Naomi; Millares-Martin, Pablo; Bennett, Michael I

2016-01-01

Background: The need to improve coordination of care at end of life has driven electronic palliative care coordination systems implementation across the United Kingdom and internationally. No approaches for evaluating electronic palliative care coordination systems use in practice have been developed. Aim: This study outlines and applies an evaluation framework for examining how and when electronic documentation of advance care planning is occurring in end of life care services. Design: A pragmatic, formative process evaluation approach was adopted. The evaluation drew on the Project Review and Objective Evaluation methodology to guide the evaluation framework design, focusing on clinical processes. Setting/participants: Data were extracted from electronic palliative care coordination systems for 82 of 108 general practices across a large UK city. All deaths (n = 1229) recorded on electronic palliative care coordination systems between April 2014 and March 2015 were included to determine the proportion of all deaths recorded, median number of days prior to death that key information was recorded and observations about routine data use. Results: The evaluation identified 26.8% of all deaths recorded on electronic palliative care coordination systems. The median number of days to death was calculated for initiation of an electronic palliative care coordination systems record (31 days), recording a patient’s preferred place of death (8 days) and entry of Do Not Attempt Cardiopulmonary Resuscitation decisions (34 days). Where preferred and actual place of death was documented, these were matching for 75% of patients. Anomalies were identified in coding used during data entry on electronic palliative care coordination systems. Conclusion: This study reports the first methodology for evaluating how and when electronic palliative care coordination systems documentation is occurring. It raises questions about what can be drawn from routine data collected through electronic palliative care coordination systems and outlines considerations for future evaluation. Future evaluations should consider work processes of health professionals using electronic palliative care coordination systems. PMID:27507636

Electronic palliative care coordination systems: Devising and testing a methodology for evaluating documentation.

PubMed

Allsop, Matthew J; Kite, Suzanne; McDermott, Sarah; Penn, Naomi; Millares-Martin, Pablo; Bennett, Michael I

2017-05-01

The need to improve coordination of care at end of life has driven electronic palliative care coordination systems implementation across the United Kingdom and internationally. No approaches for evaluating electronic palliative care coordination systems use in practice have been developed. This study outlines and applies an evaluation framework for examining how and when electronic documentation of advance care planning is occurring in end of life care services. A pragmatic, formative process evaluation approach was adopted. The evaluation drew on the Project Review and Objective Evaluation methodology to guide the evaluation framework design, focusing on clinical processes. Data were extracted from electronic palliative care coordination systems for 82 of 108 general practices across a large UK city. All deaths ( n = 1229) recorded on electronic palliative care coordination systems between April 2014 and March 2015 were included to determine the proportion of all deaths recorded, median number of days prior to death that key information was recorded and observations about routine data use. The evaluation identified 26.8% of all deaths recorded on electronic palliative care coordination systems. The median number of days to death was calculated for initiation of an electronic palliative care coordination systems record (31 days), recording a patient's preferred place of death (8 days) and entry of Do Not Attempt Cardiopulmonary Resuscitation decisions (34 days). Where preferred and actual place of death was documented, these were matching for 75% of patients. Anomalies were identified in coding used during data entry on electronic palliative care coordination systems. This study reports the first methodology for evaluating how and when electronic palliative care coordination systems documentation is occurring. It raises questions about what can be drawn from routine data collected through electronic palliative care coordination systems and outlines considerations for future evaluation. Future evaluations should consider work processes of health professionals using electronic palliative care coordination systems.

Precise aircraft single-point positioning using GPS post-mission orbits and satellite clock corrections

NASA Astrophysics Data System (ADS)

Lachapelle, G.; Cannon, M. E.; Qiu, W.; Varner, C.

1996-09-01

Aircraft single point position accuracy is assessed through a comparison of the single point coordinates with corresponding DGPS-derived coordinates. The platform utilized for this evaluation is a Naval Air Warfare Center P-3 Orion aircraft. Data was collected over a period of about 40 hours, spread over six days, off Florida's East Coast in July 94, using DGPS reference stations in Jacksonville, FL, and Warminster, PA. The analysis of results shows that the consistency between aircraft single point and DGPS coordinates obtained in single point positioning mode and DGPS mode is about 1 m (rms) in latitude and longitude, and 2 m (rms) in height, with instantaneous errors of up to a few metres due to the effect of the ionosphere on the single point L1 solutions.

[Coupling coordinated development of ecological-economic system in Loess Plateau].

PubMed

Zhang, Qing-Feng; Wu, Fa-Qi; Wang, Li; Wang, Jian

2011-06-01

Based on system theory, a coupling coordinated development model of ecological-economic system in Loess Plateau was established, and the evaluation criteria and basic types of the coordinated development of the ecological-economic system were proposed. The county-level coupling coordinated development of the ecological-economic system was also discussed, based on the local characteristics. The interactions between the ecological and economic systems in Loess Plateau could be divided into four stages, i.e., seriously disordered development stage, mild-disordered development stage, low-level coordinated development stage, and high level well-coordinated development stage. At each stage, there existed a cyclic process of profit and loss-antagonist-running-dominant-synchronous development. The coupling development degree of the ecological-economic system in Loess Plateau was overall at a lower level, being about 62.7% of the counties at serious disorder, 30.1% of the counties at mild disorder, and 7.1% of the counties at low but coordinated level. The coupling development degree based on the model established in this study could better reflect the current social-economic and ecological environment situations, especially the status of coordination. To fully understand the coupling of ecological-economic system and to adopt appropriate development mode would be of significance to promote the county-level coordinated development in Loess Plateau.

Kinematics Control and Analysis of Industrial Robot

NASA Astrophysics Data System (ADS)

Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei

2018-03-01

The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.

Simple turbulence models and their application to boundary layer separation

NASA Technical Reports Server (NTRS)

Wadcock, A. J.

1980-01-01

Measurements in the boundary layer and wake of a stalled airfoil are presented in two coordinate systems, one aligned with the airfoil chord, the other being conventional boundary layer coordinates. The NACA 4412 airfoil is studied at a single angle of attack corresponding to maximum lift, the Reynolds number based on chord being 1.5 x 10 to the 6th power. Turbulent boundary layer separation occurred at the 85 percent chord position. The two-dimensionality of the flow was documented and the momentum integral equation studied to illustrate the importance of turbulence contributions as separation is approached. The assumptions of simple eddy-viscosity and mixing-length turbulence models are checked directly against experiment. Curvature effects are found to be important as separation is approached.

Method and apparatus for radiometer star sensing

NASA Technical Reports Server (NTRS)

Wilcox, Jack E. (Inventor)

1989-01-01

A method and apparatus for determining the orientation of the optical axis of radiometer instruments mounted on a satellite involves a star sensing technique. The technique makes use of a servo system to orient the scan mirror of the radiometer into the path of a sufficiently bright star such that motion of the satellite will cause the star's light to impinge on the scan mirror and then the visible light detectors of the radiometer. The light impinging on the detectors is converted to an electronic signal whereby, knowing the position of the star relative to appropriate earth coordinates and the time of transition of the star image through the detector array, the orientation of the optical axis of the instrument relative to earth coordinates can be accurately determined.

The Role and Load of the Athletic Training Clinical Education Coordinator

ERIC Educational Resources Information Center

Radtke, Sarah

2017-01-01

Context: The position of clinical education coordinator has been identified as a required one in athletic training education. However, the literature has yet to address the job responsibilities of clinical education coordinators and the commensurate work load/release time needed to accomplish these responsibilities in athletic training education.…

Coordinating the Cognitive Processes of Writing: The Role of the Monitor

ERIC Educational Resources Information Center

Quinlan, Thomas; Loncke, Maaike; Leijten, Marielle; Van Waes, Luuk

2012-01-01

Moment to moment, a writer faces a host of potential problems. How does the writer's mind coordinate this problem solving? In the original Hayes and Flower model, the authors posited a distinct process to manage this coordinating--that is, the "monitor." The monitor became responsible for executive function in writing. In two…

Service Coordination and Children's Functioning in a School-Based Intensive Mental Health Program

ERIC Educational Resources Information Center

Puddy, Richard W.; Roberts, Michael C.; Vernberg, Eric M.; Hambrick, Erin P.

2012-01-01

Coordination of mental health services in children with serious emotional disturbance (SED) has shown a preliminary relationship to positive outcomes in children. Yet, research in this area is sparse. Therefore, the relation between service coordination activities and adaptive functioning was examined for 51 children SED who were treated in the…

Optical rogue waves generation in a nonlinear metamaterial

NASA Astrophysics Data System (ADS)

Onana Essama, Bedel Giscard; Atangana, Jacques; Biya-Motto, Frederick; Mokhtari, Bouchra; Cherkaoui Eddeqaqi, Noureddine; Kofane, Timoleon Crepin

2014-11-01

We investigate the behavior of electromagnetic wave which propagates in a metamaterial for negative index regime. The optical pulse propagation is described by the nonlinear Schrödinger equation with cubic-quintic nonlinearities, second- and third-order dispersion effects. The behavior obtained for negative index regime is compared to that observed for positive index regime. The characterization of electromagnetic wave uses some pulse parameters obtained analytically and called collective coordinates such as amplitude, temporal position, width, chirp, frequency shift and phase. Six frequency ranges have been pointed out where a numerical evolution of collective coordinates and their stability are studied under a typical example to verify our analysis. It appears that a robust soliton due to a perfect compensation process between second-order dispersion and cubic-nonlinearity is presented at each frequency range for both negative and positive index regimes. Thereafter, the stability of the soliton pulse and physical conditions leading to optical rogue waves generation are discussed at each frequency range for both regimes, when third-order dispersion and quintic-nonlinearity come into play. We have demonstrated that collective coordinates give much useful information on external and internal behavior of rogue events. Firstly, we determine at what distance begins the internal excitation leading to rogue waves. Secondly, what kind of internal modification and how it modifies the system in order to build-up rogue events. These results lead to a best comprehension of the mechanism of rogue waves generation. So, it clearly appears that the rogue wave behavior strongly depends on nonlinearity strength of distortion, frequency and regime considered.

High-accuracy fiber-optic shape sensing

NASA Astrophysics Data System (ADS)

Duncan, Roger G.; Froggatt, Mark E.; Kreger, Stephen T.; Seeley, Ryan J.; Gifford, Dawn K.; Sang, Alexander K.; Wolfe, Matthew S.

2007-04-01

We describe the results of a study of the performance characteristics of a monolithic fiber-optic shape sensor array. Distributed strain measurements in a multi-core optical fiber interrogated with the optical frequency domain reflectometry technique are used to deduce the shape of the optical fiber; referencing to a coordinate system yields position information. Two sensing techniques are discussed herein: the first employing fiber Bragg gratings and the second employing the intrinsic Rayleigh backscatter of the optical fiber. We have measured shape and position under a variety of circumstances and report the accuracy and precision of these measurements. A discussion of error sources is included.

GPS Modeling and Analysis. Summary of Research: GPS Satellite Axial Ratio Predictions

NASA Technical Reports Server (NTRS)

Axelrad, Penina; Reeh, Lisa

2002-01-01

This report outlines the algorithms developed at the Colorado Center for Astrodynamics Research to model yaw and predict the axial ratio as measured from a ground station. The algorithms are implemented in a collection of Matlab functions and scripts that read certain user input, such as ground station coordinates, the UTC time, and the desired GPS (Global Positioning System) satellites, and compute the above-mentioned parameters. The position information for the GPS satellites is obtained from Yuma almanac files corresponding to the prescribed date. The results are displayed graphically through time histories and azimuth-elevation plots.

Time determination for spacecraft users of the Navstar Global Positioning System /GPS/

NASA Technical Reports Server (NTRS)

Grenchik, T. J.; Fang, B. T.

1977-01-01

Global Positioning System (GPS) navigation is performed by time measurements. A description is presented of a two body model of spacecraft motion. Orbit determination is the process of inferring the position, velocity, and clock offset of the user from measurements made of the user motion in the Newtonian coordinate system. To illustrate the effect of clock errors and the accuracy with which the user spacecraft time and orbit may be determined, a low-earth-orbit spacecraft (Seasat) as tracked by six Phase I GPS space vehicles is considered. The obtained results indicate that in the absence of unmodeled dynamic parameter errors clock biases may be determined to the nanosecond level. There is, however, a high correlation between the clock bias and the uncertainty in the gravitational parameter GM, i.e., the product of the universal gravitational constant and the total mass of the earth. It is, therefore, not possible to determine clock bias to better than 25 nanosecond accuracy in the presence of a gravitational error of one part per million.