Single lens system for forward-viewing navigation and scanning side-viewing optical coherence tomography

NASA Astrophysics Data System (ADS)

Tate, Tyler H.; McGregor, Davis; Barton, Jennifer K.

2017-02-01

The optical design for a dual modality endoscope based on piezo scanning fiber technology is presented including a novel technique to combine forward-viewing navigation and side viewing OCT. Potential applications include navigating body lumens such as the fallopian tube, biliary ducts and cardiovascular system. A custom cover plate provides a rotationally symmetric double reflection of the OCT beam to deviate and focus the OCT beam out the side of the endoscope for cross-sectional imaging of the tubal lumen. Considerations in the choice of the scanning fiber are explored and a new technique to increase the divergence angle of the scanning fiber to improve system performance is presented. Resolution and the necessary scanning density requirements to achieve Nyquist sampling of the full image are considered. The novel optical design lays the groundwork for a new approach integrating side-viewing OCT into multimodality endoscopes for small lumen imaging. KEYWORDS:

Autonomous vision-based navigation for proximity operations around binary asteroids

NASA Astrophysics Data System (ADS)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-02-01

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

Autonomous vision-based navigation for proximity operations around binary asteroids

NASA Astrophysics Data System (ADS)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-06-01

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

33 CFR 334.20 - Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 3 2013-07-01 2013-07-01 false Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area. 334.20 Section 334.20 Navigation and Navigable Waters... REGULATIONS § 334.20 Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area. (a) The...

33 CFR 334.20 - Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 3 2011-07-01 2011-07-01 false Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area. 334.20 Section 334.20 Navigation and Navigable Waters... REGULATIONS § 334.20 Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area. (a) The...

33 CFR 334.20 - Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 3 2014-07-01 2014-07-01 false Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area. 334.20 Section 334.20 Navigation and Navigable Waters... REGULATIONS § 334.20 Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area. (a) The...

33 CFR 334.20 - Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area. 334.20 Section 334.20 Navigation and Navigable Waters... REGULATIONS § 334.20 Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area. (a) The...

33 CFR 334.20 - Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 3 2012-07-01 2012-07-01 false Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area. 334.20 Section 334.20 Navigation and Navigable Waters... REGULATIONS § 334.20 Gulf of Maine off Cape Small, Maine; naval aircraft practice mining range area. (a) The...

Sex differences in virtual navigation influenced by scale and navigation experience.

PubMed

Padilla, Lace M; Creem-Regehr, Sarah H; Stefanucci, Jeanine K; Cashdan, Elizabeth A

2017-04-01

The Morris water maze is a spatial abilities test adapted from the animal spatial cognition literature and has been studied in the context of sex differences in humans. This is because its standard design, which manipulates proximal (close) and distal (far) cues, applies to human navigation. However, virtual Morris water mazes test navigation skills on a scale that is vastly smaller than natural human navigation. Many researchers have argued that navigating in large and small scales is fundamentally different, and small-scale navigation might not simulate natural human navigation. Other work has suggested that navigation experience could influence spatial skills. To address the question of how individual differences influence navigational abilities in differently scaled environments, we employed both a large- (146.4 m in diameter) and a traditional- (36.6 m in diameter) scaled virtual Morris water maze along with a novel measure of navigation experience (lifetime mobility). We found sex differences on the small maze in the distal cue condition only, but in both cue-conditions on the large maze. Also, individual differences in navigation experience modulated navigation performance on the virtual water maze, showing that higher mobility was related to better performance with proximal cues for only females on the small maze, but for both males and females on the large maze.

33 CFR 80.105 - Calais, ME to Cape Small, ME.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Calais, ME to Cape Small, ME. 80... INTERNATIONAL NAVIGATION RULES COLREGS DEMARCATION LINES Atlantic Coast § 80.105 Calais, ME to Cape Small, ME... International Bridge at Calais, ME to the southwesternmost extremity of Bald Head at Cape Small. ...

33 CFR 80.105 - Calais, ME to Cape Small, ME.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 1 2012-07-01 2012-07-01 false Calais, ME to Cape Small, ME. 80... INTERNATIONAL NAVIGATION RULES COLREGS DEMARCATION LINES Atlantic Coast § 80.105 Calais, ME to Cape Small, ME... International Bridge at Calais, ME to the southwesternmost extremity of Bald Head at Cape Small. ...

33 CFR 80.105 - Calais, ME to Cape Small, ME.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 1 2013-07-01 2013-07-01 false Calais, ME to Cape Small, ME. 80... INTERNATIONAL NAVIGATION RULES COLREGS DEMARCATION LINES Atlantic Coast § 80.105 Calais, ME to Cape Small, ME... International Bridge at Calais, ME to the southwesternmost extremity of Bald Head at Cape Small. ...

33 CFR 80.105 - Calais, ME to Cape Small, ME.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 1 2011-07-01 2011-07-01 false Calais, ME to Cape Small, ME. 80... INTERNATIONAL NAVIGATION RULES COLREGS DEMARCATION LINES Atlantic Coast § 80.105 Calais, ME to Cape Small, ME... International Bridge at Calais, ME to the southwesternmost extremity of Bald Head at Cape Small. ...

Celestial Object Imaging Model and Parameter Optimization for an Optical Navigation Sensor Based on the Well Capacity Adjusting Scheme.

PubMed

Wang, Hao; Jiang, Jie; Zhang, Guangjun

2017-04-21

The simultaneous extraction of optical navigation measurements from a target celestial body and star images is essential for autonomous optical navigation. Generally, a single optical navigation sensor cannot simultaneously image the target celestial body and stars well-exposed because their irradiance difference is generally large. Multi-sensor integration or complex image processing algorithms are commonly utilized to solve the said problem. This study analyzes and demonstrates the feasibility of simultaneously imaging the target celestial body and stars well-exposed within a single exposure through a single field of view (FOV) optical navigation sensor using the well capacity adjusting (WCA) scheme. First, the irradiance characteristics of the celestial body are analyzed. Then, the celestial body edge model and star spot imaging model are established when the WCA scheme is applied. Furthermore, the effect of exposure parameters on the accuracy of star centroiding and edge extraction is analyzed using the proposed model. Optimal exposure parameters are also derived by conducting Monte Carlo simulation to obtain the best performance of the navigation sensor. Finally, laboratorial and night sky experiments are performed to validate the correctness of the proposed model and optimal exposure parameters.

Celestial Object Imaging Model and Parameter Optimization for an Optical Navigation Sensor Based on the Well Capacity Adjusting Scheme

PubMed Central

Wang, Hao; Jiang, Jie; Zhang, Guangjun

2017-01-01

The simultaneous extraction of optical navigation measurements from a target celestial body and star images is essential for autonomous optical navigation. Generally, a single optical navigation sensor cannot simultaneously image the target celestial body and stars well-exposed because their irradiance difference is generally large. Multi-sensor integration or complex image processing algorithms are commonly utilized to solve the said problem. This study analyzes and demonstrates the feasibility of simultaneously imaging the target celestial body and stars well-exposed within a single exposure through a single field of view (FOV) optical navigation sensor using the well capacity adjusting (WCA) scheme. First, the irradiance characteristics of the celestial body are analyzed. Then, the celestial body edge model and star spot imaging model are established when the WCA scheme is applied. Furthermore, the effect of exposure parameters on the accuracy of star centroiding and edge extraction is analyzed using the proposed model. Optimal exposure parameters are also derived by conducting Monte Carlo simulation to obtain the best performance of the navigation sensor. Finally, laboratorial and night sky experiments are performed to validate the correctness of the proposed model and optimal exposure parameters. PMID:28430132

33 CFR 334.830 - Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 3 2014-07-01 2014-07-01 false Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill. 334.830 Section 334.830 Navigation and Navigable... REGULATIONS § 334.830 Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill...

33 CFR 334.830 - Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 3 2012-07-01 2012-07-01 false Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill. 334.830 Section 334.830 Navigation and Navigable... REGULATIONS § 334.830 Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill...

33 CFR 334.1120 - Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 3 2011-07-01 2011-07-01 false Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range. 334.1120 Section 334.1120 Navigation and Navigable... REGULATIONS § 334.1120 Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range. (a...

33 CFR 334.1120 - Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range. 334.1120 Section 334.1120 Navigation and Navigable... REGULATIONS § 334.1120 Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range. (a...

33 CFR 334.1120 - Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 3 2013-07-01 2013-07-01 false Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range. 334.1120 Section 334.1120 Navigation and Navigable... REGULATIONS § 334.1120 Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range. (a...

33 CFR 334.1120 - Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 3 2014-07-01 2014-07-01 false Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range. 334.1120 Section 334.1120 Navigation and Navigable... REGULATIONS § 334.1120 Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range. (a...

33 CFR 334.830 - Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill. 334.830 Section 334.830 Navigation and Navigable... REGULATIONS § 334.830 Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill...

33 CFR 334.830 - Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 3 2011-07-01 2011-07-01 false Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill. 334.830 Section 334.830 Navigation and Navigable... REGULATIONS § 334.830 Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill...

33 CFR 334.1120 - Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 3 2012-07-01 2012-07-01 false Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range. 334.1120 Section 334.1120 Navigation and Navigable... REGULATIONS § 334.1120 Pacific Ocean in the vicinity of Point Mugu, Calif.; naval small arms firing range. (a...

33 CFR 334.830 - Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 3 2013-07-01 2013-07-01 false Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill. 334.830 Section 334.830 Navigation and Navigable... REGULATIONS § 334.830 Lake Michigan; small-arms range adjacent to U.S. Naval Training Center, Great Lakes, Ill...

Navigation Strategies for Primitive Solar System Body Rendezvous and Proximity Operations

NASA Technical Reports Server (NTRS)

Getzandanner, Kenneth M.

2011-01-01

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

Deep Space 1: Testing New Technologies for Future Small Bodies Missions

NASA Technical Reports Server (NTRS)

Rayman, Marc D.

2001-01-01

Launched on October 24, 1998, Deep Space 1 (DS1) was the first mission of NASA's New Millennium Program, chartered to validate in space high-risk, new technologies important for future space science programs. The advanced technology payload that was tested on DS1 comprises solar electric propulsion, solar concentrator arrays, autonomous on-board navigation and other autonomous systems, several telecommunications and microelectronics devices, and two low-mass integrated science instrument packages. The mission met or exceeded all of its success criteria. The 12 technologies were rigorously exercised so that subsequent flight projects would not have to incur the cost and risk of being the fist users of these new capabilities. Examples of the benefits to future small body missions from DS1's technologies will be described.

33 CFR 66.05-35 - Private aids to navigation other than State owned.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 1 2014-07-01 2014-07-01 false Private aids to navigation other... HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION State Aids to Navigation § 66.05-35 Private aids to navigation other than State owned. (a) No person, public body or other instrumentality not...

33 CFR 66.05-35 - Private aids to navigation other than State owned.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 1 2011-07-01 2011-07-01 false Private aids to navigation other... HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION State Aids to Navigation § 66.05-35 Private aids to navigation other than State owned. (a) No person, public body or other instrumentality not...

33 CFR 66.05-35 - Private aids to navigation other than State owned.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 1 2013-07-01 2013-07-01 false Private aids to navigation other... HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION State Aids to Navigation § 66.05-35 Private aids to navigation other than State owned. (a) No person, public body or other instrumentality not...

33 CFR 66.05-35 - Private aids to navigation other than State owned.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 1 2012-07-01 2012-07-01 false Private aids to navigation other... HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION State Aids to Navigation § 66.05-35 Private aids to navigation other than State owned. (a) No person, public body or other instrumentality not...

33 CFR 66.05-35 - Private aids to navigation other than State owned.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Private aids to navigation other... HOMELAND SECURITY AIDS TO NAVIGATION PRIVATE AIDS TO NAVIGATION State Aids to Navigation § 66.05-35 Private aids to navigation other than State owned. (a) No person, public body or other instrumentality not...

Diagonal gaits in the feathertail glider Acrobates pygmaeus (Acrobatidae, Diprotodontia): Insights for the evolution of primate quadrupedalism.

PubMed

Karantanis, Nikolaos-Evangelos; Youlatos, Dionisios; Rychlik, Leszek

2015-09-01

Research on primate origins has revolved around arboreality and, more specifically, the adaptations that are linked to safe navigation in the fine-branch niche. To this end, extant non-primate mammals have been used as models to assess the significance of these adaptations. However, the size of these models is larger than that estimated for early primates. In contrast, the feathertail marsupial glider Acrobates pygmaeus, with a body mass of 12 g, a clawless opposable hallux, and terminal branch feeding habits appears more suited to modeling behavioral adaptations to the small branch milieu. Analysis of video recordings of 18 feathertail gliders walking on poles of variable diameter and inclination revealed that they preferentially used diagonal sequence gaits, fast velocities and low duty factors. Diagonal gaits did not correlate to duty factor, but increased as substrate size decreased, and from descending to ascending locomotion. Furthermore, the duty factor index increased in more diagonal gaits and ascending locomotion. Finally, velocities were lower on smaller substrates, and were mainly regulated by stride frequency and, to a lesser degree, stride length. Feathertail glider gaits displayed noteworthy behavioral convergences with primate quadrupedalism, but some of these results need additional investigation. Despite any discrepancies, these features appear to be favorable for quadrupedal progression on small branches, providing a selective advantage for navigating within a fine branch niche and highlighting the importance of small body size in early primate evolution. Copyright © 2015 Elsevier Ltd. All rights reserved.

Image overlay navigation by markerless surface registration in gastrointestinal, hepatobiliary and pancreatic surgery.

PubMed

Sugimoto, Maki; Yasuda, Hideki; Koda, Keiji; Suzuki, Masato; Yamazaki, Masato; Tezuka, Tohru; Kosugi, Chihiro; Higuchi, Ryota; Watayo, Yoshihisa; Yagawa, Yohsuke; Uemura, Shuichiro; Tsuchiya, Hironori; Azuma, Takeshi

2010-09-01

We applied a new concept of "image overlay surgery" consisting of the integration of virtual reality (VR) and augmented reality (AR) technology, in which dynamic 3D images were superimposed on the patient's actual body surface and evaluated as a reference for surgical navigation in gastrointestinal, hepatobiliary and pancreatic surgery. We carried out seven surgeries, including three cholecystectomies, two gastrectomies and two colectomies. A Macintosh and a DICOM workstation OsiriX were used in the operating room for image analysis. Raw data of the preoperative patient information obtained via MDCT were reconstructed to volume rendering and projected onto the patient's body surface during the surgeries. For accurate registration, OsiriX was first set to reproduce the patient body surface, and the positional coordinates of the umbilicus, left and right nipples, and the inguinal region were fixed as physiological markers on the body surface to reduce the positional error. The registration process was non-invasive and markerlesss, and was completed within 5 min. Image overlay navigation was helpful for 3D anatomical understanding of the surgical target in the gastrointestinal, hepatobiliary and pancreatic anatomies. The surgeon was able to minimize movement of the gaze and could utilize the image assistance without interfering with the forceps operation, reducing the gap from the VR. Unexpected organ injury could be avoided in all procedures. In biliary surgery, the projected virtual cholangiogram on the abdominal wall could advance safely with identification of the bile duct. For early gastric and colorectal cancer, the small tumors and blood vessels, which usually could not be found on the gastric serosa by laparoscopic view, were simultaneously detected on the body surface by carbon dioxide-enhanced MDCT. This provided accurate reconstructions of the tumor and involved lymph node, directly linked with optimization of the surgical procedures. Our non-invasive markerless registration using physiological markers on the body surface reduced logistical efforts. The image overlay technique is a useful tool when highlighting hidden structures, giving more information.

Perception of passage through openings depends on the size of the body in motion.

PubMed

Franchak, John M; Celano, Emma C; Adolph, Karen E

2012-11-01

Walkers need to modify their ongoing actions to meet the demands of everyday environments. Navigating through openings requires gait modifications if the size of the opening is too small relative to the body. Here we ask whether the spatial requirements for navigating horizontal and vertical openings differ, and, if so, whether walkers are sensitive to those requirements. To test walkers' sensitivity to demands for gait modification, we asked participants to judge whether they could walk through horizontal openings without shoulder rotation and through vertical openings without ducking. Afterward, participants walked through the openings, so that we could determine which opening sizes elicited gait modifications. Participants turned their shoulders with more space available than the space they left themselves for ducking. Larger buffers for horizontal openings may reflect different spatial requirements created by lateral sway of the body during walking compared to vertical bounce. In addition, greater variability of turning from trial to trial compared with ducking may lead walkers to adopt a more conservative buffer to avoid errors. Verbal judgments accurately predicted whether openings required gait modifications. For horizontal openings, participants' judgments were best predicted by the body's dynamic abilities, not static shoulder width. The differences between horizontal and vertical openings illustrate that walkers account for the dynamic properties of walking in addition to scaling decisions to body dimensions.

Hybrid DynaCT-guided electromagnetic navigational bronchoscopic biopsy†.

PubMed

Ng, Calvin S H; Yu, Simon C H; Lau, Rainbow W H; Yim, Anthony P C

2016-01-01

Electromagnetic navigational bronchoscopy-guided biopsy of small pulmonary nodules can be challenging. Navigational error of the system and movement of the biopsy tool during its deployment adversely affect biopsy success. Furthermore, conventional methods to confirm navigational success such as fluoroscopy and radial endobronchial ultrasound become less useful for the biopsy of small lesions. A hybrid operating theatre can provide unparalleled real-time imaging through DynaCT scan to guide and confirm successful navigation and biopsy of difficult-to-reach or small lesions. We describe our technique for DynaCT image-guided electromagnetic navigational bronchoscopic biopsy of a small pulmonary nodule in the hybrid operating theatre. The advantages, disadvantages and special considerations in adopting this approach are discussed. © The Author 2015. Published by Oxford University Press on behalf of the European Association for Cardio-Thoracic Surgery. All rights reserved.

33 CFR 334.155 - Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area. 334.155 Section 334.155 Navigation and... RESTRICTED AREA REGULATIONS § 334.155 Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD...

33 CFR 334.155 - Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 3 2011-07-01 2011-07-01 false Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area. 334.155 Section 334.155 Navigation and... RESTRICTED AREA REGULATIONS § 334.155 Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD...

BODY SENSING SYSTEM

NASA Technical Reports Server (NTRS)

Mah, Robert W. (Inventor)

2005-01-01

System and method for performing one or more relevant measurements at a target site in an animal body, using a probe. One or more of a group of selected internal measurements is performed at the target site, is optionally combined with one or more selected external measurements, and is optionally combined with one or more selected heuristic information items, in order to reduce to a relatively small number the probable medical conditions associated with the target site. One or more of the internal measurements is optionally used to navigate the probe to the target site. Neural net information processing is performed to provide a reduced set of probable medical conditions associated with the target site.

Gravity Field Characterization around Small Bodies

NASA Astrophysics Data System (ADS)

Takahashi, Yu

A small body rendezvous mission requires accurate gravity field characterization for safe, accurate navigation purposes. However, the current techniques of gravity field modeling around small bodies are not achieved to the level of satisfaction. This thesis will address how the process of current gravity field characterization can be made more robust for future small body missions. First we perform the covariance analysis around small bodies via multiple slow flybys. Flyby characterization requires less laborious scheduling than its orbit counterpart, simultaneously reducing the risk of impact into the asteroid's surface. It will be shown that the level of initial characterization that can occur with this approach is no less than the orbit approach. Next, we apply the same technique of gravity field characterization to estimate the spin state of 4179 Touatis, which is a near-Earth asteroid in close to 4:1 resonance with the Earth. The data accumulated from 1992-2008 are processed in a least-squares filter to predict Toutatis' orientation during the 2012 apparition. The center-of-mass offset and the moments of inertia estimated thereof can be used to constrain the internal density distribution within the body. Then, the spin state estimation is developed to a generalized method to estimate the internal density distribution within a small body. The density distribution is estimated from the orbit determination solution of the gravitational coefficients. It will be shown that the surface gravity field reconstructed from the estimated density distribution yields higher accuracy than the conventional gravity field models. Finally, we will investigate two types of relatively unknown gravity fields, namely the interior gravity field and interior spherical Bessel gravity field, in order to investigate how accurately the surface gravity field can be mapped out for proximity operations purposes. It will be shown that these formulations compute the surface gravity field with unprecedented accuracy for a well-chosen set of parametric settings, both regionally and globally.

CubeX: The CubeSAT X-ray Telescope for Elemental Abundance Mapping of Airless Bodies and X-ray Pulsar Navigation

NASA Astrophysics Data System (ADS)

Nittler, L. R.; Hong, J.; Kenter, A.; Romaine, S.; Allen, B.; Kraft, R.; Masterson, R.; Elvis, M.; Gendreau, K.; Crawford, I.; Binzel, R.; Boynton, W. V.; Grindlay, J.; Ramsey, B.

2017-12-01

The surface elemental composition of a planetary body provides crucial information about its origin, geological evolution, and surface processing, all of which can in turn provide information about solar system evolution as a whole. Remote sensing X-ray fluorescence (XRF) spectroscopy has been used successfully to probe the major-element compositions of airless bodies in the inner solar system, including the Moon, near-Earth asteroids, and Mercury. The CubeSAT X-ray Telescope (CubeX) is a concept for a 6U planetary X-ray telescope (36U with S/C), which utilizes Miniature Wolter-I X-ray optics (MiXO), monolithic CMOS and SDD X-ray sensors for the focal plane, and a Solar X-ray Monitor (heritage from the REXIS XRF instrument on NASA's OSIRIS-REx mission). CubeX will map the surface elemental composition of diverse airless bodies by spectral measurement of XRF excited by solar X-rays. The lightweight ( 1 kg) MiXO optics provide sub-arcminute resolution with low background, while the inherently rad-hard CMOS detectors provide improved spectral resolution ( 150 eV) at 0 °C. CubeX will also demonstrate X-ray pulsar timing based deep space navigation (XNAV). Successful XNAV will enable autonomous deep navigation with little to no support from the Deep Space Network, hence lowering the operation cost for many more planetary missions. Recently selected by NASA Planetary Science Deep Space SmallSat Studies, the first CubeX concept, designed to rideshare to the Moon as a secondary spacecraft on a primary mission, is under study in collaboration with the Mission Design Center at NASA Ames Research Center. From high altitude ( 6,000 km) frozen polar circular orbits, CubeX will study > 8 regions ( 110 km) of geological interest on the Moon over one year to produce a high resolution ( 2-3 km) elemental abundance map of each region. The novel focal plane design of CubeX also allows us to evaluate the performance of absolute navigation by sequential observations of several millisecond pulsars without moving parts.

Wireless Cortical Brain-Machine Interface for Whole-Body Navigation in Primates

NASA Astrophysics Data System (ADS)

Rajangam, Sankaranarayani; Tseng, Po-He; Yin, Allen; Lehew, Gary; Schwarz, David; Lebedev, Mikhail A.; Nicolelis, Miguel A. L.

2016-03-01

Several groups have developed brain-machine-interfaces (BMIs) that allow primates to use cortical activity to control artificial limbs. Yet, it remains unknown whether cortical ensembles could represent the kinematics of whole-body navigation and be used to operate a BMI that moves a wheelchair continuously in space. Here we show that rhesus monkeys can learn to navigate a robotic wheelchair, using their cortical activity as the main control signal. Two monkeys were chronically implanted with multichannel microelectrode arrays that allowed wireless recordings from ensembles of premotor and sensorimotor cortical neurons. Initially, while monkeys remained seated in the robotic wheelchair, passive navigation was employed to train a linear decoder to extract 2D wheelchair kinematics from cortical activity. Next, monkeys employed the wireless BMI to translate their cortical activity into the robotic wheelchair’s translational and rotational velocities. Over time, monkeys improved their ability to navigate the wheelchair toward the location of a grape reward. The navigation was enacted by populations of cortical neurons tuned to whole-body displacement. During practice with the apparatus, we also noticed the presence of a cortical representation of the distance to reward location. These results demonstrate that intracranial BMIs could restore whole-body mobility to severely paralyzed patients in the future.

Perception of passage through openings depends on the size of the body in motion

PubMed Central

Franchak, John M.; Celano, Emma C.; Adolph, Karen E.

2012-01-01

Walkers need to modify their ongoing actions to meet the demands of everyday environments. Navigating through openings requires gait modifications if the size of the opening is too small relative to the body. Here we ask if the spatial requirements for navigating horizontal and vertical openings differ, and, if so, whether walkers are sensitive to those requirements. To test walkers’ sensitivity to demands for gait modification, we asked participants to judge whether they could walk through horizontal openings without shoulder rotation and through vertical openings without ducking. Afterward, participants walked through the openings so that we could determine which opening sizes elicited gait modifications. Participants turned their shoulders with more space available than the space they left themselves for ducking. Larger buffers for horizontal openings may reflect different spatial requirements created by lateral sway of the body during walking compared to vertical bounce. In addition, greater variability of turning from trial to trial compared with ducking may lead walkers to adopt a more conservative buffer to avoid errors. Verbal judgments accurately predicted whether openings required gait modifications. For horizontal openings, participants’ judgments were best predicted by the body’s dynamic abilities, not static shoulder width. The differences between horizontal and vertical openings illustrate that walkers account for the dynamic properties of walking in addition to scaling decisions to body dimensions. PMID:22990292

Multiple beacons for supporting lunar landing navigation

NASA Astrophysics Data System (ADS)

Theil, Stephan; Bora, Leonardo

2018-02-01

The exploration and potential future exploitation of solar system bodies requires technologies for precise and safe landings. Current navigation systems for landing probes are relying on a combination of inertial and optical sensor measurements to determine the current flight state with respect to the target body and the desired landing site. With a future transition from single exploration missions to more frequent first exploration and then exploitation missions, the implementation and operation of these missions changes, since it can be expected that a ground infrastructure on the target body is available in the vicinity of the landing site. In a previous paper, the impact of a single ground-based beacon on the navigation performance was investigated depending on the type of radiometric measurements and on the location of the beacon with respect to the landing site. This paper extends this investigation on options for ground-based multiple beacons supporting the on-board navigation system. It analyzes the impact on the achievable navigation accuracy. For that purpose, the paper introduces briefly the existing navigation architecture based on optical navigation and its extension with radiometric measurements. The same scenario of lunar landing as in the previous paper is simulated. The results are analyzed and discussed. They show a single beacon at a large distance along the landing trajectory and multiple beacons close to the landing site can improve the navigation performance. The results show how large the landing area can be increased where a sufficient navigation performance is achieved using the beacons.

Magnetic navigation of an untethered micro device using four stationary coils.

PubMed

Ha, Yong H; Choi, Kyung M; Han, Byung H; Cho, Min H; Lee, Soo Y

2009-01-01

We introduce a magnetic navigation of a small magnet using four stationary coils. We used a Maxwell gradient coil to get magnetic propulsion force and three Helmholtz coils to control the moving direction of the magnet in the magnetic navigation. Using a three-channel coil driver with output capacity of 320A, we performed magnetic navigation of a small NdFeB magnet with the size of 10 mm x 10 mm x 12 mm on a horizontal plane. When navigated with a slow speed of about 1 mm/s, the magnet kept track of any arbitrary navigational path. We expect the proposed magnetic navigation method can be easily incorporated into the system for human applications since it does not use any moving coils.

Beacons for supporting lunar landing navigation

NASA Astrophysics Data System (ADS)

Theil, Stephan; Bora, Leonardo

2017-03-01

Current and future planetary exploration missions involve a landing on the target celestial body. Almost all of these landing missions are currently relying on a combination of inertial and optical sensor measurements to determine the current flight state with respect to the target body and the desired landing site. As soon as an infrastructure at the landing site exists, the requirements as well as conditions change for vehicles landing close to this existing infrastructure. This paper investigates the options for ground-based infrastructure supporting the onboard navigation system and analyzes the impact on the achievable navigation accuracy. For that purpose, the paper starts with an existing navigation architecture based on optical navigation and extends it with measurements to support navigation with ground infrastructure. A scenario of lunar landing is simulated and the provided functions of the ground infrastructure as well as the location with respect to the landing site are evaluated. The results are analyzed and discussed.

Advanced Endoscopic Navigation: Surgical Big Data, Methodology, and Applications.

PubMed

Luo, Xiongbiao; Mori, Kensaku; Peters, Terry M

2018-06-04

Interventional endoscopy (e.g., bronchoscopy, colonoscopy, laparoscopy, cystoscopy) is a widely performed procedure that involves either diagnosis of suspicious lesions or guidance for minimally invasive surgery in a variety of organs within the body cavity. Endoscopy may also be used to guide the introduction of certain items (e.g., stents) into the body. Endoscopic navigation systems seek to integrate big data with multimodal information (e.g., computed tomography, magnetic resonance images, endoscopic video sequences, ultrasound images, external trackers) relative to the patient's anatomy, control the movement of medical endoscopes and surgical tools, and guide the surgeon's actions during endoscopic interventions. Nevertheless, it remains challenging to realize the next generation of context-aware navigated endoscopy. This review presents a broad survey of various aspects of endoscopic navigation, particularly with respect to the development of endoscopic navigation techniques. First, we investigate big data with multimodal information involved in endoscopic navigation. Next, we focus on numerous methodologies used for endoscopic navigation. We then review different endoscopic procedures in clinical applications. Finally, we discuss novel techniques and promising directions for the development of endoscopic navigation.

Student Body Presidents and Institutional Leaders: Navigating Power and Influence

ERIC Educational Resources Information Center

Snyder, Robert Scott

2018-01-01

The purpose of this study was to understand and perceive how student leaders, and specifically student body presidents, navigated social power and used influence with institutional leaders in the higher education decision-making environment to achieve the goals and objectives of their presidencies. The foundational texts of higher education…

Solar oscillation time delay measurement assisted celestial navigation method

NASA Astrophysics Data System (ADS)

Ning, Xiaolin; Gui, Mingzhen; Zhang, Jie; Fang, Jiancheng; Liu, Gang

2017-05-01

Solar oscillation, which causes the sunlight intensity and spectrum frequency change, has been studied in great detail, both observationally and theoretically. In this paper, owing to the existence of solar oscillation, the time delay between the sunlight coming from the Sun directly and the sunlight reflected by the other celestial body such as the satellite of planet or asteroid can be obtained with two optical power meters. Because the solar oscillation time delay is determined by the relative positions of the spacecraft, reflective celestial body and the Sun, it can be adopted as the navigation measurement to estimate the spacecraft's position. The navigation accuracy of single solar oscillation time delay navigation system depends on the time delay measurement accuracy, and is influenced by the distance between spacecraft and reflective celestial body. In this paper, we combine it with the star angle measurement and propose a solar oscillation time delay measurement assisted celestial navigation method for deep space exploration. Since the measurement model of time delay is an implicit function, the Implicit Unscented Kalman Filter (IUKF) is applied. Simulations demonstrate the effectiveness and superiority of this method.

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

PubMed

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

2017-01-01

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

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

PubMed Central

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

2017-01-01

The central complex in the insect brain is a composite of midline neuropils involved in processing sensory cues and mediating behavioral outputs to orchestrate spatial navigation. Despite recent advances, however, the neural mechanisms underlying sensory integration and motor action selections have remained largely elusive. In particular, it is not yet understood how the central complex exploits sensory inputs to realize motor functions associated with spatial navigation. Here we report an in silico interrogation of central complex-mediated spatial navigation with a special emphasis on the ellipsoid body. Based on known connectivity and function, we developed a computational model to test how the local connectome of the central complex can mediate sensorimotor integration to guide different forms of behavioral outputs. Our simulations show integration of multiple sensory sources can be effectively performed in the ellipsoid body. This processed information is used to trigger continuous sequences of action selections resulting in self-motion, obstacle avoidance and the navigation of simulated environments of varying complexity. The motor responses to perceived sensory stimuli can be stored in the neural structure of the central complex to simulate navigation relying on a collective of guidance cues, akin to sensory-driven innate or habitual behaviors. By comparing behaviors under different conditions of accessible sources of input information, we show the simulated insect computes visual inputs and body posture to estimate its position in space. Finally, we tested whether the local connectome of the central complex might also allow the flexibility required to recall an intentional behavioral sequence, among different courses of actions. Our simulations suggest that the central complex can encode combined representations of motor and spatial information to pursue a goal and thus successfully guide orientation behavior. Together, the observed computational features identify central complex circuitry, and especially the ellipsoid body, as a key neural correlate involved in spatial navigation. PMID:28824390

Girls' Active Identities: Navigating Othering Discourses of Femininity, Bodies and Physical Education

ERIC Educational Resources Information Center

Hill, Joanne

2015-01-01

Within physical education and sport, girls must navigate discourses of valued athletic and gendered bodies that marginalise or "other" non-normative performances through systems of surveillance and punishment. The purpose of this paper is to share girls' perspectives on how these discourses affected their gender performances and activity…

Research on fast algorithm of small UAV navigation in non-linear matrix reductionism method

NASA Astrophysics Data System (ADS)

Zhang, Xiao; Fang, Jiancheng; Sheng, Wei; Cao, Juanjuan

2008-10-01

The low Reynolds numbers of small UAV will result in unfavorable aerodynamic conditions to support controlled flight. And as operated near ground, the small UAV will be affected seriously by low-frequency interference caused by atmospheric disturbance. Therefore, the GNC system needs high frequency of attitude estimation and control to realize the steady of the UAV. In company with the dimensional of small UAV dwindling away, its GNC system is more and more taken embedded designing technology to reach the purpose of compactness, light weight and low power consumption. At the same time, the operational capability of GNC system also gets limit in a certain extent. Therefore, a kind of high speed navigation algorithm design becomes the imminence demand of GNC system. Aiming at such requirement, a kind of non-linearity matrix reduction approach is adopted in this paper to create a new high speed navigation algorithm which holds the radius of meridian circle and prime vertical circle as constant and linearizes the position matrix calculation formulae of navigation equation. Compared with normal navigation algorithm, this high speed navigation algorithm decreases 17.3% operand. Within small UAV"s mission radius (20km), the accuracy of position error is less than 0.13m. The results of semi-physical experiments and small UAV's auto pilot testing proved that this algorithm can realize high frequency attitude estimation and control. It will avoid low-frequency interference caused by atmospheric disturbance properly.

Insects traversing grass-like vertical compliant beams

NASA Astrophysics Data System (ADS)

Li, Chen; Fearing, Ronald; Full, Robert

2014-03-01

Small running animals encounter many challenging terrains. These terrains can be filled with 3D, multi-component obstacles. Here, we study cockroaches (Blaberus discoidalis) moving through grass-like vertical compliant beams during escape. We created an apparatus to control and vary geometric parameters and mechanical properties of model grass including height, width, thickness, lateral and fore-aft spacings, angle, number of layers, stiffness, and damping. We observed a suite of novel locomotor behaviors not previously described on simpler 2D ground. When model grass height was >2 × body length and lateral spacing was <0.5 × body width, the animal primarily (probability P = 50%) rolled its body onto its side to rapidly (time t = 2.1 s) maneuver through the gaps between model grass. We developed a simple energy minimization model, and found that body roll reduces the energy barriers that the animal must overcome during traversal. We hypothesized that the animal's ellipsoidal body shape facilitated traversal. To test our hypothesis, we modified body shape by adding either a rectangular or an oval plate onto its dorsal surface, and found that P dropped by an order of magnitude and t more than doubled. Upon removal of either plate, both P and t recovered. Locomotor kinematics and geometry effectively coupled to terrain properties enables negotiation of 3D, multi-component obstacles, and provides inspiration for small robots to navigate such terrain with minimal sensing and control.

An Analysis of Chronic Personnel Shortages in the B-52 Radar Navigator Career Field

DTIC Science & Technology

1987-03-01

Weapon System Trainer - The new simulators for the B-52 located on some of the B-52 bases. Due to the complexity of the simulators, they have a small ...navigators crosstraining to these are lost to the B-52 career field. 21 ASTRA Every year a small number of radar navigators are chosen to attend one yerc at...this case, though, it turned up a small problem initially. The separation rates were obtained from Headquarters SAC (10), but did not include the number

75 FR 18776 - Regulated Navigation Area; Galveston Channel, TX

Federal Register 2010, 2011, 2012, 2013, 2014

2010-04-13

... that the proposed regulated navigation area covers a small area and vessels are allowed to travel...-AA11 Regulated Navigation Area; Galveston Channel, TX AGENCY: Coast Guard, DHS. ACTION: Notice of proposed rulemaking. SUMMARY: The Coast Guard proposes to establish a regulated navigation area across the...

Posterior internal fixation plus vertebral bone implantation under navigational aid for thoracolumbar fracture treatment

PubMed Central

ZHOU, WEI; KONG, WEIQING; ZHAO, BIZHEN; FU, YISHAN; ZHANG, TAO; XU, JIANGUANG

2013-01-01

The aim of this study was to investigate the method of posterior thoracolumbar vertebral pedicle screw reduction and fixation combined with vertebral bone implantation via the affected vertebral body under navigational aid for the treatment of thoracolumbar fractures. The efficacy of the procedure was also measured. Between June 2005 and March 2011, posterior thoracolumbar vertebral pedicle screw reduction and fixation plus artificial bone implantation via the affected vertebral pedicle under navigational aid was used to treat 30 patients with thoracolumbar fractures, including 18 males and 12 females, ranging in age from 21 to 57 years. Compared with the values prior to surgery, intraspinal occupation, vertebral height ratio and Cobb angle at the follow-up were significantly improved. At the long-term follow-up, the postoperative Cobb angle loss was <1° and the anterior vertebral body height loss was <2 mm. Posterior thoracolumbar vertebral pedicle screw reduction and fixation combined with vertebral bone implantation via the affected vertebral body under navigational aid may increase the accuracy and safety of surgery, and it is an ideal method of internal implantation. Bone implantation via the affected vertebral body may increase vertebral stability. PMID:23935737

Lucy: Navigating a Jupiter Trojan Tour

NASA Technical Reports Server (NTRS)

Stanbridge, Dale; Williams, Ken; Williams, Bobby; Jackman, Coralie; Weaver, Hal; Berry, Kevin; Sutter, Brian; Englander, Jacob

2017-01-01

In January 2017, NASA selected the Lucy mission to explore six Jupiter Trojan asteroids. These six bodies, remnants of the primordial material that formed the outer planets, were captured in the Sun-Jupiter L4 and L5 Lagrangian regions early in the solar system formation. These particular bodies were chosen because of their diverse spectral properties and the chance to observe up close for the first time two orbiting approximately equal mass binaries, Patroclus and Menoetius. KinetX, Inc. is the primary navigation supplier for the Lucy mission. This paper describes preliminary navigation analyses of the approach phase for each Trojan encounter.

Autonomous Navigation of Small Uavs Based on Vehicle Dynamic Model

NASA Astrophysics Data System (ADS)

Khaghani, M.; Skaloud, J.

2016-03-01

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

SMALL CRAFT OPERATION AND NAVIGATION, INSTRUCTOR'S GUIDE.

ERIC Educational Resources Information Center

Louisiana State Dept. of Education, Baton Rouge.

THE MATERIAL IN THIS COURSE IN MARINE NAVIGATION AND SMALL CRAFT OPERATION ON INLAND AND INTERNATIONAL WATERS WAS DEVELOPED BY AN INDIVIDUAL AUTHOR FOR USE IN TRADE SCHOOL PREPARATORY AND EXTENSION CLASSES FOR MALE ADULTS WHO PLAN TO OPERATE BOATS. THE OBJECTIVE IS TO PREPARE THE SMALL BOAT OPERATOR FOR HIS OWN CONTINUATION IN THE STUDY OF…

33 CFR 263.26 - Small beach erosion control project authority (Section 103).

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Small beach erosion control....26 Small beach erosion control project authority (Section 103). (a) Legislative authority. Section 103(a) of the River and Harbor Act of 1962, as amended by section 310 of the River and Harbor Act of...

Non-rigid Motion Correction in 3D Using Autofocusing with Localized Linear Translations

PubMed Central

Cheng, Joseph Y.; Alley, Marcus T.; Cunningham, Charles H.; Vasanawala, Shreyas S.; Pauly, John M.; Lustig, Michael

2012-01-01

MR scans are sensitive to motion effects due to the scan duration. To properly suppress artifacts from non-rigid body motion, complex models with elements such as translation, rotation, shear, and scaling have been incorporated into the reconstruction pipeline. However, these techniques are computationally intensive and difficult to implement for online reconstruction. On a sufficiently small spatial scale, the different types of motion can be well-approximated as simple linear translations. This formulation allows for a practical autofocusing algorithm that locally minimizes a given motion metric – more specifically, the proposed localized gradient-entropy metric. To reduce the vast search space for an optimal solution, possible motion paths are limited to the motion measured from multi-channel navigator data. The novel navigation strategy is based on the so-called “Butterfly” navigators which are modifications to the spin-warp sequence that provide intrinsic translational motion information with negligible overhead. With a 32-channel abdominal coil, sufficient number of motion measurements were found to approximate possible linear motion paths for every image voxel. The correction scheme was applied to free-breathing abdominal patient studies. In these scans, a reduction in artifacts from complex, non-rigid motion was observed. PMID:22307933

Low computation vision-based navigation for a Martian rover

NASA Technical Reports Server (NTRS)

Gavin, Andrew S.; Brooks, Rodney A.

1994-01-01

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

33 CFR 110.255 - Ponce Harbor, P.R.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 1 2014-07-01 2014-07-01 false Ponce Harbor, P.R. 110.255 Section 110.255 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY ANCHORAGES ANCHORAGE REGULATIONS Anchorage Grounds § 110.255 Ponce Harbor, P.R. (a) Small-craft anchorage. On the...

33 CFR 110.255 - Ponce Harbor, P.R.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 1 2012-07-01 2012-07-01 false Ponce Harbor, P.R. 110.255 Section 110.255 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY ANCHORAGES ANCHORAGE REGULATIONS Anchorage Grounds § 110.255 Ponce Harbor, P.R. (a) Small-craft anchorage. On the...

33 CFR 110.255 - Ponce Harbor, P.R.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Ponce Harbor, P.R. 110.255 Section 110.255 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY ANCHORAGES ANCHORAGE REGULATIONS Anchorage Grounds § 110.255 Ponce Harbor, P.R. (a) Small-craft anchorage. On the...

33 CFR 110.255 - Ponce Harbor, P.R.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 1 2013-07-01 2013-07-01 false Ponce Harbor, P.R. 110.255 Section 110.255 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY ANCHORAGES ANCHORAGE REGULATIONS Anchorage Grounds § 110.255 Ponce Harbor, P.R. (a) Small-craft anchorage. On the...

33 CFR 110.255 - Ponce Harbor, P.R.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 1 2011-07-01 2011-07-01 false Ponce Harbor, P.R. 110.255 Section 110.255 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY ANCHORAGES ANCHORAGE REGULATIONS Anchorage Grounds § 110.255 Ponce Harbor, P.R. (a) Small-craft anchorage. On the...

Incorporation of Carrier Phase Global Positioning System Measurements into the Navigation Reference System for Improved Performance

DTIC Science & Technology

1993-12-01

5-6 5.6.1 Large Cycle Slip Simulation ............................. 5-7 5.6.2 Small Cycle Slip Simulation ........................... 5-9...Appendix J. Small Cycle Slip Simulation Results ............................. J-1 Bibliography ........................................................ BIB-I...when subjected to large and small cycle slips. Results of the simulations indicate that the PNRS can provide an improved navigation solution over

A SINS/SRS/GNS Autonomous Integrated Navigation System Based on Spectral Redshift Velocity Measurements.

PubMed

Wei, Wenhui; Gao, Zhaohui; Gao, Shesheng; Jia, Ke

2018-04-09

In order to meet the requirements of autonomy and reliability for the navigation system, combined with the method of measuring speed by using the spectral redshift information of the natural celestial bodies, a new scheme, consisting of Strapdown Inertial Navigation System (SINS)/Spectral Redshift (SRS)/Geomagnetic Navigation System (GNS), is designed for autonomous integrated navigation systems. The principle of this SINS/SRS/GNS autonomous integrated navigation system is explored, and the corresponding mathematical model is established. Furthermore, a robust adaptive central difference particle filtering algorithm is proposed for this autonomous integrated navigation system. The simulation experiments are conducted and the results show that the designed SINS/SRS/GNS autonomous integrated navigation system possesses good autonomy, strong robustness and high reliability, thus providing a new solution for autonomous navigation technology.

Issues in symbol design for electronic displays of navigation information

DOT National Transportation Integrated Search

2004-10-24

An increasing number of electronic displays, ranging from small hand-held displays for general aviation to installed displays for air transport, are showing navigation information, such as symbols representing navigational aids. The wide range of dis...

Fuzzy Behavior Modulation with Threshold Activation for Autonomous Vehicle Navigation

NASA Technical Reports Server (NTRS)

Tunstel, Edward

2000-01-01

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

A SINS/SRS/GNS Autonomous Integrated Navigation System Based on Spectral Redshift Velocity Measurements

PubMed Central

Wei, Wenhui; Gao, Zhaohui; Gao, Shesheng; Jia, Ke

2018-01-01

In order to meet the requirements of autonomy and reliability for the navigation system, combined with the method of measuring speed by using the spectral redshift information of the natural celestial bodies, a new scheme, consisting of Strapdown Inertial Navigation System (SINS)/Spectral Redshift (SRS)/Geomagnetic Navigation System (GNS), is designed for autonomous integrated navigation systems. The principle of this SINS/SRS/GNS autonomous integrated navigation system is explored, and the corresponding mathematical model is established. Furthermore, a robust adaptive central difference particle filtering algorithm is proposed for this autonomous integrated navigation system. The simulation experiments are conducted and the results show that the designed SINS/SRS/GNS autonomous integrated navigation system possesses good autonomy, strong robustness and high reliability, thus providing a new solution for autonomous navigation technology. PMID:29642549

Prospective relationships between body weight and physical activity: an observational analysis from the NAVIGATOR study.

PubMed

Preiss, David; Thomas, Laine E; Wojdyla, Daniel M; Haffner, Steven M; Gill, Jason M R; Yates, Thomas; Davies, Melanie J; Holman, Rury R; McMurray, John J; Califf, Robert M; Kraus, William E

2015-08-14

While bidirectional relationships exist between body weight and physical activity, direction of causality remains uncertain and previous studies have been limited by self-reported activity or weight and small sample size. We investigated the prospective relationships between weight and physical activity. Observational analysis of data from the Nateglinide And Valsartan in Impaired Glucose Tolerance Outcomes Research (NAVIGATOR) study, a double-blinded randomised clinical trial of nateglinide and valsartan, respectively. Multinational study of 9306 participants. Participants with biochemically confirmed impaired glucose tolerance had annual measurements of both weight and step count using research grade pedometers, worn for 7 days consecutively. Along with randomisation to valsartan or placebo plus nateglinide or placebo, participants took part in a lifestyle modification programme. Longitudinal regression using weight as response value and physical activity as predictor value was conducted, adjusted for baseline covariates. Analysis was then repeated with physical activity as response value and weight as predictor value. Only participants with a response value preceded by at least three annual response values were included. Adequate data were available for 2811 (30%) of NAVIGATOR participants. Previous weight (χ(2)=16.8; p<0.0001), but not change in weight (χ(2)=0.1; p=0.71) was inversely associated with subsequent step count, indicating lower subsequent levels of physical activity in heavier individuals. Change in step count (χ(2)=5.9; p=0.02) but not previous step count (χ(2)=0.9; p=0.34) was inversely associated with subsequent weight. However, in the context of trajectories already established for weight (χ(2) for previous weight measurements 747.3; p<0.0001) and physical activity (χ(2) for previous step count 432.6; p<0.0001), these effects were of limited clinical importance. While a prospective bidirectional relationship was observed between weight and physical activity, the magnitude of any effect was very small in the context of natural trajectories already established for these variables. NCT00097786. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

Fault Mitigation Schemes for Future Spaceflight Multicore Processors

NASA Technical Reports Server (NTRS)

Alexander, James W.; Clement, Bradley J.; Gostelow, Kim P.; Lai, John Y.

2012-01-01

Future planetary exploration missions demand significant advances in on-board computing capabilities over current avionics architectures based on a single-core processing element. The state-of-the-art multi-core processor provides much promise in meeting such challenges while introducing new fault tolerance problems when applied to space missions. Software-based schemes are being presented in this paper that can achieve system-level fault mitigation beyond that provided by radiation-hard-by-design (RHBD). For mission and time critical applications such as the Terrain Relative Navigation (TRN) for planetary or small body navigation, and landing, a range of fault tolerance methods can be adapted by the application. The software methods being investigated include Error Correction Code (ECC) for data packet routing between cores, virtual network routing, Triple Modular Redundancy (TMR), and Algorithm-Based Fault Tolerance (ABFT). A robust fault tolerance framework that provides fail-operational behavior under hard real-time constraints and graceful degradation will be demonstrated using TRN executing on a commercial Tilera(R) processor with simulated fault injections.

Systems analysis for ground-based optical navigation

NASA Technical Reports Server (NTRS)

Null, G. W.; Owen, W. M., Jr.; Synnott, S. P.

1992-01-01

Deep-space telecommunications systems will eventually operate at visible or near-infrared regions to provide increased information return from interplanetary spacecraft. This would require an onboard laser transponder in place of (or in addition to) the usual microwave transponder, as well as a network of ground-based and/or space-based optical observing stations. This article examines the expected navigation systems to meet these requirements. Special emphasis is given to optical astrometric (angular) measurements of stars, solar system target bodies, and (when available) laser-bearing spacecraft, since these observations can potentially provide the locations of both spacecraft and target bodies. The role of astrometry in the navigation system and the development options for astrometric observing systems are also discussed.

A novel interplanetary optical navigation algorithm based on Earth-Moon group photos by Chang'e-5T1 probe

NASA Astrophysics Data System (ADS)

Bu, Yanlong; Zhang, Qiang; Ding, Chibiao; Tang, Geshi; Wang, Hang; Qiu, Rujin; Liang, Libo; Yin, Hejun

2017-02-01

This paper presents an interplanetary optical navigation algorithm based on two spherical celestial bodies. The remarkable characteristic of the method is that key navigation parameters can be estimated depending entirely on known sizes and ephemerides of two celestial bodies, especially positioning is realized through a single image and does not rely on traditional terrestrial radio tracking any more. Actual Earth-Moon group photos captured by China's Chang'e-5T1 probe were used to verify the effectiveness of the algorithm. From 430,000 km away from the Earth, the camera pointing accuracy reaches 0.01° (one sigma) and the inertial positioning error is less than 200 km, respectively; meanwhile, the cost of the ground control and human resources are greatly reduced. The algorithm is flexible, easy to implement, and can provide reference to interplanetary autonomous navigation in the solar system.

SMALL CRAFT OPERATION AND NAVIGATION.

ERIC Educational Resources Information Center

Louisiana State Dept. of Education, Baton Rouge.

THIS REFERENCE TEXTBOOK WAS PREPARED FOR USE IN THE FIRST PART OF A TWO-PART COURSE IN MARINE NAVIGATION AND SMALL CRAFT OPERATION ON INLAND AND INTERNATIONAL WATERS. THE MATERIAL WAS DEVELOPED BY AN INDIVIDUAL AUTHOR FOR USE IN TRADE SCHOOL PREPARATORY AND EXTENSION CLASSES FOR MALE ADULTS WHO PLAN TO OPERATE BOATS. IT IS MAINLY CONCERNED WITH…

Virtual reality body motion induced navigational controllers and their effects on simulator sickness and pathfinding.

PubMed

Aldaba, Cassandra N; White, Paul J; Byagowi, Ahmad; Moussavi, Zahra

2017-07-01

Virtual reality (VR) navigation is usually constrained by plausible simulator sickness (SS) and intuitive user interaction. The paper reports on the use of four different degrees of body motion induced navigational VR controllers, a TiltChair, omni-directional treadmill, a manual wheelchair joystick (VRNChair), and a joystick in relation to a participant's SS occurrence and a controller's intuitive utilization. Twenty young adult participants utilized all controllers to navigate through the same VR task environment in separate sessions. Throughout the sessions, SS occurrence was measured from a severity score by a standard SS questionnaire and from body sway by a center of pressure path length with eyes opened and closed. SS occurrence did not significantly differ among the controllers. However, time spent in VR significantly contributed to SS occurrence; hence, a few breaks to minimize SS should be interjected throughout a VR task. For all task trials, we recorded the participant's travel trajectories to investigate each controller's intuitive utilization from a computed traversed distance. Shorter traversed distances indicated that participants intuitively utilized the TiltChair with a slower speed; while longer traversed distances indicated participants struggled to utilize the omni-directional treadmill with a unnaturalistic stimulation of gait. Therefore, VR navigation should use technologies best suited for the intended age group that minimizes SS, and produces intuitive interactions for the participants.

CT-Guided Interventions Using a Free-Hand, Optical Tracking System: Initial Clinical Experience

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

Schubert, Tilman, E-mail: TSchubert@uhbs.ch; Jacob, Augustinus L.; Pansini, Michele

2013-08-01

PurposeThe present study was designed to evaluate the geometrical accuracy and clinical applicability of a new, free-hand, CT-guided, optical navigation system.MethodsFifteen procedures in 14 consecutive patients were retrospectively analyzed. The navigation system was applied for interventional procedures on small target lesions, in cases with long needle paths, narrow access windows, or when an out-of-plane access was expected. Mean lesion volume was 27.9 ml, and mean distance to target measured was 107.5 mm. Eleven of 15 needle trajectories were planned as out-of-plane approaches regarding the axial CT plane.ResultsNinety-one percent of the biopsies were diagnostic. All therapeutic interventions were technically successful. Targetingmore » precision was high with a mean distance of the needle tip from planned target of 1.98 mm. Mean intervention time was 1:12 h. A statistically significant correlation between angular needle deviation and intervention time (p = 0.007), respiratory movement of the target (p = 0.008), and body mass index (p = 0.02) was detected. None of the evaluated parameters correlated significantly with the distance from the needle tip to the planned target.ConclusionsThe application of a navigation system for complex CT-guided procedures provided safe and effective targeting within a reasonable intervention time in our series.« less

Navigation bronchoscopy for diagnosis and small nodule location

PubMed Central

Muñoz-Largacha, Juan A.; Litle, Virginia R.

2017-01-01

Lung cancer continues to be the most common cause of cancer death. Screening programs for high risk patients with the use of low-dose computed tomography (CT) has led to the identification of small lung lesions that were difficult to identify using previous imaging modalities. Electromagnetic navigational bronchoscopy (ENB) is a novel technique that has shown to be of great utility during the evaluation of small, peripheral lesions, that would otherwise be challenging to evaluate with conventional bronchoscopy. The diagnostic yield of navigational bronchoscopy however is highly variable, with reports ranging from 59% to 94%. This variability suggests that well-defined selection criteria and standardized protocols for the use of ENB are lacking. Despite this variability, we believe that this technique is a useful tool evaluating small peripheral lung lesions when patients are properly selected. PMID:28446971

33 CFR 334.630 - Tampa Bay south of MacDill Air Force Base, Fla.; small-arms firing range and aircraft jettison, U...

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 3 2011-07-01 2011-07-01 false Tampa Bay south of MacDill Air Force Base, Fla.; small-arms firing range and aircraft jettison, U.S. Air Force, MacDill Air Force Base... Force Base, Fla.; small-arms firing range and aircraft jettison, U.S. Air Force, MacDill Air Force Base...

33 CFR 334.630 - Tampa Bay south of MacDill Air Force Base, Fla.; small-arms firing range and aircraft jettison, U...

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 3 2014-07-01 2014-07-01 false Tampa Bay south of MacDill Air Force Base, Fla.; small-arms firing range and aircraft jettison, U.S. Air Force, MacDill Air Force Base... Force Base, Fla.; small-arms firing range and aircraft jettison, U.S. Air Force, MacDill Air Force Base...

33 CFR 334.630 - Tampa Bay south of MacDill Air Force Base, Fla.; small-arms firing range and aircraft jettison, U...

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 3 2012-07-01 2012-07-01 false Tampa Bay south of MacDill Air Force Base, Fla.; small-arms firing range and aircraft jettison, U.S. Air Force, MacDill Air Force Base... Force Base, Fla.; small-arms firing range and aircraft jettison, U.S. Air Force, MacDill Air Force Base...

33 CFR 334.630 - Tampa Bay south of MacDill Air Force Base, Fla.; small-arms firing range and aircraft jettison, U...

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 3 2013-07-01 2013-07-01 false Tampa Bay south of MacDill Air Force Base, Fla.; small-arms firing range and aircraft jettison, U.S. Air Force, MacDill Air Force Base... Force Base, Fla.; small-arms firing range and aircraft jettison, U.S. Air Force, MacDill Air Force Base...

Celestial Navigation

ERIC Educational Resources Information Center

Rosenkrantz, Kurt

2005-01-01

In the unit described in this article, students discover the main principles of navigation, build tools to observe celestial bodies, and apply their new skills to finding their position on Earth. Along the way students see how science, mathematics, technology, and history are intertwined.

Method and apparatus for relative navigation using reflected GPS signals

NASA Technical Reports Server (NTRS)

Cohen, Ian R. (Inventor); Boegner, Jr., Gregory J. (Inventor)

2010-01-01

A method and system to passively navigate an orbiting moving body towards an orbiting target using reflected GPS signals. A pair of antennas is employed to receive both direct signals from a plurality of GPS satellites and a second antenna to receive GPS signals reflected off an orbiting target. The direct and reflected signals are processed and compared to determine the relative distance and position of the orbiting moving body relative to the orbiting target.

The Mind-Body Connection - Emotions and Health

MedlinePlus

... Navigation Bar Home Current Issue Past Issues The Mind-Body Connection Emotions and Health Past Issues / Winter 2008 ... Today, we accept that there is a powerful mind-body connection through which emotional, mental, social, spiritual, and ...

33 CFR 334.1125 - Pacific Ocean Naval Air Weapons Station, Point Mugu, Small Arms Range, Ventura County, California...

Code of Federal Regulations, 2014 CFR

2014-07-01

... Station, Point Mugu, Small Arms Range, Ventura County, California; danger zone. 334.1125 Section 334.1125 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE DANGER ZONE... Arms Range, Ventura County, California; danger zone. (a) The area. A triangular area extending...

33 CFR 334.1125 - Pacific Ocean Naval Air Weapons Station, Point Mugu, Small Arms Range, Ventura County, California...

Code of Federal Regulations, 2012 CFR

2012-07-01

... Station, Point Mugu, Small Arms Range, Ventura County, California; danger zone. 334.1125 Section 334.1125 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE DANGER ZONE... Arms Range, Ventura County, California; danger zone. (a) The area. A triangular area extending...

33 CFR 334.1125 - Pacific Ocean Naval Air Weapons Station, Point Mugu, Small Arms Range, Ventura County, California...

Code of Federal Regulations, 2013 CFR

2013-07-01

... Station, Point Mugu, Small Arms Range, Ventura County, California; danger zone. 334.1125 Section 334.1125 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE DANGER ZONE... Arms Range, Ventura County, California; danger zone. (a) The area. A triangular area extending...

A modified proportional navigation scheme for rendezvous and docking with tumbling targets: The Planar case

NASA Technical Reports Server (NTRS)

Fitz-Coy, Norman; Liu, Ming-Cheng

1995-01-01

A two-phase proportional navigation scheme is developed for the case of two rigid bodies engaged in a rendezvous/docking maneuver. The target vehicle is nonmaneuvering, but does have constant nonzero angular and linear velocities. Under these conditions, it is shown that previously obtained solutions are not applicable. Analytical solutions are obtained leading to relationships between the transverse and LOS navigation constants. It is shown that the transverse navigation constant for the second phase of the maneuver must be 2. Also, initial conditions necessary for rendezvous are presented.

The Mind-Body Connection - Complementary and Alternative Approaches to Health

MedlinePlus

... Navigation Bar Home Current Issue Past Issues The Mind-Body Connection Complementary and Alternative Approaches to Health Past ... To Find Out More At medlineplus.gov , type "mind-body" or "emotions" into the Search box. There is ...

AstroNavigation: Freely-available Online Instruction for Performing a Sight Reduction

NASA Astrophysics Data System (ADS)

Gessner Stewart, Susan; Grundstrom, Erika; Caudel, Dave

2015-08-01

A reliable method of obtaining your geographic location from observations of celestial bodies is globally available. This online learning module, developed through a collaboration between Vanderbilt University and the U.S. Naval Observatory, serves to address the need for freely-available comprehensive instruction in celestial navigation online. Specifically targeted are the steps of preforming a sight reduction to obtain a terrestrial position using this technique. Difficult concepts such as plotting on a navigational chart and the complexities of using navigation publications are facilitated through this online content delivery, rooted in effective course design principles. There is good potential in using celestial navigation as a tool for stimulating interest in astronomy given its resourcefulness and accessibility.

Lunar Navigation with Libration Point Orbiters and GPS

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell

2004-01-01

NASA is currently studying a Vision for Space Exploration based on spiral development of robotic and piloted missions to the moon and Mars, but research into how to perform such missions has continued ever since the first era of lunar exploration. One area of study that a number of researchers have pursued is libration point navigation and communication relay concepts. These concepts would appear to support many of NASA's current requirements for navigation and communications coverage for human and robotic spacecraft operating in lunar space and beyond. In trading libration point concepts against other options, designers must consider issues such as the number of spacecraft, required to provide coverage, insertion and stationkeeping costs, power and data rate requirements, frequency allocations, and many others. The libration points, along with a typical cis-lunar trajectory, are equilibrium locations for an infinitesimal mass in the rotating coordinate system that follows the motion of two massive bodies in circular orbits with respect to their common barycenter. There are three co-linear points along the line connecting the massive bodies: between the bodies, beyond the secondary body, and beyond the primary body. The relative distances of these points along the line connecting the bodies depend on the mass ratios. There are also two points that form equilateral triangles with the massive bodies. Ideally, motion in the neighborhood of the co-linear points is unstable, while motion near the equilibrium points is stable. However, in the real world, the motions are highly perturbed so that a satellite will require stationkeeping maneuvers.

[Trial of artifact reduction in body diffusion weighted imaging development and basic examination of "TRacking Only Navigator"(TRON method)].

PubMed

Horie, Tomohiko; Takahara, Tarou; Ogino, Tetsuo; Okuaki, Tomoyuki; Honda, Masatoshi; Okumura, Yasuhiro; Kajihara, Nao; Usui, Keisuke; Muro, Isao; Imai, Yutaka

2008-09-20

In recent years, the utility of body diffusion weighted imaging as represented by diffusion weighted whole body imaging with background body signal suppression (DWIBS), the DWIBS method, is very high. However, there was a problem in the DWIBS method involving the artifact corresponding to the distance of the diaphragm. To provide a solution, the respiratory trigger (RT) method and the navigator echo method were used together. A problem was that scan time extended to the compensation and did not predict the extension rate, although both artifacts were reduced. If we used only navigator real time slice tracking (NRST) from the findings obtained by the DWIBS method, we presumed the artifacts would be ameliorable without the extension of scan time. Thus, the TRacking Only Navigator (TRON) method was developed, and a basic examination was carried out for the liver. An important feature of the TRON method is the lack of the navigator gating window (NGW) and addition of the method of linear interpolation prior to NRST. The method required the passing speed and the distance from the volunteer's diaphragm. The estimated error from the 2D-selective RF pulse (2DSRP) of the TRON method to slice excitation was calculated. The condition of 2D SRP, which did not influence the accuracy of NRST, was required by the movement phantom. The volunteer was scanned, and the evaluation and actual scan time of the image quality were compared with the RT and DWIBS methods. Diaphragm displacement speed and the quantity of displacement were determined in the head and foot directions, and the result was 9 mm/sec, and 15 mm. The estimated error was within 2.5 mm in b-factor 1000 sec/mm(2). The FA of 2DSRP was 15 degrees, and the navigator echo length was 120 mm, which was excellent. In the TRON method, the accuracy of NRST was steady because of line interpolation. The TRON method obtained image quality equal to that of the RT method with the b-factor in the volunteer scanning at short actual scan time. The TRON method can obtain image quality equal to that of the RT method in body diffusion weighted imaging within a short time. Moreover, because scan time during planning becomes actual scan time, inspection can be efficiently executed.

Optical navigation during the Voyager Neptune encounter

NASA Technical Reports Server (NTRS)

Riedel, J. E.; Owen, W. M., Jr.; Stuve, J. A.; Synnott, S. P.; Vaughan, R. M.

1990-01-01

Optical navigation techniques were required to successfully complete the planetary exploration phase of the NASA deep-space Voyager mission. The last of Voyager's planetary encounters, with Neptune, posed unique problems from an optical navigation standpoint. In this paper we briefly review general aspects of the optical navigation process as practiced during the Voyager mission, and discuss in detail particular features of the Neptune encounter which affected optical navigation. New approaches to the centerfinding problem were developed for both stars and extended bodies, and these are described. Results of the optical navigation data analysis are presented, as well as a description of the optical orbit determination system and results of its use during encounter. Partially as a result of the optical navigation processing, results of scientific significance were obtained. These results include the discovery and orbit determination of several new satellites of Neptune and the determination of the size of Triton, Neptune's largest moon.

Dual-body magnetic helical robot for drilling and cargo delivery in human blood vessels

NASA Astrophysics Data System (ADS)

Lee, Wonseo; Jeon, Seungmun; Nam, Jaekwang; Jang, Gunhee

2015-05-01

We propose a novel dual-body magnetic helical robot (DMHR) manipulated by a magnetic navigation system. The proposed DMHR can generate helical motions to navigate in human blood vessels and to drill blood clots by an external rotating magnetic field. It can also generate release motions which are relative rotational motions between dual-bodies to release the carrying cargos to a target region by controlling the magnitude of an external magnetic field. Constraint equations were derived to selectively manipulate helical and release motions by controlling external magnetic fields. The DMHR was prototyped and various experiments were conducted to demonstrate its motions and verify its manipulation methods.

Patient Registration Using Photogrammetric Surface Reconstruction from Smartphone Imagery

NASA Astrophysics Data System (ADS)

Hellwich, O.; Rose, A.; Bien, T.; Malolepszy, C.; Mucha, D.; Krüger, T.

2016-06-01

In navigated surgery the patient's body has to be co-registered with presurgically acquired 3D data in order to enable navigation of the surgical instrument. For this purpose the body surface of the patient can be acquired by means of photogrammetry and co-registered to corresponding surfaces in the presurgical data. In this paper this task is exemplarily solved for 3D data of human heads using the face surface to establish correspondence. We focus on investigation of achieved geometric accuracies reporting positioning errors in the range of 1 mm.

BIRDY - Interplanetary CubeSat for planetary geodesy of Small Solar System Bodies (SSSB).

NASA Astrophysics Data System (ADS)

Hestroffer, D.; Agnan, M.; Segret, B.; Quinsac, G.; Vannitsen, J.; Rosenblatt, P.; Miau, J. J.

2017-12-01

We are developing the Birdy concept of a scientific interplanetary CubeSat, for cruise, or proximity operations around a Small body of the Solar System (asteroid, comet, irregular satellite). The scientific aim is to characterise the body's shape, gravity field, and internal structure through imaging and radio-science techniques. Radio-science is now of common use in planetary science (flybys or orbiters) to derive the mass of the scientific target and possibly higher order terms of its gravity field. Its application to a nano-satellite brings the advantage of enabling low orbits that can get closer to the body's surface, hence increasing the SNR for precise orbit determination (POD), with a fully dedicated instrument. Additionally, it can be applied to two or more satellites, on a leading-trailing trajectory, to improve the gravity field determination. However, the application of this technique to CubeSats in deep space, and inter-satellite link has to be proven. Interplanetary CubeSats need to overcome a few challenges before reaching successfully their deep-space objectives: link to ground-segment, energy supply, protection against radiation, etc. Besides, the Birdy CubeSat — as our basis concept — is designed to be accompanying a mothercraft, and relies partly on the main mission for reaching the target, as well as on data-link with the Earth. However, constraints to the mothercraft needs to be reduced, by having the CubeSat as autonomous as possible. In this respect, propulsion and auto-navigation are key aspects, that we are studying in a Birdy-T engineering model. We envisage a 3U size CubeSat with radio link, object-tracker and imaging function, and autonomous ionic propulsion system. We are considering two case studies for autonomous guidance, navigation and control, with autonomous propulsion: in cruise and in proximity, necessitating ΔV up to 2m/s for a total budget of about 50m/s. In addition to the propulsion, in-flight orbit determination (IFOD) and maintenance are studied, through analysis of images by an object-tracker and astrometry of solar system objects in front of background stars. Before going to deep-space, our project will start with BIRDY-1 orbiting the Earth, to validate the concepts of adopted propulsion, IFOD and orbit maintenance, as well as the radio-science and POD.

33 CFR 385.22 - Independent scientific review and external peer review.

Code of Federal Regulations, 2014 CFR

2014-07-01

... external peer review. 385.22 Section 385.22 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE PROGRAMMATIC REGULATIONS FOR THE COMPREHENSIVE EVERGLADES... review panel, convened by a body, such as the National Academy of Sciences, to review the Plan's progress...

33 CFR 385.22 - Independent scientific review and external peer review.

Code of Federal Regulations, 2011 CFR

2011-07-01

... external peer review. 385.22 Section 385.22 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE PROGRAMMATIC REGULATIONS FOR THE COMPREHENSIVE EVERGLADES... review panel, convened by a body, such as the National Academy of Sciences, to review the Plan's progress...

33 CFR 385.22 - Independent scientific review and external peer review.

Code of Federal Regulations, 2012 CFR

2012-07-01

... external peer review. 385.22 Section 385.22 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE PROGRAMMATIC REGULATIONS FOR THE COMPREHENSIVE EVERGLADES... review panel, convened by a body, such as the National Academy of Sciences, to review the Plan's progress...

33 CFR 385.22 - Independent scientific review and external peer review.

Code of Federal Regulations, 2010 CFR

2010-07-01

... external peer review. 385.22 Section 385.22 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE PROGRAMMATIC REGULATIONS FOR THE COMPREHENSIVE EVERGLADES... review panel, convened by a body, such as the National Academy of Sciences, to review the Plan's progress...

33 CFR 385.22 - Independent scientific review and external peer review.

Code of Federal Regulations, 2013 CFR

2013-07-01

... external peer review. 385.22 Section 385.22 Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE PROGRAMMATIC REGULATIONS FOR THE COMPREHENSIVE EVERGLADES... review panel, convened by a body, such as the National Academy of Sciences, to review the Plan's progress...

The navigation of homing pigeons: Do they use sun Navigation?

NASA Technical Reports Server (NTRS)

Walcott, C.

1972-01-01

Experiments to determine the dependence of homing pigeons on the sun as a navigational cue are discussed. Various methods were employed to interrupt the circadian rhythms of the pigeons prior to release. It was determined that the sun may serve as a compass, but that topographic features are more important for navigation. The effects of a magnetic field produced by electric equipment carried by the bird were also investigated. It was concluded that magnetic fields may have a small effect on the homing ability. The exact nature of the homing pigeon's navigational ability is still unknown after years of elaborate experimentation.

Synergies in Astrometry: Predicting Navigational Error of Visual Binary Stars

NASA Astrophysics Data System (ADS)

Gessner Stewart, Susan

2015-08-01

Celestial navigation can employ a number of bright stars which are in binary systems. Often these are unresolved, appearing as a single, center-of-light object. A number of these systems are, however, in wide systems which could introduce a margin of error in the navigation solution if not handled properly. To illustrate the importance of good orbital solutions for binary systems - as well as good astrometry in general - the relationship between the center-of-light versus individual catalog position of celestial bodies and the error in terrestrial position derived via celestial navigation is demonstrated. From the list of navigational binary stars, fourteen such binary systems with at least 3.0 arcseconds apparent separation are explored. Maximum navigational error is estimated under the assumption that the bright star in the pair is observed at maximum separation, but the center-of-light is employed in the navigational solution. The relationships between navigational error and separation, orbital periods, and observers' latitude are discussed.

Evaluation of Hardware and Software for a Small Autonomous Underwater Vehicle Navigation System (SANS)

DTIC Science & Technology

1994-09-01

Hyslop , G.L., Schieber, G.E., Schwartz, M.K., "Automated Mission Planning for the Standoff Land Attack Missile (SLAM)", Proceedings of the...1993, pp. 277-290. [PARK80] Parkinson, B.W., "Overview", Global Positioning System, Vol. 1, The Institute of Navigation, Washington, D.C., 1980 , pp...Navigation Message", Global Positioning System, Vol. 1, The Institute of Navigation, Washington, D.C., 1980 , pp. 55-73. 139 [WOOD851 Wooden, W. H

46 CFR 185.230 - Report of accident to aid to navigation.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 7 2012-10-01 2012-10-01 false Report of accident to aid to navigation. 185.230 Section 185.230 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) SMALL PASSENGER VESSELS (UNDER 100 GROSS TONS) OPERATIONS Marine Casualties and Voyage Records § 185.230 Report of accident to aid to navigation. Whenever a vessel collides...

Autonomous Deep-Space Optical Navigation Project

NASA Technical Reports Server (NTRS)

D'Souza, Christopher

2014-01-01

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

Compact autonomous navigation system (CANS)

NASA Astrophysics Data System (ADS)

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

2017-11-01

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

[An interactive three-dimensional model of the human body].

PubMed

Liem, S L

2009-01-01

Driven by advanced computer technology, it is now possible to show the human anatomy on a computer. On the internet, the Visible Body programme makes it possible to navigate in all directions through the anatomical structures of the human body, using mouse and keyboard. Visible Body is a wonderful tool to give insight in the human structures, body functions and organs.

Navigating a Maze with Balance Board and Wiimote

NASA Astrophysics Data System (ADS)

Fikkert, Wim; Hoeijmakers, Niek; van der Vet, Paul; Nijholt, Anton

Input from the lower body in human-computer interfaces can be beneficial, enjoyable and even entertaining when users are expected to perform tasks simultaneously. Users can navigate a virtual (game) world or even an (empirical) dataset while having their hands free to issue commands. We compared the Wii Balance Board to a hand-held Wiimote for navigating a maze and found that users completed this task slower with the Balance Board. However, the Balance Board was considered more intuitive, easy to learn and ‘much fun’.

Usability Testing of Two Ambulatory EHR Navigators.

PubMed

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

2016-01-01

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

Small Rov Marine Boat for Bathymetry Surveys of Shallow Waters - Potential Implementation in Malaysia

NASA Astrophysics Data System (ADS)

Suhari, K. T.; Karim, H.; Gunawan, P. H.; Purwanto, H.

2017-10-01

Current practices in bathymetry survey (available method) are indeed having some limitations. New technologies for bathymetry survey such as using unmanned boat has becoming popular in developed countries - filled in and served those limitations of existing survey methods. Malaysia as one of tropical country has it own river/water body characteristics and suitable approaches in conducting bathymetry survey. Thus, a study on this emerging technology should be conducted using enhanced version of small ROV boat with Malaysian rivers and best approaches so that the surveyors get benefits from the innovative surveying product. Among the available ROV boat for bathymetry surveying in the market, an Indonesian product called SHUMOO is among the promising products - economically and practically proven using a few sample areas in Indonesia. The boat was equipped and integrated with systems of remote sensing technology, GNSS, echo sounder and navigational engine. It was designed for riverbed surveys on shallow area such as small /medium river, lakes, reservoirs, oxidation/detention pond and other water bodies. This paper tries to highlight the needs and enhancement offered to Malaysian' bathymetry surveyors/practitioners on the new ROV boat which make their task easier, faster, safer, economically effective and better riverbed modelling results. The discussion continues with a sample of Indonesia river (data collection and modelling) since it is mostly similar to Malaysia's river characteristics and suggests some improvement for Malaysia best practice.

Possible Origin of Efficient Navigation in Small Worlds

NASA Astrophysics Data System (ADS)

Hu, Yanqing; Wang, Yougui; Li, Daqing; Havlin, Shlomo; di, Zengru

2011-03-01

The small-world phenomenon is one of the most important properties found in social networks. It includes both short path lengths and efficient navigation between two individuals. It is found by Kleinberg that navigation is efficient only if the probability density distribution of an individual to have a friend at distance r scales as P(r)˜r-1. Although this spatial scaling is found in many empirical studies, the origin of how this scaling emerges is still missing. In this Letter, we propose the origin of this scaling law using the concept of entropy from statistical physics and show that this scaling is the result of optimization of collecting information in social networks.

Experiment D005: Star occultation navigation

NASA Technical Reports Server (NTRS)

Silva, R. M.; Jorris, T. R.; Vallerie, E. M., III

1971-01-01

The usefulness of star occultation measurements for space navigation and the determination of a horizon density profile which could be used to update atmospheric models for horizon-based measurement systems were studied. The time of occultation of a known star by a celestial body, as seen by an orbiting observer, determines a cylinder of position, the axis of which is the line through the star and the body center, and the radius of which is equal to the occulting-body radius. The dimming percentage, with respect to the altitude of this grazing ray from the star to the observer, is a percentage altitude for occultation. That is, the star can be assumed to be occulted when it reaches a predetermined percentage of its unattenuated value. The procedure used was to measure this attenuation with respect to time to determine the usefulness of the measurements for autonomous space navigation. In this experiment, the crewmembers had to accomplish star acquisition, identification, calibration, and tracking. Instrumentation was required only for measurement of the relative intensity of the star as it set into the atmosphere.

Navigation. Northern New England Marine Education Project.

ERIC Educational Resources Information Center

Maine Univ., Orono. Coll. of Education.

This guide provides student practice problems which use the procedures of ship navigators to reinforce the skills of mathematics learned in the secondary school and which seek to provide examples of the application of mathematical concepts. Along with the practice problems, teacher background material is provided briefly in the body of the unit.…

Operational Art of Maritime Straits

DTIC Science & Technology

2008-10-29

13  Operation CHEETAH ...Operational Art Paradigm Shift A strait is a narrow body of water navigationally constricted on two sides and usually connects two larger bodies of...level of risk. Space Space, in the terms of straits, encompasses more than just the body of water. Control of the approaches, shorelines and

Mariner-Venus-Mercury optical navigation demonstration - Results and implications for future missions

NASA Technical Reports Server (NTRS)

Acton, C. H., Jr.; Ohtakay, H.

1975-01-01

Optical navigation uses spacecraft television pictures of a target body against a known star background in a process which relates the spacecraft trajectory to the target body. This technology was used in the Mariner-Venus-Mercury mission, with the optical data processed in near-real-time, simulating a mission critical environment. Optical data error sources were identified, and a star location error analysis was carried out. Several methods for selecting limb crossing coordinates were used, and a limb smear compensation was introduced. Omission of planetary aberration corrections was the source of large optical residuals.

Navigation technique for MR-endoscope system using a wireless accelerometer-based remote control device.

PubMed

Kumamoto, Etsuko; Takahashi, Akihiro; Matsuoka, Yuichiro; Morita, Yoshinori; Kutsumi, Hiromu; Azuma, Takeshi; Kuroda, Kagayaki

2013-01-01

The MR-endoscope system can perform magnetic resonance (MR) imaging during endoscopy and show the images obtained by using endoscope and MR. The MR-endoscope system can acquire a high-spatial resolution MR image with an intraluminal radiofrequency (RF) coil, and the navigation system shows the scope's location and orientation inside the human body and indicates MR images with a scope view. In order to conveniently perform an endoscopy and MR procedure, the design of the user interface is very important because it provides useful information. In this study, we propose a navigation system using a wireless accelerometer-based controller with Bluetooth technology and a navigation technique to set the intraluminal RF coil using the navigation system. The feasibility of using this wireless controller in the MR shield room was validated via phantom examinations of the influence on MR procedures and navigation accuracy. In vitro examinations using an isolated porcine stomach demonstrated the effectiveness of the navigation technique using a wireless remote-control device.

Minimally invasive neurosurgery within a 0.5 tesla intraoperative magnetic resonance scanner using an off-line neuro-navigation system.

PubMed

Mursch, K; Gotthardt, T; Kröger, R; Bublat, M; Behnke-Mursch, J

2005-08-01

We evaluated an advanced concept for patient-based navigation during minimally invasive neurosurgical procedures. An infrared-based, off-line neuro-navigation system (LOCALITE, Bonn, Germany) was applied during operations within a 0.5 T intraoperative MRI scanner (iMRI) (Signa SF, GE Medical Systems, Milwaukee, WI, USA) in addition to the conventional real-time system. The three-dimensional (3D) data set was acquired intraoperatively and up-dated when brain-shift was suspected. Twenty-three patients with subcortical lesions were operated upon with the aim to minimise the operative trauma. Small craniotomies (median diameter 30 mm, mean diameter 27 mm) could be placed exactly. In all cases, the primary goal of the operation (total resection or biopsy) was achieved in a straightforward procedure without permanent morbidity. The navigation system could be easily used without technical problems. In contrast to the real-time navigation mode of the MR system, the higher quality as well as the real-time display of the MR images reconstructed from the 3D reference data provided sufficient visual-manual coordination. The system combines the advantages of conventional neuro-navigation with the ability to adapt intraoperatively to the continuously changing anatomy. Thus, small and/or deep lesions can be operated upon in straightforward minimally invasive operations.

Developmental Time Course of the Acquisition of Sequential Egocentric and Allocentric Navigation Strategies

ERIC Educational Resources Information Center

Bullens, Jessie; Igloi, Kinga; Berthoz, Alain; Postma, Albert; Rondi-Reig, Laure

2010-01-01

Navigation in a complex environment can rely on the use of different spatial strategies. We have focused on the employment of "allocentric" (i.e., encoding interrelationships among environmental cues, movements, and the location of the goal) and "sequential egocentric" (i.e., sequences of body turns associated with specific choice points)…

The Aging Navigational System.

PubMed

Lester, Adam W; Moffat, Scott D; Wiener, Jan M; Barnes, Carol A; Wolbers, Thomas

2017-08-30

The discovery of neuronal systems dedicated to computing spatial information, composed of functionally distinct cell types such as place and grid cells, combined with an extensive body of human-based behavioral and neuroimaging research has provided us with a detailed understanding of the brain's navigation circuit. In this review, we discuss emerging evidence from rodents, non-human primates, and humans that demonstrates how cognitive aging affects the navigational computations supported by these systems. Critically, we show 1) that navigational deficits cannot solely be explained by general deficits in learning and memory, 2) that there is no uniform decline across different navigational computations, and 3) that navigational deficits might be sensitive markers for impending pathological decline. Following an introduction to the mechanisms underlying spatial navigation and how they relate to general processes of learning and memory, the review discusses how aging affects the perception and integration of spatial information, the creation and storage of memory traces for spatial information, and the use of spatial information during navigational behavior. The closing section highlights the clinical potential of behavioral and neural markers of spatial navigation, with a particular emphasis on neurodegenerative disorders. Copyright © 2017 Elsevier Inc. All rights reserved.

Use of an intraoperative navigation system for retrieving a broken dental instrument in the mandible: a case report.

PubMed

Sukegawa, Shintaro; Kanno, Takahiro; Shibata, Akane; Matsumoto, Kenichi; Sukegawa-Takahashi, Yuka; Sakaida, Kyosuke; Furuki, Yoshihiko

2017-01-15

A fracture of root canal instruments, with a fractured piece protruding beyond the apex, is a troublesome incident during an endodontic treatment. Locating and retrieving them represents a challenge to maxillofacial surgeons because it is difficult to access due to the proximity between the foreign body and vital structures. Although safe and accurate for surgery, radiographs and electromagnetic devices do not provide a precise three-dimensional position. In contrast, computer-aided navigation provides a correlation between preoperatively collected data and intraoperatively encountered anatomy. However, using a navigation system for mandible treatment is difficult as the mobile nature of the mandible complicates its synchronization with the preoperative imaging data during surgery. This report describes a case of a dental instrument breakage in the mandible during an endodontic treatment for a restorative dental procedure in a 65-year-old Japanese woman. The broken dental instrument was removed using a minimally invasive approach with a surgical navigation system and an interocclusal splint for a stable, identically repeatable positioning of the mandible. Using the three-dimensional position of the navigation probe, a location that best approximated the most anterior extent of the fragment was selected. A minimally invasive vestibular incision was made at this location, a subperiosteal reflection was performed, and the foreign body location was confirmed using a careful navigation system. The instrument was carefully visualized and extruded from the apical to the tooth crown side and was then removed using mosquito forceps through the medullary cavity of the crown side of the tooth. Follow-up was uneventful; her clinical course was good. The use of a surgical navigation system together with an interocclusal splint enabled the retrieval of a broken dental instrument in a safe and minimally invasive manner without damaging the surrounding vital structures.

75 FR 754 - Safety Zone and Regulated Navigation Area, Chicago Sanitary and Ship Canal, Romeoville, IL

Federal Register 2010, 2011, 2012, 2013, 2014

2010-01-06

... barriers would affect a human body if immersed in the water. The NEDU final report concluded that the possible effects to a human body if immersed in the water include paralysis of body muscles, inability to... body of your document so that we can contact you if we have questions regarding your submission. To...

Hierarchical parsing and semantic navigation of full body CT data

NASA Astrophysics Data System (ADS)

Seifert, Sascha; Barbu, Adrian; Zhou, S. Kevin; Liu, David; Feulner, Johannes; Huber, Martin; Suehling, Michael; Cavallaro, Alexander; Comaniciu, Dorin

2009-02-01

Whole body CT scanning is a common diagnosis technique for discovering early signs of metastasis or for differential diagnosis. Automatic parsing and segmentation of multiple organs and semantic navigation inside the body can help the clinician in efficiently obtaining accurate diagnosis. However, dealing with the large amount of data of a full body scan is challenging and techniques are needed for the fast detection and segmentation of organs, e.g., heart, liver, kidneys, bladder, prostate, and spleen, and body landmarks, e.g., bronchial bifurcation, coccyx tip, sternum, lung tips. Solving the problem becomes even more challenging if partial body scans are used, where not all organs are present. We propose a new approach to this problem, in which a network of 1D and 3D landmarks is trained to quickly parse the 3D CT data and estimate which organs and landmarks are present as well as their most probable locations and boundaries. Using this approach, the segmentation of seven organs and detection of 19 body landmarks can be obtained in about 20 seconds with state-of-the-art accuracy and has been validated on 80 CT full or partial body scans.

Fuel-efficient feedback control of orbital motion around irregular-shaped asteroids

NASA Astrophysics Data System (ADS)

Winkler, Timothy Michael

Unmanned probes are the primary technologies used when exploring celestial bodies in our solar system. As these deep space exploration missions are becoming more and more complex, there is a need for advanced autonomous operation capabilities in order to meet mission objectives. These autonomous capabilities are required as ground-based guidance and navigation commands will not be able to be issued in real time due to the large distance from the Earth. For long-duration asteroid exploration missions, this also entails how to keep the spacecraft around or on the body in order for the mission to be successfully completed. Unlike with larger bodies such as planets, though, the dynamical environment around these smaller bodies can be difficult to characterize. The weak gravitational fields are not uniform due to irregular shapes and non-homogeneous mass distribution, especially when orbiting in close-proximity to the body. On top of that, small perturbation forces such as solar radiation pressure can be strong enough to destabilize an orbit around an asteroid. The best solution for keeping a spacecraft in orbit about a small body is to implement some form of control technique. With conventional propulsion thrusters, active control algorithms tend to have a higher than acceptable propellant requirements for long-duration asteroid exploration missions, which has led to much research being devoted to finding open-loop solutions to long-term stable orbits about small bodies. These solutions can prove to be highly sensitive to the orbit's initial conditions, making them potentially unreliable in the presence of orbit injection errors. This research investigates a fuel-efficient, active control scheme to safely control a spacecraft's orbit in close-proximity to an asteroid. First, three different gravitational models capable of simulating the non-homogeneous gravity fields of asteroids are presented: the polyhedron gravity shape model, a spherical harmonics expansion, and an inertia dyadic gravity model. Then a simple feedback controller augmented by a disturbance-accommodating filter is employed to ensure orbital stability. Using these models and controller, several orbiting cases as well as body-frame hovering are investigated to test the viability and fuel-efficiency of the proposed control system. The ultimate goal is to design an active orbit control system with minimum DeltaV expenditure.

Intelligent single switch wheelchair navigation.

PubMed

Ka, Hyun W; Simpson, Richard; Chung, Younghyun

2012-11-01

We have developed an intelligent single switch scanning interface and wheelchair navigation assistance system, called intelligent single switch wheelchair navigation (ISSWN), to improve driving safety, comfort and efficiency for individuals who rely on single switch scanning as a control method. ISSWN combines a standard powered wheelchair with a laser rangefinder, a single switch scanning interface and a computer. It provides the user with context sensitive and task specific scanning options that reduce driving effort based on an interpretation of sensor data together with user input. Trials performed by 9 able-bodied participants showed that the system significantly improved driving safety and efficiency in a navigation task by significantly reducing the number of switch presses to 43.5% of traditional single switch wheelchair navigation (p < 0.001). All participants made a significant improvement (39.1%; p < 0.001) in completion time after only two trials.

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

PubMed

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

2017-09-01

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

How I do it-optimizing radiofrequency ablation in spinal metastases using iCT and navigation.

PubMed

Kavakebi, Pujan; Freyschlag, C F; Thomé, C

2017-10-01

Exact positioning of the radiofrequency ablation (RFA) probe for tumor treatment under fluoroscopic guidance can be difficult because of potentially small inaccessible lesions and the radiation dose to the medical staff in RFA. In addition, vertebroplasty (VP) can be significantly high. Description and workflow of RFA in spinal metastasis using iCT (intraoperative computed tomography) and 3D-navigation-based probe placement followed by VP. RFA and VP can be successfully combined with iCT-based navigation, which leads to a reduction of radiation to the staff and optimal probe positioning due to 3D navigation.

Kilohoku - Ho‘okele Wa‘a: Hawaiian Navigational Astronomy

NASA Astrophysics Data System (ADS)

Dye, Ahia; Ha'o, Celeste; Slater, Timothy F.; Slater, Stephanie

2015-01-01

Over thousands of years of Pacific Basin settlement, Polynesians developed a complex, scientific understanding of the cosmos, including a generative view of the celestial sphere. Memorizing the location and spatial relationships of hundreds of stars, across changing latitudes, this astronomy was one of the four scientific knowledge bases Polynesians used to navigate thousands of miles, across open water, without instrumentation. After Western colonization, this large body of knowledge was nearly lost to Hawaiians. Since the Hawaiian Renaissance, much of this knowledge has been reconstructed, and is again in use in open oceanic navigation. While some of this knowledge has been shared with the broader public, much of what we know has been unavailable to those beyond the family of navigators. This paper represents an attempt to begin sharing this catalog of knowledge with the outside world, with the hopes that the larger community will appreciate the complexity of astronomical knowledge possessed by navigators, and that the international body of astronomy historians will help insure that this knowledge will not be lost again. This paper will present, Na ´Ohanahōkū, the Hawaiian star families that divide the celestial sphere into four wedges, running from the circumpolar north, beyond the horizon to the south. Na Hoku Huihui, or Hawaiian constellations will be discussed, in addition to a brief introduction to the setting and rising pairs that are used to determine direction and latitude.

LMI-Based Generation of Feedback Laws for a Robust Model Predictive Control Algorithm

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Carson, John M., III

2007-01-01

This technical note provides a mathematical proof of Corollary 1 from the paper 'A Nonlinear Model Predictive Control Algorithm with Proven Robustness and Resolvability' that appeared in the 2006 Proceedings of the American Control Conference. The proof was omitted for brevity in the publication. The paper was based on algorithms developed for the FY2005 R&TD (Research and Technology Development) project for Small-body Guidance, Navigation, and Control [2].The framework established by the Corollary is for a robustly stabilizing MPC (model predictive control) algorithm for uncertain nonlinear systems that guarantees the resolvability of the associated nite-horizon optimal control problem in a receding-horizon implementation. Additional details of the framework are available in the publication.

Insect-Inspired Optical-Flow Navigation Sensors

NASA Technical Reports Server (NTRS)

Thakoor, Sarita; Morookian, John M.; Chahl, Javan; Soccol, Dean; Hines, Butler; Zornetzer, Steven

2005-01-01

Integrated circuits that exploit optical flow to sense motions of computer mice on or near surfaces ( optical mouse chips ) are used as navigation sensors in a class of small flying robots now undergoing development for potential use in such applications as exploration, search, and surveillance. The basic principles of these robots were described briefly in Insect-Inspired Flight Control for Small Flying Robots (NPO-30545), NASA Tech Briefs, Vol. 29, No. 1 (January 2005), page 61. To recapitulate from the cited prior article: The concept of optical flow can be defined, loosely, as the use of texture in images as a source of motion cues. The flight-control and navigation systems of these robots are inspired largely by the designs and functions of the vision systems and brains of insects, which have been demonstrated to utilize optical flow (as detected by their eyes and brains) resulting from their own motions in the environment. Optical flow has been shown to be very effective as a means of avoiding obstacles and controlling speeds and altitudes in robotic navigation. Prior systems used in experiments on navigating by means of optical flow have involved the use of panoramic optics, high-resolution image sensors, and programmable imagedata- processing computers.

Chemotaxis of C. elegans in 3D media: a model for navigation of undulatory microswimmers

NASA Astrophysics Data System (ADS)

Patel, Amar; Bilbao, Alejandro; Rahman, Mizanur; Vanapalli, Siva; Blawzdziewicz, Jerzy

2017-11-01

While the natural environment of C. elegans consists of complex 3D media (e.g., decomposing organic matter and water), most studies of chemotactic behavior of this nematode are limited to 2D. We present a 3D chemotaxis model that combines a realistic geometrical representation of body movements associated with 3D maneuvers, an analysis of mechanical interactions of the nematode body with the surrounding medium to determine nematode trajectories, and a simple memory-function description of chemosensory apparatus that controls the frequency, magnitude, and timing of turning maneuvers. We show that two main chemotaxis strategies of C. elegans moving in 2D, i.e., the biased random walk and gradual turn, are effective also in 3D, provided that 2D turns are supplemented by the roll maneuvers that enable 3D reorientation. Optimal choices of chemosensing and gait-control parameters are discussed; we show that the nematode can maintain efficient chemotaxis in burrowing and swimming by adjusting the undulation frequency alone, without changing the chemotactic component of the body control. Understanding how C. elegans efficiently navigates in 3D media may help in developing self-navigating artificial microswimmers. Supported by NSF Grant No. CBET 1603627.

Interactive navigation-guided ophthalmic plastic surgery: the techniques and utility of 3-dimensional navigation.

PubMed

Ali, Mohammad Javed; Naik, Milind N; Kaliki, Swathi; Dave, Tarjani Vivek; Dendukuri, Gautam

2017-06-01

To demonstrate the techniques and utility of 3-dimensional reconstruction (3DR) of the target pathologies for subsequent navigation guidance in ophthalmic plastic surgery. Prospective interventional case series. Stereotactic surgeries using 3D reconstruction of target lesions as the intraoperative image-guiding tool were performed in 5 patients with varied etiopathologies. All the surgeries were performed using the intraoperative image-guided StealthStation system in the electromagnetic mode. 3DR was performed using StealthStation 3D model software. The utility of 3D reconstruction for extensive orbital mass lesions, large orbital fractures, intraconal foreign body, and delineation of perilesional intricate structures was studied. The intraoperative ease and usefulness for the navigation of a 3D lesion at crucial phases of the surgery were noted. Intraoperative geometric localization of the 3D lesions was found to be enhanced and precise. 3D reconstruction of the lesion along with the major vessels and nerves in the vicinity helped the surgeon to prevent potential injuries to these structures. The fracture defects could be navigated in a 3D plane and this helped in moderate customization of the implants intraoperatively. Foreign body located in difficult access positions could be accurately targeted for geometric localization before safe retrieval. Detailed preoperative 3D reconstruction by the surgeon was found to be beneficial for successful outcomes. Three-dimensional navigation is very useful in providing detailed anatomical delineation of the targets and enhances the precision in certain complex cases in ophthalmic plastic surgery. Copyright © 2017 Canadian Ophthalmological Society. Published by Elsevier Inc. All rights reserved.

75 FR 36288 - Amended Safety Zone and Regulated Navigation Area, Chicago Sanitary and Ship Canal, Romeoville, IL

Federal Register 2010, 2011, 2012, 2013, 2014

2010-06-25

... current from the barriers would affect a human body if immersed in the water. The NEDU final report concluded that the possible effects to a human body if immersed in the water include paralysis of body... address, an e-mail address, or a telephone number in the body of your document so that we can contact you...

75 FR 75145 - Regulated Navigation Area, Chicago Sanitary and Ship Canal, Romeoville, IL; Safety Zone, Chicago...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-12-02

... current from the barriers would affect a human body if immersed in the water. The NEDU final report concluded that the possible effects to a human body if immersed in the water include paralysis of body..., an e-mail address, or a telephone number in the body of your document so that we can contact you if...

An Ion-Propelled Cubesat for Planetary Defense and Planetary Science

NASA Astrophysics Data System (ADS)

Russell, Christopher T.; Wirz, Richard; Lai, Hairong; Li, Jian-Yang; Connors, Martin

2017-04-01

Small satellites can reduce the cost of launch by riding along with other payloads on a large rocket or being launched on a small rocket, but are perceived as having limited capabilities. This perception can be at least partially overcome by innovative design, including ample in-flight propulsion. This allows achieving multiple targets and adaptive exploration. Ion propulsion has been pioneered on Deep Space 1 and honed on the long-duration, multiple-planetary body mission Dawn. Most importantly, the operation of such a mission is now well- understood, including navigation, communication, and science operations for remote sensing. We examined different mission concepts that can be used for both planetary defense and planetary science near 1 AU. Such a spacecraft would travel in the region between Venus and Mars, allowing a complete inventory of material above, including objects down to about 10m diameter to be inventoried. The ion engines could be used to approach these bodies slowly and carefully and allow the spacecraft to map debris and follow its collisional evolution throughout its orbit around the Sun, if so desired. The heritage of Dawn operations experience enables the mission to be operated inexpensively, and the engineering heritage will allow it to be operated for many trips around the Sun.

Gaps to "Working" on the Surface of Small Bodies

NASA Astrophysics Data System (ADS)

Bellerose, J.

2012-12-01

Upcoming goals for human spaceflight include sending a crewed mission to a near-Earth asteroid (NEA) by 2025. As an alternative to this, a spacecraft could be sent to capture a small NEA, and return it to cislunar orbit where astronauts could take it apart (Brophy, 2012). In parallel, plans are also to take the next big step in resources utilization, and mine those NEAs (Lewicki, 2012). Although these exciting concepts are very different in scope, they share the same environment they will need to interact with. In this work, we discuss the required techniques for exploring and exploiting small bodies, and compare with the available tools and the current knowledge of small bodies. To support these types of missions, a number of in-situ data are required prior to start surface operations: the body shape and mass, the presence of volatiles and metals, the asteroid morphology, the internal structural properties, the surface and near-surface environments, the existence of hazards, and the time-evolution dynamics. Products obtained from remote sensing - maps, mosaics, shape models - are critical in selecting the locations to be investigated in more details, or the locations to be excavated. Composition measurements become especially important for mining, as it requires appropriate tools and techniques. Although spectrometers can be used in orbit and on the surface to determine elemental composition, the fine scale structure and mineralogical composition can only be done using surface probes or through a close-up camera. Those remote sensing images are also critical in planning the very close approaches by the spacecraft, as the small body environment is one of the most perturbed environments (Scheeres, 2000). Being able to recreate the small body dynamics is necessary to mitigate risks and to enable spacecraft docking. The navigation system, vision tools, and planning software become critical as the spacecraft will need to track features on the surface under different light conditions. Perhaps the most difficult data to obtain is the mass of the NEA, where the resolution depends on the NEA size, and the internal structure and stability of the body. It can be shown that current mass determination techniques easily result in 50% resolution on mass estimation. Secondary or surface probes released from a main spacecraft can increase resolution by one order of magnitude compared to traditional methods (Bellerose, 2012). A volume estimate combined with the overall mass of the small body results in a bulk density estimate. The bulk density is a direct insight into surface and sub-surface mechanical stability, and properties such as compaction and porosity. A number of remote sensing and surface instruments are now available for NEA applications, from past missions to new technology developments. We give a quick review of the data and instruments now available. We also identify existing gaps between the available data and requirements associated with surface interacting mission concepts. Finally, we discuss transient dynamical effects due to surface disturbances, and how these effects can put constraints on a mission concept and feed in operational strategies.

Magnetoreception in eusocial insects: an update

PubMed Central

Wajnberg, Eliane; Acosta-Avalos, Daniel; Alves, Odivaldo Cambraia; de Oliveira, Jandira Ferreira; Srygley, Robert B.; Esquivel, Darci M. S.

2010-01-01

Behavioural experiments for magnetoreception in eusocial insects in the last decade are reviewed. Ants and bees use the geomagnetic field to orient and navigate in areas around their nests and along migratory paths. Bees show sensitivity to small changes in magnetic fields in conditioning experiments and when exiting the hive. For the first time, the magnetic properties of the nanoparticles found in eusocial insects, obtained by magnetic techniques and electron microscopy, are reviewed. Different magnetic oxide nanoparticles, ranging from superparamagnetic to multi-domain particles, were observed in all body parts, but greater relative concentrations in the abdomens and antennae of honeybees and ants have focused attention on these segments. Theoretical models for how these specific magnetosensory apparatuses function have been proposed. Neuron-rich ant antennae may be the most amenable to discovering a magnetosensor that will greatly assist research into higher order processing of magnetic information. The ferromagnetic hypothesis is believed to apply to eusocial insects, but interest in a light-sensitive mechanism is growing. The diversity of compass mechanisms in animals suggests that multiple compasses may function in insect orientation and navigation. The search for magnetic compasses will continue even after a magnetosensor is discovered in eusocial insects. PMID:20106876

Enhanced differential evolution to combine optical mouse sensor with image structural patches for robust endoscopic navigation.

PubMed

Luo, Xiongbiao; Jayarathne, Uditha L; McLeod, A Jonathan; Mori, Kensaku

2014-01-01

Endoscopic navigation generally integrates different modalities of sensory information in order to continuously locate an endoscope relative to suspicious tissues in the body during interventions. Current electromagnetic tracking techniques for endoscopic navigation have limited accuracy due to tissue deformation and magnetic field distortion. To avoid these limitations and improve the endoscopic localization accuracy, this paper proposes a new endoscopic navigation framework that uses an optical mouse sensor to measure the endoscope movements along its viewing direction. We then enhance the differential evolution algorithm by modifying its mutation operation. Based on the enhanced differential evolution method, these movement measurements and image structural patches in endoscopic videos are fused to accurately determine the endoscope position. An evaluation on a dynamic phantom demonstrated that our method provides a more accurate navigation framework. Compared to state-of-the-art methods, it improved the navigation accuracy from 2.4 to 1.6 mm and reduced the processing time from 2.8 to 0.9 seconds.

Port Infrastructure: Financing of Navigation Projects at Small and Medium-Sized Ports

DOT National Transportation Integrated Search

2000-03-01

Under the Water Resources Development Act of 1986, all public ports have had to share in the cost of navigation projets with the Corps of Engineers by paying the nonfederal share of the project's cost, which ranges from 20-60 percent depending on the...

Autonomous GN and C for Spacecraft Exploration of Comets and Asteroids

NASA Technical Reports Server (NTRS)

Carson, John M.; Mastrodemos, Nickolaos; Myers, David M.; Acikmese, Behcet; Blackmore, James C.; Moussalis, Dhemetrio; Riedel, Joseph E.; Nolet, Simon; Chang, Johnny T.; Mandic, Milan;

Interplanetary CubeSat Navigational Challenges

NASA Technical Reports Server (NTRS)

Martin-Mur, Tomas J.; Gustafson, Eric D.; Young, Brian T.

2015-01-01

CubeSats are miniaturized spacecraft of small mass that comply with a form specification so they can be launched using standardized deployers. Since the launch of the first CubeSat into Earth orbit in June of 2003, hundreds have been placed into orbit. There are currently a number of proposals to launch and operate CubeSats in deep space, including MarCO, a technology demonstration that will launch two CubeSats towards Mars using the same launch vehicle as NASA's Interior Exploration using Seismic Investigations, Geodesy and Heat Transport (InSight) Mars lander mission. The MarCO CubeSats are designed to relay the information transmitted by the InSight UHF radio during Entry, Descent, and Landing (EDL) in real time to the antennas of the Deep Space Network (DSN) on Earth. Other CubeSatts proposals intend to demonstrate the operation of small probes in deep space, investigate the lunar South Pole, and visit a near Earth object, among others. Placing a CubeSat into an interplanetary trajectory makes it even more challenging to pack the necessary power, communications, and navigation capabilities into such a small spacecraft. This paper presents some of the challenges and approaches for successfully navigating CubeSats and other small spacecraft in deep space.

The Seat of Insect Learning.

ERIC Educational Resources Information Center

Dyer, Fred C.

1997-01-01

Describes the role of mushroom bodies--cup-shaped structures perched atop the brain of an insect--in learning. Mushroom bodies may help fruit flies in learning meaningful odors, cockroaches in spatial learning, and honeybees both in locating pollen and nectar and in navigating back to the colony. (PVD)

Robust analysis of an underwater navigational strategy in electrically heterogeneous corridors.

PubMed

Dimble, Kedar D; Ranganathan, Badri N; Keshavan, Jishnu; Humbert, J Sean

2016-08-01

Obstacles and other global stimuli provide relevant navigational cues to a weakly electric fish. In this work, robust analysis of a control strategy based on electrolocation for performing obstacle avoidance in electrically heterogeneous corridors is presented and validated. Static output feedback control is shown to achieve the desired goal of reflexive obstacle avoidance in such environments in simulation and experimentation. The proposed approach is computationally inexpensive and readily implementable on a small scale underwater vehicle, making underwater autonomous navigation feasible in real-time.

The UAV take-off and landing system used for small areas of mobile vehicles

NASA Astrophysics Data System (ADS)

Ren, Tian-Yu; Duanmu, Qing-Duo; Wu, Bo-Qi

2018-03-01

In order to realize an UAV formation cluster system based on the current GPS and the fault and insufficiency of Beidou integrated navigation system in strong jamming environment. Due to the impact of the compass on the plane crash, navigation system error caused by the mobile area to help reduce the need for large landing sites and not in the small fast moving area to achieve the reality of the landing. By using Strapdown inertial and all-optical system to form Composite UAV flight control system, the photoelectric composite strapdown inertial coupling is realized, and through the laser and microwave telemetry link compound communication mechanism, using all-optical strapdown inertial and visual navigation system to solve the deviation of take-off and landing caused by electromagnetic interference, all-optical bidirectional data link realizes two-way position correction of landing site and aircraft, thus achieves the accurate recovery of UAV formation cluster in the mobile narrow area which the traditional navigation system can't realize. This system is a set of efficient unmanned aerial vehicle Group Take-off/descending system, which is suitable for many tasks, and not only realizes the reliable continuous navigation under the complex electromagnetic interference environment, moreover, the intelligent flight and Take-off and landing of unmanned aerial vehicles relative to the fast moving and small recovery sites in complex electromagnetic interference environment can not only improve the safe operation rate of unmanned aerial vehicle, but also guarantee the operation safety of the aircraft, and the more has important social value for the application foreground of the aircraft.

33 CFR 334.1420 - Pacific Ocean off Orote Point, Apra Harbor, Island of Guam, Marianas Islands; small arms firing...

Code of Federal Regulations, 2012 CFR

2012-07-01

... Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE DANGER ZONE..., Marianas Islands; small arms firing range. (a) The danger zone. The waters within an area delineated by a....2″ 13°24′51.2″ 144°36′31.9″ 13°25′28.7″ 144°37′59.1″ 13°25′43.2″ 144°38′09.5″ (b) The regulations...

33 CFR 334.1420 - Pacific Ocean off Orote Point, Apra Harbor, Island of Guam, Marianas Islands; small arms firing...

Code of Federal Regulations, 2011 CFR

2011-07-01

... Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE DANGER ZONE..., Marianas Islands; small arms firing range. (a) The danger zone. The waters within an area delineated by a....2″ 13°24′51.2″ 144°36′31.9″ 13°25′28.7″ 144°37′59.1″ 13°25′43.2″ 144°38′09.5″ (b) The regulations...

33 CFR 334.1420 - Pacific Ocean off Orote Point, Apra Harbor, Island of Guam, Marianas Islands; small arms firing...

Code of Federal Regulations, 2014 CFR

2014-07-01

... Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE DANGER ZONE..., Marianas Islands; small arms firing range. (a) The danger zone. The waters within an area delineated by a....2″ 13°24′51.2″ 144°36′31.9″ 13°25′28.7″ 144°37′59.1″ 13°25′43.2″ 144°38′09.5″ (b) The regulations...

33 CFR 334.1420 - Pacific Ocean off Orote Point, Apra Harbor, Island of Guam, Marianas Islands; small arms firing...

Code of Federal Regulations, 2013 CFR

2013-07-01

... Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE DANGER ZONE..., Marianas Islands; small arms firing range. (a) The danger zone. The waters within an area delineated by a....2″ 13°24′51.2″ 144°36′31.9″ 13°25′28.7″ 144°37′59.1″ 13°25′43.2″ 144°38′09.5″ (b) The regulations...

33 CFR 334.1420 - Pacific Ocean off Orote Point, Apra Harbor, Island of Guam, Marianas Islands; small arms firing...

Code of Federal Regulations, 2010 CFR

2010-07-01

... Navigation and Navigable Waters CORPS OF ENGINEERS, DEPARTMENT OF THE ARMY, DEPARTMENT OF DEFENSE DANGER ZONE..., Marianas Islands; small arms firing range. (a) The danger zone. The waters within an area delineated by a....2″ 13°24′51.2″ 144°36′31.9″ 13°25′28.7″ 144°37′59.1″ 13°25′43.2″ 144°38′09.5″ (b) The regulations...

Insect navigation: do ants live in the now?

PubMed

Graham, Paul; Mangan, Michael

2015-03-01

Visual navigation is a critical behaviour for many animals, and it has been particularly well studied in ants. Decades of ant navigation research have uncovered many ways in which efficient navigation can be implemented in small brains. For example, ants show us how visual information can drive navigation via procedural rather than map-like instructions. Two recent behavioural observations highlight interesting adaptive ways in which ants implement visual guidance. Firstly, it has been shown that the systematic nest searches of ants can be biased by recent experience of familiar scenes. Secondly, ants have been observed to show temporary periods of confusion when asked to repeat a route segment, even if that route segment is very familiar. Taken together, these results indicate that the navigational decisions of ants take into account their recent experiences as well as the currently perceived environment. © 2015. Published by The Company of Biologists Ltd.

Inattentional blindness increased with augmented reality surgical navigation.

PubMed

Dixon, Benjamin J; Daly, Michael J; Chan, Harley H L; Vescan, Allan; Witterick, Ian J; Irish, Jonathan C

2014-01-01

Augmented reality (AR) surgical navigation systems, designed to increase accuracy and efficiency, have been shown to negatively impact on attention. We wished to assess the effect "head-up" AR displays have on attention, efficiency, and accuracy, while performing a surgical task, compared with the same information being presented on a submonitor (SM). Fifty experienced otolaryngology surgeons (n = 42) and senior otolaryngology trainees (n = 8) performed an endoscopic surgical navigation exercise on a predissected cadaveric model. Computed tomography-generated anatomic contours were fused with the endoscopic image to provide an AR view. Subjects were randomized to perform the task with a standard endoscopic monitor with the AR navigation displayed on an SM or with AR as a single display. Accuracy, task completion time, and the recognition of unexpected findings (a foreign body and a critical complication) were recorded. Recognition of the foreign body was significantly better in the SM group (15/25 [60%]) compared with the AR alone group (8/25 [32%]; p = 0.02). There was no significant difference in task completion time (p = 0.83) or accuracy (p = 0.78) between the two groups. Providing identical surgical navigation on a SM, rather than on a single head-up display, reduced the level of inattentional blindness as measured by detection of unexpected findings. These gains were achieved without any measurable impact on efficiency or accuracy. AR displays may distract the user and we caution injudicious adoption of this technology for medical procedures.

Natural locomotion based on a reduced set of inertial sensors: Decoupling body and head directions indoors

PubMed Central

Diaz-Estrella, Antonio; Reyes-Lecuona, Arcadio; Langley, Alyson; Brown, Michael; Sharples, Sarah

2018-01-01

Inertial sensors offer the potential for integration into wireless virtual reality systems that allow the users to walk freely through virtual environments. However, owing to drift errors, inertial sensors cannot accurately estimate head and body orientations in the long run, and when walking indoors, this error cannot be corrected by magnetometers, due to the magnetic field distortion created by ferromagnetic materials present in buildings. This paper proposes a technique, called EHBD (Equalization of Head and Body Directions), to address this problem using two head- and shoulder-located magnetometers. Due to their proximity, their distortions are assumed to be similar and the magnetometer measurements are used to detect when the user is looking straight forward. Then, the system corrects the discrepancies between the estimated directions of the head and the shoulder, which are provided by gyroscopes and consequently are affected by drift errors. An experiment is conducted to evaluate the performance of this technique in two tasks (navigation and navigation plus exploration) and using two different locomotion techniques: (1) gaze-directed mode (GD) in which the walking direction is forced to be the same as the head direction, and (2) decoupled direction mode (DD) in which the walking direction can be different from the viewing direction. The obtained results show that both locomotion modes show similar matching of the target path during the navigation task, while DD’s path matches the target path more closely than GD in the navigation plus exploration task. These results validate the EHBD technique especially when allowing different walking and viewing directions in the navigation plus exploration tasks, as expected. While the proposed method does not reach the accuracy of optical tracking (ideal case), it is an acceptable and satisfactory solution for users and is much more compact, portable and economical. PMID:29621298

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

NASA Astrophysics Data System (ADS)

Müller, M. S.; Urban, S.; Jutzi, B.

2017-08-01

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

A Small Lunar Rover for Reconnaissance in the Framework of ExoGeoLab Project, System Level Design

NASA Astrophysics Data System (ADS)

Noroozi, A.; Ha, L.; van Dalen, P.; Maas, A.; de Raedt, S.; Poulakis, P.; Foing, B. H.

2009-04-01

Scientific research is based on accurate measurement and so depends on the possibilities of accurate instruments. In planetary science and exploration it is often difficult or even impossible in some cases to gather accurate and direct information from a specified target. It is important to gather as much information as possible to be able to analyze and extract scientific data from them. One possibility to do so is to send equipments to the target and perform the measurements locally. The measurement data is then sent to base station for further analysis. To send measurement instruments to measurement point it is important to have a good estimation of the environmental situation there. This information can be collected by sending a pilot rover to the area of interest to collect visual information. The aim of this work is to develop a tele-operated small rover, Google Lunar X-Prize (GLXP) class, which is capable of surviving in the Moon environment and perform reconnaissance to provide visual information to base station of ExoGeoLab project of ESA/ESTEC. Using the state of the art developments in electronics, software and communication technologies allows us to achieve increase in accuracy while reducing size and power consumption. Target mass of the rover is lees than 5 kg and its target dimension is 300 x 60 x 80 mm3. The small size of the rover gives the possibility of accessing places which are normally out of reach. The required power for operation and the cost of launch is considerably reduced compared to large rovers which makes the mission more cost effective. The mission of the rover is to capture high resolution images and transmit them to base station. Data link between lover and base station is wireless and rover should supply its own energy. The base station can be either a habitat or a relay station. The navigation of the rover is controlled by an operator in a habitat who has a view from the stereo camera on the rover. This stereo camera gives image information to the base and gives the possibility for future autonomous navigation by using three-dimensional image recognition software. As the navigation view should have minimum delay, the resolution of stereo camera is not very high. The rover design is divided into four work packages. These work packages are remote imaging, remote manual navigation, locomotion and structure, and power system. Remote imaging work package is responsible for capturing high resolution images, transmitting image data to base station via wireless link and store the data for further processing. Remote manual navigation is handling the tele-operation. It collects stereo images and navigation sensor readouts, transmits stereo images and navigation data to base station via wireless link, displays the image and sensor status in a real-time fashion on operator's monitor, receives command from operator's joystick, transfers navigation commands to rover via wireless link, and operates the actuators accordingly. Locomotion and structure takes care of designing the body structure and locomotion system based on the Moon environment specifications. The target specifications of rover locomotion system are maximum speed of 200 m/h, maximum acceleration of 0.554 m/s2, and maximum slope angle of 20˚ . The power system for the rover includes the solar panel, batteries and power electronics mounted on the rover. The energy storage in the rover should be able to survive for minimum 500 m movement on the moon. Subsequently, it should provide energy for other sub-systems to communicate, navigate and transmit the data. Considering the harsh environmental issues on the Moon such as dust, temperature range and radiation, it is vital for the mission that these issues are considered in the design to correctly dimension reliability and if necessary redundancy. Corrosion resistive material should be used to ensure the survival of mechanical structure, moving parts and other sensitive parts such as electronics. High temperature variation should be considered in the design of structure and electronics and finally electronics should be radiation protected.

Biomimetic MEMS sensor array for navigation and water detection

NASA Astrophysics Data System (ADS)

Futterknecht, Oliver; Macqueen, Mark O.; Karman, Salmah; Diah, S. Zaleha M.; Gebeshuber, Ille C.

2013-05-01

The focus of this study is biomimetic concept development for a MEMS sensor array for navigation and water detection. The MEMS sensor array is inspired by abstractions of the respective biological functions: polarized skylight-based navigation sensors in honeybees (Apis mellifera) and the ability of African elephants (Loxodonta africana) to detect water. The focus lies on how to navigate to and how to detect water sources in desert-like or remote areas. The goal is to develop a sensor that can provide both, navigation clues and help in detecting nearby water sources. We basically use the information provided by the natural polarization pattern produced by the sunbeams scattered within the atmosphere combined with the capability of the honeybee's compound eye to extrapolate the navigation information. The detection device uses light beam reactive MEMS, which are capable to detect the skylight polarization based on the Rayleigh sky model. For water detection we present various possible approaches to realize the sensor. In the first approach, polarization is used: moisture saturated areas near ground have a small but distinctively different effect on scattering and polarizing light than less moist ones. Modified skylight polarization sensors (Karman, Diah and Gebeshuber, 2012) are used to visualize this small change in scattering. The second approach is inspired by the ability of elephants to detect infrasound produced by underground water reservoirs, and shall be used to determine the location of underground rivers and visualize their exact routes.

Optical Navigation Simulation and Performance Analysis for Osiris-Rex Proximity Operations

NASA Technical Reports Server (NTRS)

Jackman, Coralie D.; Nelson, Derek S.; Mccarthy, Leilah K.; Liounis, Andrew J.; Leonard, Jason M.; Antreasian, Peter G.; Getzandanner, Kenneth M.; Moreau, Michael C.

2017-01-01

The OSIRIS-REx mission timeline with OpNav milestones is presented in Figure 1. The first three proximity operations (ProxOps) mission phases focus on Navigation. During these phases, OSIRIS-REx approaches Bennu, conducts equatorial and polar flybys in Preliminary Survey, and inserts into the first mission orbit: Orbit A. During these phases, the OpNav techniques evolve from point-source to resolved-body centroiding to landmark tracking.

Integrated and Multi-Function Navigation (Les Systemes de Navigation Integres Multifunctions)

DTIC Science & Technology

1992-11-01

assistance, as requested, to other NATO bodies and to member nations in connection with research and development problems in the aerospace field. The...SARMCS is aimed at the motion compensation of experience in the development and applications radar returns to achieve high resolution, high of Integrated...development project such as the essentially the same technology and utilize Synthetic Aperture Radar Motion Compensation similar sensors, the mission

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

PubMed Central

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

2016-01-01

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

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

PubMed

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

2016-05-23

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

Patient Navigation: An Update on the State of the Science

PubMed Central

Paskett, Electra D.; Harrop, J. Phil; Wells, Kristen J.

2013-01-01

Although patient navigation was introduced two decades ago, there remains a lack of consensus regarding its definition, qualifications of patient navigators, and impact on the continuum of cancer care. This review provides an update to Wells et al.’s 2008 review on patient navigation. Since then, there has been a significant increase in the number of published studies dealing with cancer patient navigation. The authors of the current review conducted a search by using keywords “navigation” or “navigator” and “cancer.” Thirty-three articles published from November 2007 through July 2010 met the search criteria. Consistent with the prior review, there is building evidence of some degree of efficacy in patient navigation in terms of increasing cancer screening rates. However, there is less recent evidence regarding the benefit of patient navigation in terms of diagnostic follow up and in the treatment setting. There remains a paucity of research focusing on patient navigation in survivorship. Methodological limitations were noted in many studies, including small sample sizes and lack of control groups. As patient navigation programs continue to develop across North America and beyond, future research will be required to determine the efficacy of cancer patient navigation across all aspects of the cancer care continuum. PMID:21659419

Automatic control in planetary exploration in the 1980s. [onboard spacecraft

NASA Technical Reports Server (NTRS)

Moore, J. W.

1973-01-01

Based on an examination of the planetary missions in the 1980s and their related objectives, a broad assessment of the automatic control capabilities required for these missions is presented. The ten outer-planet, terrestrial-planet, and small-body missions considered involve various operations encompassing a complex series of modes including cruise, maneuver, and powered flight control. In addition to routine navigation and attitude control, onboard control is required to point scientific instruments and antennas with respect to the vehicle and to maneuver the spacecraft in time-constrained or hazardous environments. These 1980 missions aimed at exploring new areas of the solar system will be more demanding. New design philosophies and increased performance capabilities will be required to meet the constraints imposed by science requirements and mission-cost effectiveness.

Spheroidal models of the exterior gravitational field of Asteroids Bennu and Castalia

NASA Astrophysics Data System (ADS)

Sebera, Josef; Bezděk, Aleš; Pešek, Ivan; Henych, Tomáš

2016-07-01

Gravitational field of small bodies can be modeled e.g. with mascons, a polyhedral model or in terms of harmonic functions. If the shape of a body is close to the spheroid, it is advantageous to employ the spheroidal basis functions for expressing the gravitational field. Spheroidal harmonic models, similarly to the spherical ones, may be used in navigation and geophysical tasks. We focus on modeling the exterior gravitational field of oblate-like Asteroid (101955) Bennu and prolate-like Asteroid (4769) Castalia with spheroidal harmonics. Using the Gauss-Legendre quadrature and the spheroidal basis functions, we converted the gravitational potential of a particular polyhedral model of a constant density into the spheroidal harmonics. The results consist of (i) spheroidal harmonic coefficients of the exterior gravitational field for the Asteroids Bennu and Castalia, (ii) spherical harmonic coefficients for Bennu, and (iii) the first and second-order Cartesian derivatives in the local spheroidal South-East-Up frame for both bodies. The spheroidal harmonics offer biaxial flexibility (compared with spherical harmonics) and low computational costs that allow high-degree expansions (compared with ellipsoidal harmonics). The obtained spheroidal models for Bennu and Castalia represent the exterior gravitational field valid on and outside the Brillouin spheroid but they can be used even under this surface. For Bennu, 5 m above the surface the agreement with point-wise integration was 1% or less, while it was about 10% for Castalia due to its more irregular shape. As the shape models may produce very high frequencies, it was crucial to use higher maximum degree to reduce the aliasing. We have used the maximum degree 360 to achieve 9-10 common digits (in RMS) when reconstructing the input (the gravitational potential) from the spheroidal coefficients. The physically meaningful maximum degree may be lower (≪ 360) but its particular value depends on the distance and/or on the application (navigation, exploration, etc.).

Universal algorithms and programs for calculating the motion parameters in the two-body problem

NASA Technical Reports Server (NTRS)

Bakhshiyan, B. T.; Sukhanov, A. A.

1979-01-01

The algorithms and FORTRAN programs for computing positions and velocities, orbital elements and first and second partial derivatives in the two-body problem are presented. The algorithms are applicable for any value of eccentricity and are convenient for computing various navigation parameters.

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

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

POSTMAN: Point of Sail Tacking for Maritime Autonomous Navigation

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.; Reinhart, Felix

2012-01-01

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

Common Ada (tradename) Missile Package (CAMP) Project. Missile Software Parts. Volume 8. Detail Design Document

DTIC Science & Technology

1988-03-01

PACKAGE BODY ) TLCSC P661 (CATALOG #P106-0) This package contains the CAMP parts required to do the vaypoint steering portion of navigation. The...3.3.4.1.6 PROCESSING The following describes the processing performed by this part: package body WaypointSteering is package body ...Steering_Vector_Operations is separate; package body Steering_Vector_Operations_with_Arcsin is separate; procedure Compute Turn_Angle_and Direction (UnitNormal C

Vision-Based 3D Motion Estimation for On-Orbit Proximity Satellite Tracking and Navigation

DTIC Science & Technology

2015-06-01

Multiple-Purpose Crew Vehicle (MPVC), which will be provided with a LIDAR sensor as primary relative navigation system [26, 33, 34]. A drawback of LIDAR...328–352, 2009. [63] C. Luigini and M. Romano, “A ballistic- pendulum test stand to characterize small cold-gas thruster nozzles,” Acta

46 CFR 122.230 - Report of accident to aid to navigation.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 46 Shipping 4 2014-10-01 2014-10-01 false Report of accident to aid to navigation. 122.230 Section 122.230 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) SMALL PASSENGER VESSELS CARRYING MORE THAN 150 PASSENGERS OR WITH OVERNIGHT ACCOMMODATIONS FOR MORE THAN 49 PASSENGERS OPERATIONS Marine Casualties and Voyage Records §...

Spatial navigation in young versus older adults

PubMed Central

Gazova, Ivana; Laczó, Jan; Rubinova, Eva; Mokrisova, Ivana; Hyncicova, Eva; Andel, Ross; Vyhnalek, Martin; Sheardova, Katerina; Coulson, Elizabeth J.; Hort, Jakub

2013-01-01

Older age is associated with changes in the brain, including the medial temporal lobe, which may result in mild spatial navigation deficits, especially in allocentric navigation. The aim of the study was to characterize the profile of real-space allocentric (world-centered, hippocampus-dependent) and egocentric (body-centered, parietal lobe dependent) navigation and learning in young vs. older adults, and to assess a possible influence of gender. We recruited healthy participants without cognitive deficits on standard neuropsychological testing, white matter lesions or pronounced hippocampal atrophy: 24 young participants (18–26 years old) and 44 older participants stratified as participants 60–70 years old (n = 24) and participants 71–84 years old (n = 20). All underwent spatial navigation testing in the real-space human analog of the Morris Water Maze, which has the advantage of assessing separately allocentric and egocentric navigation and learning. Of the eight consecutive trials, trials 2–8 were used to reduce bias by a rebound effect (more dramatic changes in performance between trials 1 and 2 relative to subsequent trials). The participants who were 71–84 years old (p < 0.001), but not those 60–70 years old, showed deficits in allocentric navigation compared to the young participants. There were no differences in egocentric navigation. All three groups showed spatial learning effect (p’ s ≤ 0.01). There were no gender differences in spatial navigation and learning. Linear regression limited to older participants showed linear (β = 0.30, p = 0.045) and quadratic (β = 0.30, p = 0.046) effect of age on allocentric navigation. There was no effect of age on egocentric navigation. These results demonstrate that navigation deficits in older age may be limited to allocentric navigation, whereas egocentric navigation and learning may remain preserved. This specific pattern of spatial navigation impairment may help differentiate normal aging from prodromal Alzheimer’s disease. PMID:24391585

Autonomous Navigation for Deep Space Missions

NASA Technical Reports Server (NTRS)

Bhaskaran, Shyam

2012-01-01

Navigation (determining where the spacecraft is at any given time, controlling its path to achieve desired targets), performed using ground-in- the-loop techniques: (1) Data includes 2-way radiometric (Doppler, range), interferometric (Delta- Differential One-way Range), and optical (images of natural bodies taken by onboard camera) (2) Data received on the ground, processed to determine orbit, commands sent to execute maneuvers to control orbit. A self-contained, onboard, autonomous navigation system can: (1) Eliminate delays due to round-trip light time (2) Eliminate the human factors in ground-based processing (3) Reduce turnaround time from navigation update to minutes, down to seconds (4) React to late-breaking data. At JPL, we have developed the framework and computational elements of an autonomous navigation system, called AutoNav. It was originally developed as one of the technologies for the Deep Space 1 mission, launched in 1998; subsequently used on three other spacecraft, for four different missions. The primary use has been on comet missions to track comets during flybys, and impact one comet.

Design and testing of a multi-sensor pedestrian location and navigation platform.

PubMed

Morrison, Aiden; Renaudin, Valérie; Bancroft, Jared B; Lachapelle, Gérard

2012-01-01

Navigation and location technologies are continually advancing, allowing ever higher accuracies and operation under ever more challenging conditions. The development of such technologies requires the rapid evaluation of a large number of sensors and related utilization strategies. The integration of Global Navigation Satellite Systems (GNSSs) such as the Global Positioning System (GPS) with accelerometers, gyros, barometers, magnetometers and other sensors is allowing for novel applications, but is hindered by the difficulties to test and compare integrated solutions using multiple sensor sets. In order to achieve compatibility and flexibility in terms of multiple sensors, an advanced adaptable platform is required. This paper describes the design and testing of the NavCube, a multi-sensor navigation, location and timing platform. The system provides a research tool for pedestrian navigation, location and body motion analysis in an unobtrusive form factor that enables in situ data collections with minimal gait and posture impact. Testing and examples of applications of the NavCube are provided.

Place recognition using batlike sonar.

PubMed

Vanderelst, Dieter; Steckel, Jan; Boen, Andre; Peremans, Herbert; Holderied, Marc W

2016-08-02

Echolocating bats have excellent spatial memory and are able to navigate to salient locations using bio-sonar. Navigating and route-following require animals to recognize places. Currently, it is mostly unknown how bats recognize places using echolocation. In this paper, we propose template based place recognition might underlie sonar-based navigation in bats. Under this hypothesis, bats recognize places by remembering their echo signature - rather than their 3D layout. Using a large body of ensonification data collected in three different habitats, we test the viability of this hypothesis assessing two critical properties of the proposed echo signatures: (1) they can be uniquely classified and (2) they vary continuously across space. Based on the results presented, we conclude that the proposed echo signatures satisfy both criteria. We discuss how these two properties of the echo signatures can support navigation and building a cognitive map.

Navigation systems. [for interplanetary flight

NASA Technical Reports Server (NTRS)

Jordan, J. F.

1985-01-01

The elements of the measurement and communications network comprising the global deep space navigation system (DSN) for NASA missions are described. Among the measurement systems discussed are: VLBI, two-way Doppler and range measurements, and optical measurements carried out on board the spacecraft. Processing of navigation measurement is carried out using two modules: an N-body numerical integration of the trajectory (and state transition partial derivatives) based on pre-guessed initial conditions; and partial derivatives of simulated observables corresponding to each actual observation. Calculations of velocity correction parameters is performed by precise modelling of all physical phenomena influencing the observational measurements, including: planetary motions; tracking station locations, gravity field structure, and transmission media effects. Some of the contributions to earth-relative orbit estimate errors for the Doppler/range system on board Voyager are discussed in detail. A line drawing of the DSN navigation system is provided.

Development of a Novel Locomotion Algorithm for Snake Robot

NASA Astrophysics Data System (ADS)

Khan, Raisuddin; Masum Billah, Md; Watanabe, Mitsuru; Shafie, A. A.

2013-12-01

A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation.

Magnetically guided capsule endoscopy.

PubMed

Shamsudhin, Naveen; Zverev, Vladimir I; Keller, Henrik; Pane, Salvador; Egolf, Peter W; Nelson, Bradley J; Tishin, Alexander M

2017-08-01

Wireless capsule endoscopy (WCE) is a powerful tool for medical screening and diagnosis, where a small capsule is swallowed and moved by means of natural peristalsis and gravity through the human gastrointestinal (GI) tract. The camera-integrated capsule allows for visualization of the small intestine, a region which was previously inaccessible to classical flexible endoscopy. As a diagnostic tool, it allows to localize the sources of bleedings in the middle part of the gastrointestinal tract and to identify diseases, such as inflammatory bowel disease (Crohn's disease), polyposis syndrome, and tumors. The screening and diagnostic efficacy of the WCE, especially in the stomach region, is hampered by a variety of technical challenges like the lack of active capsular position and orientation control. Therapeutic functionality is absent in most commercial capsules, due to constraints in capsular volume and energy storage. The possibility of using body-exogenous magnetic fields to guide, orient, power, and operate the capsule and its mechanisms has led to increasing research in Magnetically Guided Capsule Endoscopy (MGCE). This work shortly reviews the history and state-of-art in WCE technology. It highlights the magnetic technologies for advancing diagnostic and therapeutic functionalities of WCE. Not restricting itself to the GI tract, the review further investigates the technological developments in magnetically guided microrobots that can navigate through the various air- and fluid-filled lumina and cavities in the body for minimally invasive medicine. © 2017 American Association of Physicists in Medicine.

A Concept for Optimizing Behavioural Effectiveness & Efficiency

NASA Astrophysics Data System (ADS)

Barca, Jan Carlo; Rumantir, Grace; Li, Raymond

Both humans and machines exhibit strengths and weaknesses that can be enhanced by merging the two entities. This research aims to provide a broader understanding of how closer interactions between these two entities can facilitate more optimal goal-directed performance through the use of artificial extensions of the human body. Such extensions may assist us in adapting to and manipulating our environments in a more effective way than any system known today. To demonstrate this concept, we have developed a simulation where a semi interactive virtual spider can be navigated through an environment consisting of several obstacles and a virtual predator capable of killing the spider. The virtual spider can be navigated through the use of three different control systems that can be used to assist in optimising overall goal directed performance. The first two control systems use, an onscreen button interface and a touch sensor, respectively to facilitate human navigation of the spider. The third control system is an autonomous navigation system through the use of machine intelligence embedded in the spider. This system enables the spider to navigate and react to changes in its local environment. The results of this study indicate that machines should be allowed to override human control in order to maximise the benefits of collaboration between man and machine. This research further indicates that the development of strong machine intelligence, sensor systems that engage all human senses, extra sensory input systems, physical remote manipulators, multiple intelligent extensions of the human body, as well as a tighter symbiosis between man and machine, can support an upgrade of the human form.

Bio-Inspired Polarized Skylight-Based Navigation Sensors: A Review

PubMed Central

Karman, Salmah B.; Diah, S. Zaleha M.; Gebeshuber, Ille C.

2012-01-01

Animal senses cover a broad range of signal types and signal bandwidths and have inspired various sensors and bioinstrumentation devices for biological and medical applications. Insects, such as desert ants and honeybees, for example, utilize polarized skylight pattern-based information in their navigation activities. They reliably return to their nests and hives from places many kilometers away. The insect navigation system involves the dorsal rim area in their compound eyes and the corresponding polarization sensitive neurons in the brain. The dorsal rim area is equipped with photoreceptors, which have orthogonally arranged small hair-like structures termed microvilli. These are the specialized sensors for the detection of polarized skylight patterns (e-vector orientation). Various research groups have been working on the development of novel navigation systems inspired by polarized skylight-based navigation in animals. Their major contributions are critically reviewed. One focus of current research activities is on imitating the integration path mechanism in desert ants. The potential for simple, high performance miniaturized bioinstrumentation that can assist people in navigation will be explored. PMID:23202158

Bio-inspired polarized skylight-based navigation sensors: a review.

PubMed

Karman, Salmah B; Diah, S Zaleha M; Gebeshuber, Ille C

2012-10-24

Animal senses cover a broad range of signal types and signal bandwidths and have inspired various sensors and bioinstrumentation devices for biological and medical applications. Insects, such as desert ants and honeybees, for example, utilize polarized skylight pattern-based information in their navigation activities. They reliably return to their nests and hives from places many kilometers away. The insect navigation system involves the dorsal rim area in their compound eyes and the corresponding polarization sensitive neurons in the brain. The dorsal rim area is equipped with photoreceptors, which have orthogonally arranged small hair-like structures termed microvilli. These are the specialized sensors for the detection of polarized skylight patterns (e-vector orientation). Various research groups have been working on the development of novel navigation systems inspired by polarized skylight-based navigation in animals. Their major contributions are critically reviewed. One focus of current research activities is on imitating the integration path mechanism in desert ants. The potential for simple, high performance miniaturized bioinstrumentation that can assist people in navigation will be explored.

Geographical Cues and Developmental Exposure: Navigational Style, Wayfinding Anxiety, and Childhood Experience in the Faroe Islands.

PubMed

Schug, Mariah G

2016-03-01

The current study assessed potential relationships among childhood wayfinding experience, navigational style, and adult wayfinding anxiety in the Faroe Islands. The Faroe Islands are of interest because they have an unusual geography that may promote the use of an orientational style of navigation (e.g., use of cardinal directions). Faroese adults completed questionnaires assessing (1) their permitted childhood range sizes, (2) the types of navigational strategies they use, and (3) the amount of anxiety they experience when navigating in adulthood. Males had more childhood wayfinding experience, used the orientation strategy at a higher rate, and showed lower levels of wayfinding anxiety. When compared with other cultures, both Faroese women and men appear to embrace orientation strategies at an unusually high rate. Childhood experience was not conclusively linked to later wayfinding anxiety. However, the current findings raise the possibility that children who have particularly small ranges in childhood may be especially anxious when navigating in adulthood.

Integrated Modeling of Spacecraft Touch-and-Go Sampling

NASA Technical Reports Server (NTRS)

Quadrelli, Marco

2009-01-01

An integrated modeling tool has been developed to include multi-body dynamics, orbital dynamics, and touch-and-go dynamics for spacecraft covering three types of end-effectors: a sticky pad, a brush-wheel sampler, and a pellet gun. Several multi-body models of a free-flying spacecraft with a multi-link manipulator driving these end-effectors have been tested with typical contact conditions arising when the manipulator arm is to sample the surface of an asteroidal body. The test data have been infused directly into the dynamics formulation including such information as the mass collected as a function of end-effector longitudinal speed for the brush-wheel and sticky-pad samplers, and the mass collected as a function of projectile speed for the pellet gun sampler. These data represent the realistic behavior of the end effector while in contact with a surface, and represent a low-order model of more complex contact conditions that otherwise would have to be simulated. Numerical results demonstrate the adequacy of these multibody models for spacecraft and manipulator- arm control design. The work contributes to the development of a touch-and-go testbed for small body exploration, denoted as the GREX Testbed (GN&C for Rendezvous-based EXploration). The GREX testbed addresses the key issues involved in landing on an asteroidal body or comet; namely, a complex, low-gravity field; partially known terrain properties; possible comet outgassing; dust ejection; and navigating to a safe and scientifically desirable zone.

Electromagnetic Navigation Bronchoscopy-directed Pleural Tattoo to Aid Surgical Resection of Peripheral Pulmonary Lesions.

PubMed

Tay, Jun H; Wallbridge, Peter D; Larobina, Marco; Russell, Prudence A; Irving, Louis B; Steinfort, Daniel P

2016-07-01

Limited (wedge) resection of pulmonary lesions is frequently performed as a diagnostic/therapeutic procedure. Some lesions may be difficult to locate thoracoscopically with conversion to open thoracotomy or incomplete resection being potential limitations to this approach. Multiple methods have been described to aid video-assisted thoracoscopic surgical (VATS) wedge resection of pulmonary nodules, including hookwire localization, percutaneous tattoo, or intraoperative ultrasound. We report on our experience using electromagnetic navigation bronchoscopic dye marking of small subpleural lesions to aid VATS wedge resection. A retrospective cohort study of consecutive patients undergoing VATS wedge resection of peripheral lesions. Preoperative bronchoscopy with electromagnetic navigation was utilized to guide a 25 G needle to within/adjacent to the target lesion with injection of 1 mL of methylene blue or indigo carmine under fluoroscopic vision. Six patients underwent bronchoscopic marking of peripheral pulmonary lesions, navigation deemed successful in all patients, with no procedural complications. Surgery was performed within 24 hours of bronchoscopic marking. Pleural staining by dye was visible thoracoscopically in all 6 lesions either adjacent to or overlying the lesion. All lesions were fully excised with wedge resection. Pathologic examination confirmed accuracy of dye staining. Electromagnetic navigation bronchoscopic dye marking of peripheral lesions is feasible, without complications commonly associated with percutaneous marking procedures. Further experience is required but early findings suggest that this method may have utility in aiding minimally invasive resection of small subpleural lesions.

33 CFR 334.155 - Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area.

Code of Federal Regulations, 2013 CFR

2013-07-01

... Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area. 334.155 Section 334.155 Navigation and... RESTRICTED AREA REGULATIONS § 334.155 Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area. (a) The area. The waters within the Naval Station Annapolis small boat basin and...

33 CFR 334.155 - Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area.

Code of Federal Regulations, 2012 CFR

2012-07-01

... Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area. 334.155 Section 334.155 Navigation and... RESTRICTED AREA REGULATIONS § 334.155 Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area. (a) The area. The waters within the Naval Station Annapolis small boat basin and...

33 CFR 334.155 - Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area.

Code of Federal Regulations, 2014 CFR

2014-07-01

... Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area. 334.155 Section 334.155 Navigation and... RESTRICTED AREA REGULATIONS § 334.155 Severn River, Naval Station Annapolis, Small Boat Basin, Annapolis, MD; naval restricted area. (a) The area. The waters within the Naval Station Annapolis small boat basin and...

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

NASA Astrophysics Data System (ADS)

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

2013-05-01

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

Magnetic guide-wire navigation in pulmonary and systemic arterial catheterization: initial experience in pigs.

PubMed

Grosse-Wortmann, Lars; Grabitz, Ralf; Seghaye, Marie-Christine

2007-04-01

Cardiovascular catheterization can be challenging whenever a stenosis or an abnormal vascular course interferes with probing the target vessel. This study addresses the feasibility of navigating a guide wire with a magnetic tip by an external magnetic field through pulmonary and systemic arteries in an experimental porcine model. We investigated six piglets using magnetic guide-wire navigation. Two pulmonary arteriograms were taken from different angles in order to reconstruct the three-dimensional vessel anatomy. A computer interface then calculated three-dimensional coordinates for the vessel in space. Using these coordinates, two external magnets were positioned to create magnetic vectors along the expected vessel course. Magnetically enabled guide wires were then navigated into the vessels using the magnetic field to orient the guide-wire tips. Aortic and renal branches were addressed in a similar fashion. Difficulty in reaching the target vessel was reflected by the number of attempts that were necessary. After 10 failed attempts, the maneuver was recorded to have failed. Thirty-five of 37 (94.6%) arteries with branches at acute angles were reached successfully using magnetic navigation. In two pigs, the left upper lobe artery could not be probed. Peripheral arteries of small diameter were easier to reach than large central arteries, requiring less attempts. Magnetic guide-wire navigation is feasible in the arteries of the lungs, the head and neck, and the kidneys. It is particularly useful in entering small arterial branches at acute angles and may facilitate interventional therapy in a variety of vascular diseases in children and adults.

Enabling automated magnetic resonance imaging-based targeting assessment during dipole field navigation

NASA Astrophysics Data System (ADS)

Latulippe, Maxime; Felfoul, Ouajdi; Dupont, Pierre E.; Martel, Sylvain

2016-02-01

The magnetic navigation of drugs in the vascular network promises to increase the efficacy and reduce the secondary toxicity of cancer treatments by targeting tumors directly. Recently, dipole field navigation (DFN) was proposed as the first method achieving both high field and high navigation gradient strengths for whole-body interventions in deep tissues. This is achieved by introducing large ferromagnetic cores around the patient inside a magnetic resonance imaging (MRI) scanner. However, doing so distorts the static field inside the scanner, which prevents imaging during the intervention. This limitation constrains DFN to open-loop navigation, thus exposing the risk of a harmful toxicity in case of a navigation failure. Here, we are interested in periodically assessing drug targeting efficiency using MRI even in the presence of a core. We demonstrate, using a clinical scanner, that it is in fact possible to acquire, in specific regions around a core, images of sufficient quality to perform this task. We show that the core can be moved inside the scanner to a position minimizing the distortion effect in the region of interest for imaging. Moving the core can be done automatically using the gradient coils of the scanner, which then also enables the core to be repositioned to perform navigation to additional targets. The feasibility and potential of the approach are validated in an in vitro experiment demonstrating navigation and assessment at two targets.

Homing pigeons only navigate in air with intact environmental odours: a test of the olfactory activation hypothesis with GPS data loggers.

PubMed

Gagliardo, Anna; Ioalè, Paolo; Filannino, Caterina; Wikelski, Martin

2011-01-01

A large body of evidence has shown that anosmic pigeons are impaired in their navigation. However, the role of odours in navigation is still subject to debate. While according to the olfactory navigation hypothesis homing pigeons possess a navigational map based on the distribution of environmental odours, the olfactory activation hypothesis proposes that odour perception is only needed to activate a navigational mechanism based on cues of another nature. Here we tested experimentally whether the perception of artificial odours is sufficient to allow pigeons to navigate, as expected from the olfactory activation hypothesis. We transported three groups of pigeons in air-tight containers to release sites 53 and 61 km from home in three different olfactory conditions. The Control group received natural environmental air; both the Pure Air and the Artificial Odour groups received pure air filtered through an active charcoal filter. Only the Artificial Odour group received additional puffs of artificial odours until release. We then released pigeons while recording their tracks with 1 Hz GPS data loggers. We also followed non-homing pigeons using an aerial data readout to a Cessna plane, allowing, for the first time, the tracking of non-homing homing pigeons. Within the first hour after release, the pigeons in both the Artificial Odour and the Pure Air group (receiving no environmental odours) showed impaired navigational performances at each release site. Our data provide evidence against an activation role of odours in navigation, and document that pigeons only navigate well when they perceive environmental odours.

Hey, Small Spender: An Insider's Guide to Navigating ALA's Chicago Conference on the Cheap

ERIC Educational Resources Information Center

School Library Journal, 2009

2009-01-01

This article presents an insider's guide to navigating the American Library Association's (ALA) annual conference in Chicago on July 9-15. As for the extracurricular activities, Chicago has a lot to offer. This article provides tips from the arts and entertainment bible "Time Out Chicago" on where to go and what to do (on a limited…

Autonomous navigation using lunar beacons

NASA Technical Reports Server (NTRS)

Khatib, A. R.; Ellis, J.; French, J.; Null, G.; Yunck, T.; Wu, S.

1983-01-01

The concept of using lunar beacon signal transmission for on-board navigation for earth satellites and near-earth spacecraft is described. The system would require powerful transmitters on the earth-side of the moon's surface and black box receivers with antennae and microprocessors placed on board spacecraft for autonomous navigation. Spacecraft navigation requires three position and three velocity elements to establish location coordinates. Two beacons could be soft-landed on the lunar surface at the limits of allowable separation and each would transmit a wide-beam signal with cones reaching GEO heights and be strong enough to be received by small antennae in near-earth orbit. The black box processor would perform on-board computation with one-way Doppler/range data and dynamical models. Alternatively, GEO satellites such as the GPS or TDRSS spacecraft can be used with interferometric techniques to provide decimeter-level accuracy for aircraft navigation.

Diver-based integrated navigation/sonar sensor

NASA Astrophysics Data System (ADS)

Lent, Keith H.

1999-07-01

Two diver based systems, the Small Object Locating Sonar (SOLS) and the Integrated Navigation and Sonar Sensor (INSS) have been developed at Applied Research Laboratories, the University of Texas at Austin (ARL:UT). They are small and easy to use systems that allow a diver to: detect, classify, and identify underwater objects; render large sector visual images; and track, map and reacquire diver location, diver path, and target locations. The INSS hardware consists of a unique, simple, single beam high resolution sonar, an acoustic navigation systems, an electronic depth gauge, compass, and GPS and RF interfaces, all integrated with a standard 486 based PC. These diver sonars have been evaluated by the very shallow water mine countermeasure detachment since spring 1997. Results are very positive, showing significantly greater capabilities than current diver held systems. For example, the detection ranges are increased over existing systems, and the system allows the divers to classify mines at a significant stand off range. As a result, the INSS design has been chosen for acquisition as the next generation diver navigation and sonar system. The EDMs for this system will be designed and built by ARL:UT during 1998 and 1999 with production planned in 2000.

Modular Countermine Payload for Small Robots

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

Herman Herman; Doug Few; Roelof Versteeg

2010-04-01

Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processormore » that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multi-mission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.« less

Modular countermine payload for small robots

NASA Astrophysics Data System (ADS)

Herman, Herman; Few, Doug; Versteeg, Roelof; Valois, Jean-Sebastien; McMahill, Jeff; Licitra, Michael; Henciak, Edward

2010-04-01

Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processor that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multimission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.

Switching from reaching to navigation: differential cognitive strategies for spatial memory in children and adults.

PubMed

Belmonti, Vittorio; Cioni, Giovanni; Berthoz, Alain

2015-07-01

Navigational and reaching spaces are known to involve different cognitive strategies and brain networks, whose development in humans is still debated. In fact, high-level spatial processing, including allocentric location encoding, is already available to very young children, but navigational strategies are not mature until late childhood. The Magic Carpet (MC) is a new electronic device translating the traditional Corsi Block-tapping Test (CBT) to navigational space. In this study, the MC and the CBT were used to assess spatial memory for navigation and for reaching, respectively. Our hypothesis was that school-age children would not treat MC stimuli as navigational paths, assimilating them to reaching sequences. Ninety-one healthy children aged 6 to 11 years and 18 adults were enrolled. Overall short-term memory performance (span) on both tests, effects of sequence geometry, and error patterns according to a new classification were studied. Span increased with age on both tests, but relatively more in navigational than in reaching space, particularly in males. Sequence geometry specifically influenced navigation, not reaching. The number of body rotations along the path affected MC performance in children more than in adults, and in women more than in men. Error patterns indicated that navigational sequences were increasingly retained as global paths across development, in contrast to separately stored reaching locations. A sequence of spatial locations can be coded as a navigational path only if a cognitive switch from a reaching mode to a navigation mode occurs. This implies the integration of egocentric and allocentric reference frames, of visual and idiothetic cues, and access to long-term memory. This switch is not yet fulfilled at school age due to immature executive functions. © 2014 John Wiley & Sons Ltd.

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

NASA Astrophysics Data System (ADS)

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

2018-03-01

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

On-Board Perception System For Planetary Aerobot Balloon Navigation

NASA Technical Reports Server (NTRS)

Balaram, J.; Scheid, Robert E.; T. Salomon, Phil

1996-01-01

NASA's Jet Propulsion Laboratory is implementing the Planetary Aerobot Testbed to develop the technology needed to operate a robotic balloon aero-vehicle (Aerobot). This earth-based system would be the precursor for aerobots designed to explore Venus, Mars, Titan and other gaseous planetary bodies. The on-board perception system allows the aerobot to localize itself and navigate on a planet using information derived from a variety of celestial, inertial, ground-imaging, ranging, and radiometric sensors.

Lunar Navigation Determination System - LaNDS

NASA Technical Reports Server (NTRS)

Quinn, David; Talabac, Stephen

2012-01-01

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

Activity-dependent gene expression in honey bee mushroom bodies in response to orientation flight.

PubMed

Lutz, Claudia C; Robinson, Gene E

2013-06-01

The natural history of adult worker honey bees (Apis mellifera) provides an opportunity to study the molecular basis of learning in an ecological context. Foragers must learn to navigate between the hive and floral locations that may be up to miles away. Young pre-foragers prepare for this task by performing orientation flights near the hive, during which they begin to learn navigational cues such as the appearance of the hive, the position of landmarks, and the movement of the sun. Despite well-described spatial learning and navigation behavior, there is currently limited information on the neural basis of insect spatial learning. We found that Egr, an insect homolog of Egr-1, is rapidly and transiently upregulated in the mushroom bodies in response to orientation. This result is the first example of an Egr-1 homolog acting as a learning-related immediate-early gene in an insect and also demonstrates that honey bee orientation uses a molecular mechanism that is known to be involved in many other forms of learning. This transcriptional response occurred both in naïve bees and in foragers induced to re-orient. Further experiments suggest that visual environmental novelty, rather than exercise or memorization of specific visual cues, acts as the stimulus for Egr upregulation. Our results implicate the mushroom bodies in spatial learning and emphasize the deep conservation of Egr-related pathways in experience-dependent plasticity.

Cheap or Robust? The practical realization of self-driving wheelchair technology.

PubMed

Burhanpurkar, Maya; Labbe, Mathieu; Guan, Charlie; Michaud, Francois; Kelly, Jonathan

2017-07-01

To date, self-driving experimental wheelchair technologies have been either inexpensive or robust, but not both. Yet, in order to achieve real-world acceptance, both qualities are fundamentally essential. We present a unique approach to achieve inexpensive and robust autonomous and semi-autonomous assistive navigation for existing fielded wheelchairs, of which there are approximately 5 million units in Canada and United States alone. Our prototype wheelchair platform is capable of localization and mapping, as well as robust obstacle avoidance, using only a commodity RGB-D sensor and wheel odometry. As a specific example of the navigation capabilities, we focus on the single most common navigation problem: the traversal of narrow doorways in arbitrary environments. The software we have developed is generalizable to corridor following, desk docking, and other navigation tasks that are either extremely difficult or impossible for people with upper-body mobility impairments.

Optimizing MR imaging-guided navigation for focused ultrasound interventions in the brain

NASA Astrophysics Data System (ADS)

Werner, B.; Martin, E.; Bauer, R.; O'Gorman, R.

2017-03-01

MR imaging during transcranial MR imaging-guided Focused Ultrasound surgery (tcMRIgFUS) is challenging due to the complex ultrasound transducer setup and the water bolus used for acoustic coupling. Achievable image quality in the tcMRIgFUS setup using the standard body coil is significantly inferior to current neuroradiologic standards. As a consequence, MR image guidance for precise navigation in functional neurosurgical interventions using tcMRIgFUS is basically limited to the acquisition of MR coordinates of salient landmarks such as the anterior and posterior commissure for aligning a stereotactic atlas. Here, we show how improved MR image quality provided by a custom built MR coil and optimized MR imaging sequences can support imaging-guided navigation for functional tcMRIgFUS neurosurgery by visualizing anatomical landmarks that can be integrated into the navigation process to accommodate for patient specific anatomy.

Place recognition using batlike sonar

PubMed Central

Vanderelst, Dieter; Steckel, Jan; Boen, Andre; Peremans, Herbert; Holderied, Marc W

2016-01-01

Echolocating bats have excellent spatial memory and are able to navigate to salient locations using bio-sonar. Navigating and route-following require animals to recognize places. Currently, it is mostly unknown how bats recognize places using echolocation. In this paper, we propose template based place recognition might underlie sonar-based navigation in bats. Under this hypothesis, bats recognize places by remembering their echo signature - rather than their 3D layout. Using a large body of ensonification data collected in three different habitats, we test the viability of this hypothesis assessing two critical properties of the proposed echo signatures: (1) they can be uniquely classified and (2) they vary continuously across space. Based on the results presented, we conclude that the proposed echo signatures satisfy both criteria. We discuss how these two properties of the echo signatures can support navigation and building a cognitive map. DOI: http://dx.doi.org/10.7554/eLife.14188.001 PMID:27481189

Navigation of military and space unmanned ground vehicles in unstructured terrains

NASA Technical Reports Server (NTRS)

Lescoe, Paul; Lavery, David; Bedard, Roger

1991-01-01

Development of unmanned vehicles for local navigation in terrains unstructured by humans is reviewed. Modes of navigation include teleoperation or remote control, computer assisted remote driving (CARD), and semiautonomous navigation (SAN). A first implementation of a CARD system was successfully tested using the Robotic Technology Test Vehicle developed by Jet Propulsion Laboratory. Stereo pictures were transmitted to a remotely located human operator, who performed the sensing, perception, and planning functions of navigation. A computer provided range and angle measurements and the path plan was transmitted to the vehicle which autonomously executed the path. This implementation is to be enhanced by providing passive stereo vision and a reflex control system for autonomously stopping the vehicle if blocked by an obstacle. SAN achievements include implementation of a navigation testbed on a six wheel, three-body articulated rover vehicle, development of SAN algorithms and code, integration of SAN software onto the vehicle, and a successful feasibility demonstration that represents a step forward towards the technology required for long-range exploration of the lunar or Martian surface. The vehicle includes a passive stereo vision system with real-time area-based stereo image correlation, a terrain matcher, a path planner, and a path execution planner.

Design and Control of Omnidirectional Unmanned Ground Vehicles for Rough Terrain

DTIC Science & Technology

2012-08-29

company, Quantum Signal. This rigid body dynamics simulation, housed within the Autonomous Navigation and Virtual Environment Laboratory (ANVEL) software...72 Figure 22: PIC main code. Page 24 of 72 Figure 23: PIC interrupt code. 3.3 Central Body Embedded Electronics As described above...located on the main body of the vehicle. This section describes how the on-board electronics works. The outline of the code is presented as is how

Multibeam Altimeter Navigation Update Using Faceted Shape Model

NASA Technical Reports Server (NTRS)

Bayard, David S.; Brugarolas, Paul; Broschart, Steve

2008-01-01

A method of incorporating information, acquired by a multibeam laser or radar altimeter system, pertaining to the distance and direction between the system and a nearby target body, into an estimate of the state of a vehicle upon which the system is mounted, involves the use of a faceted model to represent the shape of the target body. Fundamentally, what one seeks to measure is the distance from the vehicle to the target body.

Patient navigation: state of the art or is it science?

PubMed

Wells, Kristen J; Battaglia, Tracy A; Dudley, Donald J; Garcia, Roland; Greene, Amanda; Calhoun, Elizabeth; Mandelblatt, Jeanne S; Paskett, Electra D; Raich, Peter C

2008-10-15

First implemented in 1990, patient navigation interventions are emerging today as an approach to reduce cancer disparities. However, there is lack of consensus about how patient navigation is defined, what patient navigators do, and what their qualifications should be. Little is known about the efficacy and cost-effectiveness of patient navigation. For this review, the authors conducted a qualitative synthesis of published literature on cancer patient navigation. By using the keywords 'navigator' or 'navigation' and 'cancer,' 45 articles were identified in the PubMed database and from reference searches that were published or in press through October 2007. Sixteen studies provided data on the efficacy of navigation in improving timeliness and receipt of cancer screening, diagnostic follow-up care, and treatment. Patient navigation services were defined and differentiated from other outreach services. Overall, there was evidence of some degree of efficacy for patient navigation in increasing participation in cancer screening and adherence to diagnostic follow-up care after the detection of an abnormality. The reported increases in screening ranged from 10.8% to 17.1%, and increases in adherence to diagnostic follow-up care ranged from 21% to 29.2% compared with control patients. There was less evidence regarding the efficacy of patient navigation in reducing either late-stage cancer diagnosis or delays in the initiation of cancer treatment or improving outcomes during cancer survivorship. There were methodological limitations in most studies, such as a lack of control groups, small sample sizes, and contamination with other interventions. Although cancer-related patient navigation interventions are being adopted increasingly across the United States and Canada, further research will be necessary to evaluate their efficacy and cost-effectiveness in improving cancer care. (c) 2008 American Cancer Society.

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

PubMed Central

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

2014-01-01

Background: The Navigation Guide methodology was developed to meet the need for a robust method of systematic and transparent research synthesis in environmental health science. We conducted a case study systematic review to support proof of concept of the method. Objective: We applied the Navigation Guide systematic review methodology to determine whether developmental exposure to perfluorooctanoic acid (PFOA) affects fetal growth in humans. Methods: We applied the first 3 steps of the Navigation Guide methodology to human epidemiological data: 1) specify the study question, 2) select the evidence, and 3) rate the quality and strength of the evidence. We developed a protocol, conducted a comprehensive search of the literature, and identified relevant studies using prespecified criteria. We evaluated each study for risk of bias and conducted meta-analyses on a subset of studies. We rated quality and strength of the entire body of human evidence. Results: We identified 18 human studies that met our inclusion criteria, and 9 of these were combined through meta-analysis. Through meta-analysis, we estimated that a 1-ng/mL increase in serum or plasma PFOA was associated with a –18.9 g (95% CI: –29.8, –7.9) difference in birth weight. We concluded that the risk of bias across studies was low, and we assigned a “moderate” quality rating to the overall body of human evidence. Conclusion: On the basis of this first application of the Navigation Guide systematic review methodology, we concluded that there is “sufficient” human evidence that developmental exposure to PFOA reduces fetal growth. Citation: Johnson PI, Sutton P, Atchley DS, Koustas E, Lam J, Sen S, Robinson KA, Axelrad DA, Woodruff TJ. 2014. The Navigation Guide—evidence-based medicine meets environmental health: systematic review of human evidence for PFOA effects on fetal growth. Environ Health Perspect 122:1028–1039; http://dx.doi.org/10.1289/ehp.1307893 PMID:24968388

State estimation for autonomous flight in cluttered environments

NASA Astrophysics Data System (ADS)

Langelaan, Jacob Willem

Safe, autonomous operation in complex, cluttered environments is a critical challenge facing autonomous mobile systems. The research described in this dissertation was motivated by a particularly difficult example of autonomous mobility: flight of a small Unmanned Aerial Vehicle (UAV) through a forest. In cluttered environments (such as forests or natural and urban canyons) signals from navigation beacons such as GPS may frequently be occluded. Direct measurements of vehicle position are therefore unavailable, and information required for flight control, obstacle avoidance, and navigation must be obtained using only on-board sensors. However, payload limitations of small UAVs restrict both the mass and physical dimensions of sensors that can be carried. This dissertation describes the development and proof-of-concept demonstration of a navigation system that uses only a low-cost inertial measurement unit and a monocular camera. Micro electromechanical inertial measurements units are well suited to small UAV applications and provide measurements of acceleration and angular rate. However, they do not provide information about nearby obstacles (needed for collision avoidance) and their noise and bias characteristics lead to unbounded growth in computed position. A monocular camera can provide bearings to nearby obstacles and landmarks. These bearings can be used both to enable obstacle avoidance and to aid navigation. Presented here is a solution to the problem of estimating vehicle state (position, orientation and velocity) as well as positions of obstacles in the environment using only inertial measurements and bearings to obstacles. This is a highly nonlinear estimation problem, and standard estimation techniques such as the Extended Kalman Filter are prone to divergence in this application. In this dissertation a Sigma Point Kalman Filter is implemented, resulting in an estimator which is able to cope with the significant nonlinearities in the system equations and uncertainty in state estimates while remaining tractable for real-time operation. In addition, the issues of data association and landmark initialization are addressed. Estimator performance is examined through Monte Carlo simulations in both two and three dimensions for scenarios involving UAV flight in cluttered environments. Hardware tests and simulations demonstrate navigation through an obstacle-strewn environment by a small Unmanned Ground Vehicle.

77 FR 27007 - Inland Waterways Navigation Regulations

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-08

..., will not adversely alter the budget of any grant or loan recipients, and will not raise any novel legal... CFR 162.138 (a)(1)(ii) will lessen restrictions on the public and on private industry. Small Entities... would have a significant economic impact on a substantial number of small entities. The term ``small...

The Geomagnetic Field Is a Compass Cue in Cataglyphis Ant Navigation.

PubMed

Fleischmann, Pauline Nikola; Grob, Robin; Müller, Valentin Leander; Wehner, Rüdiger; Rössler, Wolfgang

2018-05-07

Desert ants (Cataglyphis) are famous insect navigators. During their foraging lives, the ants leave their underground colonies for long distances and return to their starting point with fair accuracy [1, 2]. Their incessantly running path integrator provides them with a continually updated home vector [3-5]. Directional input to their path integrator is provided by a visual compass based on celestial cues [6, 7]. However, as path integration is prone to cumulative errors, the ants additionally employ landmark guidance routines [8-11]. At the start of their foraging lives, they acquire the necessary landmark information by performing well-structured learning walks [12, 13], including turns about their vertical body axes [14]. When Cataglyphis noda performs these pirouettes, it always gazes at the nest entrance during the longest of several short stopping phases [14]. As the small nest entrance is not visible, the ants can adjust their gaze direction only by reading out their path integrator. However, recent experiments have shown that, for adjusting the goal-centered gaze directions during learning walks, skylight cues are not required [15]. A most promising remaining compass cue is the geomagnetic field, which is used for orientation in one way or the other by a variety of animal species [16-25]. Here, we show that the gaze directions during the look-back-to-the-nest behavior change in a predictable way to alterations of the horizontal component of the magnetic field. This is the first demonstration that, in insects, a geomagnetic compass cue is both necessary and sufficient for accomplishing a well-defined navigational task. Copyright © 2018 Elsevier Ltd. All rights reserved.

33 CFR 334.680 - Gulf of Mexico, southeast of St. Andrew Bay East Entrance, small-arms firing range, Tyndall Air...

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Gulf of Mexico, southeast of St... AND RESTRICTED AREA REGULATIONS § 334.680 Gulf of Mexico, southeast of St. Andrew Bay East Entrance... the Gulf of Mexico, southeast of St. Andrew Bay East Entrance within a rectangular area beginning at a...

33 CFR 334.680 - Gulf of Mexico, southeast of St. Andrew Bay East Entrance, small-arms firing range, Tyndall Air...

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 3 2014-07-01 2014-07-01 false Gulf of Mexico, southeast of St... AND RESTRICTED AREA REGULATIONS § 334.680 Gulf of Mexico, southeast of St. Andrew Bay East Entrance... the Gulf of Mexico, southeast of St. Andrew Bay East Entrance within a rectangular area beginning at a...

33 CFR 334.680 - Gulf of Mexico, southeast of St. Andrew Bay East Entrance, small-arms firing range, Tyndall Air...

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 3 2013-07-01 2013-07-01 false Gulf of Mexico, southeast of St... AND RESTRICTED AREA REGULATIONS § 334.680 Gulf of Mexico, southeast of St. Andrew Bay East Entrance... the Gulf of Mexico, southeast of St. Andrew Bay East Entrance within a rectangular area beginning at a...

33 CFR 334.680 - Gulf of Mexico, southeast of St. Andrew Bay East Entrance, small-arms firing range, Tyndall Air...

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 3 2011-07-01 2011-07-01 false Gulf of Mexico, southeast of St... AND RESTRICTED AREA REGULATIONS § 334.680 Gulf of Mexico, southeast of St. Andrew Bay East Entrance... the Gulf of Mexico, southeast of St. Andrew Bay East Entrance within a rectangular area beginning at a...

33 CFR 334.680 - Gulf of Mexico, southeast of St. Andrew Bay East Entrance, small-arms firing range, Tyndall Air...

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 3 2012-07-01 2012-07-01 false Gulf of Mexico, southeast of St... AND RESTRICTED AREA REGULATIONS § 334.680 Gulf of Mexico, southeast of St. Andrew Bay East Entrance... the Gulf of Mexico, southeast of St. Andrew Bay East Entrance within a rectangular area beginning at a...

Closing the Gap Between Research and Field Applications for Multi-UAV Cooperative Missions

DTIC Science & Technology

2013-09-01

IMU Inertial Measurement Units INCOSE International Council on Systems Engineering ISR Intelligence Surveillance and Reconnaissance ISTAR...light-weight and low-cost inertial measurement units ( IMUs ) are widely adopted for navigation of small- scale UAVs. Low-costs IMUs are characterized...by high measurement noises and large measurement biases. Hence pure initial navigation using low-cost IMUs drifts rapidly. In practice, inertial

Group navigation and the "many-wrongs principle" in models of animal movement.

PubMed

Codling, E A; Pitchford, J W; Simpson, S D

2007-07-01

Traditional studies of animal navigation over both long and short distances have usually considered the orientation ability of the individual only, without reference to the implications of group membership. However, recent work has suggested that being in a group can significantly improve the ability of an individual to align toward and reach a target direction or point, even when all group members have limited navigational ability and there are no leaders. This effect is known as the "many-wrongs principle" since the large number of individual navigational errors across the group are suppressed by interactions and group cohesion. In this paper, we simulate the many-wrongs principle using a simple individual-based model of movement based on a biased random walk that includes group interactions. We study the ability of the group as a whole to reach a target given different levels of individual navigation error, group size, interaction radius, and environmental turbulence. In scenarios with low levels of environmental turbulence, simulation results demonstrate a navigational benefit from group membership, particularly for small group sizes. In contrast, when movement takes place in a highly turbulent environment, simulation results suggest that the best strategy is to navigate as individuals rather than as a group.

On learning navigation behaviors for small mobile robots with reservoir computing architectures.

PubMed

Antonelo, Eric Aislan; Schrauwen, Benjamin

2015-04-01

This paper proposes a general reservoir computing (RC) learning framework that can be used to learn navigation behaviors for mobile robots in simple and complex unknown partially observable environments. RC provides an efficient way to train recurrent neural networks by letting the recurrent part of the network (called reservoir) be fixed while only a linear readout output layer is trained. The proposed RC framework builds upon the notion of navigation attractor or behavior that can be embedded in the high-dimensional space of the reservoir after learning. The learning of multiple behaviors is possible because the dynamic robot behavior, consisting of a sensory-motor sequence, can be linearly discriminated in the high-dimensional nonlinear space of the dynamic reservoir. Three learning approaches for navigation behaviors are shown in this paper. The first approach learns multiple behaviors based on the examples of navigation behaviors generated by a supervisor, while the second approach learns goal-directed navigation behaviors based only on rewards. The third approach learns complex goal-directed behaviors, in a supervised way, using a hierarchical architecture whose internal predictions of contextual switches guide the sequence of basic navigation behaviors toward the goal.

Limitations of navigation through Nubaria canal, Egypt.

PubMed

Samuel, Magdy G

2014-03-01

Alexandria port is the main Egyptian port at the Mediterranean Sea. It is connected to the Nile River through Nubaria canal, which is a main irrigation canal. The canal was designed to irrigate eight hundred thousand acres of agricultural lands, along its course which extends 100 km. The canal has three barrages and four locks to control the flow and allow light navigation by some small barges. Recently, it was decided to improve the locks located on the canal. More than 40 million US$ was invested in these projects. This decision was taken to allow larger barges and increase the transported capacity through the canal. On the other hand, navigation through canals and restricted shallow waterways is affected by several parameters related to both the channel and the vessel. Navigation lane width as well as vessel speed and maneuverability are affected by both the channel and vessel dimensions. Moreover, vessel dimensions and speed will affect the canal stability. In Egypt, there are no guide rules for navigation through narrow and shallow canals such Nubaria. This situation threatens the canal stability and safety of navigation through it. This paper discussed the characteristics of Nubaria canal and the guide rules for navigation in shallow restricted water ways. Dimensions limitation for barges navigating through Nubaria canal is presented. New safe operation rules for navigation in Nubaria canal are also presented. Moreover, the implication of navigation through locks on canal discharge is estimated.

Simulation of a navigator algorithm for a low-cost GPS receiver

NASA Technical Reports Server (NTRS)

Hodge, W. F.

1980-01-01

The analytical structure of an existing navigator algorithm for a low cost global positioning system receiver is described in detail to facilitate its implementation on in-house digital computers and real-time simulators. The material presented includes a simulation of GPS pseudorange measurements, based on a two-body representation of the NAVSTAR spacecraft orbits, and a four component model of the receiver bias errors. A simpler test for loss of pseudorange measurements due to spacecraft shielding is also noted.

Egnos-Based Multi-Sensor Accurate and Reliable Navigation in Search-And Missions with Uavs

NASA Astrophysics Data System (ADS)

Molina, P.; Colomina, I.; Vitoria, T.; Silva, P. F.; Stebler, Y.; Skaloud, J.; Kornus, W.; Prades, R.

2011-09-01

This paper will introduce and describe the goals, concept and overall approach of the European 7th Framework Programme's project named CLOSE-SEARCH, which stands for 'Accurate and safe EGNOS-SoL Navigation for UAV-based low-cost SAR operations'. The goal of CLOSE-SEARCH is to integrate in a helicopter-type unmanned aerial vehicle, a thermal imaging sensor and a multi-sensor navigation system (based on the use of a Barometric Altimeter (BA), a Magnetometer (MAGN), a Redundant Inertial Navigation System (RINS) and an EGNOS-enabled GNSS receiver) with an Autonomous Integrity Monitoring (AIM) capability, to support the search component of Search-And-Rescue operations in remote, difficult-to-access areas and/or in time critical situations. The proposed integration will result in a hardware and software prototype that will demonstrate an end-to-end functionality, that is to fly in patterns over a region of interest (possibly inaccessible) during day or night and also under adverse weather conditions and locate there disaster survivors or lost people through the detection of the body heat. This paper will identify the technical challenges of the proposed approach, from navigating with a BA/MAGN/RINS/GNSS-EGNOSbased integrated system to the interpretation of thermal images for person identification. Moreover, the AIM approach will be described together with the proposed integrity requirements. Finally, this paper will show some results obtained in the project during the first test campaign performed on November 2010. On that day, a prototype was flown in three different missions to assess its high-level performance and to observe some fundamental mission parameters as the optimal flying height and flying speed to enable body recognition. The second test campaign is scheduled for the end of 2011.

PATIENT NAVIGATION

PubMed Central

Wells, Kristen J.; Battaglia, Tracy A.; Dudley, Donald J.; Garcia, Roland; Greene, Amanda; Calhoun, Elizabeth; Mandelblatt, Jeanne S.; Paskett, Electra D.; Raich, Peter C.

2008-01-01

Background First implemented in 1990, patient navigation interventions are emerging as an approach to reduce cancer disparities. However, there is lack of consensus about how patient navigation is defined, what patient navigators do, and what their qualifications should be. Little is known about the efficacy and cost effectiveness of patient navigation. Methods We conducted a qualitative synthesis of published literature on cancer patient navigation. Using the keywords “navigator” or “navigation” and “cancer,” we identified 45 articles from Pubmed and reference searches that were published or in press through October 2007. 16 provided data on efficacy of navigation in improving timeliness and receipt of cancer screening, diagnostic follow-up care, and treatment. Patient navigation services are defined and differentiated from other outreach services. Results Overall there is evidence for some degree of efficacy for patient navigation in increasing participation in cancer screening and adherence to diagnostic follow-up care following an abnormality, with increases in screening ranging from 10.8% to 17.1% and increases in adherence to diagnostic follow-up care ranging from 21% to 29.2%, when compared to control patients. There is less evidence regarding efficacy of patient navigation in reducing either late stage cancer diagnosis or delays in initiation of cancer treatment or improving outcomes during cancer survivorship. There were methodological limitations in most studies, such as lack of control groups, small sample sizes, and contamination with other interventions. Conclusions Although cancer-related patient navigation interventions are being increasingly adopted across the U.S. and Canada, further research is necessary to evaluate their efficacy and cost-effectiveness in improving cancer care. PMID:18780320

Amblypygids: Model Organisms for the Study of Arthropod Navigation Mechanisms in Complex Environments?

PubMed Central

Wiegmann, Daniel D.; Hebets, Eileen A.; Gronenberg, Wulfila; Graving, Jacob M.; Bingman, Verner P.

2016-01-01

Navigation is an ideal behavioral model for the study of sensory system integration and the neural substrates associated with complex behavior. For this broader purpose, however, it may be profitable to develop new model systems that are both tractable and sufficiently complex to ensure that information derived from a single sensory modality and path integration are inadequate to locate a goal. Here, we discuss some recent discoveries related to navigation by amblypygids, nocturnal arachnids that inhabit the tropics and sub-tropics. Nocturnal displacement experiments under the cover of a tropical rainforest reveal that these animals possess navigational abilities that are reminiscent, albeit on a smaller spatial scale, of true-navigating vertebrates. Specialized legs, called antenniform legs, which possess hundreds of olfactory and tactile sensory hairs, and vision appear to be involved. These animals also have enormous mushroom bodies, higher-order brain regions that, in insects, integrate contextual cues and may be involved in spatial memory. In amblypygids, the complexity of a nocturnal rainforest may impose navigational challenges that favor the integration of information derived from multimodal cues. Moreover, the movement of these animals is easily studied in the laboratory and putative neural integration sites of sensory information can be manipulated. Thus, amblypygids could serve as model organisms for the discovery of neural substrates associated with a unique and potentially sophisticated navigational capability. The diversity of habitats in which amblypygids are found also offers an opportunity for comparative studies of sensory integration and ecological selection pressures on navigation mechanisms. PMID:27014008

Sentinel lymph node navigation surgery for gastric cancer: Does it really benefit the patient?

PubMed

Tani, Tohru; Sonoda, Hiromichi; Tani, Masaji

2016-03-14

Sentinel lymph node (SLN) navigation surgery is accepted as a standard treatment procedure for malignant melanoma and breast cancer. However, the benefit of reduced lymphadenectomy based on SLN examination remains unclear in cases of gastric cancer. Here, we review previous studies to determine whether SLN navigation surgery is beneficial for gastric cancer patients. Recently, a large-scale prospective study from the Japanese Society of Sentinel Node Navigation Surgery reported that the endoscopic dual tracer method, using a dye and radioisotope for SLN biopsy, was safe and effective when applied to cases of superficial and relatively small gastric cancers. SLN mapping with SLN basin dissection was preferred for early gastric cancer since it is minimally invasive. However, previous studies reported that limited gastrectomy and lymphadenectomy may not improve the patient's postoperative quality of life (QOL). As a result, the benefit of SLN navigation surgery for gastric cancer patients, in terms of their QOL, is limited. Thus, endoscopic and laparoscopic limited gastrectomy combined with SLN navigation surgery has the potential to become the standard minimally invasive surgery in early gastric cancer.

A real-time algorithm for integrating differential satellite and inertial navigation information during helicopter approach. M.S. Thesis

NASA Technical Reports Server (NTRS)

Hoang, TY

1994-01-01

A real-time, high-rate precision navigation Kalman filter algorithm is developed and analyzed. This Navigation algorithm blends various navigation data collected during terminal area approach of an instrumented helicopter. Navigation data collected include helicopter position and velocity from a global position system in differential mode (DGPS) as well as helicopter velocity and attitude from an inertial navigation system (INS). The goal of the Navigation algorithm is to increase the DGPS accuracy while producing navigational data at the 64 Hertz INS update rate. It is important to note that while the data was post flight processed, the Navigation algorithm was designed for real-time analysis. The design of the Navigation algorithm resulted in a nine-state Kalman filter. The Kalman filter's state matrix contains position, velocity, and velocity bias components. The filter updates positional readings with DGPS position, INS velocity, and velocity bias information. In addition, the filter incorporates a sporadic data rejection scheme. This relatively simple model met and exceeded the ten meter absolute positional requirement. The Navigation algorithm results were compared with truth data derived from a laser tracker. The helicopter flight profile included terminal glideslope angles of 3, 6, and 9 degrees. Two flight segments extracted during each terminal approach were used to evaluate the Navigation algorithm. The first segment recorded small dynamic maneuver in the lateral plane while motion in the vertical plane was recorded by the second segment. The longitudinal, lateral, and vertical averaged positional accuracies for all three glideslope approaches are as follows (mean plus or minus two standard deviations in meters): longitudinal (-0.03 plus or minus 1.41), lateral (-1.29 plus or minus 2.36), and vertical (-0.76 plus or minus 2.05).

Unraveling navigational strategies in migratory insects

PubMed Central

Merlin, Christine; Heinze, Stanley; Reppert, Steven M.

2011-01-01

Long-distance migration is a strategy some animals use to survive a seasonally changing environment. To reach favorable grounds, migratory animals have evolved sophisticated navigational mechanisms that rely on a map and compasses. In migratory insects, the existence of a map sense (sense of position) remains poorly understood, but recent work has provided new insights into the mechanisms some compasses use for maintaining a constant bearing during long-distance navigation. The best-studied directional strategy relies on a time-compensated sun compass, used by diurnal insects, for which neural circuits have begun to be delineated. Yet, a growing body of evidence suggests that migratory insects may also rely on other compasses that use night sky cues or the Earth's magnetic field. Those mechanisms are ripe for exploration. PMID:22154565

Autonomous Precision Landing and Hazard Avoidance Technology (ALHAT) Project Status as of May 2010

NASA Technical Reports Server (NTRS)

Striepe, Scott A.; Epp, Chirold D.; Robertson, Edward A.

2010-01-01

This paper includes the current status of NASA s Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) Project. The ALHAT team has completed several flight tests and two major design analysis cycles. These tests and analyses examine terrain relative navigation sensors, hazard detection and avoidance sensors and algorithms, and hazard relative navigation algorithms, and the guidance and navigation system using these ALHAT functions. The next flight test is scheduled for July 2010. The paper contains results from completed flight tests and analysis cycles. ALHAT system status, upcoming tests and analyses is also addressed. The current ALHAT plans as of May 2010 are discussed. Application of the ALHAT system to landing on bodies other than the Moon is included

Body weight and composition dynamics of fall migrating canvasbacks

USGS Publications Warehouse

Serie, J.R.; Sharp, D.E.

1989-01-01

We studied body weights and composition of canvasbacks (Aythya valisineria) during fall migration 1975-77 on stopover sites along the upper Mississippi River near La Crosse, Wisconsin (Navigational Pools 7 and 8) and Keokuk, Iowa (Navigational Pool 19). Body weights varied (P < 0.001) by age and sex without interaction. Weights varied by year (P < 0.001) on Pools 7 and 8. Mean weights increased (P < 0.01) within age and sex classes by date and averaged 3.6 and 2.7 g daily on Pools 7 and 8 and Pool 19, respectively. Percent fat was highly correlated (P < 0.001) with carcass weight for each age and sex. Live weight was a good predictor of total body fat. Mean estimated total body fat ranged from 200 to 300 g and comprised 15-20% of live weights among age and sex classes. Temporal weight patterns were less variable for adults than immatures, but generally increased during migration. Length of stopover varied inversely with fat reserves among color-marked adult males. Variation in fat condition of canvasbacks during fall may explain the mechanism regulating population ingress and egress on stopover sites. Fat reserves attained by canvasbacks during fall stopover may have adaptive significance in improving survival by conditioning for winter.

75 FR 15343 - Regulated Navigation Area: Narragansett Bay, RI and Mount Hope Bay, RI and MA, Including the...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-03-29

... the transit, and a requirement to maintain a minimum underkeel clearance to prevent groundings. Based...' at Mean Lower Low Water (MLLW), and a minimum channel width of 600'. While most shoaling was removed... number of small entities. The term ``small entities'' comprises small businesses, not-for-profit...

Keep Your Small Network Sailing Safely in Dangerous Waters

ERIC Educational Resources Information Center

Semmelroth, Jim

2006-01-01

Asmall library's essential technical problem is that it has to chart a course through the technology shoals without a navigator on board. Small libraries in small towns often have a very low level of technical skill on staff. Furthermore, obtaining skilled technical support can frequently be pretty expensive. Even when one is available, a clever…

Gravity

NASA Astrophysics Data System (ADS)

Poisson, Eric; Will, Clifford M.

2014-05-01

Preface; 1. Foundations of Newtonian gravity; 2. Structure of self-gravitating bodies; 3. Newtonian orbital dynamics; 4. Minkowski spacetime; 5. Curved spacetime; 6. Post-Minkowskian theory: formulation; 7. Post-Minkowskian theory: implementation; 8. Post-Newtonian theory: fundamentals; 9. Post-Newtonian theory: system of isolated bodies; 10. Post-Newtonian celestial mechanics, astrometry and navigation; 11. Gravitational waves; 12. Radiative losses and radiation reaction; 13. Alternative theories of gravity; References; Index.

Health Insurance Exchanges: Health Insurance Navigators and In-Person Assistance

DTIC Science & Technology

2013-09-25

apply for coverage through the exchanges may be eligible for small business tax credits.5 Consumers may apply for coverage over the phone, online , via...more recent CMS announcements reference 20-30 hours of training. 47 The Medicare Learning Network online navigator training is estimated to take 20...about scam artists seeking to obtain personal information under the guise of verifying information regarding ACA coverage.114

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.

The mini-O, a digital superhet, or a truly low-cost Omega navigation receiver

NASA Technical Reports Server (NTRS)

Burhans, R. W.

1975-01-01

A quartz tuning fork filter circuit and some unique CMOS clock logic methods provide a very simple OMEGA-VLF receiver with true hyperbolic station pair phase difference outputs. An experimental system was implemented on a single battery-operated circuit board requiring only an external antenna preamplifier, and LOP output recorder. A bench evaluation and preliminary navigation tests indicate the technique is viable and can provide very low-cost OMEGA measurement systems. The method is promising for marine use with small boats in the present form, but might be implemented in conjunction with digital microprocessors for airborne navigation aids.

HealthCyberMap: a semantic visual browser of medical Internet resources based on clinical codes and the human body metaphor.

PubMed

Kamel Boulos, Maged N; Roudsari, Abdul V; Carso N, Ewart R

2002-12-01

HealthCyberMap (HCM-http://healthcybermap.semanticweb.org) is a web-based service for healthcare professionals and librarians, patients and the public in general that aims at mapping parts of the health information resources in cyberspace in novel ways to improve their retrieval and navigation. HCM adopts a clinical metadata framework built upon a clinical coding ontology for the semantic indexing, classification and browsing of Internet health information resources. A resource metadata base holds information about selected resources. HCM then uses GIS (Geographic Information Systems) spatialization methods to generate interactive navigational cybermaps from the metadata base. These visual cybermaps are based on familiar medical metaphors. HCM cybermaps can be considered as semantically spatialized, ontology-based browsing views of the underlying resource metadata base. Using a clinical coding scheme as a metric for spatialization ('semantic distance') is unique to HCM and is very much suited for the semantic categorization and navigation of Internet health information resources. Clinical codes ensure reliable and unambiguous topical indexing of these resources. HCM also introduces a useful form of cyberspatial analysis for the detection of topical coverage gaps in the resource metadata base using choropleth (shaded) maps of human body systems.

[Virtual endoscopic navigation and body transparency based on computed tomography. A step towards in vivo imaging].

PubMed

Cabanis, Emmanuel-Alain; Gombergh, Rodolphe; Castro, Albert; Gandjbakhch, Iradj; Iba-Zizen, Marie-Thérèse; Dubois, François

2011-06-01

Progress in HR-CTdata processing has led to lower X-ray exposure and to better diagnostic performance. We describe 19 adult patients (among 5000) examined by HR CT with 64 detectors, acquisition and exposure protocols in mSv, spiral, 0.6-mm slices, 5To PACS. After the two usual processing steps (60 gray values, 5122 and 10242 matrices, dedicated workstations for coronaroscopy and virtual coloscopy, 2D multiplanar reformation, surfacic, 3D volumes with dissection and navigation), a third original data processing step on additional workstations was added. Variable matrix extrapolated images, flexible colored curves (different from anatomical conventions), lighting (sources) and transparencies (unavailable with traditional endoscopy) were used. The digital film is a 16-minute "journey "consisting of 19 endo-body navigations in 5 regions, from the head to the bronchi, from the heart to the coronary arteries, and from the digestive tract to the abdomen and pelvis. One possible application is post-operative verification of an aortic graft. The movie is illustrated here with ten plates. This new approach is cost-effective and beneficial for the patient, in terms of early diagnosis and therapeutic follow-up. Ethical issues are also examined.

Extraction of user's navigation commands from upper body force interaction in walker assisted gait.

PubMed

Frizera Neto, Anselmo; Gallego, Juan A; Rocon, Eduardo; Pons, José L; Ceres, Ramón

2010-08-05

The advances in technology make possible the incorporation of sensors and actuators in rollators, building safer robots and extending the use of walkers to a more diverse population. This paper presents a new method for the extraction of navigation related components from upper-body force interaction data in walker assisted gait. A filtering architecture is designed to cancel: (i) the high-frequency noise caused by vibrations on the walker's structure due to irregularities on the terrain or walker's wheels and (ii) the cadence related force components caused by user's trunk oscillations during gait. As a result, a third component related to user's navigation commands is distinguished. For the cancelation of high-frequency noise, a Benedict-Bordner g-h filter was designed presenting very low values for Kinematic Tracking Error ((2.035 +/- 0.358).10(-2) kgf) and delay ((1.897 +/- 0.3697).10(1)ms). A Fourier Linear Combiner filtering architecture was implemented for the adaptive attenuation of about 80% of the cadence related components' energy from force data. This was done without compromising the information contained in the frequencies close to such notch filters. The presented methodology offers an effective cancelation of the undesired components from force data, allowing the system to extract in real-time voluntary user's navigation commands. Based on this real-time identification of voluntary user's commands, a classical approach to the control architecture of the robotic walker is being developed, in order to obtain stable and safe user assisted locomotion.

What Makes Us Itch?

MedlinePlus

... the AAAAI Foundation Donate Utility navigation Español Journals Pollen Counts Annual Meeting Member Login / My Membership Search ... body during allergic reactions, such as those to pollen, food, latex and medications. Types of Itch Pruriceptive ...

Older Adults and Food Safety

MedlinePlus

... bodies are less able to combat bacteria. For example, there is a decrease in stomach acid secretion, ... Civil Rights | No FEAR | Information Quality Complementary Content ${title} ${loading} ${title} ${loading} ibmCfg.controllers.navigation true true ...

STEPPING - Smartphone-Based Portable Pedestrian Indoor Navigation

NASA Astrophysics Data System (ADS)

Lukianto, C.; Sternberg, H.

2011-12-01

Many current smartphones are fitted with GPS receivers, which, in combination with a map application form a pedestrian navigation system for outdoor purposes. However, once an area with insufficient satellite signal coverage is entered, these navigation systems cease to function. For indoor positioning, there are already several solutions available which are usually based on measured distances to reference points. These solutions can achieve resolutions as low as the sub-millimetre range depending on the complexity of the set-up. STEPPING project, developed at HCU Hamburg Germany aims at designing an indoor navigation system consisting of a small inertial navigation system and a new, robust sensor fusion algorithm running on a current smartphone. As this system is theoretically able to integrate any available positioning method, it is independent of a particular method and can thus be realized on a smartphone without affecting user mobility. Potential applications include --but are not limited to: Large trade fairs, airports, parking decks and shopping malls, as well as ambient assisted living scenarios.

Surgical tool alignment guidance by drawing two cross-sectional laser-beam planes.

PubMed

Nakajima, Yoshikazu; Dohi, Takeyoshi; Sasama, Toshihiko; Momoi, Yasuyuki; Sugano, Nobuhiko; Tamura, Yuichi; Lim, Sung-hwan; Sakuma, Ichiro; Mitsuishi, Mamoru; Koyama, Tsuyoshi; Yonenobu, Kazuo; Ohashi, Satoru; Bessho, Masahiko; Ohnishi, Isao

2013-06-01

Conventional surgical navigation requires for surgeons to move their sight and conscious off the surgical field when checking surgical tool's positions shown on the display panel. Since that takes high risks of surgical exposure possibilities to the patient's body, we propose a novel method for guiding surgical tool position and orientation directly in the surgical field by a laser beam. In our navigation procedure, two cross-sectional planar laser beams are emitted from the two laser devices attached onto both sides of an optical localizer, and show surgical tool's entry position on the patient's body surface and its orientation on the side face of the surgical tool. In the experiments, our method gave the surgeons precise and accurate surgical tool adjusting and showed the feasibility to apply to both of open and percutaneous surgeries.

Ultra-minimally invasive local immune cell therapy and regenerative therapy by multi-piercing surgery for abdominal solid tumor: therapeutic simulation by natural orifice translumenal endoscopic surgery-assisted needlescopic surgery using 3-mm diameter robots.

PubMed

Ohdaira, Takeshi; Tsutsumi, Norifumi; Xu, Hao; Mori, Megumu; Uemura, Munenori; Ieiri, Satoshi; Hashizume, Makoto

2011-07-01

We have invented multi-piercing surgery (MPS) which could potentially solve the triangular formation loss and device clashing which occur in single-port surgery (SPS), as well as restricted visual field, organ damage by needle-type instruments, and impaired removal of a resected organ from the body which occur in needlescopic surgery (NS). MPS is natural orifice translumenal endoscopic surgery (NOTES)-assisted NS. We used 3-mm diameter robots as needle-type instruments for MPS to examine the possibility of local immune cell therapy and regenerative therapy using stem cells for pancreatic cancer. In MPS using two robots, the therapeutic cell suspension was injected into a target region of pancreas in two pigs. Both retention of a capsule of liquid cell suspension and invasive level were evaluated. Triangular formation could be ensured. The use of small-diameter robots allowed (1) the surgical separation of the pancreas and the retroperitoneum, and (2) the formation of the capsule containing the immune cell and stem cell suspension. The endoscope for NOTES provided a clear visual field and also assisted the removal of a resected organ from the body. The visual field of the endoscope could be oriented well by using an electromagnetic navigation system. MPS using small-diameter robots could potentially solve the issues inherent in SPS and NS and could allow minimally invasive local immune cell and stem cell therapy.

Basic research and 12 years of clinical experience in computer-assisted navigation technology: a review.

PubMed

Ewers, R; Schicho, K; Undt, G; Wanschitz, F; Truppe, M; Seemann, R; Wagner, A

2005-01-01

Computer-aided surgical navigation technology is commonly used in craniomaxillofacial surgery. It offers substantial improvement regarding esthetic and functional aspects in a range of surgical procedures. Based on augmented reality principles, where the real operative site is merged with computer generated graphic information, computer-aided navigation systems were employed, among other procedures, in dental implantology, arthroscopy of the temporomandibular joint, osteotomies, distraction osteogenesis, image guided biopsies and removals of foreign bodies. The decision to perform a procedure with or without computer-aided intraoperative navigation depends on the expected benefit to the procedure as well as on the technical expenditure necessary to achieve that goal. This paper comprises the experience gained in 12 years of research, development and routine clinical application. One hundred and fifty-eight operations with successful application of surgical navigation technology--divided into five groups--are evaluated regarding the criteria "medical benefit" and "technical expenditure" necessary to perform these procedures. Our results indicate that the medical benefit is likely to outweight the expenditure of technology with few exceptions (calvaria transplant, resection of the temporal bone, reconstruction of the orbital floor). Especially in dental implantology, specialized software reduces time and additional costs necessary to plan and perform procedures with computer-aided surgical navigation.

A Direct and Non-Singular UKF Approach Using Euler Angle Kinematics for Integrated Navigation Systems

PubMed Central

Ran, Changyan; Cheng, Xianghong

2016-01-01

This paper presents a direct and non-singular approach based on an unscented Kalman filter (UKF) for the integration of strapdown inertial navigation systems (SINSs) with the aid of velocity. The state vector includes velocity and Euler angles, and the system model contains Euler angle kinematics equations. The measured velocity in the body frame is used as the filter measurement. The quaternion nonlinear equality constraint is eliminated, and the cross-noise problem is overcome. The filter model is simple and easy to apply without linearization. Data fusion is performed by an UKF, which directly estimates and outputs the navigation information. There is no need to process navigation computation and error correction separately because the navigation computation is completed synchronously during the filter time updating. In addition, the singularities are avoided with the help of the dual-Euler method. The performance of the proposed approach is verified by road test data from a land vehicle equipped with an odometer aided SINS, and a singularity turntable test is conducted using three-axis turntable test data. The results show that the proposed approach can achieve higher navigation accuracy than the commonly-used indirect approach, and the singularities can be efficiently removed as the result of dual-Euler method. PMID:27598169

Advancing Navigation, Timing, and Science with the Deep Space Atomic Clock

NASA Technical Reports Server (NTRS)

Ely, Todd A.; Seubert, Jill; Bell, Julia

2014-01-01

NASA's Deep Space Atomic Clock mission is developing a small, highly stable mercury ion atomic clock with an Allan deviation of at most 1e-14 at one day, and with current estimates near 3e-15. This stability enables one-way radiometric tracking data with accuracy equivalent to and, in certain conditions, better than current two-way deep space tracking data; allowing a shift to a more efficient and flexible one-way deep space navigation architecture. DSAC-enabled one-way tracking will benefit navigation and radio science by increasing the quantity and quality of tracking data. Additionally, DSAC would be a key component to fully-autonomous onboard radio navigation useful for time-sensitive situations. Potential deep space applications of DSAC are presented, including orbit determination of a Mars orbiter and gravity science on a Europa flyby mission.

Brain connectivity during encoding and retrieval of spatial information: individual differences in navigation skills.

PubMed

Sharma, Greeshma; Gramann, Klaus; Chandra, Sushil; Singh, Vijander; Mittal, Alok Prakash

2017-09-01

Emerging evidence suggests that the variations in the ability to navigate through any real or virtual environment are accompanied by distinct underlying cortical activations in multiple regions of the brain. These activations may appear due to the use of different frame of reference (FOR) for representing an environment. The present study investigated the brain dynamics in the good and bad navigators using Graph Theoretical analysis applied to low-density electroencephalography (EEG) data. Individual navigation skills were rated according to the performance in a virtual reality (VR)-based navigation task and the effect of navigator's proclivity towards a particular FOR on the navigation performance was explored. Participants were introduced to a novel virtual environment that they learned from a first-person or an aerial perspective and were subsequently assessed on the basis of efficiency with which they learnt and recalled. The graph theoretical parameters, path length (PL), global efficiency (GE), and clustering coefficient (CC) were computed for the functional connectivity network in the theta and alpha frequency bands. During acquisition of the spatial information, good navigators were distinguished by a lower degree of dispersion in the functional connectivity compared to the bad navigators. Within the groups of good and bad navigators, better performers were characterised by the formation of multiple hubs at various sites and the percentage of connectivity or small world index. The proclivity towards a specific FOR during exploration of a new environment was not found to have any bearing on the spatial learning. These findings may have wider implications for how the functional connectivity in the good and bad navigators differs during spatial information acquisition and retrieval in the domains of rescue operations and defence systems.

Environmental influences on small eating behavior change to promote weight loss among Black and Hispanic populations.

PubMed

Eldridge, Johanna D; Devine, Carol M; Wethington, Elaine; Aceves, Luz; Phillips-Caesar, Erica; Wansink, Brian; Charlson, Mary E

2016-01-01

Small eating behavior changes are proposed as more feasible to achieve and maintain than larger changes used in traditional behavioral weight loss studies. However, it is unclear whether overweight Black and Hispanic adults in a low-income urban setting experience small changes as feasible and what might influence feasibility. Participants' experiences in a 12-week pilot weight loss intervention were explored qualitatively to determine the feasibility of making small eating behavior changes in this population. After the intervention (69% retention), semi-structured interviews with 46 men and women (mean age 51, 50% Non-Hispanic Black, 43% Hispanic) revealed that making small eating changes was a process shaped by participants' intrapersonal and interpersonal eating environments. Participants responded to intrapersonal and interpersonal eating environmental challenges by adapting small change strategies, navigating eating environments, and negotiating household eating practices. Findings highlight how even small eating behavior changes called for adaptation, navigation, and negotiation of complex eating environments in daily life. These findings were used to improve the trial that followed and underline the importance of feasibility studies to inform community trials. Findings also add to understanding of contextual challenges and the skills needed to implement small changes in a low income, ethnic minority population. Copyright © 2015. Published by Elsevier Ltd.

Environmental influences on small eating behavior change to promote weight loss among Black and Hispanic populations

PubMed Central

Eldridge, Johanna D.; Devine, Carol M.; Wethington, Elaine; Aceves, Luz; Phillips-Caesar, Erica; Wansink, Brian; Charlson, Mary E.

2015-01-01

Small eating behavior changes are proposed as more feasible to achieve and maintain than larger changes used in traditional behavioral weight loss studies. However, it is unclear whether overweight Black and Hispanic adults in a low-income urban setting experience small changes as feasible and what might influence feasibility. Participants' experiences in a 12-week pilot weight loss intervention were explored qualitatively to determine the feasibility of making small eating behavior changes in this population. After the intervention (69% retention), semi-structured interviews with 46 men and women (mean age 51, 50% Non-Hispanic Black, 43% Hispanic) revealed that making small eating changes was a process shaped by participants' intrapersonal and interpersonal eating environments. Participants responded to intrapersonal and interpersonal eating environmental challenges by adapting small change strategies, navigating eating environments, and negotiating household eating practices. Findings highlight how even small eating behavior changes called for adaptation, navigation, and negotiation of complex eating environments in daily life. These findings were used to improve the trial that followed and underline the importance of feasibility studies to inform community trials. Findings also add to understanding of contextual challenges and the skills needed to implement small changes in a low income, ethnic minority population. PMID:26368577

Micro-navigation in complex periodic environments

NASA Astrophysics Data System (ADS)

Chamolly, Alexander; Ishikawa, Takuji; Lauga, Eric

2017-11-01

Natural and artificial small-scale swimmers may often self-propel in environments subject to complex geometrical constraints. While most past theoretical work on low-Reynolds number locomotion addressed idealised geometrical situations, not much is known on the motion of swimmers in heterogeneous environments. We investigate theoretically and numerically the behaviour of a single spherical micro-swimmer located in an infinite, periodic body-centred cubic lattice consisting of rigid inert spheres of the same size as the swimmer. We uncover a surprising and complex phase diagram of qualitatively different trajectories depending on the lattice packing density and swimming actuation strength. These results are then rationalised using hydrodynamic theory. In particular we show that the far-field nature of the swimmer (pusher vs. puller) governs the behaviour even at high volume fractions. ERC Grant PhyMeBa (682754, EL); JSPS Grant-in-Aid for Scientific Research (A) (17H00853, TI).

Rho and Ras GTPases in Axon Growth, Guidance, and Branching

PubMed Central

Hall, Alan; Lalli, Giovanna

2010-01-01

The establishment of precise neuronal cell morphology provides the foundation for all aspects of neurobiology. During development, axons emerge from cell bodies after an initial polarization stage, elongate, and navigate towards target regions guided by a range of environmental cues. The Rho and Ras families of small GTPases have emerged as critical players at all stages of axonogenesis. Their ability to coordinately direct multiple signal transduction pathways with precise spatial control drives many of the activities that underlie this morphogenetic program: the dynamic assembly, disassembly, and reorganization of the actin and microtubule cytoskeletons, the interaction of the growing axon with other cells and extracellular matrix, the delivery of lipids and proteins to the axon through the exocytic machinery, and the internalization of membrane and proteins at the leading edge of the growth cone through endocytosis. This article highlights the contribution of Rho and Ras GTPases to axonogenesis. PMID:20182621

Magnetic navigation in patients with coronary artery bypass grafting.

PubMed

Ramcharitar, Steve; van Geuns, Robert-Jan

2009-05-01

Magnetic navigation (MN) can precisely control a percutaneous coronary interventions (PCI) guidewire or a device in three-dimensional space within the body without requiring reshaping of the tip to access vessels or areas of the heart that are often challenging using conventional wires. In this article we review and report on the use of magnetic navigation system in secondary revascularisation of coronary arterial bypass grafts (CABG). MN was successfully used in the secondary revascularisation of failed conventional CABG cases. Retrograde PCI through a LIMA is not only feasible but the wires can manage complex stenoses involving a bifurcation by using 3D reconstruction software. Difficult anatomies such as a hairpin bend as highlighted in this paper found at a saphenous vein graft (SVG) anastomosis can be overcome by co-integrating a CTCA 3D dataset for navigation. Preliminary data supports potential advantages in reduction of contrast media usage, crossing and fluoroscopy times and suggest that larger randomised studies are warranted.

Thoracic, Lumbar, and Sacral Pedicle Screw Placement Using Stryker-Ziehm Virtual Screw Technology and Navigated Stryker Cordless Driver 3: Technical Note.

PubMed

Satarasinghe, Praveen; Hamilton, Kojo D; Tarver, Michael J; Buchanan, Robert J; Koltz, Michael T

2018-04-17

Utilization of pedicle screws (PS) for spine stabilization is common in spinal surgery. With reliance on visual inspection of anatomical landmarks prior to screw placement, the free-hand technique requires a high level of surgeon skill and precision. Three-dimensional (3D), computer-assisted virtual neuronavigation improves the precision of PS placement and minimization steps. Twenty-three patients with degenerative, traumatic, or neoplastic pathologies received treatment via a novel three-step PS technique that utilizes a navigated power driver in combination with virtual screw technology. (1) Following visualization of neuroanatomy using intraoperative CT, a navigated 3-mm match stick drill bit was inserted at an anatomical entry point with a screen projection showing a virtual screw. (2) A Navigated Stryker Cordless Driver with an appropriate tap was used to access the vertebral body through a pedicle with a screen projection again showing a virtual screw. (3) A Navigated Stryker Cordless Driver with an actual screw was used with a screen projection showing the same virtual screw. One hundred and forty-four consecutive screws were inserted using this three-step, navigated driver, virtual screw technique. Only 1 screw needed intraoperative revision after insertion using the three-step, navigated driver, virtual PS technique. This amounts to a 0.69% revision rate. One hundred percent of patients had intraoperative CT reconstructed images taken to confirm hardware placement. Pedicle screw placement utilizing the Stryker-Ziehm neuronavigation virtual screw technology with a three step, navigated power drill technique is safe and effective.

Patient-specific instrument can achieve same accuracy with less resection time than navigation assistance in periacetabular pelvic tumor surgery: a cadaveric study.

PubMed

Wong, Kwok-Chuen; Sze, Kwan-Yik; Wong, Irene Oi-Ling; Wong, Chung-Ming; Kumta, Shekhar-Madhukar

2016-02-01

Inaccurate resection in pelvic tumors can result in compromised margins with increase local recurrence. Navigation-assisted and patient-specific instrument (PSI) techniques have recently been reported in assisting pelvic tumor surgery with the tendency of improving surgical accuracy. We examined and compared the accuracy of transferring a virtual pelvic resection plan to actual surgery using navigation-assisted or PSI technique in a cadaver study. We performed CT scan in twelve cadaveric bodies including whole pelvic bones. Either supraacetabular or partial acetabular resection was virtually planned in a hemipelvis using engineering software. The virtual resection plan was transferred to a CT-based navigation system or was used for design and fabrication of PSI. Pelvic resections were performed using navigation assistance in six cadavers and PSI in another six. Post-resection images were co-registered with preoperative planning for comparative analysis of resection accuracy in the two techniques. The mean average deviation error from the planned resection was no different ([Formula: see text]) for the navigation and the PSI groups: 1.9 versus 1.4 mm, respectively. The mean time required for the bone resection was greater ([Formula: see text]) for the navigation group than for the PSI group: 16.2 versus 1.1 min, respectively. In simulated periacetabular pelvic tumor resections, PSI technique enabled surgeons to reproduce the virtual surgical plan with similar accuracy but with less bone resection time when compared with navigation assistance. Further studies are required to investigate the clinical benefits of PSI technique in pelvic tumor surgery.

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

PubMed

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

2009-09-01

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

Pushbroom Stereo for High-Speed Navigation in Cluttered Environments

DTIC Science & Technology

2014-09-01

inertial measurement sensors such as Achtelik et al .’s implemention of PTAM (parallel tracking and mapping) [15] with a barometric altimeter, stable flights...in indoor and outdoor environments are possible [1]. With a full vison- aided inertial navigation system (VINS), Li et al . have shown remarkable...avoidance on small UAVs. Stereo systems suffer from a similar speed issue, with most modern systems running at or below 30 Hz [8], [27]. Honegger et

Unraveling navigational strategies in migratory insects.

PubMed

Merlin, Christine; Heinze, Stanley; Reppert, Steven M

2012-04-01

Long-distance migration is a strategy some animals use to survive a seasonally changing environment. To reach favorable grounds, migratory animals have evolved sophisticated navigational mechanisms that rely on a map and compasses. In migratory insects, the existence of a map sense (sense of position) remains poorly understood, but recent work has provided new insights into the mechanisms some compasses use for maintaining a constant bearing during long-distance navigation. The best-studied directional strategy relies on a time-compensated sun compass, used by diurnal insects, for which neural circuits have begun to be delineated. Yet, a growing body of evidence suggests that migratory insects may also rely on other compasses that use night sky cues or the Earth's magnetic field. Those mechanisms are ripe for exploration. Copyright © 2011 Elsevier Ltd. All rights reserved.

Coherent Doppler Lidar for Precision Navigation of Spacecrafts

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Pierrottet, Diego; Petway, Larry; Hines, Glenn; Lockhard, George; Barnes, Bruce

2011-01-01

A fiber-based coherent Doppler lidar, utilizing an FMCW technique, has been developed and its capabilities demonstrated through two successful helicopter flight test campaigns. This Doppler lidar is expected to play a critical role in future planetary exploration missions because of its ability in providing the necessary data for soft landing on the planetary bodies and for landing missions requiring precision navigation to the designated location on the ground. Compared with radars, the Doppler lidar can provide significantly higher precision velocity and altitude data at a much higher rate without concerns for measurement ambiguity or target clutter. Future work calls for testing the Doppler lidar onboard a rocket-powered free-flyer platform operating in a closed-loop with the vehicle s guidance, navigation, and control (GN&C) unit.

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

PubMed

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

2017-07-01

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

Evaluation of microwave landing system approaches in a wide-body transport simulator

NASA Technical Reports Server (NTRS)

Summers, L. G.; Feather, J. B.

1992-01-01

The objective of this study was to determine the suitability of flying complex curved approaches using the microwave landing system (MLS) with a wide-body transport aircraft. Fifty pilots in crews of two participated in the evaluation using a fixed-base simulator that emulated an MD-11 aircraft. Five approaches, consisting of one straight-in approach and four curved approaches, were flown by the pilots using a flight director. The test variables include the following: (1) manual and autothrottles; (2) wind direction; and (3) type of navigation display. The navigation display was either a map or a horizontal situation indicator (HSI). A complex wind that changed direction and speed with altitude, and included moderate turbulence, was used. Visibility conditions were Cat 1 or better. Subjective test data included pilot responses to questionnaires and pilot comments. Objective performance data included tracking accuracy, position error at decision height, and control activity. Results of the evaluation indicate that flying curved MLS approaches with a wide-body transport aircraft is operationally acceptable, depending upon the length of the final straight segment and the complexity of the approach.

The Mathematics of Navigating the Solar System

NASA Technical Reports Server (NTRS)

Hintz, Gerald

2000-01-01

In navigating spacecraft throughout the solar system, the space navigator relies on three academic disciplines - optimization, estimation, and control - that work on mathematical models of the real world. Thus, the navigator determines the flight path that will consume propellant and other resources in an efficient manner, determines where the craft is and predicts where it will go, and transfers it onto the optimal trajectory that meets operational and mission constraints. Mission requirements, for example, demand that observational measurements be made with sufficient precision that relativity must be modeled in collecting and fitting (the estimation process) the data, and propagating the trajectory. Thousands of parameters are now determined in near real-time to model the gravitational forces acting on a spacecraft in the vicinity of an irregularly shaped body. Completing these tasks requires mathematical models, analyses, and processing techniques. Newton, Gauss, Lambert, Legendre, and others are justly famous for their contributions to the mathematics of these tasks. More recently, graduate students participated in research to update the gravity model of the Saturnian system, including higher order gravity harmonics, tidal effects, and the influence of the rings. This investigation was conducted for the Cassini project to incorporate new trajectory modeling features in the navigation software. The resulting trajectory model will be used in navigating the 4-year tour of the Saturnian satellites. Also, undergraduate students are determining the ephemerides (locations versus time) of asteroids that will be used as reference objects in navigating the New Millennium's Deep Space 1 spacecraft autonomously.

Navigation concepts for MR image-guided interventions.

PubMed

Moche, Michael; Trampel, Robert; Kahn, Thomas; Busse, Harald

2008-02-01

The ongoing development of powerful magnetic resonance imaging techniques also allows for advanced possibilities to guide and control minimally invasive interventions. Various navigation concepts have been described for practically all regions of the body. The specific advantages and limitations of these concepts largely depend on the magnet design of the MR scanner and the interventional environment. Open MR scanners involve minimal patient transfer, which improves the interventional workflow and reduces the need for coregistration, ie, the mapping of spatial coordinates between imaging and intervention position. Most diagnostic scanners, in contrast, do not allow the physician to guide his instrument inside the magnet and, consequently, the patient needs to be moved out of the bore. Although adequate coregistration and navigation concepts for closed-bore scanners are technically more challenging, many developments are driven by the well-known capabilities of high-field systems and their better economic value. Advanced concepts such as multimodal overlays, augmented reality displays, and robotic assistance devices are still in their infancy but might propel the use of intraoperative navigation. The goal of this work is to give an update on MRI-based navigation and related techniques and to briefly discuss the clinical experience and limitations of some selected systems. (Copyright) 2008 Wiley-Liss, Inc.

Development of Navigation Doppler Lidar for Future Landing Mission

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Hines, Glenn D.; Petway, Larry B.; Barnes, Bruce W.; Pierrottet, Diego F.; Carson, John M., III

2016-01-01

A coherent Navigation Doppler Lidar (NDL) sensor has been developed under the Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project to support future NASA missions to planetary bodies. This lidar sensor provides accurate surface-relative altitude and vector velocity data during the descent phase that can be used by an autonomous Guidance, Navigation, and Control (GN&C) system to precisely navigate the vehicle from a few kilometers above the ground to a designated location and execute a controlled soft touchdown. The operation and performance of the NDL was demonstrated through closed-loop flights onboard the rocket-propelled Morpheus vehicle in 2014. In Morpheus flights, conducted at the NASA Kennedy Space Center, the NDL data was used by an autonomous GN&C system to navigate and land the vehicle precisely at the selected location surrounded by hazardous rocks and craters. Since then, development efforts for the NDL have shifted toward enhancing performance, optimizing design, and addressing spaceflight size and mass constraints and environmental and reliability requirements. The next generation NDL, with expanded operational envelope and significantly reduced size, will be demonstrated in 2017 through a new flight test campaign onboard a commercial rocketpropelled test vehicle.

Flight Testing ALHAT Precision Landing Technologies Integrated Onboard the Morpheus Rocket Vehicle

NASA Technical Reports Server (NTRS)

Carson, John M. III; Robertson, Edward A.; Trawny, Nikolas; Amzajerdian, Farzin

2015-01-01

A suite of prototype sensors, software, and avionics developed within the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project were terrestrially demonstrated onboard the NASA Morpheus rocket-propelled Vertical Testbed (VTB) in 2014. The sensors included a LIDAR-based Hazard Detection System (HDS), a Navigation Doppler LIDAR (NDL) velocimeter, and a long-range Laser Altimeter (LAlt) that enable autonomous and safe precision landing of robotic or human vehicles on solid solar system bodies under varying terrain lighting conditions. The flight test campaign with the Morpheus vehicle involved a detailed integration and functional verification process, followed by tether testing and six successful free flights, including one night flight. The ALHAT sensor measurements were integrated into a common navigation solution through a specialized ALHAT Navigation filter that was employed in closed-loop flight testing within the Morpheus Guidance, Navigation and Control (GN&C) subsystem. Flight testing on Morpheus utilized ALHAT for safe landing site identification and ranking, followed by precise surface-relative navigation to the selected landing site. The successful autonomous, closed-loop flight demonstrations of the prototype ALHAT system have laid the foundation for the infusion of safe, precision landing capabilities into future planetary exploration missions.

Orbital motion (3rd revised and enlarged edition)

NASA Astrophysics Data System (ADS)

Roy, A. E.

The fundamental principles of celestial mechanics are discussed in an introduction for students of astronomy, aerospace engineering, and geography. Chapters are devoted to the dynamic structure of the universe, coordinate and timekeeping systems, the reduction of observational data, the two-body problem, the many-body problem, general and special perturbations, and the stability and evolution of the solar system. Consideration is given to lunar theory, artificial satellites, rocket dynamics and transfer orbits, interplanetary and lunar trajectories, orbit determination and interplanetary navigation, binaries and other few-body systems, and many-body systems of stars. Diagrams, graphs, tables, and problems with solutions are provided.

A Mindfulness Experiential Small Group to Help Students Tolerate Ambiguity

ERIC Educational Resources Information Center

Bohecker, Lynn; Vereen, Linwood G.; Wells, Pamela C.; Wathen, Cristen C.

2016-01-01

This study explored the lived experiences of 20 counselors-in-training (CITs) in a mindfulness experiential small group. Using grounded theory, the authors described a 5-dimensional model for navigating ambiguity. Findings suggest mindfulness training provides CITs self-reflection skills and a greater ability to manage cognitive complexity.

Feeding, Swimming and Navigation of Colonial Microorganisms

NASA Astrophysics Data System (ADS)

Kirkegaard, Julius; Bouillant, Ambre; Marron, Alan; Leptos, Kyriacos; Goldstein, Raymond

2016-11-01

Animals are multicellular in nature, but evolved from unicellular organisms. In the closest relatives of animals, the choanoflagellates, the unicellular species Salpincgoeca rosetta has the ability to form colonies, resembling true multicellularity. In this work we use a combination of experiments, theory, and simulations to understand the physical differences that arise from feeding, swimming and navigating as colonies instead of as single cells. We show that the feeding efficiency decreases with colony size for distinct reasons in the small and large Péclet number limits, and we find that swimming as a colony changes the conventional active random walks of microorganism to stochastic helices, but that this does not hinder effective navigation towards chemoattractants.

High-frequency imaging radar for robotic navigation and situational awareness

NASA Astrophysics Data System (ADS)

Thomas, David J.; Luo, Changan; Knox, Robert

2011-05-01

With increasingly available high frequency radar components, the practicality of imaging radar for mobile robotic applications is now practical. Navigation, ODOA, situational awareness and safety applications can be supported in small light weight packaging. Radar has the additional advantage of being able sense through aerosols, smoke and dust that can be difficult for many optical systems. The ability to directly measure the range rate of an object is also an advantage in radar applications. This paper will explore the applicability of high frequency imaging radar for mobile robotics and examine a W-band 360 degree imaging radar prototype. Indoor and outdoor performance data will be analyzed and evaluated for applicability to navigation and situational awareness.

Target contrast considerations in millimeter wave radiometry for airborne navigation

NASA Technical Reports Server (NTRS)

Mayer, A.

1971-01-01

Target signal requirements for aircraft navigation systems that use radiometric receivers which map thermally emitted power radiated by terrain or power radiated by ground-based beacons are discussed. For selected millimeter wavelength bands, microwaves suffer relatively little degradation by absorption or scattering on passage through the atmosphere, despite extreme weather variations. Interest centers on 8-millimeter waves because of component availability, portability (small size), high image resolution, and all-weather capability at this wavelength. The idea of radiometric airborne navigation is introduced. Elements of radiometry, terrain radiation, and atmospheric transmission characteristics are reviewed. Data pertaining to these elements at 8 mm wavelength are collected. Calculation of radiometric contrasts is discussed for some simple models of terrain targets.

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

NASA Technical Reports Server (NTRS)

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

1997-01-01

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

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

NASA Astrophysics Data System (ADS)

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

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

8 CFR 258.1 - Limitations-General.

Code of Federal Regulations, 2010 CFR

2010-01-01

... vessel is made fast or let go, in the United States or the coastal waters thereof. (1) Longshore work is... geographic area, either on a seacoast, lake, river, or other navigable body of water, which contains one or...

Why we need asteroid sample return mission?

NASA Astrophysics Data System (ADS)

Barucci, Maria Antonietta

2016-07-01

Small bodies retain evidence of the primordial solar nebula and the earliest solar system processes that shaped their evolution. They may also contain pre-solar material as well as complex organic molecules, which could have a major role to the development of life on Earth. For these reasons, asteroids and comets have been targets of interest for missions for over three decades. However, our knowledge of these bodies is still very limited, and each asteroid or comet visited by space mission has revealed unexpected scientific results, e.g. the structure and nature of comet 67P/Churyumov-Gerasimenko (67P/C-G) visited by the Rosetta mission. Only in the laboratory can instruments with the necessary precision and sensitivity be applied to individual components of the complex mixture of materials that forms a small body regolith, to determine their precise chemical and isotopic composition. Such measurements are vital for revealing the evidence of stellar, interstellar medium, pre-solar nebula and parent body processes that are retained in primitive material, unaltered by atmospheric entry or terrestrial contamination. For those reasons, sample return missions are considered a high priority by a number of the leading space agencies. Abundant within the inner Solar System and the main impactors on terrestrial planets, small bodies may have been the principal contributors of the water and organic material essential to create life on Earth. Small bodies can therefore be considered to be equivalent to DNA for unravelling our solar system's history, offering us a unique window to investigate both the formation of planets and the origin of life. A sample return mission to a primitive Near-Earth Asteroid (NEA) has been study at ESA from 2008 in the framework of ESA's Cosmic Vision (CV) programme, with the objective to answer to the fundamental CV questions "How does the Solar System work?" and "What are the conditions for life and planetary formations?". The returned material will allow us to study in terrestrial laboratories some of the most primitive materials available to investigate early solar system formation processes, to explore initial stages of habitable planet formation, to identify and characterize the organics and volatiles in a primitive asteroid. The ideal easy target body for such mission is a D type NEA. D types are the most abundant asteroids beyond the outer edge of the main belt. It is likely that they formed much further out in the Solar System, possibly as far as the transneptunian objects, and were subsequently captured in their present locations following the migration of the gas giants. Spectral features indicate that these bodies are organic rich, contain fine anhydrous minerals but also may be volatile rich and appear to be the most primitive rocky material present in the solar system. In addition to addressing the major science goals, sample return mission from a NEA also involved innovative European technologies. The key sample return capabilities, i.e. asteroid navigation, touch and go, sampling mechanism and the re-entry capsule have reached at ESA a validation status to enter implementation phase. The development of sample return technology represents in Europe a crucial element for planetary science and for the space technology development.

Viscotaxis: Microswimmer Navigation in Viscosity Gradients

NASA Astrophysics Data System (ADS)

Liebchen, Benno; Monderkamp, Paul; ten Hagen, Borge; Löwen, Hartmut

2018-05-01

The survival of many microorganisms, like Leptospira or Spiroplasma bacteria, can depend on their ability to navigate towards regions of favorable viscosity. While this ability, called viscotaxis, has been observed in several bacterial experiments, the underlying mechanism remains unclear. We provide a framework to study viscotaxis of biological or synthetic self-propelled swimmers in slowly varying viscosity fields and show that suitable body shapes create viscotaxis based on a systematic asymmetry of viscous forces acting on a microswimmer. Our results shed new light on viscotaxis in Spiroplasma and Leptospira and suggest that dynamic body shape changes exhibited by both types of microorganisms may have an unrecognized functionality: to prevent them from drifting to low viscosity regions where they swim poorly. The present theory classifies microswimmers regarding their ability to show viscotaxis and can be used to design synthetic viscotactic swimmers, e.g., for delivering drugs to a target region distinguished by viscosity.

Kilohoku Ho`okele Wa`a : Astronomy of the Hawaiian Navigators

NASA Astrophysics Data System (ADS)

Slater, Stephanie; Slater, Timothy F.; Baybayan, Kalepa C.

2016-01-01

This poster provides an introduction to the astronomy of the Hawaiian wayfinders, Kilohoku Ho`okele Wa`a. Rooted in a legacy of navigation across the Polynesian triangle, wayfinding astronomy has been part of a suite of skills that allows navigators to deliberately hop between the small islands of the Pacific, for thousands of years. Forty years ago, in one manifestation of the Hawaiian Renaissance, our teachers demonstrated that ancient Hawaiians were capable of traversing the wide Pacific to settle and trade on islands separated by thousands of miles. Today those same mentors train a new generation of navigators, making Hawaiian voyaging a living, evolving, sustainable endeavor. This poster presents two components of astronomical knowledge that all crewmen, but particularly those in training to become navigators, learn early in their training. Na Ohana Hoku, the Hawaiian Star Families constitute the basic units of the Hawaiian sky. In contrast to the Western system of 88 constellations, Na Ohana Hoku divides the sky into four sections that each run from the northern to the southern poles. This configuration reduces cognitive load, allowing the navigator to preserve working memory for other complex tasks. In addition, these configurations of stars support the navigator in finding and generatively using hundreds of individual, and navigationally important pairs of stars. The Hawaiian Star Compass divides the celestial sphere into a directional system that uses 32 rather than 8 cardinal points. Within the tropics, the rising and setting of celestial objects are consistent within the Hawaiian Star Compass, providing for extremely reliable direction finding. Together, Na Ohana Hoku and the Hawaiian Star Compass provide the tropical navigator with astronomical assistance that is not available to, and would have been unknown to Western navigators trained at higher latitudes.

Electromagnetic Navigational Bronchoscopy Reduces the Time Required for Localization and Resection of Lung Nodules.

PubMed

Bolton, William David; Cochran, Thomas; Ben-Or, Sharon; Stephenson, James E; Ellis, William; Hale, Allyson L; Binks, Andrew P

The aims of the study were to evaluate electromagnetic navigational bronchoscopy (ENB) and computed tomography-guided placement as localization techniques for minimally invasive resection of small pulmonary nodules and determine whether electromagnetic navigational bronchoscopy is a safer and more effective method than computed tomography-guided localization. We performed a retrospective review of our thoracic surgery database to identify patients who underwent minimally invasive resection for a pulmonary mass and used either electromagnetic navigational bronchoscopy or computed tomography-guided localization techniques between July 2011 and May 2015. Three hundred eighty-three patients had a minimally invasive resection during our study period, 117 of whom underwent electromagnetic navigational bronchoscopy or computed tomography localization (electromagnetic navigational bronchoscopy = 81; computed tomography = 36). There was no significant difference between computed tomography and electromagnetic navigational bronchoscopy patient groups with regard to age, sex, race, pathology, nodule size, or location. Both computed tomography and electromagnetic navigational bronchoscopy were 100% successful at localizing the mass, and there was no difference in the type of definitive surgical resection (wedge, segmentectomy, or lobectomy) (P = 0.320). Postoperative complications occurred in 36% of all patients, but there were no complications related to the localization procedures. In terms of localization time and surgical time, there was no difference between groups. However, the down/wait time between localization and resection was significant (computed tomography = 189 minutes; electromagnetic navigational bronchoscopy = 27 minutes); this explains why the difference in total time (sum of localization, down, and surgery) was significant (P < 0.001). We found electromagnetic navigational bronchoscopy to be as safe and effective as computed tomography-guided wire placement and to provide a significantly decreased down time between localization and surgical resection.

OSIRIS-REx Flight Dynamics and Navigation Design

NASA Astrophysics Data System (ADS)

Williams, B.; Antreasian, P.; Carranza, E.; Jackman, C.; Leonard, J.; Nelson, D.; Page, B.; Stanbridge, D.; Wibben, D.; Williams, K.; Moreau, M.; Berry, K.; Getzandanner, K.; Liounis, A.; Mashiku, A.; Highsmith, D.; Sutter, B.; Lauretta, D. S.

2018-06-01

OSIRIS-REx is the first NASA mission to return a sample of an asteroid to Earth. Navigation and flight dynamics for the mission to acquire and return a sample of asteroid 101955 Bennu establish many firsts for space exploration. These include relatively small orbital maneuvers that are precise to ˜1 mm/s, close-up operations in a captured orbit about an asteroid that is small in size and mass, and planning and orbit phasing to revisit the same spot on Bennu in similar lighting conditions. After preliminary surveys and close approach flyovers of Bennu, the sample site will be scientifically characterized and selected. A robotic shock-absorbing arm with an attached sample collection head mounted on the main spacecraft bus acquires the sample, requiring navigation to Bennu's surface. A touch-and-go sample acquisition maneuver will result in the retrieval of at least 60 grams of regolith, and up to several kilograms. The flight activity concludes with a return cruise to Earth and delivery of the sample return capsule (SRC) for landing and sample recovery at the Utah Test and Training Range (UTTR).

Autonomous satellite navigation using starlight refraction angle measurements

NASA Astrophysics Data System (ADS)

Ning, Xiaolin; Wang, Longhua; Bai, Xinbei; Fang, Jiancheng

2013-05-01

An on-board autonomous navigation capability is required to reduce the operation costs and enhance the navigation performance of future satellites. Autonomous navigation by stellar refraction is a type of autonomous celestial navigation method that uses high-accuracy star sensors instead of Earth sensors to provide information regarding Earth's horizon. In previous studies, the refraction apparent height has typically been used for such navigation. However, the apparent height cannot be measured directly by a star sensor and can only be calculated by the refraction angle and an atmospheric refraction model. Therefore, additional errors are introduced by the uncertainty and nonlinearity of atmospheric refraction models, which result in reduced navigation accuracy and reliability. A new navigation method based on the direct measurement of the refraction angle is proposed to solve this problem. Techniques for the determination of the refraction angle are introduced, and a measurement model for the refraction angle is established. The method is tested and validated by simulations. When the starlight refraction height ranges from 20 to 50 km, a positioning accuracy of better than 100 m can be achieved for a low-Earth-orbit (LEO) satellite using the refraction angle, while the positioning accuracy of the traditional method using the apparent height is worse than 500 m under the same conditions. Furthermore, an analysis of the factors that affect navigation accuracy, including the measurement accuracy of the refraction angle, the number of visible refracted stars per orbit and the installation azimuth of star sensor, is presented. This method is highly recommended for small satellites in particular, as no additional hardware besides two star sensors is required.

Biosonar navigation above water II: exploiting mirror images.

PubMed

Genzel, Daria; Hoffmann, Susanne; Prosch, Selina; Firzlaff, Uwe; Wiegrebe, Lutz

2015-02-15

As in vision, acoustic signals can be reflected by a smooth surface creating an acoustic mirror image. Water bodies represent the only naturally occurring horizontal and acoustically smooth surfaces. Echolocating bats flying over smooth water bodies encounter echo-acoustic mirror images of objects above the surface. Here, we combined an electrophysiological approach with a behavioral experimental paradigm to investigate whether bats can exploit echo-acoustic mirror images for navigation and how these mirrorlike echo-acoustic cues are encoded in their auditory cortex. In an obstacle-avoidance task where the obstacles could only be detected via their echo-acoustic mirror images, most bats spontaneously exploited these cues for navigation. Sonar ensonifications along the bats' flight path revealed conspicuous changes of the reflection patterns with slightly increased target strengths at relatively long echo delays corresponding to the longer acoustic paths from the mirrored obstacles. Recordings of cortical spatiotemporal response maps (STRMs) describe the tuning of a unit across the dimensions of elevation and time. The majority of cortical single and multiunits showed a special spatiotemporal pattern of excitatory areas in their STRM indicating a preference for echoes with (relative to the setup dimensions) long delays and, interestingly, from low elevations. This neural preference could effectively encode a reflection pattern as it would be perceived by an echolocating bat detecting an object mirrored from below. The current study provides both behavioral and neurophysiological evidence that echo-acoustic mirror images can be exploited by bats for obstacle avoidance. This capability effectively supports echo-acoustic navigation in highly cluttered natural habitats. Copyright © 2015 the American Physiological Society.

Effects of ship-induced waves on aquatic ecosystems.

PubMed

Gabel, Friederike; Lorenz, Stefan; Stoll, Stefan

2017-12-01

Most larger water bodies worldwide are used for navigation, and the intensity of commercial and recreational navigation is expected to further increase. Navigation profoundly affects aquatic ecosystems. To facilitate navigation, rivers are trained and developed, and the direct effects of navigation include chemical and biological impacts (e.g., inputs of toxic substances and dispersal of non-native species, respectively). Furthermore, propagating ships create hydrodynamic alterations, often simply summarized as waves. Although ship-induced waves are recognized as influential stressors, knowledge on their effects is poorly synthesized. We present here a review on the effects of ship-induced waves on the structure, function and services of aquatic ecosystems based on more than 200 peer reviewed publications and technical reports. Ship-induced waves act at multiple organizational levels and different spatial and temporal scales. All the abiotic and biotic components of aquatic ecosystems are affected, from the sediment and nutrient budget to the planktonic, benthic and fish communities. We highlight how the effects of ship-induced waves cascade through ecosystems and how different effects interact and feed back into the ecosystem finally leading to altered ecosystem services and human health effects. Based on this synthesis of wave effects, we discuss strategies for mitigation. This may help to develop scientifically based and target-oriented management plans for navigational waters that optimize abiotic and biotic integrity and their ecosystem services and uses. Copyright © 2017 Elsevier B.V. All rights reserved.

Navigational Guidance and Ablation Planning Tools for Interventional Radiology.

PubMed

Sánchez, Yadiel; Anvari, Arash; Samir, Anthony E; Arellano, Ronald S; Prabhakar, Anand M; Uppot, Raul N

Image-guided biopsy and ablation relies on successful identification and targeting of lesions. Currently, image-guided procedures are routinely performed under ultrasound, fluoroscopy, magnetic resonance imaging, or computed tomography (CT) guidance. However, these modalities have their limitations including inadequate visibility of the lesion, lesion or organ or patient motion, compatibility of instruments in an magnetic resonance imaging field, and, for CT and fluoroscopy cases, radiation exposure. Recent advances in technology have resulted in the development of a new generation of navigational guidance tools that can aid in targeting lesions for biopsy or ablations. These navigational guidance tools have evolved from simple hand-held trajectory guidance tools, to electronic needle visualization, to image fusion, to the development of a body global positioning system, to growth in cone-beam CT, and to ablation volume planning. These navigational systems are promising technologies that not only have the potential to improve lesion targeting (thereby increasing diagnostic yield of a biopsy or increasing success of tumor ablation) but also have the potential to decrease radiation exposure to the patient and staff, decrease procedure time, decrease the sedation requirements, and improve patient safety. The purpose of this article is to describe the challenges in current standard image-guided techniques, provide a definition and overview for these next-generation navigational devices, and describe the current limitations of these, still evolving, next-generation navigational guidance tools. Copyright © 2017 Elsevier Inc. All rights reserved.

Navigation Accuracy Guidelines for Orbital Formation Flying

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell; Alfriend, Kyle T.

2004-01-01

Some simple guidelines based on the accuracy in determining a satellite formation s semi-major axis differences are useful in making preliminary assessments of the navigation accuracy needed to support such missions. These guidelines are valid for any elliptical orbit, regardless of eccentricity. Although maneuvers required for formation establishment, reconfiguration, and station-keeping require accurate prediction of the state estimate to the maneuver time, and hence are directly affected by errors in all the orbital elements, experience has shown that determination of orbit plane orientation and orbit shape to acceptable levels is less challenging than the determination of orbital period or semi-major axis. Furthermore, any differences among the member s semi-major axes are undesirable for a satellite formation, since it will lead to differential along-track drift due to period differences. Since inevitable navigation errors prevent these differences from ever being zero, one may use the guidelines this paper presents to determine how much drift will result from a given relative navigation accuracy, or conversely what navigation accuracy is required to limit drift to a given rate. Since the guidelines do not account for non-two-body perturbations, they may be viewed as useful preliminary design tools, rather than as the basis for mission navigation requirements, which should be based on detailed analysis of the mission configuration, including all relevant sources of uncertainty.

Navigation Accuracy Guidelines for Orbital Formation Flying Missions

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell; Alfriend, Kyle T.

2003-01-01

Some simple guidelines based on the accuracy in determining a satellite formation's semi-major axis differences are useful in making preliminary assessments of the navigation accuracy needed to support such missions. These guidelines are valid for any elliptical orbit, regardless of eccentricity. Although maneuvers required for formation establishment, reconfiguration, and station-keeping require accurate prediction of the state estimate to the maneuver we, and hence are directly affected by errors in all the orbital elements, experience has shown that determination of orbit plane orientation and orbit shape to acceptable levels is less challenging than the determination of orbital period or semi-major axis. Furthermore, any differences among the member s semi-major axes are undesirable for a satellite formation, since it will lead to differential along-track drift due to period differences. Since inevitable navigation errors prevent these differences from ever being zero, one may use the guidelines this paper presents to determine how much drift will result from a given relative navigation accuracy, or conversely what navigation accuracy is required to limit drift to a given rate. Since the guidelines do not account for non-two-body perturbations, they may be viewed as useful preliminary design tools, rather than as the basis for mission navigation requirements, which should be based on detailed analysis of the mission configuration, including all relevant sources of uncertainty.

How Ants Use Vision When Homing Backward.

PubMed

Schwarz, Sebastian; Mangan, Michael; Zeil, Jochen; Webb, Barbara; Wystrach, Antoine

2017-02-06

Ants can navigate over long distances between their nest and food sites using visual cues [1, 2]. Recent studies show that this capacity is undiminished when walking backward while dragging a heavy food item [3-5]. This challenges the idea that ants use egocentric visual memories of the scene for guidance [1, 2, 6]. Can ants use their visual memories of the terrestrial cues when going backward? Our results suggest that ants do not adjust their direction of travel based on the perceived scene while going backward. Instead, they maintain a straight direction using their celestial compass. This direction can be dictated by their path integrator [5] but can also be set using terrestrial visual cues after a forward peek. If the food item is too heavy to enable body rotations, ants moving backward drop their food on occasion, rotate and walk a few steps forward, return to the food, and drag it backward in a now-corrected direction defined by terrestrial cues. Furthermore, we show that ants can maintain their direction of travel independently of their body orientation. It thus appears that egocentric retinal alignment is required for visual scene recognition, but ants can translate this acquired directional information into a holonomic frame of reference, which enables them to decouple their travel direction from their body orientation and hence navigate backward. This reveals substantial flexibility and communication between different types of navigational information: from terrestrial to celestial cues and from egocentric to holonomic directional memories. VIDEO ABSTRACT. Copyright © 2017 The Author(s). Published by Elsevier Ltd.. All rights reserved.

Design and validation of a GNC system for missions to asteroids: the AIM scenario

NASA Astrophysics Data System (ADS)

Pellacani, A.; Kicman, P.; Suatoni, M.; Casasco, M.; Gil, J.; Carnelli, I.

2017-12-01

Deep space missions, and in particular missions to asteroids, impose a certain level of autonomy that depends on the mission objectives. If the mission requires the spacecraft to perform close approaches to the target body (the extreme case being a landing scenario), the autonomy level must be increased to guarantee the fast and reactive response which is required in both nominal and contingency operations. The GNC system must be designed in accordance with the required level of autonomy. The GNC system designed and tested in the frame of ESA's Asteroid Impact Mission (AIM) system studies (Phase A/B1 and Consolidation Phase) is an example of an autonomous GNC system that meets the challenging objectives of AIM. The paper reports the design of such GNC system and its validation through a DDVV plan that includes Model-in-the-Loop and Hardware-in-the-Loop testing. Main focus is the translational navigation, which is able to provide online the relative state estimation with respect to the target body using exclusively cameras as relative navigation sensors. The relative navigation outputs are meant to be used for nominal spacecraft trajectory corrections as well as to estimate the collision risk with the asteroid and, if needed, to command the execution of a collision avoidance manoeuvre to guarantee spacecraft safety

Dr Google Is Here to Stay but Health Care Professionals Are Still Valued: An Analysis of Health Care Consumers' Internet Navigation Support Preferences.

PubMed

Lee, Kenneth; Hoti, Kreshnik; Hughes, Jeffery David; Emmerton, Lynne

2017-06-14

The Internet offers great opportunities for consumers to be informed about their health. However, concerns have been raised regarding its impact on the traditional health consumer-health professional relationship. Our recent survey of 400 Australian adults identified that over half of consumers required some form of navigational support in locating appropriate Web-based health information. We propose that support provided by health professionals would be preferred by consumers; this preference is regardless of whether consumers have a need for navigational support. Secondary analysis of the survey dataset is presented here to quantify consumer-reported support preferences and barriers when navigating Web-based health information. We aimed to quantitatively identify consumers' support preferences for locating Web-based health information and their barriers when navigating Web-based health information. We also aimed to compare such preferences and barriers between consumers identified as needing and not needing support when locating Web-based health information. Chi-square (χ 2 ) tests identified whether each listed support preference differed between subgroups of consumers classified as needing (n=205, 51.3%) or not needing (n=195, 48.8%) navigational support; degree of association, via phi coefficient (φ) tests, were also considered to ascertain the likely practical significance of any differences. This was repeated for each listed barrier. Free-text responses regarding additional support preferences were descriptively analyzed and compared with the quantitative findings to provide a richer understanding of desired support for health information searches. Of the 400 respondents, the most preferred mode of navigational support was involvement of health professionals; this was reported by participants identified as needing and not needing navigational support. While there was a significant difference between groups, the degree of association was small (χ 2 1 [N=400]=13.2; P<.001; φ=.18). Qualitative data from the free-text responses supported consumers' desire for health professional involvement. The two most commonly reported barriers when navigating desired Web-based health information were (1) volume of available information and (2) inconsistency of information between sources; these were reported by participants with and without a need for navigational support. While participants identified with a need for navigational support were more likely to report volume (χ 2 1 [N=387]= 4.40; P=.04; φ=.11) and inconsistency of information (χ 2 1 [N=387]= 16.10, P<.001, φ=.20) as barriers, the degrees of association were small to moderate. Despite concerns in the literature that the popularity of the Internet could compromise the health consumer-health professional relationship, our findings suggest the contrary. Our findings showed that health professionals were found to be the most commonly preferred mode of navigational support, even among consumers classified as not needing navigational support. Further research into how health professionals could assist consumers with Web-based health information seeking could strengthen the health consumer-health professional relationship amidst the growing use of "Dr Google." ©Kenneth Lee, Kreshnik Hoti, Jeffery David Hughes, Lynne Emmerton. Originally published in the Journal of Medical Internet Research (http://www.jmir.org), 14.06.2017.

Dr Google Is Here to Stay but Health Care Professionals Are Still Valued: An Analysis of Health Care Consumers’ Internet Navigation Support Preferences

PubMed Central

Hoti, Kreshnik; Hughes, Jeffery David; Emmerton, Lynne

2017-01-01

Background The Internet offers great opportunities for consumers to be informed about their health. However, concerns have been raised regarding its impact on the traditional health consumer-health professional relationship. Our recent survey of 400 Australian adults identified that over half of consumers required some form of navigational support in locating appropriate Web-based health information. We propose that support provided by health professionals would be preferred by consumers; this preference is regardless of whether consumers have a need for navigational support. Secondary analysis of the survey dataset is presented here to quantify consumer-reported support preferences and barriers when navigating Web-based health information. Objective We aimed to quantitatively identify consumers’ support preferences for locating Web-based health information and their barriers when navigating Web-based health information. We also aimed to compare such preferences and barriers between consumers identified as needing and not needing support when locating Web-based health information. Methods Chi-square (χ2) tests identified whether each listed support preference differed between subgroups of consumers classified as needing (n=205, 51.3%) or not needing (n=195, 48.8%) navigational support; degree of association, via phi coefficient (φ) tests, were also considered to ascertain the likely practical significance of any differences. This was repeated for each listed barrier. Free-text responses regarding additional support preferences were descriptively analyzed and compared with the quantitative findings to provide a richer understanding of desired support for health information searches. Results Of the 400 respondents, the most preferred mode of navigational support was involvement of health professionals; this was reported by participants identified as needing and not needing navigational support. While there was a significant difference between groups, the degree of association was small (χ21 [N=400]=13.2; P<.001; φ=.18). Qualitative data from the free-text responses supported consumers’ desire for health professional involvement. The two most commonly reported barriers when navigating desired Web-based health information were (1) volume of available information and (2) inconsistency of information between sources; these were reported by participants with and without a need for navigational support. While participants identified with a need for navigational support were more likely to report volume (χ21 [N=387]= 4.40; P=.04; φ=.11) and inconsistency of information (χ21 [N=387]= 16.10, P<.001, φ=.20) as barriers, the degrees of association were small to moderate. Conclusions Despite concerns in the literature that the popularity of the Internet could compromise the health consumer-health professional relationship, our findings suggest the contrary. Our findings showed that health professionals were found to be the most commonly preferred mode of navigational support, even among consumers classified as not needing navigational support. Further research into how health professionals could assist consumers with Web-based health information seeking could strengthen the health consumer-health professional relationship amidst the growing use of “Dr Google.” PMID:28615156

33 CFR 66.10-15 - Aids to navigation.

Code of Federal Regulations, 2010 CFR

2010-07-01

... may be used singly in staggered fashion on alternate sides of the channel provided they are spaced at... should pass between the buoys. (d) Where there is no well-defined channel or when a body of water is...

33 CFR 66.10-15 - Aids to navigation.

Code of Federal Regulations, 2011 CFR

2011-07-01

... may be used singly in staggered fashion on alternate sides of the channel provided they are spaced at... should pass between the buoys. (d) Where there is no well-defined channel or when a body of water is...

Gender differences in navigational memory: pilots vs. nonpilots.

PubMed

Verde, Paola; Piccardi, Laura; Bianchini, Filippo; Guariglia, Cecilia; Carrozzo, Paolo; Morgagni, Fabio; Boccia, Maddalena; Di Fiore, Giacomo; Tomao, Enrico

2015-02-01

The coding of space as near and far is not only determined by arm-reaching distance, but is also dependent on how the brain represents the extension of the body space. Recent reports suggest that the dissociation between reaching and navigational space is not limited to perception and action but also involves memory systems. It has been reported that gender differences emerged only in adverse learning conditions that required strong spatial ability. In this study we investigated navigational versus reaching memory in air force pilots and a control group without flight experience. We took into account temporal duration (working memory and long-term memory) and focused on working memory, which is considered critical in the gender differences literature. We found no gender effects or flight hour effects in pilots but observed gender effects in working memory (but not in learning and delayed recall) in the nonpilot population (Women's mean = 5.33; SD= 0.90; Men's mean = 5.54; SD= 0.90). We also observed a difference between pilots and nonpilots in the maintenance of on-line reaching information: pilots (mean = 5.85; SD=0.76) were more efficient than nonpilots (mean = 5.21; SD=0.83) and managed this type of information similarly to that concerning navigational space. In the navigational learning phase they also showed better navigational memory (mean = 137.83; SD=5.81) than nonpilots (mean = 126.96; SD=15.81) and were significantly more proficient than the latter group. There is no gender difference in a population of pilots in terms of navigational abilities, while it emerges in a control group without flight experience. We found also that pilots performed better than nonpilots. This study suggests that once selected, male and female pilots do not differ from each other in visuo-spatial abilities and spatial navigation.

The near real time image navigation of pictures returned by Voyager 2 at Neptune

NASA Technical Reports Server (NTRS)

Underwood, Ian M.; Bachman, Nathaniel J.; Taber, William L.; Wang, Tseng-Chan; Acton, Charles H.

1990-01-01

The development of a process for performing image navigation in near real time is described. The process was used to accurately determine the camera pointing for pictures returned by the Voyager 2 spacecraft at Neptune Encounter. Image navigation improves knowledge of the pointing of an imaging instrument at a particular epoch by correlating the spacecraft-relative locations of target bodies in inertial space with the locations of their images in a picture taken at that epoch. More than 8,500 pictures returned by Voyager 2 at Neptune were processed in near real time. The results were used in several applications, including improving pointing knowledge for nonimaging instruments ('C-smithing'), making 'Neptune, the Movie', and providing immediate access to geometrical quantities similar to those traditionally supplied in the Supplementary Experiment Data Record.

Does Navigation Improve Accuracy of Placement of Pedicle Screws in Single-level Lumbar Degenerative Spondylolisthesis?: A Comparison Between Free-hand and Three-dimensional O-Arm Navigation Techniques.

PubMed

Boon Tow, Benjamin Phak; Yue, Wai Mun; Srivastava, Abhishek; Lai, Jenn Ming; Guo, Chang Ming; Wearn Peng, Benedict Chan; Chen, John L T; Yew, Andy K S; Seng, Chusheng; Tan, Seang Beng

2015-10-01

This was a prospective, nonrandomized study. To assess the accuracy of O-arm navigation-based pedicle screw insertion in lumbar degenerative spondylolisthesis and to compare it with free-hand pedicle screw insertion technique in matched population. O-arm navigation is latest in navigation technology that can provide real-time intraoperative images in 3 dimensions while placing the pedicle screws to improve intraoperative pedicle screw accuracy. Degenerative lumbar spondylolisthesis is a locally unstable pathology and placement of pedicle screws can cause increased rotation and translation of the vertebral body. However, is this motion detected by the tracker placed across the unstable segment, is a matter of debate. Inability to detect these positional changes can lead to pedicle perforation while inserting screws using navigation. No study has evaluated the role of O-arm navigation in this patient population. The study population was divided into 2 groups with 19 patients each, one comprising patients who underwent O-arm navigation-based pedicle screw insertion (group 1) and the other comprising patients who underwent free-hand pedicle screw insertion technique (group 2). A total of 152 pedicle screws were implanted in 38 patients for 1-level instrumented fusion for degenerative lumbar spondylolisthesis. Intraoperative 3-dimensional computed tomography scans using the O-arm were obtained for all patients after insertion of pedicle screws. The images were reviewed intraoperatively and postoperatively for the analysis of pedicle breaches. Assessments in either of the group included (i) accuracy of placement of screws; (ii) the rate and direction of perforation; and (iii) the number of segments the perforated screw was away from the navigation tracker. Mean age of patients in group 1 (O-arm navigation-assisted) was 60 years (SD 11.25; range, 37-73 y), whereas in group 2 (free-hand pedicle screw) was 62 years (SD 18.07; range, 36-90 y). Overall anatomic perforation rate was 12.5% (19/152). Individually, group 1 had 14.47% (11/76) of perforations in comparison with 10.53% (8/76) observed in group 2. The difference was not statistically significant. The lateral margin was the most common site of perforation in both group 1 (64%, 7/11) and group 2 (62.5%, 5/8). Functional perforation rate for the series was 3.3% (5/152), with group 1 having 2.63% (2/76) and group 2 having 3.95% (3/76). The rate of perforation (PR) was significantly higher statistically when the tracker was placed 3 or more [PR 37.5% (6/16)] spinal segments away from instrumented segment compared with when it was placed 1 (0%) or 2 [PR 13.89% (5/36)] spinal segments away. Overall, 11 screws (11/152, 7.24%) had grade 2 perforations and had to be revised. No neurological complications were observed in the series. O-arm navigation does not provide any significant advantage over conventional free-hand pedicle screw insertion technique in patients with single-level degenerative spondylolisthesis. The accuracy is dependent on the distance of the tracker from the level of instrumentation. Lateral perforations are more common because of instability at the instrumented level leading to translation and rotation of the vertebral body while placing pedicle screws leading to preferential lateral trajectory. These lateral perforations could not be prevented by using navigation. However, no significant complications were noted in either technique.

Stereo Correspondence Using Moment Invariants

NASA Astrophysics Data System (ADS)

Premaratne, Prashan; Safaei, Farzad

Autonomous navigation is seen as a vital tool in harnessing the enormous potential of Unmanned Aerial Vehicles (UAV) and small robotic vehicles for both military and civilian use. Even though, laser based scanning solutions for Simultaneous Location And Mapping (SLAM) is considered as the most reliable for depth estimation, they are not feasible for use in UAV and land-based small vehicles due to their physical size and weight. Stereovision is considered as the best approach for any autonomous navigation solution as stereo rigs are considered to be lightweight and inexpensive. However, stereoscopy which estimates the depth information through pairs of stereo images can still be computationally expensive and unreliable. This is mainly due to some of the algorithms used in successful stereovision solutions require high computational requirements that cannot be met by small robotic vehicles. In our research, we implement a feature-based stereovision solution using moment invariants as a metric to find corresponding regions in image pairs that will reduce the computational complexity and improve the accuracy of the disparity measures that will be significant for the use in UAVs and in small robotic vehicles.

Science Benefits of Onboard Spacecraft Navigation

NASA Technical Reports Server (NTRS)

Cangahuala, Al; Bhaskaran, Shyam; Owen, Bill

2012-01-01

Primitive bodies (asteroids and comets), which have remained relatively unaltered since their formation, are important targets for scientific missions that seek to understand the evolution of the solar system. Often the first step is to fly by these bodies with robotic spacecraft. The key to maximizing data returns from these flybys is to determine the spacecraft trajectory relative to the target body-in short, navigate the spacecraft- with sufficient accuracy so that the target is guaranteed to be in the instruments' field of view. The most powerful navigation data in these scenarios are images taken by the spacecraft of the target against a known star field (onboard astrometry). Traditionally, the relative trajectory of the spacecraft must be estimated hours to days in advance using images collected by the spacecraft. This is because of (1)!the long round-trip light times between the spacecraft and the Earth and (2)!the time needed to downlink and process navigation data on the ground, make decisions based on the result, and build and uplink instrument pointing sequences from the results. The light time and processing time compromise navigation accuracy considerably, because there is not enough time to use more accurate data collected closer to the target-such data are more accurate because the angular capability of the onboard astrometry is essentially constant as the distance to the target decreases, resulting in better "plane-of- sky" knowledge of the target. Excellent examples of these timing limitations are high-speed comet encounters. Comets are difficult to observe up close; their orbits often limit scientists to brief, rapid flybys, and their coma further restricts viewers from seeing the nucleus in any detail, unless they can view the nucleus at close range. Comet nuclei details are typically discernable for much shorter durations than the roundtrip light time to Earth, so robotic spacecraft must be able to perform onboard navigation. This onboard navigation can be accomplished through a self- contained system that by eliminating light time restrictions dramatically improves the relative trajectory knowledge and control and subsequently increases the amount of quality data collected. Flybys are one-time events, so the system's underlying algorithms and software must be extremely robust. The autonomous software must also be able to cope with the unknown size, shape, and orientation of the previously unseen comet nucleus. Furthermore, algorithms must be reliable in the presence of imperfections and/or damage to onboard cameras accrued after many years of deep-space operations. The AutoNav operational flight software packages, developed by scientists at the Jet Propulsion Laboratory (JPL) under contract with NASA, meet all these requirements. They have been directly responsible for the successful encounters on all of NASA's close-up comet-imaging missions (see Figure !1). AutoNav is the only system to date that has autonomously tracked comet nuclei during encounters and performed autonomous interplanetary navigation. AutoNav has enabled five cometary flyby missions (Table!1) residing on four NASA spacecraft provided by three different spacecraft builders. Using this software, missions were able to process a combined total of nearly 1000 images previously unseen by humans. By eliminating the need to navigate spacecraft from Earth, the accuracy gained by AutoNav during flybys compared to ground-based navigation is about 1!order of magnitude in targeting and 2!orders of magnitude in time of flight. These benefits ensure that pointing errors do not compromise data gathered during flybys. In addition, these benefits can be applied to flybys of other solar system objects, flybys at much slower relative velocities, mosaic imaging campaigns, and other proximity activities (e.g., orbiting, hovering, and descent/ascent).

Material Density Distribution of Small Debris in Earth Orbit

NASA Technical Reports Server (NTRS)

Krisko, P. H.; Xu, Y.-l.; Opiela, J. N.; Hill, N. M.; Matney, M. J.

2008-01-01

Over 200 spacecraft and rocket body breakups in Earth orbit have populated that regime with debris fragments in the sub-micron through meter size range. Though the largest debris fragments can cause significant collisional damage to active (operational) spacecraft, these are few and trackable by radar. Fragments on the order of a millimeter to a centimeter in size are as yet untrackable. But this smaller debris can result in damage to critical spacecraft systems and, under the worst conditions, fragmenting collision events. Ongoing research at the NASA Orbital Debris Program Office on the sources of these small fragments has focused on the material components of spacecraft and rocket bodies and on breakup event morphology. This has led to fragment material density estimates, and also the beginnings of shape categorizations. To date the NASA Standard Breakup Model has not considered specific material density distinctions of small debris. The basis of small debris in that model is the fourth hypervelocity impact event of the Satellite Orbital Debris Characterization Impact Test (SOCIT) series. This test targeted a flight-ready, U.S. Transit navigation satellite with a solid aluminum sphere impactor. Results in this event yield characteristic length (size) and area-to-mass distributions of fragments smaller than 10 cm in the NASA model. Recent re-analysis of the SOCIT4 small fragment dataset highlighted the material-specific characteristics of metals and non-metals. Concurrent analysis of Space Shuttle in-situ impact data showed a high percentage of aluminum debris in shuttle orbit regions. Both analyses led to the definition of three main on-orbit debris material density categories -low density (< 2 g/cc), medium density (2 to 6 g/cc), and high density (> 6 g/cc). This report considers the above studies in an explicit extension of the NASA Standard Breakup Model where separate material densities for debris are generated and these debris fragments are propagated in Earth orbit. The near Earth environment is thus parameterized by debris density percentages within subsections of that environment. This model version is used in the upgraded NASA Orbital Debris Engineering Model (ORDEM).

Astrodynamics. Volume 1 - Orbit determination, space navigation, celestial mechanics.

NASA Technical Reports Server (NTRS)

Herrick, S.

1971-01-01

Essential navigational, physical, and mathematical problems of space exploration are covered. The introductory chapters dealing with conic sections, orientation, and the integration of the two-body problem are followed by an introduction to orbit determination and design. Systems of units and constants, as well as ephemerides, representations, reference systems, and data are then dealt with. A detailed attention is given to rendezvous problems and to differential processes in observational orbit correction, and in rendezvous or guidance correction. Finally, the Laplacian methods for determining preliminary orbits, and the orbit methods of Lagrange, Gauss, and Gibbs are reviewed.

Analysis of different vibration patterns to guide blind people.

PubMed

Durá-Gil, Juan V; Bazuelo-Ruiz, Bruno; Moro-Pérez, David; Mollà-Domenech, Fernando

2017-01-01

The literature indicates the best vibration positions and frequencies on the human body where tactile information is transmitted. However, there is a lack of knowledge about how to combine tactile stimuli for navigation. The aim of this study is to compare different vibration patterns outputted to blind people and to determine the most intuitive vibration patterns to indicate direction for navigation purposes through a tactile belt. The vibration patterns that stimulate the front side of the waist are preferred for indicating direction. Vibration patterns applied on the back side of the waist could be suitable for sending messages such as stop.

The relative merits of ring laser gyroscopes and 'iron-wheel' gyroscopes in application to medium accuracy INS for combat aircraft

NASA Astrophysics Data System (ADS)

Watson, Norman F.

The relative merits of gimballed INS based on mechanical gyroscopes and strapdown INS based on ring laser gyroscopes are compared with regard to their use in 1 nm/hr combat aircraft navigation. Navigation performance, velocity performance, attitude performance, body axis outputs, environmental influences, reliability and maintainability, cost, and physical parameters are taken into consideration. Some of the advantages which have been claimed elsewhere for the laser INS, such as dramatically lower life cycle costs than for gimballed INS, are shown to be unrealistic under reasonable assumptions.

The Role of Celestial Compass Information in Cataglyphis Ants during Learning Walks and for Neuroplasticity in the Central Complex and Mushroom Bodies

PubMed Central

Grob, Robin; Fleischmann, Pauline N.; Grübel, Kornelia; Wehner, Rüdiger; Rössler, Wolfgang

2017-01-01

Central place foragers are faced with the challenge to learn the position of their nest entrance in its surroundings, in order to find their way back home every time they go out to search for food. To acquire navigational information at the beginning of their foraging career, Cataglyphis noda performs learning walks during the transition from interior worker to forager. These small loops around the nest entrance are repeatedly interrupted by strikingly accurate back turns during which the ants stop and precisely gaze back to the nest entrance—presumably to learn the landmark panorama of the nest surroundings. However, as at this point the complete navigational toolkit is not yet available, the ants are in need of a reference system for the compass component of the path integrator to align their nest entrance-directed gazes. In order to find this directional reference system, we systematically manipulated the skylight information received by ants during learning walks in their natural habitat, as it has been previously suggested that the celestial compass, as part of the path integrator, might provide such a reference system. High-speed video analyses of distinct learning walk elements revealed that even exclusion from the skylight polarization pattern, UV-light spectrum and the position of the sun did not alter the accuracy of the look back to the nest behavior. We therefore conclude that C. noda uses a different reference system to initially align their gaze directions. However, a comparison of neuroanatomical changes in the central complex and the mushroom bodies before and after learning walks revealed that exposure to UV light together with a naturally changing polarization pattern was essential to induce neuroplasticity in these high-order sensory integration centers of the ant brain. This suggests a crucial role of celestial information, in particular a changing polarization pattern, in initially calibrating the celestial compass system. PMID:29184487

The Role of Celestial Compass Information in Cataglyphis Ants during Learning Walks and for Neuroplasticity in the Central Complex and Mushroom Bodies.

PubMed

Grob, Robin; Fleischmann, Pauline N; Grübel, Kornelia; Wehner, Rüdiger; Rössler, Wolfgang

2017-01-01

Central place foragers are faced with the challenge to learn the position of their nest entrance in its surroundings, in order to find their way back home every time they go out to search for food. To acquire navigational information at the beginning of their foraging career, Cataglyphis noda performs learning walks during the transition from interior worker to forager. These small loops around the nest entrance are repeatedly interrupted by strikingly accurate back turns during which the ants stop and precisely gaze back to the nest entrance-presumably to learn the landmark panorama of the nest surroundings. However, as at this point the complete navigational toolkit is not yet available, the ants are in need of a reference system for the compass component of the path integrator to align their nest entrance-directed gazes. In order to find this directional reference system, we systematically manipulated the skylight information received by ants during learning walks in their natural habitat, as it has been previously suggested that the celestial compass, as part of the path integrator, might provide such a reference system. High-speed video analyses of distinct learning walk elements revealed that even exclusion from the skylight polarization pattern, UV-light spectrum and the position of the sun did not alter the accuracy of the look back to the nest behavior. We therefore conclude that C. noda uses a different reference system to initially align their gaze directions. However, a comparison of neuroanatomical changes in the central complex and the mushroom bodies before and after learning walks revealed that exposure to UV light together with a naturally changing polarization pattern was essential to induce neuroplasticity in these high-order sensory integration centers of the ant brain. This suggests a crucial role of celestial information, in particular a changing polarization pattern, in initially calibrating the celestial compass system.

Scanning sonar of rolling porpoises during prey capture dives.

PubMed

Akamatsu, T; Wang, D; Wang, K; Li, S; Dong, S

2010-01-01

Dolphins and porpoises have excellent biosonar ability, which they use for navigation, ranging and foraging. However, the role of biosonar in free-ranging small cetaceans has not been fully investigated. The biosonar behaviour and body movements of 15 free-ranging finless porpoises (Neophocaena phocaenoides) were observed using electronic tags attached to the animals. The porpoises often rotated their bodies more than 60 deg., on average, around the body axis in a dive bout. This behaviour occupied 31% of the dive duration during 186 h of effective observation time. Rolling dives were associated with extensive searching effort, and 23% of the rolling dive time was phonated, almost twice the phonation ratio of upright dives. Porpoises used short inter-click interval sonar 4.3 times more frequently during rolling dives than during upright dives. Sudden speed drops, which indicated that an individual turned around, occurred 4.5 times more frequently during rolling dives than during upright dives. Together, these data suggest that the porpoises searched extensively for targets and rolled their bodies to enlarge the search area by changing the narrow beam axis of the biosonar. Once a possible target was detected, porpoises frequently produced short-range sonar sounds. Continuous searching for prey and frequent capture trials appeared to occur during rolling dives of finless porpoises. In contrast, head movements ranging +/-2 cm, which can also change the beam axis, were regularly observed during both dives. Head movements might assist in instant assessment of the arbitrary direction by changing the beam axis rather than prey searching and pursuit.

Kilohoku Ho`okele Wa`a--- Na `Ohana Hoku `Eha (The Astronomy of the Hawaiian Navigators--- The Four Star Families)

NASA Astrophysics Data System (ADS)

Slater, Stephanie; Slater, Timothy F.; Baybayan, Kalepa C.

2016-01-01

This paper documents the complete modern Hawaiian navigational full-sky. Over eight years of field notes, observations, and interviews with cultural leaders, historians, and ho`okele wa`a (navigators) were used to construct and validate Kilohoku Ho`okele Wa`a, the Astronomy of the Hawaiian Navigators. In contrast to the various historical sky maps designed by different practitioners and local groups in pre-colonial times, this sky-map depicts the four whole-sky constellations used by present day wayfinders. Designed by a loosely bound group of cultural leaders and navigators as a tool to use in modern non-instrumental navigation, Kilohoku Ho`okele Wa`a is a pragmatic fusion of ancient Hawaiian tradition, traditions of greater Polynesia, and modern-day Indigenous cultural forces. Like a very small number of cultures who use the sky for non-instrumental navigation, the ho`okele wa`a conceive of each season's visible sky as a whole image, using a single constellation that stretches from the northern to the southern horizon as a tool that facilitates direction finding in skies that are often very cloudy, and that chunks the sky into sections that decrease the cognitive load placed on the navigator. Moving through the seasons, beginning in Winter, Na `Ohana Hoku `Eha (The Four Star Families) are Kekaomakali`I (The Bailer), Kaiwikuamo`o (The Backbone), Manaiakalani (The Fishhook), and Kalupekawelo (The Kite). The whole-sky character of each of the four "star families," combines with that star family's mo`olelo (purposeful story) to further facilitate navigation, employing the emotional component of moral and familial associations to enhance memorization and to provide wayfinders with encouragement on their long journeys.

Kilohoku Ho`okele Wa`a : Astronomy of the Modern Hawaiian Wayfinders

NASA Astrophysics Data System (ADS)

Ha`o, Celeste; Dye, Ahia G.; Slater, Stephanie J.; Slater, Timothy F.; Baybayan, Kalepa

2015-08-01

This paper provides an introduction to Kilohoku Ho`okele Wa`a, the astronomy of the Hawaiian wayfinders. Rooted in a legacy of navigation across the Polynesian triangle, wayfinding astronomy has been part of a suite of skills that allows navigators to deliberately hop between the small islands of the Pacific, for thousands of years. Forty years ago, in one manifestation of the Hawaiian Renaissance, our teachers demonstrated that ancient Hawaiians were capable of traversing the wide Pacific to settle and trade on islands separated by thousands of miles. Today those same mentors train a new generation of navigators, making Hawaiian voyaging a living, evolving, sustainable endeavor. This paper presents two components of astronomical knowledge that all crewmen, but particularly those in training to become navigators, learn early in their training. Na Ohana Hoku, the Hawaiian Star Families constitute the basic units of the Hawaiian sky. In contrast to the Western system of 88 constellations, Na Ohana Hoku divides the sky into four sections that each run from the northern to the southern poles. This configuration reduces cognitive load, allowing the navigator to preserve working memory for other complex tasks. In addition, these configurations of stars support the navigator in finding and generatively using hundreds of individual, and navigationally important pairs of stars. The Hawaiian Star Compass divides the celestial sphere into a directional system that uses 32 rather than 8 cardinal points. Within the tropics, the rising and setting of celestial objects are consistent within the Hawaiian Star Compass, providing for extremely reliable direction finding. Together, Na Ohana Hoku and the Hawaiian Star Compass provide the tropical navigator with astronomical assistance that is not available to, and would have been unknown to Western navigators trained at higher latitudes.

Augmented reality and image overlay navigation with OsiriX in laparoscopic and robotic surgery: not only a matter of fashion.

PubMed

Volonté, Francesco; Pugin, François; Bucher, Pascal; Sugimoto, Maki; Ratib, Osman; Morel, Philippe

2011-07-01

New technologies can considerably improve preoperative planning, enhance the surgeon's skill and simplify the approach to complex procedures. Augmented reality techniques, robot assisted operations and computer assisted navigation tools will become increasingly important in surgery and in residents' education. We obtained 3D reconstructions from simple spiral computed tomography (CT) slides using OsiriX, an open source processing software package dedicated to DICOM images. These images were then projected on the patient's body with a beamer fixed to the operating table to enhance spatial perception during surgical intervention (augmented reality). Changing a window's deepness level allowed the surgeon to navigate through the patient's anatomy, highlighting regions of interest and marked pathologies. We used image overlay navigation for laparoscopic operations such cholecystectomy, abdominal exploration, distal pancreas resection and robotic liver resection. Augmented reality techniques will transform the behaviour of surgeons, making surgical interventions easier, faster and probably safer. These new techniques will also renew methods of surgical teaching, facilitating transmission of knowledge and skill to young surgeons.

Navigation Guidelines for Orbital Formation Flying Missions

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell

2003-01-01

Some simple guidelines based on the accuracy in determining a satellite formation's semi-major axis differences are useful in making preliminary assessments of the navigation accuracy needed to support such missions. These guidelines are valid for any elliptical orbit, regardless of eccentricity. Although maneuvers required for formation establishment, reconfiguration, and station-keeping require accurate prediction of the state estimate to the maneuver time, and hence are directly affected by errors in all the orbital elements, experience has shown that determination of orbit plane orientation and orbit shape to acceptable levels is less challenging than the determination of orbital period or semi-major axis. Furthermore, any differences among the member's semi-major axis are undesirable for a satellite formation, since it will lead to differential along-track drift due to period differences. Since inevitable navigation errors prevent these differences from ever being zero, one may use the guidelines this paper presents to determine how much drift will result from a given relative navigation accuracy, or vice versa. Since the guidelines do not account for non-two-body perturbations, they may be viewed as useful preliminary design tools, rather than as the basis for mission navigation requirements, which should be based on detailed analysis of the mission configuration, including all relevant sources of uncertainty.

[Magnetic navigation for ablation of cardiac arrhythmias].

PubMed

Chen, Jian; Hoff, Per Ivar; Solheim, Eivind; Schuster, Peter; Off, Morten Kristian; Ohm, Ole-Jørgen

2010-08-12

The first use of magnetic navigation for radiofrequency ablation of supraventricular tachycardias, was published in 2004. Subsequently, the method has been used for treatment of most types of tachyarrhythmias. This paper provides an overview of the method, with special emphasis on usefulness of a new remote-controlled magnetic navigation system. The paper is based on our own scientific experience and literature identified through a non-systematic search in PubMed. The magnetic navigation system consists of two external electromagnets (to be placed on opposite sides of the patient), which guide an ablation catheter (with a small magnet at the tip of the catheter) to the target area in the heart. The accuracy of this procedure is higher than that with manual navigation. Personnel can be quickly trained to use remote magnetic navigation, but the procedure itself is time-consuming, particularly for patients with atrial fibrillation. The major advantage is a considerably lower radiation burden to both patient and operator, in some studies more than 50 %, and a corresponding reduction in physical strain on the operator. The incidence of procedure-related complications seems to be lower than that observed with use of manually operated ablation catheters. Work is ongoing to improve magnetic ablation catheters and methods that can simplify mapping procedures and improve efficacy of arrhythmia ablation. The basic cost for installing a complete magnetic navigation laboratory may be three times that of a conventional electrophysiological laboratory. The new magnetic navigation system has proved to be applicable during ablation for a variety of tachyarrhythmias, but is still under development.

Magnetic navigation in ultrasound-guided interventional radiology procedures.

PubMed

Xu, H-X; Lu, M-D; Liu, L-N; Guo, L-H

2012-05-01

To evaluate the usefulness of magnetic navigation in ultrasound (US)-guided interventional procedures. Thirty-seven patients who were scheduled for US-guided interventional procedures (20 liver cancer ablation procedures and 17 other procedures) were included. Magnetic navigation with three-dimensional (3D) computed tomography (CT), magnetic resonance imaging (MRI), 3D US, and position-marking magnetic navigation were used for guidance. The influence on clinical outcome was also evaluated. Magnetic navigation facilitated applicator placement in 15 of 20 ablation procedures for liver cancer in which multiple ablations were performed; enhanced guidance in two small liver cancers invisible on conventional US but visible at CT or MRI; and depicted the residual viable tumour after transcatheter arterial chemoembolization for liver cancer in one procedure. In four of 17 other interventional procedures, position-marking magnetic navigation increased the visualization of the needle tip. Magnetic navigation was beneficial in 11 (55%) of 20 ablation procedures; increased confidence but did not change management in five (25%); added some information but did not change management in two (10%); and made no change in two (10%). In the other 17 interventional procedures, the corresponding numbers were 1 (5.9%), 2 (11.7%), 7 (41.2%), and 7 (41.2%), respectively (p=0.002). Magnetic navigation in US-guided interventional procedure provides solutions in some difficult cases in which conventional US guidance is not suitable. It is especially useful in complicated interventional procedures such as ablation for liver cancer. Copyright © 2011 The Royal College of Radiologists. Published by Elsevier Ltd. All rights reserved.

Species-specific differences in the fine structure of learning walk elements in Cataglyphis ants.

PubMed

Fleischmann, Pauline N; Grob, Robin; Wehner, Rüdiger; Rössler, Wolfgang

2017-07-01

Cataglyphis desert ants are famous navigators. Like all central place foragers, they are confronted with the challenge to return home, i.e. relocate an inconspicuous nest entrance in the ground, after their extensive foraging trips. When leaving the underground nest for the first time, desert ants perform a striking behavior, so-called learning walks that are well structured. However, it is still unclear how the ants initially acquire the information needed for sky- and landmark-based navigation, in particular how they calibrate their compass system at the beginning of their foraging careers. Using high-speed video analyses, we show that different Cataglyphis species include different types of characteristic turns in their learning walks. Pirouettes are full or partial rotations (tight turns about the vertical body axis) during which the ants frequently stop and gaze back in the direction of the nest entrance during the longest stopping phases. In contrast, voltes are small walked circles without directed stopping phases. Interestingly, only Cataglyphis ant species living in a cluttered, and therefore visually rich, environment (i.e. C. noda and C. aenescens in southern Greece) perform both voltes and pirouettes. They look back to the nest entrance during pirouettes, most probably to take snapshots of the surroundings. In contrast, C. fortis inhabiting featureless saltpans in Tunisia perform only voltes and do not stop during these turns to gaze back at the nest - even if a set of artificial landmarks surrounds the nest entrance. © 2017. Published by The Company of Biologists Ltd.

78 FR 17466 - Shipping Coordinating Committee; Notice of Committee Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2013-03-21

... of other IMO bodies --Validation of model training courses --Unlawful practices associated with certificates of competency --Casualty analysis --Development of an e-navigation strategy implementation plan... personnel involved with tug-barge operations --Revision of the Recommendations on training of personnel on...

Difficult Conversations

ERIC Educational Resources Information Center

Miretzky, Debra; Stevens, Sharon

2013-01-01

There are significant concerns about campus relationships, primarily between white students and students of color, but also related to students of different religious backgrounds (e.g., Christian and Muslim). Despite the growing diversity in faculty and student bodies on campus, students could still navigate through college without having to…

Indocyanine Green Fluorescence Navigation Thoracoscopic Metastasectomy for Pulmonary Metastasis of Hepatocellular Carcinoma.

PubMed

Kawakita, Naoya; Takizawa, Hiromitsu; Kondo, Kazuya; Sakiyama, Shoji; Tangoku, Akira

2016-12-20

Indocyanine green can selectively accumulate in primary hepatocellular carcinoma (HCC) and extrahepatic metastases. We report a patient who underwent resection of pulmonary metastasis of HCC using a thoracoscopic near-infrared imaging system and fluorescent navigation surgery. A 66-year-old man with suspicion of pulmonary metastasis of HCC was referred to our hospital. Indocyanine green was injected intravenously at a dose of 0.5 mg/kg body weight, 20 h before thoracoscopic surgery. An endoscopic indocyanine green near-infrared fluorescence imaging system showed clear blue fluorescence, indicating pulmonary metastasis of HCC in a lingular segment. We performed wide wedge resection using the fluorescence image for navigation to confirm the surgical margins. The specimen was histologically confirmed as a pulmonary metastasis of HCC. In conclusion, thoracoscopic indocyanine green near-infrared fluorescence imaging for pulmonary metastases of HCC is useful in identifying tumor locations and ensuring resection margins.

Precision Landing and Hazard Avoidance Doman

NASA Technical Reports Server (NTRS)

Robertson, Edward A.; Carson, John M., III

2016-01-01

The Precision Landing and Hazard Avoidance (PL&HA) domain addresses the development, integration, testing, and spaceflight infusion of sensing, processing, and GN&C functions critical to the success and safety of future human and robotic exploration missions. PL&HA sensors also have applications to other mission events, such as rendezvous and docking. Autonomous PL&HA builds upon the core GN&C capabilities developed to enable soft, controlled landings on the Moon, Mars, and other solar system bodies. Through the addition of a Terrain Relative Navigation (TRN) function, precision landing within tens of meters of a map-based target is possible. The addition of a 3-D terrain mapping lidar sensor improves the probability of a safe landing via autonomous, real-time Hazard Detection and Avoidance (HDA). PL&HA significantly improves the probability of mission success and enhances access to sites of scientific interest located in challenging terrain. PL&HA can also utilize external navigation aids, such as navigation satellites and surface beacons. Advanced Lidar Sensors High precision ranging, velocimetry, and 3-D terrain mapping Terrain Relative Navigation (TRN) TRN compares onboard reconnaissance data with real-time terrain imaging data to update the S/C position estimate Hazard Detection and Avoidance (HDA) Generates a high-resolution, 3-D terrain map in real-time during the approach trajectory to identify safe landing targets Inertial Navigation During Terminal Descent High precision surface relative sensors enable accurate inertial navigation during terminal descent and a tightly controlled touchdown within meters of the selected safe landing target.

Assessing Spatial Learning and Memory in Rodents

PubMed Central

Vorhees, Charles V.; Williams, Michael T.

2014-01-01

Maneuvering safely through the environment is central to survival of almost all species. The ability to do this depends on learning and remembering locations. This capacity is encoded in the brain by two systems: one using cues outside the organism (distal cues), allocentric navigation, and one using self-movement, internal cues and nearby proximal cues, egocentric navigation. Allocentric navigation involves the hippocampus, entorhinal cortex, and surrounding structures; in humans this system encodes allocentric, semantic, and episodic memory. This form of memory is assessed in laboratory animals in many ways, but the dominant form of assessment is the Morris water maze (MWM). Egocentric navigation involves the dorsal striatum and connected structures; in humans this system encodes routes and integrated paths and, when overlearned, becomes procedural memory. In this article, several allocentric assessment methods for rodents are reviewed and compared with the MWM. MWM advantages (little training required, no food deprivation, ease of testing, rapid and reliable learning, insensitivity to differences in body weight and appetite, absence of nonperformers, control methods for proximal cue learning, and performance effects) and disadvantages (concern about stress, perhaps not as sensitive for working memory) are discussed. Evidence-based design improvements and testing methods are reviewed for both rats and mice. Experimental factors that apply generally to spatial navigation and to MWM specifically are considered. It is concluded that, on balance, the MWM has more advantages than disadvantages and compares favorably with other allocentric navigation tasks. PMID:25225309

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor.

PubMed

Kikutis, Ramūnas; Stankūnas, Jonas; Rudinskas, Darius; Masiulionis, Tadas

2017-09-28

Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically.

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor

PubMed Central

Kikutis, Ramūnas; Stankūnas, Jonas; Rudinskas, Darius; Masiulionis, Tadas

2017-01-01

Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically. PMID:28956839

The Wayfinding Questionnaire: A clinically useful self-report instrument to identify navigation complaints in stroke patients.

PubMed

de Rooij, N K; Claessen, M H G; van der Ham, I J M; Post, M W M; Visser-Meily, J M A

2017-07-18

Post-stroke navigation complaints are frequent (about 30%) and intervention is possible, but there is no assessment instrument to identify patients with navigation complaints. We therefore studied the clinical validity of the Wayfinding Questionnaire (WQ) in a cross-sectional study with 158 chronic stroke patients and 131 healthy controls. Patients with low (more navigation complaints) versus normal WQ scores were compared for demographics, stroke characteristics, emotional and cognitive complaints, and health-related quality of life (HRQoL). Actual navigation performance of 78 patients was assessed in a virtual reality setting. Effect sizes (d) were calculated. WQ responses (22 items) of stroke patients were compared with those of controls (discriminant validity). Results showed that patients with a low WQ score (n = 49, 32%) were more often women (p = 0.013) and less educated (p = 0.004), reported more cognitive complaints (d = 0.69), more emotional problems (d = 0.38 and 0.52), and lower HRQoL (d = 0.40 and 0.45) and, last but not least, performed worse on the navigation ability tasks (d = 0.23-0.80). Patients scored lower than controls on 21/22 WQ items, predominantly with small to medium effect sizes (d = 0.20-0.51). We conclude that the WQ is valid as a measure of navigation complaints in stroke patients, and thus strongly advocate its use in stroke care.

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

PubMed

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

2018-01-01

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

The Human Retrosplenial Cortex and Thalamus Code Head Direction in a Global Reference Frame.

PubMed

Shine, Jonathan P; Valdés-Herrera, José P; Hegarty, Mary; Wolbers, Thomas

2016-06-15

Spatial navigation is a multisensory process involving integration of visual and body-based cues. In rodents, head direction (HD) cells, which are most abundant in the thalamus, integrate these cues to code facing direction. Human fMRI studies examining HD coding in virtual environments (VE) have reported effects in retrosplenial complex and (pre-)subiculum, but not the thalamus. Furthermore, HD coding appeared insensitive to global landmarks. These tasks, however, provided only visual cues for orientation, and attending to global landmarks did not benefit task performance. In the present study, participants explored a VE comprising four separate locales, surrounded by four global landmarks. To provide body-based cues, participants wore a head-mounted display so that physical rotations changed facing direction in the VE. During subsequent MRI scanning, subjects saw stationary views of the environment and judged whether their orientation was the same as in the preceding trial. Parameter estimates extracted from retrosplenial cortex and the thalamus revealed significantly reduced BOLD responses when HD was repeated. Moreover, consistent with rodent findings, the signal did not continue to adapt over repetitions of the same HD. These results were supported by a whole-brain analysis showing additional repetition suppression in the precuneus. Together, our findings suggest that: (1) consistent with the rodent literature, the human thalamus may integrate visual and body-based, orientation cues; (2) global reference frame cues can be used to integrate HD across separate individual locales; and (3) immersive training procedures providing full body-based cues may help to elucidate the neural mechanisms supporting spatial navigation. In rodents, head direction (HD) cells signal facing direction in the environment via increased firing when the animal assumes a certain orientation. Distinct brain regions, the retrosplenial cortex (RSC) and thalamus, code for visual and vestibular cues of orientation, respectively. Putative HD signals have been observed in human RSC but not the thalamus, potentially because body-based cues were not provided. Here, participants encoded HD in a novel virtual environment while wearing a head-mounted display to provide body-based cues for orientation. In subsequent fMRI scanning, we found evidence of an HD signal in RSC, thalamus, and precuneus. These findings harmonize rodent and human data, and suggest that immersive training procedures provide a viable way to examine the neural basis of navigation. Copyright © 2016 the authors 0270-6474/16/366371-11$15.00/0.

Hybrid Guidance Control for a Hypervelocity Small Size Asteroid Interceptor Vehicle

NASA Technical Reports Server (NTRS)

Zebenay, Melak M.; Lyzhoft, Joshua R.; Barbee, Brent W.

2017-01-01

Near-Earth Objects (NEOs) are comets and/or asteroids that have orbits in proximity with Earth's own orbit. NEOs have collided with the Earth in the past, which can be seen at such places as Chicxulub crater, Barringer crater, and Manson crater, and will continue in the future with potentially significant and devastating results. Fortunately such NEO collisions with Earth are infrequent, but can happen at any time. Therefore it is necessary to develop and validate techniques as well as technologies necessary to prevent them. One approach to mitigate future NEO impacts is the concept of high-speed interceptor. This concept is to alter the NEO's trajectory via momentum exchange by using kinetic impactors as well as nuclear penetration devices. The interceptor has to hit a target NEO at relative velocity which imparts a sufficient change in NEO velocity. NASA's Deep Impact mission has demonstrated this scenario by intercepting Comet Temple 1, 5 km in diameter, with an impact relative speed of approximately 10 km/s. This paper focuses on the development of hybrid guidance navigation and control (GNC) algorithms for precision hypervelocity intercept of small sized NEOs. The spacecraft's hypervelocity and the NEO's small size are critical challenges for a successful mission as the NEO will not fill the field of view until a few seconds before intercept. The investigation needs to consider the error sources modeled in the navigation simulation such as spacecraft initial state uncertainties in position and velocity. Furthermore, the paper presents three selected spacecraft guidance algorithms for asteroid intercept and rendezvous missions. The selected algorithms are classical Proportional Navigation (PN) based guidance that use a first order difference to compute the derivatives, Three Plane Proportional Navigation (TPPN), and the Kinematic Impulse (KI). A manipulated Bennu orbit that has been changed to impact Earth will be used as a demonstrative example to compare the three methods. In addition, a hybrid approach that is a combination between proportional navigation and kinematic impulse will be investigated to find an effective, error tolerant, and power saving approach. A 3-dimension mission scenario for both the asteroid and the interceptor spacecraft software simulator is developed for testing of the controllers. The current result demonstrates that a miss distance magnitude of less than 10m is found using the PN and TPPN guidance laws for small asteroid in the presence of error in the spacecraft states. Moreover, the paper presents these results and also the hybrid control approach simulation results.

Precision Navigation of Cassini Images Using Rings, Icy Satellites, and Fuzzy Bodies

NASA Astrophysics Data System (ADS)

French, Robert S.; Showalter, Mark R.; Gordon, Mitchell K.

2016-10-01

Before images from the Cassini spacecraft can be analyzed, errors in the published pointing information (up to ~110 pixels for the Imaging Science Subsystem Narrow Angle Camera) must be corrected so that the line of sight vector for each pixel is known. This complicated and labor-intensive process involves matching the image contents with known features such as stars, rings, or moons. Metadata, such as lighting geometry or ring radius and longitude, must be computed for each pixel as well. Both steps require mastering the SPICE toolkit, a highly capable piece of software with a steep learning curve. Only after these steps are completed can the actual scientific investigation begin.We have embarked on a three-year project to perform these steps for all 400,000+ Cassini ISS images as well as images taken by the VIMS, UVIS, and CIRS instruments. The result will be a series of SPICE kernels that include accurate pointing information and a series of backplanes that include precomputed metadata for each pixel. All data will be made public through the PDS Ring-Moon Systems Node (http://www.pds-rings.seti.org). We expect this project to dramatically decrease the time required for scientists to analyze Cassini data.In a previous poster (French et al. 2014, DPS #46, 422.01) we discussed our progress navigating images using stars, simple ring models, and well-defined icy bodies. In this poster we will report on our current progress including the use of more sophisticated ring models, navigation of "fuzzy" bodies such as Titan and Saturn, and use of crater matching on high-resolution images of the icy satellites.

Distinct retinal pathways drive spatial orientation behaviors in zebrafish navigation.

PubMed

Burgess, Harold A; Schoch, Hannah; Granato, Michael

2010-02-23

Navigation requires animals to adjust ongoing movements in response to pertinent features of the environment and select between competing target cues. The neurobiological basis of navigational behavior in vertebrates is hard to analyze, partly because underlying neural circuits are experience dependent. Phototaxis in zebrafish is a hardwired navigational behavior, performed at a stage when larvae swim by using a small repertoire of stereotyped movements. We established conditions to elicit robust phototaxis behavior and found that zebrafish larvae deploy directional orienting maneuvers and regulate forward swimming speed to navigate toward a target light. Using genetic analysis and targeted laser ablations, we show that retinal ON and OFF pathways play distinct roles during phototaxis. The retinal OFF pathway controls turn movements via retinotectal projections and establishes correct orientation by causing larvae to turn away from nontarget areas. In contrast, the retinal ON pathway activates the serotonergic system to trigger rapid forward swimming toward the target. Computational simulation of phototaxis with an OFF-turn, ON-approach algorithm verifies that our model accounts for key features of phototaxis and provides a simple and robust mechanism for behavioral choice between competing targets. Copyright 2010 Elsevier Ltd. All rights reserved.

Dogs are sensitive to small variations of the Earth’s magnetic field

PubMed Central

2013-01-01

Introduction Several mammalian species spontaneously align their body axis with respect to the Earth’s magnetic field (MF) lines in diverse behavioral contexts. Magnetic alignment is a suitable paradigm to scan for the occurrence of magnetosensitivity across animal taxa with the heuristic potential to contribute to the understanding of the mechanism of magnetoreception and identify further functions of magnetosensation apart from navigation. With this in mind we searched for signs of magnetic alignment in dogs. We measured the direction of the body axis in 70 dogs of 37 breeds during defecation (1,893 observations) and urination (5,582 observations) over a two-year period. After complete sampling, we sorted the data according to the geomagnetic conditions prevailing during the respective sampling periods. Relative declination and intensity changes of the MF during the respective dog walks were calculated from daily magnetograms. Directional preferences of dogs under different MF conditions were analyzed and tested by means of circular statistics. Results Dogs preferred to excrete with the body being aligned along the North–South axis under calm MF conditions. This directional behavior was abolished under unstable MF. The best predictor of the behavioral switch was the rate of change in declination, i.e., polar orientation of the MF. Conclusions It is for the first time that (a) magnetic sensitivity was proved in dogs, (b) a measurable, predictable behavioral reaction upon natural MF fluctuations could be unambiguously proven in a mammal, and (c) high sensitivity to small changes in polarity, rather than in intensity, of MF was identified as biologically meaningful. Our findings open new horizons in magnetoreception research. Since the MF is calm in only about 20% of the daylight period, our findings might provide an explanation why many magnetoreception experiments were hardly replicable and why directional values of records in diverse observations are frequently compromised by scatter. PMID:24370002

Flexible add-on solution for MR image-guided interventions in a closed-bore scanner environment.

PubMed

Busse, Harald; Garnov, Nikita; Thörmer, Gregor; Zajonz, Dirk; Gründer, Wilfried; Kahn, Thomas; Moche, Michael

2010-09-01

MRI is of great clinical utility for the guidance of various diagnostic and therapeutic procedures. In a standard closed-bore scanner, the simplest approach is to manipulate the instrument outside the bore and move the patient into the bore for reference and control imaging only. Without navigational assistance, however, such an approach can be difficult, inaccurate, and time consuming. Therefore, an add-on navigation solution is described that addresses these limitations. Patient registration is established by an automatic, robust, and fast (<30 sec) localization of table-mounted MR reference markers and the instrument is tracked optically. Good hand-eye coordination is provided by following the virtual instrument on MR images that are reconstructed in real time from the reference data. Needle displacements of 2.2 +/- 0.6 mm and 3.9 +/- 2.4 mm were determined in a phantom (P < 0.05), depending on whether the reference markers were placed at smaller (98-139 mm) or larger (147-188 mm) distances from the isocenter. Clinical functionality of the navigation concept is demonstrated by a double oblique, subscapular hook-wire insertion in a patient with a body mass index of 30.1 kg/m(2). Ease of use, compactness, and flexibility of this technique suggest that it can be used for many other procedures in different body regions. More patient cases are needed to evaluate clinical performance and workflow. 2010 Wiley-Liss, Inc.

Listening to Girls Talk about Their Bodies.

ERIC Educational Resources Information Center

Nichter, Mimi

2000-01-01

This article, written by an anthropologist who has studied the culture of teenage girls, explores influences on their sense of self, including those of peers, parents, and the media. Educators and parents can play important roles in helping young people navigate successfully through adolescence. (Author/MKA)

Diagnostic and therapeutic aspects in the treatment of gunshot wounds of the viscerocranium.

PubMed

Gröbe, A; Klatt, J; Heiland, M; Schmelzle, R; Pohlenz, P

2011-02-01

Gunshot wounds of the viscerocranium are a rare occurrence during times of peace in Europe. The removal of projectiles is recommended; in some cases, however, this is controversial. The material properties of projectiles and destruction of anatomical landmarks make it difficult to determine their precise location. Therefore, navigation systems and cone-beam computed tomography (CT) provide the surgeon with continuous intraoperative orientation in real-time. The aim of this study was to report our experiences for image-guided removal of projectiles, the use of cone-beam computed tomography and the resulting intra- and postoperative complications. We investigated 50 patients with gunshot wounds of the facial skeleton retrospectively, 32 had image-guided surgical removal of projectiles in the oral and maxillofacial region, 18 had surgical removal of projectiles without navigation assistance and in 28 cases we used cone-beam CT in the case of dislocated projectiles and fractured bones. There was a significant correlation (p = 0.0136) between the navigated versus not navigated surgery and complication rate (8 vs. 32%, p = 0.0132) including major bleeding, soft tissue infections and nerve damage. Furthermore, we could reduce operating time while using a navigation system and cone-beam CT (p = 0.038). A high tendency between operating time and navigated surgery (p = 0.1103) was found. In conclusion, there is a significant correlation between reduced intra- and postoperative complications including wound infections, nerve damage and major bleeding and the appropriate use of a navigation system. In all these cases we were able to present reduced operating time. Cone-beam CT plays a key role as a useful diagnostic tool in detecting projectiles or metallic foreign bodies intraoperatively.

FMRI 3D registration based on Fourier space subsets using neural networks.

PubMed

Freire, Luis C; Gouveia, Ana R; Godinho, Fernando M

2010-01-01

In this work, we present a neural network (NN) based method designed for 3D rigid-body registration of FMRI time series, which relies on a limited number of Fourier coefficients of the images to be aligned. These coefficients, which are comprised in a small cubic neighborhood located at the first octant of a 3D Fourier space (including the DC component), are then fed into six NN during the learning stage. Each NN yields the estimates of a registration parameter. The proposed method was assessed for 3D rigid-body transformations, using DC neighborhoods of different sizes. The mean absolute registration errors are of approximately 0.030 mm in translations and 0.030 deg in rotations, for the typical motion amplitudes encountered in FMRI studies. The construction of the training set and the learning stage are fast requiring, respectively, 90 s and 1 to 12 s, depending on the number of input and hidden units of the NN. We believe that NN-based approaches to the problem of FMRI registration can be of great interest in the future. For instance, NN relying on limited K-space data (possibly in navigation echoes) can be a valid solution to the problem of prospective (in frame) FMRI registration.

Neuronal connectome of a sensory-motor circuit for visual navigation

PubMed Central

Randel, Nadine; Asadulina, Albina; Bezares-Calderón, Luis A; Verasztó, Csaba; Williams, Elizabeth A; Conzelmann, Markus; Shahidi, Réza; Jékely, Gáspár

2014-01-01

Animals use spatial differences in environmental light levels for visual navigation; however, how light inputs are translated into coordinated motor outputs remains poorly understood. Here we reconstruct the neuronal connectome of a four-eye visual circuit in the larva of the annelid Platynereis using serial-section transmission electron microscopy. In this 71-neuron circuit, photoreceptors connect via three layers of interneurons to motorneurons, which innervate trunk muscles. By combining eye ablations with behavioral experiments, we show that the circuit compares light on either side of the body and stimulates body bending upon left-right light imbalance during visual phototaxis. We also identified an interneuron motif that enhances sensitivity to different light intensity contrasts. The Platynereis eye circuit has the hallmarks of a visual system, including spatial light detection and contrast modulation, illustrating how image-forming eyes may have evolved via intermediate stages contrasting only a light and a dark field during a simple visual task. DOI: http://dx.doi.org/10.7554/eLife.02730.001 PMID:24867217

Navigating dietary small RNAs

USDA-ARS?s Scientific Manuscript database

When a novel nutritional concept comes along, scientists become enthusiastic and start new explorations. In 2012, the field was enthralled with a study suggesting plant-based nucleic acid "information" acts as a bioactive to regulate animal metabolism....

The Aquila launch service for small satellites

NASA Astrophysics Data System (ADS)

Whittinghill, George R.; McKinney, Bevin C.

1992-07-01

The Aquila launch vehicle is described emphasizing its use in the deployment of small satellites for the commercial sector. The Aquila is designed to use a guidance, navigation, and control system, and the rocket is based on hybrid propulsion incorporating a liquid oxidizer with a solid polybutadiene fuel. The launch vehicle for the system is a ground-launched four-stage vehicle that can deliver 3,200 lbs of payload into a 185-km circular orbit at 90-deg inclination. Aquila avionics include inertial navigation, radar transponder, and an S-band telemetry transmitter. The payload environment minimizes in-flight acoustic levels, and the launch-ascent profile is characterized by low acceleration. The launch vehicle uses low-cost rocket motors, a high-performance LO(x) feed system, and erector launch capability which contribute to efficient launches for commercial payloads for low polar earth orbits.

An Unmanned Aerial Vehicle Cluster Network Cruise System for Monitor

NASA Astrophysics Data System (ADS)

Jiang, Jirong; Tao, Jinpeng; Xin, Guipeng

2018-06-01

The existing maritime cruising system mainly uses manned motorboats to monitor the quality of coastal water and patrol and maintenance of the navigation -aiding facility, which has the problems of high energy consumption, small range of cruise for monitoring, insufficient information control and low visualization. In recent years, the application of UAS in the maritime field has alleviated the phenomenon above to some extent. A cluster-based unmanned network monitoring cruise system designed in this project uses the floating small UAV self-powered launching platform as a carrier, applys the idea of cluster, and combines the strong controllability of the multi-rotor UAV and the capability to carry customized modules, constituting a unmanned, visualized and normalized monitoring cruise network to realize the functions of maritime cruise, maintenance of navigational-aiding and monitoring the quality of coastal water.

Navigating Diagnoses: Understanding Mind–Body Relations, Mental Health, and Stigma in Nepal

PubMed Central

Harper, Ian

2013-01-01

Anthropologists and psychiatrists traditionally have used the salience of a mind–body dichotomy to distinguish Western from non-Western ethnopsychologies. However, despite claims of mind–body holism in non-Western cultures, mind–body divisions are prominent in non-Western groups. In this article, we discuss three issues: the ethnopsychology of mind–body dichotomies in Nepal, the relationship between mind–body dichotomies and the hierarchy of resort in a medical pluralistic context, and, lastly, the role of mind–body dichotomies in public health interventions (biomedical and psychosocial) aimed toward decreasing the stigmatization of mental illness. We assert that, by understanding mind–body relations in non-Western settings, their implications, and ways in which to reconstitute these relations in a less stigmatizing manner, medical anthropologists and mental health workers can contribute to the reduction of stigma in global mental healthcare. PMID:18784989

Development of an integrated spacecraft Guidance, Navigation, & Control subsystem for automated proximity operations

NASA Astrophysics Data System (ADS)

Schulte, Peter Z.; Spencer, David A.

2016-01-01

This paper describes the development and validation process of a highly automated Guidance, Navigation, & Control subsystem for a small satellite on-orbit inspection application, enabling proximity operations without human-in-the-loop interaction. The paper focuses on the integration and testing of Guidance, Navigation, & Control software and the development of decision logic to address the question of how such a system can be effectively implemented for full automation. This process is unique because a multitude of operational scenarios must be considered and a set of complex interactions between subsystem algorithms must be defined to achieve the automation goal. The Prox-1 mission is currently under development within the Space Systems Design Laboratory at the Georgia Institute of Technology. The mission involves the characterization of new small satellite component technologies, deployment of the LightSail 3U CubeSat, entering into a trailing orbit relative to LightSail using ground-in-the-loop commands, and demonstration of automated proximity operations through formation flight and natural motion circumnavigation maneuvers. Operations such as these may be utilized for many scenarios including on-orbit inspection, refueling, repair, construction, reconnaissance, docking, and debris mitigation activities. Prox-1 uses onboard sensors and imaging instruments to perform Guidance, Navigation, & Control operations during on-orbit inspection of LightSail. Navigation filters perform relative orbit determination based on images of the target spacecraft, and guidance algorithms conduct automated maneuver planning. A slew and tracking controller sends attitude actuation commands to a set of control moment gyroscopes, and other controllers manage desaturation, detumble, thruster firing, and target acquisition/recovery. All Guidance, Navigation, & Control algorithms are developed in a MATLAB/Simulink six degree-of-freedom simulation environment and are integrated using decision logic to autonomously determine when actions should be performed. The complexity of this decision logic is the primary challenge of the automated process, and the Stateflow tool in Simulink is used to establish logical relationships and manage data flow between each of the individual hardware and software components. Once the integrated simulation is fully developed in MATLAB/Simulink, the algorithms are autocoded to C/C++ and integrated into flight software. Hardware-in-the-loop testing provides validation of the Guidance, Navigation, & Control subsystem performance.

Neural guidance molecules regulate vascular remodeling and vessel navigation.

PubMed

Eichmann, Anne; Makinen, Taija; Alitalo, Kari

2005-05-01

The development of the embryonic blood vascular and lymphatic systems requires the coordinated action of several transcription factors and growth factors that target endothelial and periendothelial cells. However, according to recent studies, the precise "wiring" of the vascular system does not occur without an ordered series of guidance decisions involving several molecules initially discovered for axons in the nervous system, including ephrins, netrins, slits, and semaphorins. Here, we summarize the new advances in our understanding of the roles of these axonal pathfinding molecules in vascular remodeling and vessel guidance, indicating that neuronal axons and vessel sprouts use common molecular mechanisms for navigation in the body.

The breast cancer patient navigation kit: development and user feedback.

PubMed

Skrutkowski, Myriam; Saucier, Andréanne; Meterissian, Sarkis

2011-12-01

Our interdisciplinary team developed a written cancer patient education tool, the Breast Cancer Navigation Kit, to respond to the information needs of patients and family members and that meet patient literacy levels. A literature review and a focus group provided content development for four modules: "About Breast Cancer," "Body-Mind-Spirit," "After Treatment Ends," and "Practical Information." An evaluation by 31 women showed the kit to be easy to understand, very useful, and informative. However, all agreed that it could not replace the dialogue with health care professionals. An interdisciplinary approach involving patient feedback is key to develop appropriate patient education tools.

Conic state extrapolation. [computer program for space shuttle navigation and guidance requirements

NASA Technical Reports Server (NTRS)

Shepperd, S. W.; Robertson, W. M.

1973-01-01

The Conic State Extrapolation Routine provides the capability to conically extrapolate any spacecraft inertial state vector either backwards or forwards as a function of time or as a function of transfer angle. It is merely the coded form of two versions of the solution of the two-body differential equations of motion of the spacecraft center of mass. Because of its relatively fast computation speed and moderate accuracy, it serves as a preliminary navigation tool and as a method of obtaining quick solutions for targeting and guidance functions. More accurate (but slower) results are provided by the Precision State Extrapolation Routine.

Self-navigation of a scanning tunneling microscope tip toward a micron-sized graphene sample.

PubMed

Li, Guohong; Luican, Adina; Andrei, Eva Y

2011-07-01

We demonstrate a simple capacitance-based method to quickly and efficiently locate micron-sized conductive samples, such as graphene flakes, on insulating substrates in a scanning tunneling microscope (STM). By using edge recognition, the method is designed to locate and to identify small features when the STM tip is far above the surface, allowing for crash-free search and navigation. The method can be implemented in any STM environment, even at low temperatures and in strong magnetic field, with minimal or no hardware modifications.

A Long Range Science Rover For Future Mars Missions

NASA Technical Reports Server (NTRS)

Hayati, Samad

1997-01-01

This paper describes the design and implementation currently underway at the Jet Propulsion Laboratory of a long range science rover for future missions to Mars. The small rover prototype, called Rocky 7, is capable of long traverse. autonomous navigation. and science instrument control, carries three science instruments, and can be commanded from any computer platform and any location using the World Wide Web. In this paper we describe the mobility system, the sampling system, the sensor suite, navigation and control, onboard science instruments. and the ground command and control system.

Computer-assisted surgery: virtual- and augmented-reality displays for navigation during urological interventions.

PubMed

van Oosterom, Matthias N; van der Poel, Henk G; Navab, Nassir; van de Velde, Cornelis J H; van Leeuwen, Fijs W B

2018-03-01

To provide an overview of the developments made for virtual- and augmented-reality navigation procedures in urological interventions/surgery. Navigation efforts have demonstrated potential in the field of urology by supporting guidance for various disorders. The navigation approaches differ between the individual indications, but seem interchangeable to a certain extent. An increasing number of pre- and intra-operative imaging modalities has been used to create detailed surgical roadmaps, namely: (cone-beam) computed tomography, MRI, ultrasound, and single-photon emission computed tomography. Registration of these surgical roadmaps with the real-life surgical view has occurred in different forms (e.g. electromagnetic, mechanical, vision, or near-infrared optical-based), whereby the combination of approaches was suggested to provide superior outcome. Soft-tissue deformations demand the use of confirmatory interventional (imaging) modalities. This has resulted in the introduction of new intraoperative modalities such as drop-in US, transurethral US, (drop-in) gamma probes and fluorescence cameras. These noninvasive modalities provide an alternative to invasive technologies that expose the patients to X-ray doses. Whereas some reports have indicated navigation setups provide equal or better results than conventional approaches, most trials have been performed in relatively small patient groups and clear follow-up data are missing. The reported computer-assisted surgery research concepts provide a glimpse in to the future application of navigation technologies in the field of urology.

Accuracy study of computer-assisted drilling: the effect of bone density, drill bit characteristics, and use of a mechanical guide.

PubMed

Hüfner, T; Geerling, J; Oldag, G; Richter, M; Kfuri, M; Pohlemann, T; Krettek, C

2005-01-01

This study was designed to determine the clinical relevant accuracy of CT-based navigation for drilling. Experimental model. Laboratory. Twelve drills of varying lengths and diameters were tested with 2 different set-ups. Group 1 used free-hand navigated drilling technique with foam blocks equipped with titanium target points. Group 2 (control) used a newly developed 3-dimensional measurement device equipped with titanium target points with a fixed entry for the navigated drill to minimize bending forces. One examiner performed 690 navigated drillings using solely the monitor screen for control in both groups. The difference between the planned and the actual starting and target point (up to 150 mm distance) was measured (mm). Levene test and a nonpaired t test. Significance level was set as P < 0.05. The core accuracy of the navigation system measured with the 3-dimensional device was 0.5 mm. The mean distance from planned to actual entry points in group 1 was 1.3 (range, 0.6-3.4 mm). The mean distance between planned and actual target point was 3.4 (range, 1.7-5.8 mm). Free-hand navigated drilling showed an increased difference with increased length of the drill bits as well as with increased drilling channel for drill bits 2.5 and 3.2 mm and not for 3.5 and 4.5 mm (P < 0.05). The core accuracy of the navigation system is high. Compared with the navigated free-hand technique, the results suggest that drill bit deflection interferes directly with the precision. The precision is decreased when using small diameter and longer drill bits.

International Female Students' Experiences of Navigating the Canadian Health Care System in a Small Town Setting

ERIC Educational Resources Information Center

Burgess, K.; McKenzie, W.; Fehr, F.

2016-01-01

This pilot study explored the international female (IF) students' (n = 17) lived experiences of health care accessibility while studying in a small town in Canada. Analysis guided by a phenomenological method resulted in three major themes--(1) after arriving to attend university, IF students experienced challenges in staying healthy, such as…

High Resolution 3D Radar Imaging of Comet Interiors

NASA Astrophysics Data System (ADS)

Asphaug, E. I.; Gim, Y.; Belton, M.; Brophy, J.; Weissman, P. R.; Heggy, E.

2012-12-01

Knowing the interiors of comets and other primitive bodies is fundamental to our understanding of how planets formed. We have developed a Discovery-class mission formulation, Comet Radar Explorer (CORE), based on the use of previously flown planetary radar sounding techniques, with the goal of obtaining high resolution 3D images of the interior of a small primitive body. We focus on the Jupiter-Family Comets (JFCs) as these are among the most primitive bodies reachable by spacecraft. Scattered in from far beyond Neptune, they are ultimate targets of a cryogenic sample return mission according to the Decadal Survey. Other suitable targets include primitive NEOs, Main Belt Comets, and Jupiter Trojans. The approach is optimal for small icy bodies ~3-20 km diameter with spin periods faster than about 12 hours, since (a) navigation is relatively easy, (b) radar penetration is global for decameter wavelengths, and (c) repeated overlapping ground tracks are obtained. The science mission can be as short as ~1 month for a fast-rotating JFC. Bodies smaller than ~1 km can be globally imaged, but the navigation solutions are less accurate and the relative resolution is coarse. Larger comets are more interesting, but radar signal is unlikely to be reflected from depths greater than ~10 km. So, JFCs are excellent targets for a variety of reasons. We furthermore focus on the use of Solar Electric Propulsion (SEP) to rendezvous shortly after the comet's perihelion. This approach leaves us with ample power for science operations under dormant conditions beyond ~2-3 AU. This leads to a natural mission approach of distant observation, followed by closer inspection, terminated by a dedicated radar mapping orbit. Radar reflections are obtained from a polar orbit about the icy nucleus, which spins underneath. Echoes are obtained from a sounder operating at dual frequencies 5 and 15 MHz, with 1 and 10 MHz bandwidths respectively. The dense network of echoes is used to obtain global 3D images of interior structure to ~20 m, and to map dielectric properties (related to internal composition) to better than 200 m throughout. This is comparable in detail to modern 3D medical ultrasound, although we emphasize that the techniques are somewhat different. An interior mass distribution is obtained through spacecraft tracking, using data acquired during the close, quiet radar orbits. This is aligned with the radar-based images of the interior, and the shape model, to contribute to the multi-dimensional 3D global view. High-resolution visible imaging provides boundary conditions and geologic context to these interior views. An infrared spectroscopy and imaging campaign upon arrival reveals the time-evolving activity of the nucleus and the structure and composition of the inner coma, and the definition of surface units. CORE is designed to obtain a total view of a comet, from the coma to the active and evolving surface to the deep interior. Its primary science goal is to obtain clear images of internal structure and dielectric composition. These will reveal how the comet was formed, what it is made of, and how it 'works'. By making global yet detailed connections from interior to exterior, this knowledge will be an important complement to the Rosetta mission, and will lay the foundation for comet nucleus sample return by revealing the areas of shallow depth to 'bedrock', and relating accessible deposits to their originating provenances within the nucleus.

A new multiresolution method applied to the 3D reconstruction of small bodies

NASA Astrophysics Data System (ADS)

Capanna, C.; Jorda, L.; Lamy, P. L.; Gesquiere, G.

2012-12-01

The knowledge of the three-dimensional (3D) shape of small solar system bodies, such as asteroids and comets, is essential in determining their global physical properties (volume, density, rotational parameters). It also allows performing geomorphological studies of their surface through the characterization of topographic features, such as craters, faults, landslides, grooves, hills, etc.. In the case of small bodies, the shape is often only constrained by images obtained by interplanetary spacecrafts. Several techniques are available to retrieve 3D global shapes from these images. Stereography which relies on control points has been extensively used in the past, most recently to reconstruct the nucleus of comet 9P/Tempel 1 [Thomas (2007)]. The most accurate methods are however photogrammetry and photoclinometry, often used in conjunction with stereography. Stereophotogrammetry (SPG) has been used to reconstruct the shapes of the nucleus of comet 19P/Borrelly [Oberst (2004)] and of the asteroid (21) Lutetia [Preusker (2012)]. Stereophotoclinometry (SPC) has allowed retrieving an accurate shape of the asteroids (25143) Itokawa [Gaskell (2008)] and (2867) Steins [Jorda (2012)]. We present a new photoclinometry method based on the deformation of a 3D triangular mesh [Capanna (2012)] using a multi-resolution scheme which starts from a sphere of 300 facets and yields a shape model with 100; 000 facets. Our strategy is inspired by the "Full Multigrid" method [Botsch (2007)] and consists in going alternatively between two resolutions in order to obtain an optimized shape model at a given resolution before going to the higher resolution. In order to improve the robustness of our method, we use a set of control points obtained by stereography. Our method has been tested on images acquired by the OSIRIS visible camera, aboard the Rosetta spacecraft of the European Space Agency, during the fly-by of asteroid (21) Lutetia in July 2010. We present the corresponding 3D shape model of its surface and compare it with models obtained with the SPG and SPC methods. We finally illustrate the practical interest of our approach in geomorphological studies through an analysis of depth to diameter ratio of several craters and topographic properties of other features. Botsch, M., et al., "Geometric modeling based on polygonal meshes," Proc. ACM SIGGRAPH Course Notes, 2007 Capanna, C., et al.: 3D Reconstruction of small solar system bodies using photoclinometry by deformation, IADIS International Journal on Computer Science and Information Systems, in press, 2012. Gaskell, R. W., et al.: Characterizing and navigating small bodies with imaging data, Meteoritics and Planetary Science, vol 43, p. 1049, 2008. Jorda, L., et al: Asteroid (2867) Steins: Shape, Topography and Global Physical Properties from OSIRIS observations, Icarus, in press, 2012. Oberst, J., et al.: The nucleus of Comet Borrelly: a study of morphology and surface brightness, Icarus, vol. 167, 2004. Preusker, F., et al.: The northern hemisphere of asteroid 21 Lutetia topography and orthoimages from Rosetta OSIRIS NAC image data, Planetary and Space Science, vol. 66, p. 54-63, 2012. Thomas, P. C., et al.: The shape, topography, and geology of Tempel 1 from Deep Impact observations, Icarus, vol. 187, Issue 1, p. 4-15, 2007

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

NASA Technical Reports Server (NTRS)

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

1997-01-01

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

Research on the attitude of small UAV based on MEMS devices

NASA Astrophysics Data System (ADS)

Shi, Xiaojie; Lu, Libin; Jin, Guodong; Tan, Lining

2017-05-01

This paper mainly introduces the research principle and implementation method of the small UAV navigation attitude system based on MEMS devices. The Gauss - Newton method based on least squares is used to calibrate the MEMS accelerometer and gyroscope for calibration. Improve the accuracy of the attitude by using the modified complementary filtering to correct the attitude angle error. The experimental data show that the design of the attitude and attitude system in this paper to meet the requirements of small UAV attitude accuracy to achieve a small, low cost.

Using stable isotopes to examine watershed connectivity to downstream waters

EPA Science Inventory

Water bodies within the USA are protected by the US Clean Water Act when they have a significant nexus to downstream navigable waters. As a research scientist with the US Environmental Protection Agency, I have used water stable isotopes to examine hydrologic connectivity dynami...

High-Fidelity Flash Lidar Model Development

NASA Technical Reports Server (NTRS)

Hines, Glenn D.; Pierrottet, Diego F.; Amzajerdian, Farzin

2014-01-01

NASA's Autonomous Landing and Hazard Avoidance Technologies (ALHAT) project is currently developing the critical technologies to safely and precisely navigate and land crew, cargo and robotic spacecraft vehicles on and around planetary bodies. One key element of this project is a high-fidelity Flash Lidar sensor that can generate three-dimensional (3-D) images of the planetary surface. These images are processed with hazard detection and avoidance and hazard relative navigation algorithms, and then are subsequently used by the Guidance, Navigation and Control subsystem to generate an optimal navigation solution. A complex, high-fidelity model of the Flash Lidar was developed in order to evaluate the performance of the sensor and its interaction with the interfacing ALHAT components on vehicles with different configurations and under different flight trajectories. The model contains a parameterized, general approach to Flash Lidar detection and reflects physical attributes such as range and electronic noise sources, and laser pulse temporal and spatial profiles. It also provides the realistic interaction of the laser pulse with terrain features that include varying albedo, boulders, craters slopes and shadows. This paper gives a description of the Flash Lidar model and presents results from the Lidar operating under different scenarios.

Dawes Review 5: Australian Aboriginal Astronomy and Navigation

NASA Astrophysics Data System (ADS)

Norris, Ray P.

2016-08-01

The traditional cultures of Aboriginal Australians include a significant astronomical component, perpetuated through oral tradition, ceremony, and art. This astronomical knowledge includes a deep understanding of the motion of objects in the sky, which was used for practical purposes such as constructing calendars and for navigation. There is also evidence that traditional Aboriginal Australians made careful records and measurements of cyclical phenomena, recorded unexpected phenomena such as eclipses and meteorite impacts, and could determine the cardinal points to an accuracy of a few degrees. Putative explanations of celestial phenomena appear throughout the oral record, suggesting traditional Aboriginal Australians sought to understand the natural world around them, in the same way as modern scientists, but within their own cultural context. There is also a growing body of evidence for sophisticated navigational skills, including the use of astronomically based songlines. Songlines are effectively oral maps of the landscape, and are an efficient way of transmitting oral navigational skills in cultures that do not have a written language. The study of Aboriginal astronomy has had an impact extending beyond mere academic curiosity, facilitating cross-cultural understanding, demonstrating the intimate links between science and culture, and helping students to engage with science.

Navigation and Robotics in Spinal Surgery: Where Are We Now?

PubMed

Overley, Samuel C; Cho, Samuel K; Mehta, Ankit I; Arnold, Paul M

2017-03-01

Spine surgery has experienced much technological innovation over the past several decades. The field has seen advancements in operative techniques, implants and biologics, and equipment such as computer-assisted navigation and surgical robotics. With the arrival of real-time image guidance and navigation capabilities along with the computing ability to process and reconstruct these data into an interactive three-dimensional spinal "map", so too have the applications of surgical robotic technology. While spinal robotics and navigation represent promising potential for improving modern spinal surgery, it remains paramount to demonstrate its superiority as compared to traditional techniques prior to assimilation of its use amongst surgeons.The applications for intraoperative navigation and image-guided robotics have expanded to surgical resection of spinal column and intradural tumors, revision procedures on arthrodesed spines, and deformity cases with distorted anatomy. Additionally, these platforms may mitigate much of the harmful radiation exposure in minimally invasive surgery to which the patient, surgeon, and ancillary operating room staff are subjected.Spine surgery relies upon meticulous fine motor skills to manipulate neural elements and a steady hand while doing so, often exploiting small working corridors utilizing exposures that minimize collateral damage. Additionally, the procedures may be long and arduous, predisposing the surgeon to both mental and physical fatigue. In light of these characteristics, spine surgery may actually be an ideal candidate for the integration of navigation and robotic-assisted procedures.With this paper, we aim to critically evaluate the current literature and explore the options available for intraoperative navigation and robotic-assisted spine surgery. Copyright © 2016 by the Congress of Neurological Surgeons.

Isolated core vs. superficial cooling effects on virtual maze navigation.

PubMed

Payne, Jennifer; Cheung, Stephen S

2007-07-01

Cold impairs cognitive performance and is a common occurrence in many survival situations. Altered behavior patterns due to impaired navigation abilities in cold environments are potential problems in lost-person situations. We investigated the separate effects of low core temperature and superficial cooling on a spatially demanding virtual navigation task. There were 12 healthy men who were passively cooled via 15 degrees C water immersion to a core temperature of 36.0 degrees C, then transferred to a warm (40 degrees C) water bath to eliminate superficial shivering while completing a series of 20 virtual computer mazes. In a control condition, subjects rested in a thermoneutral (approximately 35 degrees C) bath for a time-matched period before being transferred to a warm bath for testing. Superficial cooling and distraction were achieved by whole-body immersion in 35 degree water for a time-matched period, followed by lower leg immersion in 10 degree C water for the duration of the navigational tests. Mean completion time and mean error scores for the mazes were not significantly different (p > 0.05) across the core cooling (16.59 +/- 11.54 s, 0.91 +/- 1.86 errors), control (15.40 +/- 8.85 s, 0.82 +/- 1.76 errors), and superficial cooling (15.19 +/- 7.80 s, 0.77 +/- 1.40 errors) conditions. Separately reducing core temperature or increasing cold sensation in the lower extremities did not influence performance on virtual computer mazes, suggesting that navigation is more resistive to cooling than other, simpler cognitive tasks. Further research is warranted to explore navigational ability at progressively lower core and skin temperatures, and in different populations.

A new system of computer-assisted navigation leading to reduction in operating time in uncemented total hip replacement in a matched population.

PubMed

Chaudhry, Fouad A; Ismail, Sanaa Z; Davis, Edward T

2018-05-01

Computer-assisted navigation techniques are used to optimise component placement and alignment in total hip replacement. It has developed in the last 10 years but despite its advantages only 0.3% of all total hip replacements in England and Wales are done using computer navigation. One of the reasons for this is that computer-assisted technology increases operative time. A new method of pelvic registration has been developed without the need to register the anterior pelvic plane (BrainLab hip 6.0) which has shown to improve the accuracy of THR. The purpose of this study was to find out if the new method reduces the operating time. This was a retrospective analysis of comparing operating time in computer navigated primary uncemented total hip replacement using two methods of registration. Group 1 included 128 cases that were performed using BrainLab versions 2.1-5.1. This version relied on the acquisition of the anterior pelvic plane for registration. Group 2 included 128 cases that were performed using the newest navigation software, BrainLab hip 6.0 (registration possible with the patient in the lateral decubitus position). The operating time was 65.79 (40-98) minutes using the old method of registration and was 50.87 (33-74) minutes using the new method of registration. This difference was statistically significant. The body mass index (BMI) was comparable in both groups. The study supports the use of new method of registration in improving the operating time in computer navigated primary uncemented total hip replacements.

The lower body muscle activation of intermediate to experienced kayakers when navigating white water.

PubMed

Murtagh, Misha; Brooks, Darrell; Sinclair, Jonathan; Atkins, Stephen

2016-11-01

In white-water kayaking, the legs play a vital part in turning, stabilising and bracing actions. To date, there has been no reported information on neuromuscular activation of the legs in an authentic white-water environment. The aim of the current study was to identify lower body muscle activation, using 'in-boat' electromyography (EMG), whilst navigating a white-water run. Ten experienced male kayakers (age 31.5 ± 12.5 yr, intermediate to advanced experience) completed three successful runs of an international standard white-water course (grade 3 rapids), targeting right and left sides of the course, in a zigzag formation. Surface EMG (sEMG) outputs were generated, bilaterally, for the rectus femoris (RF), vastus lateralis, biceps femoris and gastrocnemius, expressed as a percentage of a dynamic maximal voluntary contraction (dMVC). Only RF showed significantly higher activation than any muscle on the left side of the body, and only on the left side of the course (P = .004; ETA(2) = 0.56). Other results showed no significant difference between muscle activation in the right and left legs during each run, nor when assessed at either the right or left side of the course (P > .05). These findings indicate that contralateral symmetry in lower limb muscle activation is evident during white-water kayaking. This symmetry may provide a stable base to allow more asymmetrical upper body and trunk movements to be fully optimised. Lower body symmetry development should be considered useful in targeted training programmes for white-water kayakers.

Parallel processing and expert systems

NASA Technical Reports Server (NTRS)

Lau, Sonie; Yan, Jerry C.

1991-01-01

Whether it be monitoring the thermal subsystem of Space Station Freedom, or controlling the navigation of the autonomous rover on Mars, NASA missions in the 1990s cannot enjoy an increased level of autonomy without the efficient implementation of expert systems. Merely increasing the computational speed of uniprocessors may not be able to guarantee that real-time demands are met for larger systems. Speedup via parallel processing must be pursued alongside the optimization of sequential implementations. Prototypes of parallel expert systems have been built at universities and industrial laboratories in the U.S. and Japan. The state-of-the-art research in progress related to parallel execution of expert systems is surveyed. The survey discusses multiprocessors for expert systems, parallel languages for symbolic computations, and mapping expert systems to multiprocessors. Results to date indicate that the parallelism achieved for these systems is small. The main reasons are (1) the body of knowledge applicable in any given situation and the amount of computation executed by each rule firing are small, (2) dividing the problem solving process into relatively independent partitions is difficult, and (3) implementation decisions that enable expert systems to be incrementally refined hamper compile-time optimization. In order to obtain greater speedups, data parallelism and application parallelism must be exploited.

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

NASA Technical Reports Server (NTRS)

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

1997-01-01

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

Asian American Transfer Students: The Intersection of Race & Class

ERIC Educational Resources Information Center

Lui, Joyce

2013-01-01

There has been a limited body of research on Asian American students, specifically regarding community college attendance and the transfer process. The purpose of this qualitative study was to explore and understand how Asian American transfer students navigate the community college, their transfer processes, as well as their post-transfer…

Growing Up Female: Navigating Body Image, Eating, and Depression.

ERIC Educational Resources Information Center

Graber, Julia A.; Brooks-Gunn, Jeanne

1996-01-01

Describes the dramatic increase in eating and depressive disorders experienced by significant numbers of girls as they pass through puberty. The Adolescent Study Program followed girls with eating and depressive problems across the entire adolescent decade. Discusses characteristics which are predictive of more intense problems while suggesting…

Department of Defense Agency Financial Report for FY 2011

DTIC Science & Technology

2011-11-01

in size. They range from the very small (an unoccupied site supporting a single navigational aid that sits on less than one-half acre of land) to...U.S. military presence in Iraq will be zero troops (except for a small number under Chief of Mission authority). 48,770 50,000 46,000 1.2.2...number of pieces of rolling stock in Iraq supporting U.S. military troops, will be zero (except for a small number used by military personnel under

Eros: Shape, topography, and slope processes

USGS Publications Warehouse

Thomas, P.C.; Joseph, J.; Carcich, B.; Veverka, J.; Clark, B.E.; Bell, J.F.; Byrd, A.W.; Chomko, R.; Robinson, M.; Murchie, S.; Prockter, L.; Cheng, A.; Izenberg, N.; Malin, M.; Chapman, C.; McFadden, L.A.; Kirk, R.; Gaffey, M.; Lucey, P.G.

2002-01-01

Stereogrammetric measurement of the shape of Eros using images obtained by NEAR's Multispectral Imager provides a survey of the major topographic features and slope processes on this asteroid. This curved asteroid has radii ranging from 3.1 to 17.7 km and a volume of 2535 ?? 20 km3. The center of figure is within 52 m of the center of mass provided by the Navigation team; this minimal difference suggests that there are only modest variations in density or porosity within the asteroid. Three large depressions 10, 8, and 5.3 km across represent different stages of degradation of large impact craters. Slopes on horizontal scales of ???300 m are nearly all less than 35??, although locally scarps are much steeper. The area distribution of slopes is similar to those on Ida, Phobos, and Deimos. Regions that have slopes greater than 25?? have distinct brighter markings and have fewer large ejecta blocks than do flatter areas. The albedo patterns that suggest downslope transport of regolith have sharper boundaries than those on Phobos, Deimos, and Gaspra. The morphology of the albedo patterns, their lack of discrete sources, and their concentration on steeper slopes suggest transport mechanisms different from those on the previously well-observed small bodies, perhaps due to a reduced relative effectiveness of impact gardening on Eros. Regolith is also transported in talus cones and in connected, sinuous paths extending as much as 2 km, with some evident as relatively darker material. Talus material in at least one area is a discrete superposed unit, a feature not resolved on other small bodies. Flat-floored craters that apparently contain ponded material also suggest discrete units that are not well mixed by impacts. ?? 2002 Elsevier Science (USA).

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

NASA Astrophysics Data System (ADS)

Mokhtarzadeh, Hamid

A growing number of applications require continuous and reliable estimates of position, velocity, and orientation. Price requirements alone disqualify most traditional navigation or tactical-grade sensors and thus navigation systems based on automotive or consumer-grade sensors aided by Global Navigation Satellite Systems (GNSS), like the Global Positioning System (GPS), have gained popularity. The heavy reliance on GPS in these navigation systems is a point of concern and has created interest in alternative or back-up navigation systems to enable robust navigation through GPS-denied or stressed environments. This work takes advantage of current trends for increased sensing capabilities coupled with multilayer connectivity to propose a cooperative navigation-based aiding system as a means to limit dead reckoning error growth in the absence of absolute measurements like GPS. Each vehicle carries a dead reckoning navigation system which is aided by relative measurements, like range, to neighboring vehicles together with information sharing. Detailed architectures and concepts of operation are described for three specific applications: commercial aviation, Unmanned Aerial Vehicles (UAVs), and automotive applications. Both centralized and decentralized implementations of cooperative navigation-based aiding systems are described. The centralized system is based on a single Extended Kalman Filter (EKF). A decentralized implementation suited for applications with very limited communication bandwidth is discussed in detail. The presence of unknown correlation between the a priori state and measurement errors makes the standard Kalman filter unsuitable. Two existing estimators for handling this unknown correlation are Covariance Intersection (CI) and Bounded Covariance Inflation (BCInf) filters. A CI-based decentralized estimator suitable for decentralized cooperative navigation implementation is proposed. A unified derivation is presented for the Kalman filter, CI filter, and BCInf filter measurement update equations. Furthermore, characteristics important to the proper implementation of CI and BCInf in practice are discussed. A new covariance normalization step is proposed as necessary to properly apply CI or BCInf. Lastly, both centralized and decentralized implementations of cooperative aiding are analyzed and evaluated using experimental data in the three applications. In the commercial aviation study aircraft are simulated to use their Automatic Dependent Surveillance - Broadcast (ADS-B) and Traffic Collision Avoidance System (TCAS) systems to cooperatively aid their on board INS during a 60 min GPS outage in the national airspace. An availability study of cooperative navigation as proposed in this work around representative United States airports is performed. Availabilities between 70-100% were common at major airports like LGA and MSP in a 30 nmi radius around the airport during morning to evening hours. A GPS-denied navigation system for small UAVs based on cooperative information sharing is described. Experimentally collected flight data from 7 small UAV flights are played-back to evaluate the performance of the navigation system. The results show that the most effective of the architectures can lead to 5+ minutes of navigation without GPS maintaining position errors less than 200 m (1-sigma). The automotive case study considers 15 minutes of automotive traffic (2,000 + vehicles) driving through a half-mile stretch of highway without access to GPS. Automotive radar coupled with Dedicated Short Range Communication (DSRC) protocol are used to implement cooperative aiding to a low-cost 2-D INS on board each vehicle. The centralized system achieves an order of magnitude reduction in uncertainty by aggressively aiding the INS on board each vehicle. The proposed CI-based decentralized estimator is demonstrated to be conservative and maintain consistency. A quantitative analysis of bandwidth requirements shows that the proposed decentralized estimator falls comfortably within modern connectivity capabilities. A naive implementation of the high-performance centralized estimator is also achievable, but it was demonstrated to be burdensome, nearing the bandwidth limits.

Next Generation UAS Based Spectral Systems for Environmental Monitoring

NASA Technical Reports Server (NTRS)

Campbell, P.; Townsend, P.; Mandl, D.; Kingdon, C.; Ly, V.; Sohlberg, R.; Corp, L.; Cappelaere, P.; Frye, S.; Handy, M.;

Assumptions, Emotions, and Interpretations as Ethical Moments: Navigating a Small-Scale Cross-Cultural Online Interviewing Study

ERIC Educational Resources Information Center

Frisoli, Paul St. John

2010-01-01

In this paper, I map important "messy" elements that I learned from my five-month small-scale research project, one that was designed around pivotal works on online social research. I used computers and the Internet with Minan, a young man living in Guinea, West Africa, in order to examine his perceptions surrounding the value of these…

Reconnaissance and Autonomy for Small Robots (RASR)

DTIC Science & Technology

2012-06-29

The Reconnaissance and Autonomy for Small Robots (RASR) team developed a system for the coordination of groups of unmanned ground vehicles (UGVs...development of a system that used 1) a relevant deployable platform; 2) a minimum set of relatively inexpensive navigation and LADAR sensors; 3) an...expandable and modular control system with innovative software algorithms to minimize computing footprint; and that minimized 4) required communications

Boycunts and bonus holes: trans men's bodies, neoliberalism, and the sexual productivity of genitals.

PubMed

Edelman, Elijah Adiv; Zimman, Lal

2014-01-01

Recent theorizations of trans embodiment have brought attention to the ways neoliberalism limits the productivity of nonnormatively gendered bodies. This article deals with the discursive framing of embodiment and sexual desirability among trans men and other transmasculine persons negotiating Internet-mediated homoerotic spaces. Micro-level analysis of discourse structure and macro-level analysis of socio-political context together show how trans men navigate homonormative sexual economies by linguistically recuperating their bodies' sexually productivity. Instead of undermining claims of embodied masculinity and homoerotic value, potential sites of exclusion-i.e., trans genitals-become sites of flexible accumulation that enhance rather than detract from their bearers' desirability.

Visual Navigation during Colony Emigration by the Ant Temnothorax rugatulus

PubMed Central

Bowens, Sean R.; Glatt, Daniel P.; Pratt, Stephen C.

2013-01-01

Many ants rely on both visual cues and self-generated chemical signals for navigation, but their relative importance varies across species and context. We evaluated the roles of both modalities during colony emigration by Temnothorax rugatulus. Colonies were induced to move from an old nest in the center of an arena to a new nest at the arena edge. In the midst of the emigration the arena floor was rotated 60°around the old nest entrance, thus displacing any substrate-bound odor cues while leaving visual cues unchanged. This manipulation had no effect on orientation, suggesting little influence of substrate cues on navigation. When this rotation was accompanied by the blocking of most visual cues, the ants became highly disoriented, suggesting that they did not fall back on substrate cues even when deprived of visual information. Finally, when the substrate was left in place but the visual surround was rotated, the ants' subsequent headings were strongly rotated in the same direction, showing a clear role for visual navigation. Combined with earlier studies, these results suggest that chemical signals deposited by Temnothorax ants serve more for marking of familiar territory than for orientation. The ants instead navigate visually, showing the importance of this modality even for species with small eyes and coarse visual acuity. PMID:23671713

Discussion on integrated digital chart data model and display platform for pocket navigator system (PNS)

NASA Astrophysics Data System (ADS)

Sui, Haigang; Xiao, Jinghuan; Wang, Qi; Li, Qian

2007-06-01

PDA (Personal Digital Assistant) is a useful tool for navigation which has many advantages such as its smallness and portability. In the meantime, digital charts have been found a wide application in past ten years, and many users are hoping for giving up the paper chart entirely and using ENC by the law. However, traditional paper chart is a nonreplaced tool for people in hydrographical survey and other application fields, and would coexist with ENC for a long time. How to manage and display integrated chart for traditional paper chart and ENC together in PDA for navigating is still an unsolved problem. Aiming at this, a new integrated spatial data model and display techniques for ENC and paper chart are presented. The core idea of the new algorithm is to build an integrated spatial data model, structure and display environment for both paper chart and ENC. Based on the above algorithms and strategies, an Integrated Electronic Chart Pocket Navigator System named PNS based on PDA was developed. It has been applied in Tianjin Marine Safety Administration Bureau and obtained a good evaluation.

Relative navigation for spacecraft formation flying

NASA Technical Reports Server (NTRS)

Hartman, Kate R.; Gramling, Cheryl J.; Lee, Taesul; Kelbel, David A.; Long, Anne C.

1998-01-01

The Goddard Space Flight Center Guidance, Navigation, and Control Center (GNCC) is currently developing and implementing advanced satellite systems to provide autonomous control of formation flyers. The initial formation maintenance capability will be flight-demonstrated on the Earth-Orbiter-1 (EO-1) satellite, which is planned under the National Aeronautics and Space Administration New Millennium Program to be a coflight with the Landsat-7 (L-7) satellite. Formation flying imposes relative navigation accuracy requirements in addition to the orbit accuracy requirements for the individual satellites. In the case of EO-1 and L-7, the two satellites are in nearly coplanar orbits, with a small difference in the longitude of the ascending node to compensate for the Earth's rotation. The GNCC has performed trajectory error analysis for the relative navigation of the EO-1/L-7 formation, as well as for a more advanced tracking configuration using cross-link satellite communications. This paper discusses the orbit determination and prediction accuracy achievable for EO-1 and L-7 under various tracking and orbit determination scenarios and discusses the expected relative separation errors in their formation flying configuration.

Relative Navigation for Spacecraft Formation Flying

NASA Technical Reports Server (NTRS)

Hartman, Kate R.; Gramling, Cheryl J.; Lee, Taesul; Kelbel, David A.; Long, Anne C.

1998-01-01

The Goddard Space Flight Center Guidance, Navigation, and Control Center (GNCC) is currently developing and implementing advanced satellite systems to provide autonomous control of formation flyers. The initial formation maintenance capability will be flight-demonstrated on the Earth-Orbiter-1 (EO-l) satellite, which is planned under the National Aeronautics and Space Administration New Millennium Program to be a coflight with the Landsat-7 (L-7) satellite. Formation flying imposes relative navigation accuracy requirements in addition to the orbit accuracy requirements for the individual satellites. In the case of EO-1 and L-7, the two satellites are in nearly coplanar orbits, with a small difference in the longitude of the ascending node to compensate for the Earth's rotation. The GNCC has performed trajectory error analysis for the relative navigation of the EO-1/L-7 formation, as well as for a more advanced tracking configuration using cross- link satellite communications. This paper discusses the orbit determination and prediction accuracy achievable for EO-1 and L-7 under various tracking and orbit determination scenarios and discusses the expected relative separation errors in their formation flying configuration.

An interactive VR system based on full-body tracking and gesture recognition

NASA Astrophysics Data System (ADS)

Zeng, Xia; Sang, Xinzhu; Chen, Duo; Wang, Peng; Guo, Nan; Yan, Binbin; Wang, Kuiru

2016-10-01

Most current virtual reality (VR) interactions are realized with the hand-held input device which leads to a low degree of presence. There is other solutions using sensors like Leap Motion to recognize the gestures of users in order to interact in a more natural way, but the navigation in these systems is still a problem, because they fail to map the actual walking to virtual walking only with a partial body of the user represented in the synthetic environment. Therefore, we propose a system in which users can walk around in the virtual environment as a humanoid model, selecting menu items and manipulating with the virtual objects using natural hand gestures. With a Kinect depth camera, the system tracks the joints of the user, mapping them to a full virtual body which follows the move of the tracked user. The movements of the feet can be detected to determine whether the user is in walking state, so that the walking of model in the virtual world can be activated and stopped by means of animation control in Unity engine. This method frees the hands of users comparing to traditional navigation way using hand-held device. We use the point cloud data getting from Kinect depth camera to recognize the gestures of users, such as swiping, pressing and manipulating virtual objects. Combining the full body tracking and gestures recognition using Kinect, we achieve our interactive VR system in Unity engine with a high degree of presence.

Inflight alignment of payload inertial reference from Shuttle navigation system

NASA Astrophysics Data System (ADS)

Treder, A. J.; Norris, R. E.; Ruprecht, R.

Two methods for payload attitude initialization from the STS Orbiter have been proposed: body axis maneuvers (BAM) and star line maneuvers (SLM). The first achieves alignment directly through the Shuttle star tracker, while the second, indirectly through the stellar-updated Shuttle inertial platform. The Inertial Upper Stage (IUS) with its strapdown navigation system is used to demonstrate in-flight alignment techniques. Significant accuracy can be obtained with minimal impact on Orbiter operations, with payload inertial reference potentially approaching the accuracy of the Shuttle star tracker. STS-6 flight performance parameters, including alignment stability, are discussed and compared with operational complexity. Results indicate overall alignment stability of .06 deg, 3 sigma per axis.

Feedback from video for virtual reality Navigation

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

Tsap, L V

2000-10-27

Important preconditions for wide acceptance of virtual reality (VR) systems include their comfort, ease and naturalness to use. Most existing trackers super from discomfort-related issues. For example, body-based trackers (hand controllers, joysticks, helmet attachments, etc.) restrict spontaneity and naturalness of motion, while ground-based devices (e.g., hand controllers) limit the workspace by literally binding an operator to the ground. There are similar problems with controls. This paper describes using real-time video with registered depth information (from a commercially available camera) for virtual reality navigation. Camera-based setup can replace cumbersome trackers. The method includes selective depth processing for increased speed, and amore » robust skin-color segmentation for accounting illumination variations.« less

Final report on the development of the geographic position locator (GPL). Volume 12. Data reduction A3FIX: subroutine

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

Niven, W.A.

The long-term position accuracy of an inertial navigation system depends primarily on the ability of the gyroscopes to maintain a near-perfect reference orientation. Small imperfections in the gyroscopes cause them to drift slowly away from their initial orientation, thereby producing errors in the system's calculations of position. The A3FIX is a computer program subroutine developed to estimate inertial navigation system gyro drift rates with the navigator stopped or moving slowly. It processes data of the navigation system's position error to arrive at estimates of the north- south and vertical gyro drift rates. It also computes changes in the east--west gyromore » drift rate if the navigator is stopped and if data on the system's azimuth error changes are also available. The report describes the subroutine, its capabilities, and gives examples of gyro drift rate estimates that were computed during the testing of a high quality inertial system under the PASSPORT program at the Lawrence Livermore Laboratory. The appendices provide mathematical derivations of the estimation equations that are used in the subroutine, a discussion of the estimation errors, and a program listing and flow diagram. The appendices also contain a derivation of closed form solutions to the navigation equations to clarify the effects that motion and time-varying drift rates induce in the phase-plane relationships between the Schulerfiltered errors in latitude and azimuth snd between the Schulerfiltered errors in latitude and longitude. (auth)« less

Requirements for an Integrated UAS CNS Architecture

NASA Technical Reports Server (NTRS)

Templin, Fred L.; Jain, Raj; Sheffield, Greg; Taboso-Ballesteros, Pedro; Ponchak, Denise

2017-01-01

Communications, Navigation and Surveillance (CNS) requirements must be developed in order to establish a CNS architecture supporting Unmanned Air Systems integration in the National Air Space (UAS in the NAS). These requirements must address cybersecurity, future communications, satellite-based navigation and APNT, and scalable surveillance and situational awareness. CNS integration, consolidation and miniaturization requirements are also important to support the explosive growth in small UAS deployment. Air Traffic Management (ATM) must also be accommodated to support critical Command and Control (C2) for Air Traffic Controllers (ATC). This document therefore presents UAS CNS requirements that will guide the architecture.

Local Learning Strategies for Wake Identification

NASA Astrophysics Data System (ADS)

Colvert, Brendan; Alsalman, Mohamad; Kanso, Eva

2017-11-01

Swimming agents, biological and engineered alike, must navigate the underwater environment to survive. Tasks such as autonomous navigation, foraging, mating, and predation require the ability to extract critical cues from the hydrodynamic environment. A substantial body of evidence supports the hypothesis that biological systems leverage local sensing modalities, including flow sensing, to gain knowledge of their global surroundings. The nonlinear nature and high degree of complexity of fluid dynamics makes the development of algorithms for implementing localized sensing in bioinspired engineering systems essentially intractable for many systems of practical interest. In this work, we use techniques from machine learning for training a bioinspired swimmer to learn from its environment. We demonstrate the efficacy of this strategy by learning how to sense global characteristics of the wakes of other swimmers measured only from local sensory information. We conclude by commenting on the advantages and limitations of this data-driven, machine learning approach and its potential impact on broader applications in underwater sensing and navigation.

Semantic retrieval and navigation in clinical document collections.

PubMed

Kreuzthaler, Markus; Daumke, Philipp; Schulz, Stefan

2015-01-01

Patients with chronic diseases undergo numerous in- and outpatient treatment periods, and therefore many documents accumulate in their electronic records. We report on an on-going project focussing on the semantic enrichment of medical texts, in order to support recall-oriented navigation across a patient's complete documentation. A document pool of 1,696 de-identified discharge summaries was used for prototyping. A natural language processing toolset for document annotation (based on the text-mining framework UIMA) and indexing (Solr) was used to support a browser-based platform for document import, search and navigation. The integrated search engine combines free text and concept-based querying, supported by dynamically generated facets (diagnoses, procedures, medications, lab values, and body parts). The prototype demonstrates the feasibility of semantic document enrichment within document collections of a single patient. Originally conceived as an add-on for the clinical workplace, this technology could also be adapted to support personalised health record platforms, as well as cross-patient search for cohort building and other secondary use scenarios.

The ESA contribution to the European Satellite Navigation Programme

NASA Astrophysics Data System (ADS)

Lucas, R.; Lo Galbo, P.; de Mateo, M. L.; Steciw, A.; Ashford, E.

1996-02-01

This paper describes the ESA ARTES-9 programme on Global Navigation Satellite Systems (GNSS). This programme will be the ESA contribution to the wider European Satellite Navigation Programme which is to be implemented as a joint effort of the European Union, Eurocontrol and ESA with the support of other European bodies such as telecommunication operators, national civil aviation authorities, national space agencies, industry, universities and R&D institutes in general. In fact, in view of the geographical area concerned, the large number of parties interested, the experience required and the global nature of GNSS, the proposed initiative can only be successful if based on a strong cooperation at a European and international scale. The ESA ARTES-9 programme will consist on one side, of the design, development and validation of the European complement to the GPS and GLONASS systems (GNSS1), and on the other side of the study, design and pre-development of the European contribution to follow-on systems: GNSS2.

78 FR 53671 - Regulated Navigation Areas, Security Zones: Dignitary Arrival/Departure and United Nations...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-08-30

... security zones. We are reorganizing Sec. 165.164 and adding descriptive designations to name each of the... evaluates these actions annually and rates each agency's responsiveness to small business. If you wish to...

Navigating the Requirements Jungle

NASA Astrophysics Data System (ADS)

Langer, Boris; Tautschnig, Michael

Research on validation and verification of requirements specifications has thus far focused on functional properties. Yet, in embedded systems, functional requirements constitute only a small fraction of the properties that must hold to guarantee proper and safe operation of the system under design.

SmallSat Precision Navigation with Low-Cost MEMS IMU Swarms

NASA Technical Reports Server (NTRS)

Christian, John; Bishop, Robert; Martinez, Andres; Petro, Andrew

2015-01-01

The continued advancement of small satellite-based science missions requires the solution to a number of important technical challenges. Of particular note is that small satellite missions are characterized by tight constraints on cost, mass, power, and volume that make them unable to fly the high-quality Inertial Measurement Units (IMUs) required for orbital missions demanding precise orientation and positioning. Instead, small satellite missions typically fly low-cost Micro-Electro-Mechanical System (MEMS) IMUs. Unfortunately, the performance characteristics of these MEMS IMUs make them ineffectual in many spaceflight applications when employed in a single IMU system configuration.

Pigeon Navigation: Different Routes Lead to Frankfurt

PubMed Central

Schiffner, Ingo; Wiltschko, Roswitha

2014-01-01

Background Tracks of pigeons homing to the Frankfurt loft revealed an odd phenomenon: whereas birds returning from the North approach their loft more or less directly in a broad front, pigeons returning from the South choose, from 25 km from home onward, either of two corridors, a direct one and one with a considerable detour to the West. This implies differences in the navigational process. Methodology/Principle Findings Pigeons released at sites at the beginning of the westerly corridor and in this corridor behave just like pigeons returning from farther south, deviating to the west before turning towards their loft. Birds released at sites within the straight corridors, in contrast, take more or less straight routes. The analysis of the short-term correlation dimension, a quantity reflecting the complexity of the system and with it, the number of factors involved in the navigational process, reveals that it is significantly larger in pigeons choosing the westerly corridor than in the birds flying straight - 3.03 vs. 2.85. The difference is small, however, suggesting a different interpretation of the same factors, with some birds apparently preferring particular factors over others. Conclusions The specific regional distribution of the factors which pigeons use to determine their home course seems to provide ambiguous information in the area 25 km south of the loft, resulting in the two corridors. Pigeons appear to navigate by deriving their routes directly from the locally available navigational factors which they interpret in an individual way. The fractal nature of the correlation dimensions indicates that the navigation process of pigeons is chaotic-deterministic; published tracks of migratory birds suggest that this may apply to avian navigation in general. PMID:25391144

A Neurocomputational Model of Goal-Directed Navigation in Insect-Inspired Artificial Agents

PubMed Central

Goldschmidt, Dennis; Manoonpong, Poramate; Dasgupta, Sakyasingha

2017-01-01

Despite their small size, insect brains are able to produce robust and efficient navigation in complex environments. Specifically in social insects, such as ants and bees, these navigational capabilities are guided by orientation directing vectors generated by a process called path integration. During this process, they integrate compass and odometric cues to estimate their current location as a vector, called the home vector for guiding them back home on a straight path. They further acquire and retrieve path integration-based vector memories globally to the nest or based on visual landmarks. Although existing computational models reproduced similar behaviors, a neurocomputational model of vector navigation including the acquisition of vector representations has not been described before. Here we present a model of neural mechanisms in a modular closed-loop control—enabling vector navigation in artificial agents. The model consists of a path integration mechanism, reward-modulated global learning, random search, and action selection. The path integration mechanism integrates compass and odometric cues to compute a vectorial representation of the agent's current location as neural activity patterns in circular arrays. A reward-modulated learning rule enables the acquisition of vector memories by associating the local food reward with the path integration state. A motor output is computed based on the combination of vector memories and random exploration. In simulation, we show that the neural mechanisms enable robust homing and localization, even in the presence of external sensory noise. The proposed learning rules lead to goal-directed navigation and route formation performed under realistic conditions. Consequently, we provide a novel approach for vector learning and navigation in a simulated, situated agent linking behavioral observations to their possible underlying neural substrates. PMID:28446872

Development of a GPS/INS/MAG navigation system and waypoint navigator for a VTOL UAV

NASA Astrophysics Data System (ADS)

Meister, Oliver; Mönikes, Ralf; Wendel, Jan; Frietsch, Natalie; Schlaile, Christian; Trommer, Gert F.

2007-04-01

Unmanned aerial vehicles (UAV) can be used for versatile surveillance and reconnaissance missions. If a UAV is capable of flying automatically on a predefined path the range of possible applications is widened significantly. This paper addresses the development of the integrated GPS/INS/MAG navigation system and a waypoint navigator for a small vertical take-off and landing (VTOL) unmanned four-rotor helicopter with a take-off weight below 1 kg. The core of the navigation system consists of low cost inertial sensors which are continuously aided with GPS, magnetometer compass, and a barometric height information. Due to the fact, that the yaw angle becomes unobservable during hovering flight, the integration with a magnetic compass is mandatory. This integration must be robust with respect to errors caused by the terrestrial magnetic field deviation and interferences from surrounding electronic devices as well as ferrite metals. The described integration concept with a Kalman filter overcomes the problem that erroneous magnetic measurements yield to an attitude error in the roll and pitch axis. The algorithm provides long-term stable navigation information even during GPS outages which is mandatory for the flight control of the UAV. In the second part of the paper the guidance algorithms are discussed in detail. These algorithms allow the UAV to operate in a semi-autonomous mode position hold as well an complete autonomous waypoint mode. In the position hold mode the helicopter maintains its position regardless of wind disturbances which ease the pilot job during hold-and-stare missions. The autonomous waypoint navigator enable the flight outside the range of vision and beyond the range of the radio link. Flight test results of the implemented modes of operation are shown.

A Neurocomputational Model of Goal-Directed Navigation in Insect-Inspired Artificial Agents.

PubMed

Goldschmidt, Dennis; Manoonpong, Poramate; Dasgupta, Sakyasingha

2017-01-01

Despite their small size, insect brains are able to produce robust and efficient navigation in complex environments. Specifically in social insects, such as ants and bees, these navigational capabilities are guided by orientation directing vectors generated by a process called path integration. During this process, they integrate compass and odometric cues to estimate their current location as a vector, called the home vector for guiding them back home on a straight path. They further acquire and retrieve path integration-based vector memories globally to the nest or based on visual landmarks. Although existing computational models reproduced similar behaviors, a neurocomputational model of vector navigation including the acquisition of vector representations has not been described before. Here we present a model of neural mechanisms in a modular closed-loop control-enabling vector navigation in artificial agents. The model consists of a path integration mechanism, reward-modulated global learning, random search, and action selection. The path integration mechanism integrates compass and odometric cues to compute a vectorial representation of the agent's current location as neural activity patterns in circular arrays. A reward-modulated learning rule enables the acquisition of vector memories by associating the local food reward with the path integration state. A motor output is computed based on the combination of vector memories and random exploration. In simulation, we show that the neural mechanisms enable robust homing and localization, even in the presence of external sensory noise. The proposed learning rules lead to goal-directed navigation and route formation performed under realistic conditions. Consequently, we provide a novel approach for vector learning and navigation in a simulated, situated agent linking behavioral observations to their possible underlying neural substrates.

The Deep Space Atomic Clock Mission

NASA Technical Reports Server (NTRS)

Ely, Todd A.; Koch, Timothy; Kuang, Da; Lee, Karen; Murphy, David; Prestage, John; Tjoelker, Robert; Seubert, Jill

2012-01-01

The Deep Space Atomic Clock (DSAC) mission will demonstrate the space flight performance of a small, low-mass, high-stability mercury-ion atomic clock with long term stability and accuracy on par with that of the Deep Space Network. The timing stability introduced by DSAC allows for a 1-Way radiometric tracking paradigm for deep space navigation, with benefits including increased tracking via utilization of the DSN's Multiple Spacecraft Per Aperture (MSPA) capability and full ground station-spacecraft view periods, more accurate radio occultation signals, decreased single-frequency measurement noise, and the possibility for fully autonomous on-board navigation. Specific examples of navigation and radio science benefits to deep space missions are highlighted through simulations of Mars orbiter and Europa flyby missions. Additionally, this paper provides an overview of the mercury-ion trap technology behind DSAC, details of and options for the upcoming 2015/2016 space demonstration, and expected on-orbit clock performance.

Submillimeter Wave Astronomy Satellite (SWAS) Launch and Early Orbit Support Experiences

NASA Technical Reports Server (NTRS)

Kirschner, S.; Sedlak, J.; Challa, M.; Nicholson, A.; Sande, C.; Rohrbaugh, D.

1999-01-01

The Submillimeter Wave Astronomy Satellite (SWAS) was successfully launched on December 6, 1998 at 00:58 UTC. The two year mission is the fourth in the series of Small Explorer (SMEX) missions. SWAS is dedicated to the study of star formation and interstellar chemistry. SWAS was injected into a 635 km by 650 km orbit with an inclination of nearly 70 deg by an Orbital Sciences Corporation Pegasus XL launch vehicle. The Flight Dynamics attitude and navigation teams supported all phases of the early mission. This support included orbit determination, attitude determination, real-time monitoring, and sensor calibration. This paper reports the main results and lessons learned concerning navigation, support software, star tracker performance, magnetometer and gyroscope calibrations, and anomaly resolution. This includes information on spacecraft tip-off rates, first-day navigation problems, target acquisition anomalies, star tracker anomalies, and significant sensor improvements due to calibration efforts.

Draper Laboratory small autonomous aerial vehicle

NASA Astrophysics Data System (ADS)

DeBitetto, Paul A.; Johnson, Eric N.; Bosse, Michael C.; Trott, Christian A.

1997-06-01

The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: navigation, guidance, control, vision processing, human factors, packaging, power, real-time software, and others. The aerial vehicle, an autonomous helicopter, performs navigation and control functions using multiple sensors: differential GPS, inertial measurement unit, sonar altimeter, and a flux compass. The aerial transmits video imagery to the ground. A ground based vision processor converts the image data into target position and classification estimates. The system was designed, built, and flown in less than one year and has provided many lessons about autonomous vehicle systems, several of which are discussed. In an appendix, our current research in augmenting the navigation system with vision- based estimates is presented.

It's not black or white—on the range of vision and echolocation in echolocating bats

PubMed Central

Boonman, Arjan; Bar-On, Yinon; Cvikel, Noam; Yovel, Yossi

2013-01-01

Around 1000 species of bats in the world use echolocation to navigate, orient, and detect insect prey. Many of these bats emerge from their roost at dusk and start foraging when there is still light available. It is however unclear in what way and to which extent navigation, or even prey detection in these bats is aided by vision. Here we compare the echolocation and visual detection ranges of two such species of bats which rely on different foraging strategies (Rhinopoma microphyllum and Pipistrellus kuhlii). We find that echolocation is better than vision for detecting small insects even in intermediate light levels (1–10 lux), while vision is advantageous for monitoring far-away landscape elements in both species. We thus hypothesize that, bats constantly integrate information acquired by the two sensory modalities. We suggest that during evolution, echolocation was refined to detect increasingly small targets in conjunction with using vision. To do so, the ability to hear ultrasonic sound is a prerequisite which was readily available in small mammals, but absent in many other animal groups. The ability to exploit ultrasound to detect very small targets, such as insects, has opened up a large nocturnal niche to bats and may have spurred diversification in both echolocation and foraging tactics. PMID:24065924

A Low Cost Spacecraft Architecture for Robotic Lunar Exploration Projects

NASA Technical Reports Server (NTRS)

Lemke, Lawrence G.; Gonzales, Andrew A.

2006-01-01

A program of frequent, capable, but affordable lunar robotic missions prior to return of humans to the moon can contribute to the Vision for Space Exploration (VSE) NASA is tasked to execute. The Lunar Reconnaissance Orbiter (LRO) and its secondary payload are scheduled to orbit the moon, and impact it, respectively, in 2008. It is expected that the sequence of missions occurring for approximately the decade after 2008 will place an increasing emphasis on soft landed payloads. These missions are requited to explore intrinsic characteristics of the moon, such as hydrogen distribution in the regolith, and levitated dust, to demonstrate the ability to access and process in-situ resources, and to demonstrate functions critical to supporting human presence, such as automated precision navigation and landing. Additional factors governing the design of spacecraft to accomplish this diverse set of objectives are: operating within a relatively modest funding profile, the need tb visit multiple sites (both polar and equatorial) repeatedly, and to use the current generation of launch vehicles. In the US, this implies use of the Evolved Expendable Launch Vehicles, or EELVs, although this design philosophy may be extended to launch vehicles of other nations, as well. Many of these factors are seemingly inconsistent with each other. For example, the cost of a spacecraft usually increases with mass; therefore the desire to fly frequent, modestly priced spacecraft seems to imply small spacecraft (< 1 Mt, injected mass). On the other hand, the smallest of the EELVs will inject approx. 3 Mt. on a Trans Lunar Injection (TLI) trajectory md would therefore be wasteful or launching a single, small spacecraft. Increasing the technical capability of a spacecraft (such as autonomous navigation and soft landing) also usually increases cost. A strategy for spacecraft design that meets these conflicting requirements is presented. Taken together, spacecraft structure and propulsion subsystems constitute the majority of spacecraft mass; saving development and integration cost on these elements is critical to controlling cost. Therefore, a low cost, modular design for spacecraft structure and propulsion subsystems is presented which may be easily scaled up or down for either insertion into lunar orbit or braking for landing on the lunar surface. In order to effectively use the approx.3 Mt mass-to-TLI of the EELV, two low cost spacecraft will be manifested on the same launch. One spacecraft will be located on top of the other for launch and the two will have to be released in sequence in order to achieve all mission objectives. The two spacecraft could both be landers, both orbiters, or one lander and one orbiter. In order to achieve mass efficiency, the body of the spacecraft will serve the dual purposes of carrying launch loads and providing attachment points for all the spacecraft subsystems. In order to avoid unaffordable technology development costs, small liquid propulsion components and autonomous, scene-matching navigation cameras may be adapted from military missile programs in order to execute precision soft landings.

The effect of general anesthesia versus intravenous sedation on diagnostic yield and success in electromagnetic navigation bronchoscopy.

PubMed

Bowling, Mark R; Kohan, Matthew W; Walker, Paul; Efird, Jimmy; Ben Or, Sharon

2015-01-01

Navigational bronchoscopy is utilized to guide biopsies of peripheral lung nodules and place fiducial markers for treatment of limited stage lung cancer with stereotactic body radiotherapy. The type of sedation used for this procedure remains controversial. We performed a retrospective chart review to evaluate the differences of diagnostic yield and overall success of the procedure based on anesthesia type. Electromagnetic navigational bronchoscopy was performed using the superDimension software system. Once the targeted lesion was within reach, multiple tissue samples were obtained. Statistical analysis was used to correlate the yield with the type of sedation among other factors. A successful procedure was defined if a diagnosis was made or a fiducial marker was adequately placed. Navigational bronchoscopy was performed on a total of 120 targeted lesions. The overall complication rate of the procedure was 4.1%. The diagnostic yield and success of the procedure was 74% and 87%, respectively. Duration of the procedure was the only significant difference between the general anesthesia and IV sedation groups (mean, 58 vs. 43 min, P=0.0005). A larger tumor size was associated with a higher diagnostic yield (P=0.032). All other variables in terms of effect on diagnostic yield and an unsuccessful procedure did not meet statistical significance. Navigational bronchoscopy is a safe and effective pulmonary diagnostic tool with relatively low complication rate. The diagnostic yield and overall success of the procedure does not seem to be affected by the type of sedation used.

Flight evaluation of differential GPS aided inertial navigation systems

NASA Technical Reports Server (NTRS)

Mcnally, B. David; Paielli, Russell A.; Bach, Ralph E., Jr.; Warner, David N., Jr.

1992-01-01

Algorithms are described for integration of Differential Global Positioning System (DGPS) data with Inertial Navigation System (INS) data to provide an integrated DGPS/INS navigation system. The objective is to establish the benefits that can be achieved through various levels of integration of DGPS with INS for precision navigation. An eight state Kalman filter integration was implemented in real-time on a twin turbo-prop transport aircraft to evaluate system performance during terminal approach and landing operations. A fully integrated DGPS/INS system is also presented which models accelerometer and rate-gyro measurement errors plus position, velocity, and attitude errors. The fully integrated system was implemented off-line using range-domain (seventeen-state) and position domain (fifteen-state) Kalman filters. Both filter integration approaches were evaluated using data collected during the flight test. Flight-test data consisted of measurements from a 5 channel Precision Code GPS receiver, a strap-down Inertial Navigation Unit (INU), and GPS satellite differential range corrections from a ground reference station. The aircraft was laser tracked to determine its true position. Results indicate that there is no significant improvement in positioning accuracy with the higher levels of DGPS/INS integration. All three systems provided high-frequency (e.g., 20 Hz) estimates of position and velocity. The fully integrated system provided estimates of inertial sensor errors which may be used to improve INS navigation accuracy should GPS become unavailable, and improved estimates of acceleration, attitude, and body rates which can be used for guidance and control. Precision Code DGPS/INS positioning accuracy (root-mean-square) was 1.0 m cross-track and 3.0 m vertical. (This AGARDograph was sponsored by the Guidance and Control Panel.)

Compliance and Resistance: Showing Future Teachers How to Navigate Curriculum

ERIC Educational Resources Information Center

Kelly, Laura Beth

2018-01-01

Teacher educators needing to meet requirements of state licensing bodies and accrediting organizations are in a position similar to that of K-12 teachers: they must adhere to externally imposed standards and curricular requirements while keeping their courses rigorous, interesting, and critical. This article reports results from a self-study…

Exploring How Girls Navigate Their Embodied Identities in Physical Education

ERIC Educational Resources Information Center

Fisette, Jennifer L.

2011-01-01

Background: Educating adolescent girls about their bodies provides girls with the opportunity to make meaning of their embodied identities for themselves. Knowledge of, and understanding of, embodiment has the potential for adolescent girls to be empowered within the physical education context. Purpose: The purpose of this study was to explore how…

The Effectiveness of Youth Financial Education: A Review of the Literature

ERIC Educational Resources Information Center

McCormick, Martha Henn

2008-01-01

Comprehensive strategies for educating children and youth so they can become effective managers of money and successful navigators of a complex financial marketplace have not yet emerged from the dialogue and debate surrounding financial education. A rich and growing body of research about adult financial education exists, but youth financial…

Hyperspectral Imaging and Obstacle Detection for Robotics Navigation

DTIC Science & Technology

2005-09-01

anatomy and diffraction process. 17 3.3 Technical Specifications of the System A. Brimrose AOTF Video Adaptor Specifications: Material TeO2 Active...sampled from glass case on person 2’s belt 530 pixels 20 pick-up white sampled from body panels of pick-up 600 pixels 21 pick-up blue sampled from

Elementary Forms of Cosmopolitanism: Blood, Birth, and Bodies in Immigrant New York City

ERIC Educational Resources Information Center

Kromidas, Maria

2011-01-01

In this article, Maria Kromidas explores how nine-, ten-, and eleven-year-old children in a diverse neighborhood school in immigrant New York City navigated and often undermined hegemonic notions of difference and belonging offered by mainstream multiculturalism and raciology. Based on ethnographic research and utilizing a fine-grained…

Visual Orientation in Unfamiliar Gravito-Inertial Environments

NASA Technical Reports Server (NTRS)

Oman, Charles M.

1999-01-01

The goal of this project is to better understand the process of spatial orientation and navigation in unfamiliar gravito-inertial environments, and ultimately to use this new information to develop effective countermeasures against the orientation and navigation problems experienced by astronauts. How do we know our location, orientation, and motion of our body with respect to the external environment ? On earth, gravity provides a convenient "down" cue. Large body rotations normally occur only in a horizontal plane. In space, the gravitational down cue is absent. When astronauts roll or pitch upside down, they must recognize where things are around them by a process of mental rotation which involves three dimensions, rather than just one. While working in unfamiliar situations they occasionally misinterpret visual cues and experience striking "visual reorientation illusions" (VRIs), in which the walls, ceiling, and floors of the spacecraft exchange subjective identities. VRIs cause disorientation, reaching errors, trigger attacks of space motion sickness, and potentially complicate emergency escape. MIR crewmembers report that 3D relationships between modules - particularly those with different visual verticals - are difficult to visualize, and so navigating through the node that connects them is not instinctive. Crew members learn routes, but their apparent lack of survey knowledge is a concern should fire, power loss, or depressurization limit visibility. Anecdotally, experience in mockups, parabolic flight, neutral buoyancy and virtual reality (VR) simulators helps. However, no techniques have been developed to quantify individual differences in orientation and navigation abilities, or the effectiveness of preflight visual. orientation training. Our understanding of the underlying physiology - for example how our sense of place and orientation is neurally coded in three dimensions in the limbic system of the brain - is incomplete. During the 16 months that this human and animal research project has been underway, we have obtained several results that are not only of basic research interest, but which have practical implications for the architecture and layout of spacecraft interiors and for the development of astronaut spatial orientation training countermeasures.

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

PubMed

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

2017-08-01

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

Meta-image navigation augmenters for GPS denied mountain navigation of small UAS

NASA Astrophysics Data System (ADS)

Wang, Teng; ćelik, Koray; Somani, Arun K.

2014-06-01

We present a novel approach to use mountain drainage patterns for GPS-Denied navigation of small unmanned aerial systems (UAS) such as the ScanEagle, utilizing a down-looking fixed focus monocular imager. Our proposal allows extension of missions to GPS-denied mountain areas, with no assumption of human-made geographic objects. We leverage the analogy between mountain drainage patterns, human arteriograms, and human fingerprints, to match local drainage patterns to Graphics Processing Unit (GPU) rendered parallax occlusion maps of geo-registered radar returns (GRRR). Details of our actual GPU algorithm is beyond the subject of this paper, and is planned as a future paper. The matching occurs in real-time, while GRRR data is loaded on-board the aircraft pre-mission, so as not to require a scanning aperture radar during the mission. For recognition purposes, we represent a given mountain area with a set of spatially distributed mountain minutiae, i.e., details found in the drainage patterns, so that conventional minutiae-based fingerprint matching approaches can be used to match real-time camera image against template images in the training set. We use medical arteriography processing techniques to extract the patterns. The minutiae-based representation of mountains is achieved by first exposing mountain ridges and valleys with a series of filters and then extracting mountain minutiae from these ridges/valleys. Our results are experimentally validated on actual terrain data and show the effectiveness of minutiae-based mountain representation method. Furthermore, we study how to select landmarks for UAS navigation based on the proposed mountain representation and give a set of examples to show its feasibility. This research was in part funded by Rockwell Collins Inc.

From chemotaxis to the cognitive map: The function of olfaction

PubMed Central

Jacobs, Lucia F.

2012-01-01

A paradox of vertebrate brain evolution is the unexplained variability in the size of the olfactory bulb (OB), in contrast to other brain regions, which scale predictably with brain size. Such variability appears to be the result of selection for olfactory function, yet there is no obvious concordance that would predict the causal relationship between OB size and behavior. This discordance may derive from assuming the primary function of olfaction is odorant discrimination and acuity. If instead the primary function of olfaction is navigation, i.e., predicting odorant distributions in time and space, variability in absolute OB size could be ascribed and explained by variability in navigational demand. This olfactory spatial hypothesis offers a single functional explanation to account for patterns of olfactory system scaling in vertebrates, the primacy of olfaction in spatial navigation, even in visual specialists, and proposes an evolutionary scenario to account for the convergence in olfactory structure and function across protostomes and deuterostomes. In addition, the unique percepts of olfaction may organize odorant information in a parallel map structure. This could have served as a scaffold for the evolution of the parallel map structure of the mammalian hippocampus, and possibly the arthropod mushroom body, and offers an explanation for similar flexible spatial navigation strategies in arthropods and vertebrates. PMID:22723365

Surface Modeling to Support Small-Body Spacecraft Exploration and Proximity Operations

NASA Technical Reports Server (NTRS)

Riedel, Joseph E.; Mastrodemos, Nickolaos; Gaskell, Robert W.

2011-01-01

In order to simulate physically plausible surfaces that represent geologically evolved surfaces, demonstrating demanding surface-relative guidance navigation and control (GN&C) actions, such surfaces must be made to mimic the geological processes themselves. A report describes how, using software and algorithms to model body surfaces as a series of digital terrain maps, a series of processes was put in place that evolve the surface from some assumed nominal starting condition. The physical processes modeled in this algorithmic technique include fractal regolith substrate texturing, fractally textured rocks (of empirically derived size and distribution power laws), cratering, and regolith migration under potential energy gradient. Starting with a global model that may be determined observationally or created ad hoc, the surface evolution is begun. First, material of some assumed strength is layered on the global model in a fractally random pattern. Then, rocks are distributed according to power laws measured on the Moon. Cratering then takes place in a temporal fashion, including modeling of ejecta blankets and taking into account the gravity of the object (which determines how much of the ejecta blanket falls back to the surface), and causing the observed phenomena of older craters being progressively buried by the ejecta of earlier impacts. Finally, regolith migration occurs which stratifies finer materials from coarser, as the fine material progressively migrates to regions of lower potential energy.

Small Magnetic Sensors for Space Applications

PubMed Central

Díaz-Michelena, Marina

2009-01-01

Small magnetic sensors are widely used integrated in vehicles, mobile phones, medical devices, etc for navigation, speed, position and angular sensing. These magnetic sensors are potential candidates for space sector applications in which mass, volume and power savings are important issues. This work covers the magnetic technologies available in the marketplace and the steps towards their implementation in space applications, the actual trend of miniaturization the front-end technologies, and the convergence of the mature and miniaturized magnetic sensor to the space sector through the small satellite concept. PMID:22574012

Reactive Sequencing for Autonomous Navigation Evolving from Phoenix Entry, Descent, and Landing

NASA Technical Reports Server (NTRS)

Grasso, Christopher A.; Riedel, Joseph E.; Vaughan, Andrew T.

2010-01-01

Virtual Machine Language (VML) is an award-winning advanced procedural sequencing language in use on NASA deep-space missions since 1997, and was used for the successful entry, descent, and landing (EDL) of the Phoenix spacecraft onto the surface of Mars. Phoenix EDL utilized a state-oriented operations architecture which executed within the constraints of the existing VML 2.0 flight capability, compatible with the linear "land or die" nature of the mission. The intricacies of Phoenix EDL included the planned discarding of portions of the vehicle, the complex communications management for relay through on-orbit assets, the presence of temporally indeterminate physical events, and the need to rapidly catch up four days of sequencing should a reboot of the spacecraft flight computer occur shortly before atmospheric entry. These formidable operational challenges led to new techniques for packaging and coordinating reusable sequences called blocks using one-way synchronization via VML sequencing global variable events. The coordinated blocks acted as an ensemble to land the spacecraft, while individually managing various elements in as simple a fashion as possible. This paper outlines prototype VML 2.1 flight capabilities that have evolved from the one-way synchronization techniques in order to implement even more ambitious autonomous mission capabilities. Target missions for these new capabilities include autonomous touch-and-go sampling of cometary and asteroidal bodies, lunar landing of robotic missions, and ultimately landing of crewed lunar vehicles. Close proximity guidance, navigation, and control operations, on-orbit rendezvous, and descent and landing events featured in these missions require elaborate abort capability, manifesting highly non-linear scenarios that are so complex as to overtax traditional sequencing, or even the sort of one-way coordinated sequencing used during EDL. Foreseeing advanced command and control needs for small body and lunar landing guidance, navigation and control scenarios, work began three years ago on substantial upgrades to VML that are now being exercised in scenarios for lunar landing and comet/asteroid rendezvous. The advanced state-based approach includes coordinated state transition machines with distributed decision-making logic. These state machines are not merely sequences - they are reactive logic constructs capable of autonomous decision making within a well-defined domain. Combined with the JPL's AutoNav software used on Deep Space 1 and Deep Impact, the system allows spacecraft to autonomously navigate to an unmapped surface, soft-contact, and either land or ascend. The state machine architecture enabled by VML 2.1 has successfully performed sampling missions and lunar descent missions in a simulated environment, and is progressing toward flight capability. The authors are also investigating using the VML 2.1 flight director architecture to perform autonomous activities like rendezvous with a passive hypothetical Mars sample return capsule. The approach being pursued is similar to the touch-and-go sampling state machines, with the added complications associated with the search for, physical capture of, and securing of a separate spacecraft. Complications include optically finding and tracking the Orbiting Sample Capsule (OSC), keeping the OSC illuminated, making orbital adjustments, and physically capturing the OSC. Other applications could include autonomous science collection and fault compensation.

"Bridging the Gap" through Australian Cultural Astronomy

NASA Astrophysics Data System (ADS)

Hamacher, Duane W.; Norris, Ray P.

2011-01-01

For more than 50,000 years, Indigenous Australians have incorporated celestial events into their oral traditions and used the motions of celestial bodies for navigation, time-keeping, food economics, and social structure. In this paper, we explore the ways in which Aboriginal people made careful observations of the sky, measurements of celestial bodies, and incorporated astronomical events into complex oral traditions by searching for written records of time-keeping using celestial bodies, the use of rising and setting stars as indicators of special events, recorded observations of variable stars, the solar cycle, and lunar phases (including ocean tides and eclipses) in oral tradition, as well as astronomical measurements of the equinox, solstice, and cardinal points.

Navigating in small-scale space: the role of landmarks and resource monitoring in understanding saddleback tamarin travel.

PubMed

Garber, Paul A; Porter, Leila M

2014-05-01

Recent studies of spatial memory in wild nonhuman primates indicate that foragers may rely on a combination of navigational strategies to locate nearby and distant feeding sites. When traveling in large-scale space, tamarins are reported to encode spatial information in the form of a route-based map. However, little is known concerning how wild tamarins navigate in small-scale space (between feeding sites located at a distance of ≤60 m). Therefore, we collected data on range use, diet, and the angle and distance traveled to visit sequential feeding sites in the same group of habituated Bolivian saddleback tamarins (Saguinus fuscicollis weddelli) in 2009 and 2011. For 7-8 hr a day for 54 observation days, we recorded the location of the study group at 10 min intervals using a GPS unit. We then used GIS software to map and analyze the monkeys' movements and travel paths taken between feeding sites. Our results indicate that in small-scale space the tamarins relied on multiple spatial strategies. In 31% of cases travel was route-based. In the remaining 69% of cases, however, the tamarins appeared to attend to the spatial positions of one or more near-to-site landmarks to relocate feeding sites. In doing so they approached the same feeding site from a mean of 4.5 different directions, frequently utilized different arboreal pathways, and traveled approximately 30% longer than then the straight-line distance. In addition, the monkeys' use of non-direct travel paths allowed them to monitor insect and fruit availability in areas within close proximity of currently used food patches. We conclude that the use of an integrated spatial strategy (route-based travel and attention to near-to-goal landmarks) provides tamarins with the opportunity to relocate productive feeding sites as well as monitor the availability of nearby resources in small-scale space. © 2013 Wiley Periodicals, Inc.

Heated Discharge Control and Management Alternatives: Small Water Bodies and Rivers.

ERIC Educational Resources Information Center

MacLaren, James F.

Basic concepts of waste heat management on shallow and deep small water bodies and rivers are reviewed and examples are given. This study defines a small water body as a body in which the far field hydrothermal effects of a heated discharge can be detected in a major portion or practically all of the water body. Environmental effects due to…

Next-Generation Ground Network Architecture for Communications and Tracking of Interplanetary Smallsats

NASA Astrophysics Data System (ADS)

Cheung, K.-M.; Abraham, D.; Arroyo, B.; Basilio, E.; Babuscia, A.; Duncan, C.; Lee, D.; Oudrhiri, K.; Pham, T.; Staehle, R.; Waldherr, S.; Welz, G.; Wyatt, J.; Lanucara, M.; Malphrus, B.; Bellardo, J.; Puig-Suari, J.; Corpino, S.

2015-08-01

As small spacecraft venture out of Earth orbit, they will encounter challenges not experienced or addressed by the numerous low Earth orbit (LEO) CubeSat and smallsat missions staged to date. The LEO CubeSats typically use low-cost, proven CubeSat radios, antennas, and university ground stations with small apertures. As more ambitious yet cost-constrained space mission concepts to the Moon and beyond are being developed, CubeSats and smallsats have the potential to provide a more affordable platform for exploring deep space and performing the associated science. Some of the challenges that have, so far, slowed the proliferation of small interplanetary spacecraft are those of communications and navigation. Unlike Earth-orbiting spacecraft that navigate via government services such as North American Aerospace Defense Command's (NORAD's) tracking elements or the Global Positioning Satellite (GPS) system, interplanetary spacecraft would have to operate in a fundamentally different manner that allows the deep-space communications link to provide both command/telemetry and the radiometric data needed for navigation. Another challenge occurs when smallsat and CubeSat missions would involve multiple spacecraft that require near-simultaneous communication and/or navigation, but have a very limited number of ground antenna assets, as well as available spectrum, to support their links. To address these challenges, the Jet Propulsion Laboratory (JPL) and the Deep Space Network (DSN) it operates for NASA are pursuing the following efforts: (1) Developing a CubeSat-compatible, DSN-compatible transponder -- Iris -- which a commercial vendor can then make available as a product line. (2) Developing CubeSat-compatible high-gain antennas -- deployable reflectors, reflectarrays, and inflatable antennas. (3) Streamlining access and utilization processes for DSN and related services such as the Advanced Multi-Mission Operations System (AMMOS). (4) Developing methodologies for tracking and operating multiple spacecraft simultaneously, including spectrum coordination. (5) Coordination and collaboration with non-DSN facilities. This article further describes the communications and tracking challenges facing interplanetary smallsats and CubeSats, and the next-generation ground network architecture being evolved to mitigate those challenges.

Electromagnetic navigation system for CT-guided biopsy of small lesions.

PubMed

Appelbaum, Liat; Sosna, Jacob; Nissenbaum, Yizhak; Benshtein, Alexander; Goldberg, S Nahum

2011-05-01

The purpose of this study was to evaluate an electromagnetic navigation system for CT-guided biopsy of small lesions. Standardized CT anthropomorphic phantoms were biopsied by two attending radiologists. CT scans of the phantom and surface electromagnetic fiducial markers were imported into the memory of the 3D electromagnetic navigation system. Each radiologist assessed the accuracy of biopsy using electromagnetic navigation alone by targeting sets of nine lesions (size range, 8-14 mm; skin to target distance, 5.7-12.8 cm) under eight different conditions of detector field strength and orientation (n = 117). As a control, each radiologist also biopsied two sets of five targets using conventional CT-guided technique. Biopsy accuracy, number of needle passes, procedure time, and radiation dose were compared. Under optimal conditions (phantom perpendicular to the electromagnetic receiver at highest possible field strength), phantom accuracy to the center of the lesion was 2.6 ± 1.1 mm. This translated into hitting 84.4% (38/45) of targets in a single pass (1.1 ± 0.4 CT confirmations), which was significantly fewer than the 3.6 ± 1.3 CT checks required for conventional technique (p < 0.001). The mean targeting time was 38.8 ± 18.2 seconds per lesion. Including procedural planning (∼5.5 minutes) and final CT confirmation of placement (∼3.5 minutes), the full electromagnetic tracking procedure required significantly less time (551.6 ± 87.4 seconds [∼9 minutes]) than conventional CT (833.3 ± 283.8 seconds [∼14 minutes]) for successful targeting (p < 0.001). Less favorable conditions, including nonperpendicular relation between the axis of the machine and weaker field strength, resulted in statistically significant lower accuracy (3.7 ± 1 mm, p < 0.001). Nevertheless, first-pass biopsy accuracy was 58.3% (21/36) and second-pass (35/36) accuracy was 97.2%. Lesions farther from the skin than 20-25 cm were out of range for successful electromagnetic tracking. Virtual electromagnetic tracking appears to have high accuracy in needle placement, potentially reducing time and radiation exposure compared with those of conventional CT techniques in the biopsy of small lesions.

Hydroacoustic detection of dumped ammunition in the Ocean with multibeam snippet backscatter analyses. A case study from the 'Kolberger Heide' ammunition dump site (Baltic Sea, Germany)

NASA Astrophysics Data System (ADS)

Kunde, Tina; Schneider von Deimling, Jens

2016-04-01

Dumped ammunition in the sea is a matter of great concern in terms of safe navigation and environmental threads. Because corrosion of the dumped ammunition's hull is ongoing, future contamination of the ambient water by their toxic interior is likely to occur. The location of such dump sites is approximately known from historical research and ship log book analyses. Subsequent remote sensing of ammunition dumping sites (e.g. mines) on the seafloor is preferentially performed with hydro-acoustic methods such as high resolution towed side scan or by the sophisticated synthetic aperture sonar approach with autonomous underwater vehicles. However, these are time consuming and expensive procedures, while determining the precise position of individual mines remains a challenging task. To mitigate these shortcomings we suggest using ship-born high-frequency multibeam sonar in shallow water to address the task of mine detection and precise localization on the seabed. Multibeam sonar systems have improved their potential in regard to backscatter analyses significantly over the past years and nowadays present fast and accurate tools for shallow water surveying to (1) detect mines in multibeam snippet backscatter data (2) determine their precise location with high accuracy intertial navigation systems. A case study was performed at the prominent ammunition dumping site 'Kolberger Heide' (Baltic Sea, Germany) in the year 2014 using a modern hydro-acoustic multibeam echosounder system with 200-400 kHz (KONGSBERG EM2040c). With an average water depth of not even 20 m and the proximity to the shore line and dense waterways, this investigated area requires permanent navigational care. Previously, the study area was surveyed by the Navy with the very sophisticated HUGIN AUV equipped with a synthetic aperture sonar with best resolution by current technology. Following an evaluation of the collected data, various ammunition bodies on the sea floor could be clearly detected. Analyses of our shipborn multibeam snippet backscatter data now show the feasibility to detect the majority of such ammunition bodies by their distinct snippet backscatter anomaly and shape. By the use of SAPOS correction data, the navigation data of the appropriated multibeam echosounder was postprocessed, which leads to an absolute accuracy of the ammunition bodies of 0.1 m laterally. Thus, the multibeam dataset represents a study providing both, detection and precise positioning of individual mines on the seabed. Apart from the much greater efficiency of multibeam mapping sonar over towed sidescan, precise localization is important for future management of mines, may it be in regard to their dellaboration, or to evaluate if future sediment mass movement (sediment waves) may cover and obscure the ammunition bodies in the future.

United States Coast Guard AtoN battery scientific assessment

DOT National Transportation Integrated Search

1997-12-01

The USCG maintains about 12,000 fixed lighted aids to navigation (AtoNs). Historically, many of these lights were powered by primary batteries containing small amounts of mercury. These batteries were sometimes disposed of at the AtoN sites. The asse...

West Harbor, Ohio Recreational Navigation Improvement. Revision.

DTIC Science & Technology

1979-03-01

small flowering plants such as mallow (Malva sp.) exist throughout this area (see page 123). 2.29 The presence of trees close to the Lake Erie shoreline...occidentalis L. common Houstonia nigricans (Lam.) Fern. common -aprifoliaceae Sambucus canadensis L. common Cucurbitaceae Echinocystis lobata (Michx

Titan Aerial Daughtercraft (TAD) for Surface Studies from a Lander or Balloon

NASA Astrophysics Data System (ADS)

Matthies, L.; Tokumaru, P.; Sherrit, S.; Beauchamp, P.

2014-06-01

Recent rapid progress on autonomous navigation of micro air vehicles for terrestrial applications opens new possibilities for a small aerial vehicle that could deploy from a Titan lander or balloon to acquire samples for analysis on the mothership.

Colonoscope navigation system using colonoscope tracking method based on line registration

NASA Astrophysics Data System (ADS)

Oda, Masahiro; Kondo, Hiroaki; Kitasaka, Takayuki; Furukawa, Kazuhiro; Miyahara, Ryoji; Hirooka, Yoshiki; Goto, Hidemi; Navab, Nassir; Mori, Kensaku

2014-03-01

This paper presents a new colonoscope navigation system. CT colonography is utilized for colon diagnosis based on CT images. If polyps are found while CT colonography, colonoscopic polypectomy can be performed to remove them. While performing a colonoscopic examination, a physician controls colonoscope based on his/her experience. Inexperienced physicians may occur complications such as colon perforation while colonoscopic examinations. To reduce complications, a navigation system of colonoscope while performing the colonoscopic examinations is necessary. We propose a colonoscope navigation system. This system has a new colonoscope tracking method. This method obtains a colon centerline from a CT volume of a patient. A curved line (colonoscope line) representing the shape of colonoscope inserted to the colon is obtained by using electromagnetic sensors. A coordinate system registration process that employs the ICP algorithm is performed to register the CT and sensor coordinate systems. The colon centerline and colonoscope line are registered by using a line registration method. The position of the colonoscope tip in the colon is obtained from the line registration result. Our colonoscope navigation system displays virtual colonoscopic views generated from the CT volumes. A viewpoint of the virtual colonoscopic view is a point on the centerline that corresponds to the colonoscope tip. Experimental results using a colon phantom showed that the proposed colonoscope tracking method can track the colonoscope tip with small tracking errors.

a Method for the Positioning and Orientation of Rail-Bound Vehicles in Gnss-Free Environments

NASA Astrophysics Data System (ADS)

Hung, R.; King, B. A.; Chen, W.

2016-06-01

Mobile Mapping System (MMS) are increasingly applied for spatial data collection to support different fields because of their efficiencies and the levels of detail they can provide. The Position and Orientation System (POS), which is conventionally employed for locating and orienting MMS, allows direct georeferencing of spatial data in real-time. Since the performance of a POS depends on both the Inertial Navigation System (INS) and the Global Navigation Satellite System (GNSS), poor GNSS conditions, such as in long tunnels and underground, introduce the necessity for post-processing. In above-ground railways, mobile mapping technology is employed with high performance sensors for finite usage, which has considerable potential for enhancing railway safety and management in real-time. In contrast, underground railways present a challenge for a conventional POS thus alternative configurations are necessary to maintain data accuracy and alleviate the need for post-processing. This paper introduces a method of rail-bound navigation to replace the role of GNSS for railway applications. The proposed method integrates INS and track alignment data for environment-independent navigation and reduces the demand of post-processing. The principle of rail-bound navigation is presented and its performance is verified by an experiment using a consumer-grade Inertial Measurement Unit (IMU) and a small-scale railway model. The method produced a substantial improvement in position and orientation for a poorly initialised system in centimetre positional accuracy. The potential improvements indicated by, and limitations of rail-bound navigation are also considered for further development in existing railway systems.

Electromagnetic Navigation Bronchoscopy for Identifying Lung Nodules for Thoracoscopic Resection.

PubMed

Marino, Katy A; Sullivan, Jennifer L; Weksler, Benny

2016-08-01

Pulmonary nodules smaller than 1 cm can be difficult to identify during minimally invasive resection, necessitating conversion to thoracotomy. We hypothesized that localizing nodules with electromagnetic navigation bronchoscopy and marking them with methylene blue would allow minimally invasive resection and reduce conversion to thoracotomy. We retrospectively identified all patients who underwent electromagnetic navigation bronchoscopy followed by minimally invasive resection of a pulmonary nodule from 2011 to 2014. Lung nodules smaller than 10 mm and nodules smaller than 20 mm that were also located more than 10 mm from the pleural surface were localized and marked with methylene blue. Immediately after marking, all patients underwent resection. Seventy patients underwent electromagnetic navigation bronchoscopy marking followed by minimally invasive resection. The majority of patients (68/70, 97%) had one nodule localized; 2 patients (2/70, 3%) had two nodules localized. The median nodule size was 8 mm (range, 4-17 mm; interquartile range, 5 mm). The median distance from the pleural surface was 6 mm (range, 1-19 mm; interquartile range, 6 mm). There were no conversions to thoracotomy. Nodule marking was successful in 70 of 72 attempts (97.2%); two nodules were identified by palpation. The nodules were most commonly metastases from other sites (31/70, 44.3%). There were no adverse events related to electromagnetic navigation bronchoscopy-guided marking or wedge resection, and minimal adverse events after resections that were more extensive. Localizing and marking small pulmonary nodules using electromagnetic navigation bronchoscopy is safe and effective for nodule identification before minimally invasive resection. Copyright © 2016 The Society of Thoracic Surgeons. Published by Elsevier Inc. All rights reserved.

Fast two-position initial alignment for SINS using velocity plus angular rate measurements

NASA Astrophysics Data System (ADS)

Chang, Guobin

2015-10-01

An improved two-position initial alignment model for strapdown inertial navigation system is proposed. In addition to the velocity, angular rates are incorporated as measurements. The measurement equations in full three channels are derived in both navigation and body frames and the latter of which is found to be preferred. The cross-correlation between the process and the measurement noises is analyzed and addressed in the Kalman filter. The incorporation of the angular rates, without introducing additional device or external signal, speeds up the convergence of estimating the attitudes, especially the heading. In the simulation study, different algorithms are tested with different initial errors, and the advantages of the proposed method compared to the conventional one are validated by the simulation results.

Nonrigid Autofocus Motion Correction for Coronary MR Angiography with a 3D Cones Trajectory

PubMed Central

Ingle, R. Reeve; Wu, Holden H.; Addy, Nii Okai; Cheng, Joseph Y.; Yang, Phillip C.; Hu, Bob S.; Nishimura, Dwight G.

2014-01-01

Purpose: To implement a nonrigid autofocus motion correction technique to improve respiratory motion correction of free-breathing whole-heart coronary magnetic resonance angiography (CMRA) acquisitions using an image-navigated 3D cones sequence. Methods: 2D image navigators acquired every heartbeat are used to measure superior-inferior, anterior-posterior, and right-left translation of the heart during a free-breathing CMRA scan using a 3D cones readout trajectory. Various tidal respiratory motion patterns are modeled by independently scaling the three measured displacement trajectories. These scaled motion trajectories are used for 3D translational compensation of the acquired data, and a bank of motion-compensated images is reconstructed. From this bank, a gradient entropy focusing metric is used to generate a nonrigid motion-corrected image on a pixel-by-pixel basis. The performance of the autofocus motion correction technique is compared with rigid-body translational correction and no correction in phantom, volunteer, and patient studies. Results: Nonrigid autofocus motion correction yields improved image quality compared to rigid-body-corrected images and uncorrected images. Quantitative vessel sharpness measurements indicate superiority of the proposed technique in 14 out of 15 coronary segments from three patient and two volunteer studies. Conclusion: The proposed technique corrects nonrigid motion artifacts in free-breathing 3D cones acquisitions, improving image quality compared to rigid-body motion correction. PMID:24006292

Calculation and Identification of the Aerodynamic Parameters for Small-Scaled Fixed-Wing UAVs.

PubMed

Shen, Jieliang; Su, Yan; Liang, Qing; Zhu, Xinhua

2018-01-13

The establishment of the Aircraft Dynamic Model(ADM) constitutes the prerequisite for the design of the navigation and control system, but the aerodynamic parameters in the model could not be readily obtained especially for small-scaled fixed-wing UAVs. In this paper, the procedure of computing the aerodynamic parameters is developed. All the longitudinal and lateral aerodynamic derivatives are firstly calculated through semi-empirical method based on the aerodynamics, rather than the wind tunnel tests or fluid dynamics software analysis. Secondly, the residuals of each derivative are proposed to be identified or estimated further via Extended Kalman Filter(EKF), with the observations of the attitude and velocity from the airborne integrated navigation system. Meanwhile, the observability of the targeted parameters is analyzed and strengthened through multiple maneuvers. Based on a small-scaled fixed-wing aircraft driven by propeller, the airborne sensors are chosen and the model of the actuators are constructed. Then, real flight tests are implemented to verify the calculation and identification process. Test results tell the rationality of the semi-empirical method and show the improvement of accuracy of ADM after the compensation of the parameters.

Calculation and Identification of the Aerodynamic Parameters for Small-Scaled Fixed-Wing UAVs

PubMed Central

Shen, Jieliang; Su, Yan; Liang, Qing; Zhu, Xinhua

2018-01-01

The establishment of the Aircraft Dynamic Model (ADM) constitutes the prerequisite for the design of the navigation and control system, but the aerodynamic parameters in the model could not be readily obtained especially for small-scaled fixed-wing UAVs. In this paper, the procedure of computing the aerodynamic parameters is developed. All the longitudinal and lateral aerodynamic derivatives are firstly calculated through semi-empirical method based on the aerodynamics, rather than the wind tunnel tests or fluid dynamics software analysis. Secondly, the residuals of each derivative are proposed to be identified or estimated further via Extended Kalman Filter (EKF), with the observations of the attitude and velocity from the airborne integrated navigation system. Meanwhile, the observability of the targeted parameters is analyzed and strengthened through multiple maneuvers. Based on a small-scaled fixed-wing aircraft driven by propeller, the airborne sensors are chosen and the model of the actuators are constructed. Then, real flight tests are implemented to verify the calculation and identification process. Test results tell the rationality of the semi-empirical method and show the improvement of accuracy of ADM after the compensation of the parameters. PMID:29342856

ARCADE-R2 experiment on board BEXUS 17 stratospheric balloon

NASA Astrophysics Data System (ADS)

Barbetta, Marco; Boesso, Alessandro; Branz, Francesco; Carron, Andrea; Olivieri, Lorenzo; Prendin, Jacopo; Rodeghiero, Gabriele; Sansone, Francesco; Savioli, Livia; Spinello, Fabio; Francesconi, Alessandro

2015-09-01

This paper provides an overview of the ARCADE-R2 experiment, a technology demonstrator that aimed to prove the feasibility of small-scale satellite and/or aircraft systems with automatic (a) attitude determination, (b) control and (c) docking capabilities. The experiment embodies a simplified scenario in which an unmanned vehicle mock-up performs rendezvous and docking operations with a fixed complementary unit. The experiment is composed by a supporting structure, which holds a small vehicle with one translational and one rotational degree of freedom, and its fixed target. The dual system features three main custom subsystems: a relative infrared navigation sensor, an attitude control system based on a reaction wheel and a small-scale docking mechanism. The experiment bus is equipped with pressure and temperature sensors, and wind probes to monitor the external environmental conditions. The experiment flew on board the BEXUS 17 stratospheric balloon on October 10, 2013, where several navigation-control-docking sequences were executed and data on the external pressure, temperature, wind speed and direction were collected, characterizing the atmospheric loads applied to the vehicle. This paper describes the critical components of ARCADE-R2 as well as the main results obtained from the balloon flight.

Autocalibrating vision guided navigation of unmanned air vehicles via tactical monocular cameras in GPS denied environments

NASA Astrophysics Data System (ADS)

Celik, Koray

This thesis presents a novel robotic navigation strategy by using a conventional tactical monocular camera, proving the feasibility of using a monocular camera as the sole proximity sensing, object avoidance, mapping, and path-planning mechanism to fly and navigate small to medium scale unmanned rotary-wing aircraft in an autonomous manner. The range measurement strategy is scalable, self-calibrating, indoor-outdoor capable, and has been biologically inspired by the key adaptive mechanisms for depth perception and pattern recognition found in humans and intelligent animals (particularly bats), designed to assume operations in previously unknown, GPS-denied environments. It proposes novel electronics, aircraft, aircraft systems, systems, and procedures and algorithms that come together to form airborne systems which measure absolute ranges from a monocular camera via passive photometry, mimicking that of a human-pilot like judgement. The research is intended to bridge the gap between practical GPS coverage and precision localization and mapping problem in a small aircraft. In the context of this study, several robotic platforms, airborne and ground alike, have been developed, some of which have been integrated in real-life field trials, for experimental validation. Albeit the emphasis on miniature robotic aircraft this research has been tested and found compatible with tactical vests and helmets, and it can be used to augment the reliability of many other types of proximity sensors.

Initial Alignment for SINS Based on Pseudo-Earth Frame in Polar Regions.

PubMed

Gao, Yanbin; Liu, Meng; Li, Guangchun; Guang, Xingxing

2017-06-16

An accurate initial alignment must be required for inertial navigation system (INS). The performance of initial alignment directly affects the following navigation accuracy. However, the rapid convergence of meridians and the small horizontalcomponent of rotation of Earth make the traditional alignment methods ineffective in polar regions. In this paper, from the perspective of global inertial navigation, a novel alignment algorithm based on pseudo-Earth frame and backward process is proposed to implement the initial alignment in polar regions. Considering that an accurate coarse alignment of azimuth is difficult to obtain in polar regions, the dynamic error modeling with large azimuth misalignment angle is designed. At the end of alignment phase, the strapdown attitude matrix relative to local geographic frame is obtained without influence of position errors and cumbersome computation. As a result, it would be more convenient to access the following polar navigation system. Then, it is also expected to unify the polar alignment algorithm as much as possible, thereby further unifying the form of external reference information. Finally, semi-physical static simulation and in-motion tests with large azimuth misalignment angle assisted by unscented Kalman filter (UKF) validate the effectiveness of the proposed method.

Image fusion and navigation platforms for percutaneous image-guided interventions.

PubMed

Rajagopal, Manoj; Venkatesan, Aradhana M

2016-04-01

Image-guided interventional procedures, particularly image guided biopsy and ablation, serve an important role in the care of the oncology patient. The need for tumor genomic and proteomic profiling, early tumor response assessment and confirmation of early recurrence are common scenarios that may necessitate successful biopsies of targets, including those that are small, anatomically unfavorable or inconspicuous. As image-guided ablation is increasingly incorporated into interventional oncology practice, similar obstacles are posed for the ablation of technically challenging tumor targets. Navigation tools, including image fusion and device tracking, can enable abdominal interventionalists to more accurately target challenging biopsy and ablation targets. Image fusion technologies enable multimodality fusion and real-time co-displays of US, CT, MRI, and PET/CT data, with navigational technologies including electromagnetic tracking, robotic, cone beam CT, optical, and laser guidance of interventional devices. Image fusion and navigational platform technology is reviewed in this article, including the results of studies implementing their use for interventional procedures. Pre-clinical and clinical experiences to date suggest these technologies have the potential to reduce procedure risk, time, and radiation dose to both the patient and the operator, with a valuable role to play for complex image-guided interventions.

Liver tumor boundaries identified intraoperatively using real-time indocyanine green fluorescence imaging.

PubMed

Zhang, Ya-Min; Shi, Rui; Hou, Jian-Cun; Liu, Zi-Rong; Cui, Zi-Lin; Li, Yang; Wu, Di; Shi, Yuan; Shen, Zhong-Yang

2017-01-01

Clear delineation between tumors and normal tissues is ideal for real-time surgical navigation imaging. We investigated applying indocyanine green (ICG) fluorescence imaging navigation using an intraoperative administration method in liver resection. Fifty patients who underwent liver resection were divided into two groups based on clinical situation and operative purpose. In group I, sizes of superficial liver tumors were determined; tiny tumors were identified. In group II, the liver resection margin was determined; real-time navigation was performed. ICG was injected intravenously at the beginning of the operation; the liver surface was observed with a photodynamic eye (PDE). Liver resection margins were determined using PDE. Fluorescence contrast between normal liver and tumor tissues was obvious in 32 of 35 patients. A boundary for half the liver or specific liver segments was determined in nine patients by examining the portal vein anatomy after ICG injection. Eight small tumors not observed preoperatively were detected; the smallest was 2 mm. ICG fluorescence imaging navigation is a promising, simple, and safe tool for routine real-time intraoperative imaging during hepatic resection and clinical exploration in hepatocellular carcinoma, enabling high sensibility for identifying liver resection margins and detecting tiny superficial tumors.

Stray light lessons learned from the Mars reconnaissance orbiter's optical navigation camera

NASA Astrophysics Data System (ADS)

Lowman, Andrew E.; Stauder, John L.

2004-10-01

The Optical Navigation Camera (ONC) is a technical demonstration slated to fly on NASA"s Mars Reconnaissance Orbiter in 2005. Conventional navigation methods have reduced accuracy in the days immediately preceding Mars orbit insertion. The resulting uncertainty in spacecraft location limits rover landing sites to relatively safe areas, away from interesting features that may harbor clues to past life on the planet. The ONC will provide accurate navigation on approach for future missions by measuring the locations of the satellites of Mars relative to background stars. Because Mars will be a bright extended object just outside the camera"s field of view, stray light control at small angles is essential. The ONC optomechanical design was analyzed by stray light experts and appropriate baffles were implemented. However, stray light testing revealed significantly higher levels of light than expected at the most critical angles. The primary error source proved to be the interface between ground glass surfaces (and the paint that had been applied to them) and the polished surfaces of the lenses. This paper will describe troubleshooting and correction of the problem, as well as other lessons learned that affected stray light performance.

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

PubMed

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

2008-05-01

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

Robotic Missions to Small Bodies and Their Potential Contributions to Human Exploration and Planetary Defense

NASA Technical Reports Server (NTRS)

Abell, Paul A.; Rivkin, Andrew S.

2015-01-01

Introduction: Robotic missions to small bodies will directly address aspects of NASA's Asteroid Initiative and will contribute to future human exploration and planetary defense. The NASA Asteroid Initiative is comprised of two major components: the Grand Challenge and the Asteroid Mission. The first component, the Grand Challenge, focuses on protecting Earth's population from asteroid impacts by detecting potentially hazardous objects with enough warning time to either prevent them from impacting the planet, or to implement civil defense procedures. The Asteroid Mission involves sending astronauts to study and sample a near-Earth asteroid (NEA) prior to conducting exploration missions of the Martian system, which includes Phobos and Deimos. The science and technical data obtained from robotic precursor missions that investigate the surface and interior physical characteristics of an object will help identify the pertinent physical properties that will maximize operational efficiency and reduce mission risk for both robotic assets and crew operating in close proximity to, or at the surface of, a small body. These data will help fill crucial strategic knowledge gaps (SKGs) concerning asteroid physical characteristics that are relevant for human exploration considerations at similar small body destinations. These data can also be applied for gaining an understanding of pertinent small body physical characteristics that would also be beneficial for formulating future impact mitigation procedures. Small Body Strategic Knowledge Gaps: For the past several years NASA has been interested in identifying the key SKGs related to future human destinations. These SKGs highlight the various unknowns and/or data gaps of targets that the science and engineering communities would like to have filled in prior to committing crews to explore the Solar System. An action team from the Small Bodies Assessment Group (SBAG) was formed specifically to identify the small body SKGs under the direction of the Human Exploration and Operations Missions Directorate (HEOMD), given NASA's recent interest in NEAs and the Martian moons as potential human destinations. The action team organized the SKGs into four broad themes: 1) Identify human mission targets; 2) Understand how to work on and interact with the small body surface; 3) Understand the small body environment and its potential risk/benefit to crew, systems, and operational assets; and 4) Understand the small body resource potential. Of these four SKG themes, the first three have significant overlap with planetary defense considerations. The data obtained from investigations of small body physical characteristics under these three themes can be directly applicable to planetary defense initiatives. Conclusions: Missions to investigate small bodies can address small body strategic knowledge gaps and contribute to the overall success for human exploration missions to asteroids and the Martian moons. In addition, such reconnaissance of small bodies can also provide a wealth of information relevant to the science and planetary defense of NEAs.

77 FR 52175 - Changes to the Inland Navigation Rules

Federal Register 2010, 2011, 2012, 2013, 2014

2012-08-28

..., and 33 CFR Part 88, Annex V, Would Be Moved Into the Main Body of 33 CFR Part 83 C. COLREGS Amendment... balloon shape in the ``Actions'' column. If you submit your comments by mail or hand delivery, submit them... with the Department of Transportation to use the Docket Management Facility. C. Privacy Act Anyone can...

Policies and Background Literature for Self-Education on Research Data Management: An Annotated Bibliography

ERIC Educational Resources Information Center

Goben, Abigail; Raszewski, Rebecca

2015-01-01

Librarians navigating research data management self-education have an increasing body of literature to choose from, which may become overwhelming. This annotated bibliography reviews: (1) U.S. federal policies; (2) articles; and (3) books to assist librarians who are self-educating on research data management or are seeking background reading…

Corpus Linguistics and Language Testing: Navigating Uncharted Waters

ERIC Educational Resources Information Center

Egbert, Jesse

2017-01-01

The use of corpora and corpus linguistic methods in language testing research is increasing at an accelerated pace. The growing body of language testing research that uses corpus linguistic data is a testament to their utility in test development and validation. Although there are many reasons to be optimistic about the future of using corpus data…

Cultural Navigators: International Faculty Fathers in the U.S Research University

ERIC Educational Resources Information Center

Sallee, Margaret; Hart, Jeni

2015-01-01

Based on interviews with 16 international tenure-track and tenured faculty fathers from collectivist cultures at 2 U.S. research universities, this study explores how these men reconcile the demands of parenting with those of the academic career. Adding to a robust body of literature on the concerns of domestic faculty parents, this study focuses…

Cloud Absorption Radiometer Autonomous Navigation System - CANS

NASA Technical Reports Server (NTRS)

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

2013-01-01

CAR (cloud absorption radiometer) acquires spatial reference data from host aircraft navigation systems. This poses various problems during CAR data reduction, including navigation data format, accuracy of position data, accuracy of airframe inertial data, and navigation data rate. Incorporating its own navigation system, which included GPS (Global Positioning System), roll axis inertia and rates, and three axis acceleration, CANS expedites data reduction and increases the accuracy of the CAR end data product. CANS provides a self-contained navigation system for the CAR, using inertial reference and GPS positional information. The intent of the software application was to correct the sensor with respect to aircraft roll in real time based upon inputs from a precision navigation sensor. In addition, the navigation information (including GPS position), attitude data, and sensor position details are all streamed to a remote system for recording and later analysis. CANS comprises a commercially available inertial navigation system with integral GPS capability (Attitude Heading Reference System AHRS) integrated into the CAR support structure and data system. The unit is attached to the bottom of the tripod support structure. The related GPS antenna is located on the P-3 radome immediately above the CAR. The AHRS unit provides a RS-232 data stream containing global position and inertial attitude and velocity data to the CAR, which is recorded concurrently with the CAR data. This independence from aircraft navigation input provides for position and inertial state data that accounts for very small changes in aircraft attitude and position, sensed at the CAR location as opposed to aircraft state sensors typically installed close to the aircraft center of gravity. More accurate positional data enables quicker CAR data reduction with better resolution. The CANS software operates in two modes: initialization/calibration and operational. In the initialization/calibration mode, the software aligns the precision navigation sensors and initializes the communications interfaces with the sensor and the remote computing system. It also monitors the navigation data state for quality and ensures that the system maintains the required fidelity for attitude and positional information. In the operational mode, the software runs at 12.5 Hz and gathers the required navigation/attitude data, computes the required sensor correction values, and then commands the sensor to the required roll correction. In this manner, the sensor will stay very near to vertical at all times, greatly improving the resulting collected data and imagery. CANS greatly improves quality of resulting imagery and data collected. In addition, the software component of the system outputs a concisely formatted, high-speed data stream that can be used for further science data processing. This precision, time-stamped data also can benefit other instruments on the same aircraft platform by providing extra information from the mission flight.

Space Power in Small Wars: The End of Asymmetric Advantage

DTIC Science & Technology

2010-06-01

war and rapidly deliver victory to US forces. Historian Rick Sturdevant notes: “while crises or conflicts during the latter decades of the... Qualcomm alone has already sold 300 million GPS-enabled cell phone chipsets. GARMIN International has delivered 48 million portable navigation

UAS noise certification and measurements status report : Tigershark UAS measurements, tracking system development, and certification metrics status

DOT National Transportation Integrated Search

2017-09-01

This report documents work done by Volpe staff to support the FAAs development of Unmanned Aerial Systems (UAS) noise certification and noise measurement criteria. The primary elements were the development of a small, lightweight Global Navigation...

Computer-Assisted Analysis of Near-Bottom Photos for Benthic Habitat Studies

DTIC Science & Technology

2006-09-01

navigated survey platform greatly increases the efficiency of image analysis and provides new insight about the relationships between benthic organisms...increase in the efficiency of image analysis for benthic habitat studies, and provides the opportunity to assess small scale spatial distribution of

Magnetoreception in Eusocial Insects: An Update

USDA-ARS?s Scientific Manuscript database

Behavioral experiments for magnetoreception in eusocial insects in the last decade are reviewed. Ants and bees use the geomagnetic field to orient and navigate in areas around their nests and in migratory paths. Bees show sensitivity to small changes in magnetic fields in conditioning experiments a...

An Overview of 2014 SBIR Phase 1 and Phase 2 Communications Technology and Development

NASA Technical Reports Server (NTRS)

Nguyen, Hung D.; Steele, Gynelle C.; Morris, Jessica R.

2015-01-01

NASA's Small Business Innovation Research (SBIR) program focuses on technological innovation by investing in development of innovative concepts and technologies to help NASA mission directorates address critical research needs for Agency programs. This report highlights eight of the innovative SBIR 2014 Phase I and Phase II projects that emphasize one of NASA Glenn Research Center's six core competencies-Communication Technology and Development. The technologies cover a wide spectrum of applications such as X-ray navigation, microsensor instrument for unmanned aerial vehicle airborne atmospheric measurements, 16-element graphene-based phased array antenna system, interferometric star tracker, ultralow power fast-response sensor, and integrated spacecraft navigation and communication. Each featured technology describes an innovation, technical objective, and highlights NASA commercial and industrial applications. This report provides an opportunity for NASA engineers, researchers, and program managers to learn how NASA SBIR technologies could help their programs and projects, and lead to collaborations and partnerships between the small SBIR companies and NASA that would benefit both.

Challenges of Communications and Tracking for Solar System Small Body Exploration

NASA Technical Reports Server (NTRS)

Rush, John J.; Lichten, Stephen M.; Srinivasan, Jeffrey M.

2011-01-01

This presentation will address: (1) Communications capabilities that will be needed for space missions for Small Planetary Body exploration (2) Utilization of large ground-based radar capabilities for Small Body remote sensing and mission planning

Considerations for an Integrated UAS CNS Architecture

NASA Technical Reports Server (NTRS)

Templin, Fred L.; Jain, Raj; Sheffield, Greg; Taboso-Bellesteros, Pedro; Ponchak, Denise

2017-01-01

The National Aeronautics and Space Administration (NASA) Glenn Research Center (GRC) is investigating revolutionary and advanced universal, reliable, always available, cyber secure and affordable Communication, Navigation, Surveillance (CNS) options for all altitudes of UAS operations. In Spring 2015, NASA issued a Call for Proposals under NASA Research Announcements (NRA) NNH15ZEA001N, Amendment 7 Subtopic 2.4. Boeing was selected to conduct a study with the objective to determine the most promising candidate technologies for Unmanned Air Systems (UAS) air-to-air and air-to-ground data exchange and analyze their suitability in a post-NextGen NAS environment. The overall objectives are to develop UAS CNS requirements and then develop architectures that satisfy the requirements for UAS in both controlled and uncontrolled air space. This contract is funded under NASAs Aeronautics Research Mission Directorates (ARMD) Aviation Operations and Safety Program (AOSP) Safe Autonomous Systems Operations (SASO) project and proposes technologies for the Unmanned Air Systems Traffic Management (UTM) service.There is a need for accommodating large-scale populations of Unmanned Air Systems (UAS) in the national air space. Scale obviously impacts capacity planning for Communication, Navigation, and Surveillance (CNS) technologies. For example, can wireless communications data links provide the necessary capacity for accommodating millions of small UASs (sUAS) nationwide? Does the communications network provide sufficient Internet Protocol (IP) address space to allow air traffic control to securely address both UAS teams as a whole as well as individual UAS within each team? Can navigation and surveillance approaches assure safe route planning and safe separation of vehicles even in crowded skies?Our objective is to identify revolutionary and advanced CNS alternatives supporting UASs operating at all altitudes and in all airspace while accurately navigating in the absence of navigational aids. These CNS alternatives must be reliable, redundant, always available, cyber-secure, and affordable for all types of vehicles including small UAS to large transport category aircraft. The approach will identify CNS technology candidates that can meet the needs of the range of UAS missions to specific air traffic management applications where they will be most beneficial and cost effective.

Asteroids and Comets Outreach Compilation

NASA Technical Reports Server (NTRS)

1999-01-01

Contents include various different animations in the area of Asteroids and Comets. Titles of the short animated clips are: STARDUST Mission; Asteroid Castallia Impact Simulation; Castallia, Toutatis and the Earth; Simulation Asteroid Encounter with Earth; Nanorover Technology Task; Near Earth Asteroid Tracking; Champollian Anchor Tests; Early Views of Comets; Exploration of Small Bodies; Ulysses Resource Material from ESA; Ulysses Cometary Plasma Tail Animation; and various discussions on the Hale-Bopp Comet. Animation of the following are seen: the Stardust aerogel collector grid collecting cometary dust particles, comet and interstellar dust analyzer, Wiper-shield and dust flux monitor, a navigation camera, and the return of the sample to Earth; a comparison of the rotation of the Earth to the Castallia and Tautatis Asteroids; an animated land on Tautatis and the view of the motion of the sky from its surface; an Asteroid collision with the Earth; the USAF Station in Hawaii; close-up views of asteroids; automatic drilling of the Moon; exploding Cosmic Particles; and the dropping off of the plasma tail of a comet as it travels near the sun.

The Small Body Mapping Tool (SBMT) for Accessing, Visualizing, and Analyzing Spacecraft Data in Three Dimensions

NASA Astrophysics Data System (ADS)

Barnouin, O. S.; Ernst, C. M.; Daly, R. T.

2018-04-01

The free, publicly available Small Body Mapping Tool (SBMT) developed at the Johns Hopkins University Applied Physics Laboratory is a powerful, easy-to-use tool for accessing and analyzing data from small bodies.

Experience-related reorganization of giant synapses in the lateral complex: Potential role in plasticity of the sky-compass pathway in the desert ant Cataglyphis fortis.

PubMed

Schmitt, Franziska; Stieb, Sara Mae; Wehner, Rüdiger; Rössler, Wolfgang

2016-04-01

Cataglyphis desert ants undergo an age-related polyethism from interior workers to relatively short-lived foragers with remarkable visual navigation capabilities, predominantly achieved by path integration using a polarized skylight-based sun compass and a stride-integrating odometer. Behavioral and physiological experiments revealed that the polarization (POL) pattern is processed via specialized UV-photoreceptors in the dorsal rim area of the compound eye and POL sensitive optic lobe neurons. Further information about the neuronal substrate for processing of POL information in the ant brain has remained elusive. This work focuses on the lateral complex (LX), known as an important relay station in the insect sky-compass pathway. Neuroanatomical results in Cataglyphis fortis show that LX giant synapses (GS) connect large presynaptic terminals from anterior optic tubercle neurons with postsynaptic GABAergic profiles of tangential neurons innervating the ellipsoid body of the central complex. At the ultrastructural level, the cup-shaped presynaptic structures comprise many active zones contacting numerous small postsynaptic profiles. Three-dimensional quantification demonstrated a significantly higher number of GS (∼ 13%) in foragers compared with interior workers. Light exposure, as opposed to age, was necessary and sufficient to trigger a similar increase in GS numbers. Furthermore, the increase in GS numbers was sensitive to the exclusion of UV light. As previous experiments have demonstrated the importance of the UV spectrum for sky-compass navigation in Cataglyphis, we conclude that plasticity in LX GS may reflect processes involved in the initial calibration of sky-compass neuronal circuits during orientation walks preceding active foraging. © 2015 Wiley Periodicals, Inc.

Navigating under sea ice promotes rapid maturation of diving physiology and performance in beluga whales.

PubMed

Noren, Shawn R; Suydam, Robert

2016-09-15

Little is known about the postnatal development of the physiological characteristics that support breath-hold in cetaceans, despite their need to swim and dive at birth. Arctic species have the additional demand of avoiding entrapment while navigating under sea ice, where breathing holes are patchily distributed and ephemeral. This is the first investigation of the ontogeny of the biochemistry of the locomotor muscle in a year-round Arctic-dwelling cetacean (beluga whale, Delphinapterus leucas). Compared with what we know about other cetaceans, belugas are born with high myoglobin content (1.56±0.02 g 100 g -1 wet muscle mass, N=2) that matures rapidly. Myoglobin increased by 452% during the first year after birth and achieved adult levels (6.91±0.35 g 100 g -1 wet muscle mass, N=9) by 14 months postpartum. Buffering capacity was 48.88±0.69 slykes (N=2) at birth; adult levels (84.31±1.38 slykes, N=9) were also achieved by 14 months postpartum. As the oxygen stores matured, calculated aerobic dive limit more than doubled over the first year of life, undoubtedly facilitating the movements of calves under sea ice. Nonetheless, small body size theoretically continues to constrain the diving ability of newly weaned 2 year olds, as they only had 74% and 69% of the aerobic breath-hold capacity of larger adult female and male counterparts. These assessments enhance our knowledge of the biology of cetaceans and provide insight into age-specific flexibility to alter underwater behaviors, as may be required with the ongoing alterations in the Arctic marine ecosystem associated with climate change and increased anthropogenic activities. © 2016. Published by The Company of Biologists Ltd.

Body shape convergence driven by small size optimum in marine angelfishes.

PubMed

Frédérich, Bruno; Santini, Francesco; Konow, Nicolai; Schnitzler, Joseph; Lecchini, David; Alfaro, Michael E

2017-06-01

Convergent evolution of small body size occurs across many vertebrate clades and may reflect an evolutionary response to shared selective pressures. However it remains unclear if other aspects of phenotype undergo convergent evolution in miniaturized lineages. Here we present a comparative analysis of body size and shape evolution in marine angelfishes (Pomacanthidae), a reef fish family characterized by repeated transitions to small body size. We ask if lineages that evolve small sizes show convergent evolution in body shape. Our results reveal that angelfish lineages evolved three different stable size optima with one corresponding to the group of pygmy angelfishes ( Centropyge ). Then, we test if the observed shifts in body size are associated with changes to new adaptive peaks in shape. Our data suggest that independent evolution to small size optima have induced repeated convergence upon deeper body and steeper head profile in Centropyge These traits may favour manoeuvrability and visual awareness in these cryptic species living among corals, illustrating that functional demands on small size may be related to habitat specialization and predator avoidance. The absence of shape convergence in large marine angelfishes also suggests that more severe requirements exist for small than for large size optima. © 2017 The Author(s).

47 CFR 80.925 - Electric light.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 47 Telecommunication 5 2010-10-01 2010-10-01 false Electric light. 80.925 Section 80.925... MARITIME SERVICES Compulsory Radiotelephone Installations for Small Passenger Boats § 80.925 Electric light. (a) If the vessel is navigated at night an electric light or dial lights which clearly illuminate the...

47 CFR 80.925 - Electric light.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 47 Telecommunication 5 2014-10-01 2014-10-01 false Electric light. 80.925 Section 80.925... MARITIME SERVICES Compulsory Radiotelephone Installations for Small Passenger Boats § 80.925 Electric light. (a) If the vessel is navigated at night an electric light or dial lights which clearly illuminate the...

47 CFR 80.925 - Electric light.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 47 Telecommunication 5 2012-10-01 2012-10-01 false Electric light. 80.925 Section 80.925... MARITIME SERVICES Compulsory Radiotelephone Installations for Small Passenger Boats § 80.925 Electric light. (a) If the vessel is navigated at night an electric light or dial lights which clearly illuminate the...

47 CFR 80.925 - Electric light.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 47 Telecommunication 5 2011-10-01 2011-10-01 false Electric light. 80.925 Section 80.925... MARITIME SERVICES Compulsory Radiotelephone Installations for Small Passenger Boats § 80.925 Electric light. (a) If the vessel is navigated at night an electric light or dial lights which clearly illuminate the...

47 CFR 80.925 - Electric light.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 47 Telecommunication 5 2013-10-01 2013-10-01 false Electric light. 80.925 Section 80.925... MARITIME SERVICES Compulsory Radiotelephone Installations for Small Passenger Boats § 80.925 Electric light. (a) If the vessel is navigated at night an electric light or dial lights which clearly illuminate the...

Removal of a foreign body from the skull base using a customized computer-designed guide bar.

PubMed

Wei, Ran; Xiang-Zhen, Liu; Bing, Guo; Da-Long, Shu; Ze-Ming, Tan

2010-06-01

Foreign bodies located at the base of the skull pose a surgical challenge. Here, a customized computer-designed surgical guide bar was designed to facilitate removal of a skull base foreign body. Within 24h of the patient's presentation, a guide bar and mounting platform were designed to remove a foreign body located adjacent to the transverse process of the atlas and pressing against the internal carotid artery. The foreign body was successfully located and removed using the custom designed guide bar and computer operative planning. Ten months postoperatively the patient was free of complaints and lacked any complications such as restricted opening of the mouth or false aneurysm. The inferior alveolar nerve damage noted immediately postoperatively (a consequence of mandibular osteotomy) was slightly reduced at follow-up, but labial numbness persisted. The navigation tools described herein were successfully employed to aid foreign body removal from the skull base. Copyright (c) 2009 European Association for Cranio-Maxillo-Facial Surgery. Published by Elsevier Ltd. All rights reserved.

Irreversible electroporation of locally advanced pancreatic neck/body adenocarcinoma

PubMed Central

2015-01-01

Objective Irreversible electroporation (IRE) of locally advanced pancreatic adenocarcinoma of the neck has been used to palliate appropriate stage 3 pancreatic cancers without evidence of metastasis and who have undergone appropriate induction therapy. Currently there has not been a standardized reported technique for pancreatic mid-body tumors for patient selection and intra-operative technique. Patients Subjects are patients with locally advanced pancreatic adenocarcinoma of the body/neck who have undergone appropriate induction chemotherapy for a reasonable duration. Main outcome measures Technique of open IRE of locally advanced pancreatic adenocarcinoma of the neck/body is described, with the emphasis on intra-operative ultrasound and intra-operative electroporation management. Results The technique of open IRE of the pancreatic neck/body with bracketing of the celiac axis and superior mesenteric artery with continuous intraoperative ultrasound imaging and consideration of intraoperative navigational system is described. Conclusions IRE of locally advanced pancreatic adenocarcinoma of the body/neck is feasible for appropriate patients with locally advanced unresectable pancreatic cancer. PMID:26029461

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

PubMed

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

2016-06-01

Minimising the risk of cup implantation outside the safe zone is among the objectives of navigation during total hip arthroplasty (THA). However, given the technical challenges raised by navigation when the patient is lying on the side, many surgeons still use the freehand technique. We conducted a randomised controlled trial to evaluate the new navigation system NAVEOS in the iliac plane, which is easily identified in the lateral decubitus position, with the objective of determining whether NAVEOS navigation decreased the frequency of cup implantation outside the safe zone compared to freehand cup positioning, without increasing the operative time or the frequency of complications. NAVEOS navigation decreases the frequency of cup positioning outside the safe zone compared to freehand positioning. This randomised controlled trial compared cup positioning using NAVEOS navigation versus the freehand technique in patients undergoing primary THA. The safe zone was defined according to Lewinnek as 15±10° of radiological anteversion and 40±10° of radiological inclination. Cup position parameters were measured on computed tomography images obtained 3months after THA. The images were read by two independent observers who were blinded to group assignment. The primary evaluation criterion was cup position within the safe zone. A 1:1 randomisation scheme was used to assign 78 patients (mean age, 68years; age range, 44-91years) to NAVEOS navigation or freehand cup positioning. The two groups were comparable for age, gender distribution, body mass index, and preoperative functional scores. In the NAVEOS group, navigation was discontinued prematurely in 6 patients, because of technical difficulties (n=2) or a marked discrepancy with clinical findings (n=4); however, the intention-to-treat approach was used for the analysis. The proportion of cups in the safe zone was 67% (28/39) in the NAVEOS group and 38% (17/39) in the freehand group (P=0.012). Anteversion was within the 5-25° range for 72% (28/39) cups in the NAVEOS group and 46% (18/39) in the freehand group (P=0.021). Inclination was within the 30-50° range for 95% (37/39) of cups with NAVEOS navigation and 85% (33/39) with freehand positioning (P=0.135). The odds ratio for cup implantation outside the safe zone was significantly lower with NAVEOS compared to freehand positioning (0.54; 95% confidence interval, 0.31-0.91). Mean operative time was 74 (range, 45-115) minutes with NAVEOS navigation and 70 (range, 40-105) minutes with freehand positioning (P=0.382). Complications consisted of 1 case each of anterior dislocation and infection, both in the freehand group. Compared to freehand positioning, NAVEOS navigation significantly lowered the risk of cup positioning outside the safe zone, chiefly via improved achievement of the anteversion target. NAVEOS was not associated with increases in operative time or morbidity. II, randomised controlled trial with limited statistical power. Copyright © 2016 Elsevier Masson SAS. All rights reserved.

Augmented reality and photogrammetry: A synergy to visualize physical and virtual city environments

NASA Astrophysics Data System (ADS)

Portalés, Cristina; Lerma, José Luis; Navarro, Santiago

2010-01-01

Close-range photogrammetry is based on the acquisition of imagery to make accurate measurements and, eventually, three-dimensional (3D) photo-realistic models. These models are a photogrammetric product per se. They are usually integrated into virtual reality scenarios where additional data such as sound, text or video can be introduced, leading to multimedia virtual environments. These environments allow users both to navigate and interact on different platforms such as desktop PCs, laptops and small hand-held devices (mobile phones or PDAs). In very recent years, a new technology derived from virtual reality has emerged: Augmented Reality (AR), which is based on mixing real and virtual environments to boost human interactions and real-life navigations. The synergy of AR and photogrammetry opens up new possibilities in the field of 3D data visualization, navigation and interaction far beyond the traditional static navigation and interaction in front of a computer screen. In this paper we introduce a low-cost outdoor mobile AR application to integrate buildings of different urban spaces. High-accuracy 3D photo-models derived from close-range photogrammetry are integrated in real (physical) urban worlds. The augmented environment that is presented herein requires for visualization a see-through video head mounted display (HMD), whereas user's movement navigation is achieved in the real world with the help of an inertial navigation sensor. After introducing the basics of AR technology, the paper will deal with real-time orientation and tracking in combined physical and virtual city environments, merging close-range photogrammetry and AR. There are, however, some software and complex issues, which are discussed in the paper.

Effect of Patient Navigation on Time to Diagnostic Resolution among Patients with Colorectal Cancer Related Abnormalities

PubMed Central

Lee, Ji-Hyun; Fulp, William; Wells, Kristen J.; Meade, Cathy D.; Calcano, Ercilia; Roetzheim, Richard

2013-01-01

Objectives The objective of this study is to evaluate whether a patient navigation (PN) program is effective in reducing delay in diagnostic resolution among medically underserved patients with colorectal cancer (CRC) related abnormalities in Tampa Bay, Florida. Methods This study involved 10 primary care clinics randomized either to receive navigation or serve as controls (5 clinics per arm). Each clinic identified all subjects with colorectal-related abnormalities in the year prior to the clinic beginning participation in the Moffitt Patient Navigation Research Program. Patients with CRC related abnormalities were navigated from time of a colorectal abnormality to diagnostic resolution. Control patients received usual care, and outcome information was obtained from medical record abstraction. Using a frailty Cox proportional hazard model, we examined the length of time between colorectal abnormality and definitive diagnosis. Results 193 patients were eligible for the study because of a colorectal cancer related abnormality (75 navigated; 118 control). Analysis of PN effect by two time periods of resolution (0-4 months and > 4 months) showed a lagged effect of PN. The adjusted time-varying PN effect on diagnostic resolution compared to control was marginally significant (adjusted Hazard Ratio, aHR=1.15, 95% CI: 1.02-1.29) after controlling for insurance status. The predicted aHR at 4 months was 1.2, but showed no significant effect until 12 months. Conclusions For patients having an abnormal symptom of CRC, PN appeared to have a positive effect over time and sped diagnostic resolution after 4 months. However, the small sample size limits drawing a definitive conclusion regarding the positive PN effect. PMID:24113902

The role of geomagnetic cues in green turtle open sea navigation.

PubMed

Benhamou, Simon; Sudre, Joël; Bourjea, Jérome; Ciccione, Stéphane; De Santis, Angelo; Luschi, Paolo

2011-01-01

Laboratory and field experiments have provided evidence that sea turtles use geomagnetic cues to navigate in the open sea. For instance, green turtles (Chelonia mydas) displaced 100 km away from their nesting site were impaired in returning home when carrying a strong magnet glued on the head. However, the actual role of geomagnetic cues remains unclear, since magnetically treated green turtles can perform large scale (>2000 km) post-nesting migrations no differently from controls. In the present homing experiment, 24 green turtles were displaced 200 km away from their nesting site on an oceanic island, and tracked, for the first time in this type of experiment, with Global Positioning System (GPS), which is able to provide much more frequent and accurate locations than previously used tracking methods. Eight turtles were magnetically treated for 24-48 h on the nesting beach prior to displacement, and another eight turtles had a magnet glued on the head at the release site. The last eight turtles were used as controls. Detailed analyses of water masses-related (i.e., current-corrected) homing paths showed that magnetically treated turtles were able to navigate toward their nesting site as efficiently as controls, but those carrying magnets were significantly impaired once they arrived within 50 km of home. While green turtles do not seem to need geomagnetic cues to navigate far from the goal, these cues become necessary when turtles get closer to home. As the very last part of the homing trip (within a few kilometers of home) likely depends on non-magnetic cues, our results suggest that magnetic cues play a key role in sea turtle navigation at an intermediate scale by bridging the gap between large and small scale navigational processes, which both appear to depend on non-magnetic cues.

Projections onto the Pareto surface in multicriteria radiation therapy optimization

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

Bokrantz, Rasmus, E-mail: bokrantz@kth.se, E-mail: rasmus.bokrantz@raysearchlabs.com; Miettinen, Kaisa

2015-10-15

Purpose: To eliminate or reduce the error to Pareto optimality that arises in Pareto surface navigation when the Pareto surface is approximated by a small number of plans. Methods: The authors propose to project the navigated plan onto the Pareto surface as a postprocessing step to the navigation. The projection attempts to find a Pareto optimal plan that is at least as good as or better than the initial navigated plan with respect to all objective functions. An augmented form of projection is also suggested where dose–volume histogram constraints are used to prevent that the projection causes a violation ofmore » some clinical goal. The projections were evaluated with respect to planning for intensity modulated radiation therapy delivered by step-and-shoot and sliding window and spot-scanned intensity modulated proton therapy. Retrospective plans were generated for a prostate and a head and neck case. Results: The projections led to improved dose conformity and better sparing of organs at risk (OARs) for all three delivery techniques and both patient cases. The mean dose to OARs decreased by 3.1 Gy on average for the unconstrained form of the projection and by 2.0 Gy on average when dose–volume histogram constraints were used. No consistent improvements in target homogeneity were observed. Conclusions: There are situations when Pareto navigation leaves room for improvement in OAR sparing and dose conformity, for example, if the approximation of the Pareto surface is coarse or the problem formulation has too permissive constraints. A projection onto the Pareto surface can identify an inaccurate Pareto surface representation and, if necessary, improve the quality of the navigated plan.« less

Assisted navigation based on shared-control, using discrete and sparse human-machine interfaces.

PubMed

Lopes, Ana C; Nunes, Urbano; Vaz, Luis; Vaz, Luís

2010-01-01

This paper presents a shared-control approach for Assistive Mobile Robots (AMR), which depends on the user's ability to navigate a semi-autonomous powered wheelchair, using a sparse and discrete human-machine interface (HMI). This system is primarily intended to help users with severe motor disabilities that prevent them to use standard human-machine interfaces. Scanning interfaces and Brain Computer Interfaces (BCI), characterized to provide a small set of commands issued sparsely, are possible HMIs. This shared-control approach is intended to be applied in an Assisted Navigation Training Framework (ANTF) that is used to train users' ability in steering a powered wheelchair in an appropriate manner, given the restrictions imposed by their limited motor capabilities. A shared-controller based on user characterization, is proposed. This controller is able to share the information provided by the local motion planning level with the commands issued sparsely by the user. Simulation results of the proposed shared-control method, are presented.

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

PubMed

Kubie, John L; Fenton, André A

2009-05-01

Insect navigation is guided by heading vectors that are computed by path integration. Mammalian navigation models, on the other hand, are typically based on map-like place representations provided by hippocampal place cells. Such models compute optimal routes as a continuous series of locations that connect the current location to a goal. We propose a "heading-vector" model in which head-direction cells or their derivatives serve both as key elements in constructing the optimal route and as the straight-line guidance during route execution. The model is based on a memory structure termed the "shortcut matrix," which is constructed during the initial exploration of an environment when a set of shortcut vectors between sequential pairs of visited waypoint locations is stored. A mechanism is proposed for calculating and storing these vectors that relies on a hypothesized cell type termed an "accumulating head-direction cell." Following exploration, shortcut vectors connecting all pairs of waypoint locations are computed by vector arithmetic and stored in the shortcut matrix. On re-entry, when local view or place representations query the shortcut matrix with a current waypoint and goal, a shortcut trajectory is retrieved. Since the trajectory direction is in head-direction compass coordinates, navigation is accomplished by tracking the firing of head-direction cells that are tuned to the heading angle. Section 1 of the manuscript describes the properties of accumulating head-direction cells. It then shows how accumulating head-direction cells can store local vectors and perform vector arithmetic to perform path-integration-based homing. Section 2 describes the construction and use of the shortcut matrix for computing direct paths between any pair of locations that have been registered in the shortcut matrix. In the discussion, we analyze the advantages of heading-based navigation over map-based navigation. Finally, we survey behavioral evidence that nonhippocampal, heading-based navigation is used in small mammals and humans. Copyright 2008 Wiley-Liss, Inc.

A Hydraulic Nexus between Geographically Isolated Wetlands and Downstream Water Bodies

NASA Astrophysics Data System (ADS)

Mclaughlin, D. L.; Kaplan, D. A.; Cohen, M. J.

2014-12-01

Geographic isolation does not imply hydrological isolation; indeed, local groundwater exchange between geographically isolated wetlands (GIWs) and surrounding uplands may yield important controls on regional hydrology. Differences in specific yield (Sy) between aquifers and inundated GIWs drive differences in water level responses to atmospheric fluxes, leading to frequent reversals in hydraulic gradients that cause GIWs to act as both groundwater sinks and sources. When distributed across the landscape, these reversals in local groundwater fluxes are predicted to collectively buffer the surficial aquifer and its regulation of baseflow delivery, a process we refer to as landscape hydrologic capacitance. To test this hypothesis, we integrated models of daily soil moisture, upland water table, and wetland stage dynamics to simulate hydrology of a low-relief landscape with GIWs. Simulations explored the influences of cumulative wetland area, individual wetland size, climate, and soil texture on water table and baseflow variation. Increasing cumulative wetland area and decreasing individual wetland size reduced water table variation and the frequency of extremely shallow and deep water tables. This buffering effect extended to baseflow deliveries, decreasing the standard deviation of daily baseflow by as much as 50%. For the same total wetland area, landscapes with fewer (i.e., larger) wetlands exhibited markedly lower hydrologic capacitance than those with more (i.e., smaller) wetlands, highlighting the important role of small GIWs in regulating regional hydrology. Recent U.S. Supreme Court rulings have limited federal protections for GIWs except where a "significant nexus" to a navigable water body is demonstrated. Our results suggest that GIWs regulate downstream baseflow, even where water in GIWs may never physically reach downstream systems, providing a significant "hydraulic" nexus to distant water bodies.

The Motivational Interviewing Navigation Guide: A Process for Enhancing Teachers' Motivation to Adopt and Implement School-Based Interventions

ERIC Educational Resources Information Center

Frey, Andy J.; Lee, Jon; Small, Jason W.; Seeley, John R.; Walker, Hill M.; Feil, Edward G.

2013-01-01

There is a critical need to engage theory-driven research related to the deployment of mental health promotion initiatives and student outcomes. A growing body of research supporting the use of motivational interviewing and engagement strategies in education suggests that this approach may be promising to better understand mechanisms through which…

When the Classroom Floor Becomes the Complex Plane: Addition and Multiplication as Ways of Bodily Navigation

ERIC Educational Resources Information Center

Nemirovsky, Ricardo; Rasmussen, Chris; Sweeney, George; Wawro, Megan

2012-01-01

In this article we contribute a perspective on mathematical embodied cognition consistent with a phenomenological understanding of perception and body motion. It is based on the analysis of 4 selected episodes in 1 session of an undergraduate mathematics class. The theme of this particular class session was the geometric interpretation of the…

33 CFR Appendix A to Part 209 - Public Law 90-483, 90th Congress, S. 3710, August 13, 1968

Code of Federal Regulations, 2014 CFR

2014-07-01

... erosion control commenced by non-Federal public bodies subsequent to one year after enactment of this..., and preservation of certain public works on rivers and harbors for navigation, flood control, and for... reimbursement to States or political subdivisions thereof for work to be performed by such non-Federal public...

33 CFR Appendix A to Part 209 - Public Law 90-483, 90th Congress, S. 3710, August 13, 1968

Code of Federal Regulations, 2012 CFR

2012-07-01

... erosion control commenced by non-Federal public bodies subsequent to one year after enactment of this..., and preservation of certain public works on rivers and harbors for navigation, flood control, and for... reimbursement to States or political subdivisions thereof for work to be performed by such non-Federal public...

33 CFR Appendix A to Part 209 - Public Law 90-483, 90th Congress, S. 3710, August 13, 1968

Code of Federal Regulations, 2010 CFR

2010-07-01

... erosion control commenced by non-Federal public bodies subsequent to one year after enactment of this..., and preservation of certain public works on rivers and harbors for navigation, flood control, and for... reimbursement to States or political subdivisions thereof for work to be performed by such non-Federal public...

33 CFR Appendix A to Part 209 - Public Law 90-483, 90th Congress, S. 3710, August 13, 1968

Code of Federal Regulations, 2011 CFR

2011-07-01

... erosion control commenced by non-Federal public bodies subsequent to one year after enactment of this..., and preservation of certain public works on rivers and harbors for navigation, flood control, and for... reimbursement to States or political subdivisions thereof for work to be performed by such non-Federal public...

33 CFR Appendix A to Part 209 - Public Law 90-483, 90th Congress, S. 3710, August 13, 1968

Code of Federal Regulations, 2013 CFR

2013-07-01

... erosion control commenced by non-Federal public bodies subsequent to one year after enactment of this..., and preservation of certain public works on rivers and harbors for navigation, flood control, and for... reimbursement to States or political subdivisions thereof for work to be performed by such non-Federal public...

Processing Images of Craters for Spacecraft Navigation

NASA Technical Reports Server (NTRS)

Cheng, Yang; Johnson, Andrew E.; Matthies, Larry H.

2009-01-01

A crater-detection algorithm has been conceived to enable automation of what, heretofore, have been manual processes for utilizing images of craters on a celestial body as landmarks for navigating a spacecraft flying near or landing on that body. The images are acquired by an electronic camera aboard the spacecraft, then digitized, then processed by the algorithm, which consists mainly of the following steps: 1. Edges in an image detected and placed in a database. 2. Crater rim edges are selected from the edge database. 3. Edges that belong to the same crater are grouped together. 4. An ellipse is fitted to each group of crater edges. 5. Ellipses are refined directly in the image domain to reduce errors introduced in the detection of edges and fitting of ellipses. 6. The quality of each detected crater is evaluated. It is planned to utilize this algorithm as the basis of a computer program for automated, real-time, onboard processing of crater-image data. Experimental studies have led to the conclusion that this algorithm is capable of a detection rate >93 percent, a false-alarm rate <5 percent, a geometric error <0.5 pixel, and a position error <0.3 pixel.

Chaos in navigation satellite orbits caused by the perturbed motion of the Moon

NASA Astrophysics Data System (ADS)

Rosengren, Aaron J.; Alessi, Elisa Maria; Rossi, Alessandro; Valsecchi, Giovanni B.

2015-06-01

Numerical simulations carried out over the past decade suggest that the orbits of the Global Navigation Satellite Systems are unstable, resulting in an apparent chaotic growth of the eccentricity. Here, we show that the irregular and haphazard character of these orbits reflects a similar irregularity in the orbits of many celestial bodies in our Solar system. We find that secular resonances, involving linear combinations of the frequencies of nodal and apsidal precession and the rate of regression of lunar nodes, occur in profusion so that the phase space is threaded by a devious stochastic web. As in all cases in the Solar system, chaos ensues where resonances overlap. These results may be significant for the analysis of disposal strategies for the four constellations in this precarious region of space.

The Future of NASA's Deep Space Network and Applications to Planetary Probe Missions

NASA Technical Reports Server (NTRS)

Deutsch, Leslie J.; Preston, Robert A.; Vrotsos, Peter

2010-01-01

NASA's Deep Space Network (DSN) has been an invaluable tool in the world's exploration of space. It has served the space-faring community for more than 45 years. The DSN has provided a primary communication pathway for planetary probes, either through direct- to-Earth links or through intermediate radio relays. In addition, its radiometric systems are critical to probe navigation and delivery to target. Finally, the radio link can also be used for direct scientific measurement of the target body ('radio science'). This paper will examine the special challenges in supporting planetary probe missions, the future evolution of the DSN and related spacecraft technology, the advantages and disadvantages of radio relay spacecraft, and the use of the DSN radio links for navigation and scientific measurements.

Terminal attack trajectories of peregrine falcons are described by the proportional navigation guidance law of missiles

PubMed Central

Brighton, Caroline H.; Thomas, Adrian L. R.

2017-01-01

The ability to intercept uncooperative targets is key to many diverse flight behaviors, from courtship to predation. Previous research has looked for simple geometric rules describing the attack trajectories of animals, but the underlying feedback laws have remained obscure. Here, we use GPS loggers and onboard video cameras to study peregrine falcons, Falco peregrinus, attacking stationary targets, maneuvering targets, and live prey. We show that the terminal attack trajectories of peregrines are not described by any simple geometric rule as previously claimed, and instead use system identification techniques to fit a phenomenological model of the dynamical system generating the observed trajectories. We find that these trajectories are best—and exceedingly well—modeled by the proportional navigation (PN) guidance law used by most guided missiles. Under this guidance law, turning is commanded at a rate proportional to the angular rate of the line-of-sight between the attacker and its target, with a constant of proportionality (i.e., feedback gain) called the navigation constant (N). Whereas most guided missiles use navigation constants falling on the interval 3 ≤ N ≤ 5, peregrine attack trajectories are best fitted by lower navigation constants (median N < 3). This lower feedback gain is appropriate at the lower flight speed of a biological system, given its presumably higher error and longer delay. This same guidance law could find use in small visually guided drones designed to remove other drones from protected airspace. PMID:29203660

Terminal attack trajectories of peregrine falcons are described by the proportional navigation guidance law of missiles.

PubMed

Brighton, Caroline H; Thomas, Adrian L R; Taylor, Graham K

2017-12-19

The ability to intercept uncooperative targets is key to many diverse flight behaviors, from courtship to predation. Previous research has looked for simple geometric rules describing the attack trajectories of animals, but the underlying feedback laws have remained obscure. Here, we use GPS loggers and onboard video cameras to study peregrine falcons, Falco peregrinus , attacking stationary targets, maneuvering targets, and live prey. We show that the terminal attack trajectories of peregrines are not described by any simple geometric rule as previously claimed, and instead use system identification techniques to fit a phenomenological model of the dynamical system generating the observed trajectories. We find that these trajectories are best-and exceedingly well-modeled by the proportional navigation (PN) guidance law used by most guided missiles. Under this guidance law, turning is commanded at a rate proportional to the angular rate of the line-of-sight between the attacker and its target, with a constant of proportionality (i.e., feedback gain) called the navigation constant ( N ). Whereas most guided missiles use navigation constants falling on the interval 3 ≤ N ≤ 5, peregrine attack trajectories are best fitted by lower navigation constants (median N < 3). This lower feedback gain is appropriate at the lower flight speed of a biological system, given its presumably higher error and longer delay. This same guidance law could find use in small visually guided drones designed to remove other drones from protected airspace. Copyright © 2017 the Author(s). Published by PNAS.

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

PubMed Central

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

2015-01-01

A wearable surgical navigation system is developed for intraoperative imaging of surgical margin in cancer resection surgery. The system consists of an excitation light source, a monochromatic CCD camera, a host computer, and a wearable headset unit in either of the following two modes: head-mounted display (HMD) and Google glass. In the HMD mode, a CMOS camera is installed on a personal cinema system to capture the surgical scene in real-time and transmit the image to the host computer through a USB port. In the Google glass mode, a wireless connection is established between the glass and the host computer for image acquisition and data transport tasks. A software program is written in Python to call OpenCV functions for image calibration, co-registration, fusion, and display with augmented reality. The imaging performance of the surgical navigation system is characterized in a tumor simulating phantom. Image-guided surgical resection is demonstrated in an ex vivo tissue model. Surgical margins identified by the wearable navigation system are co-incident with those acquired by a standard small animal imaging system, indicating the technical feasibility for intraoperative surgical margin detection. The proposed surgical navigation system combines the sensitivity and specificity of a fluorescence imaging system and the mobility of a wearable goggle. It can be potentially used by a surgeon to identify the residual tumor foci and reduce the risk of recurrent diseases without interfering with the regular resection procedure. PMID:24980159

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

PubMed

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

2014-11-01

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

Evidence for discrete landmark use by pigeons during homing.

PubMed

Mora, Cordula V; Ross, Jeremy D; Gorsevski, Peter V; Chowdhury, Budhaditya; Bingman, Verner P

2012-10-01

Considerable efforts have been made to investigate how homing pigeons (Columba livia f. domestica) are able to return to their loft from distant, unfamiliar sites while the mechanisms underlying navigation in familiar territory have received less attention. With the recent advent of global positioning system (GPS) data loggers small enough to be carried by pigeons, the role of visual environmental features in guiding navigation over familiar areas is beginning to be understood, yet, surprisingly, we still know very little about whether homing pigeons can rely on discrete, visual landmarks to guide navigation. To assess a possible role of discrete, visual landmarks in navigation, homing pigeons were first trained to home from a site with four wind turbines as salient landmarks as well as from a control site without any distinctive, discrete landmark features. The GPS-recorded flight paths of the pigeons on the last training release were straighter and more similar among birds from the turbine site compared with those from the control site. The pigeons were then released from both sites following a clock-shift manipulation. Vanishing bearings from the turbine site continued to be homeward oriented as 13 of 14 pigeons returned home. By contrast, at the control site the vanishing bearings were deflected in the expected clock-shift direction and only 5 of 13 pigeons returned home. Taken together, our results offer the first strong evidence that discrete, visual landmarks are one source of spatial information homing pigeons can utilize to navigate when flying over a familiar area.

Multi-Satellite Orbit Determination Using Interferometric Observables with RF Localization Applications

NASA Astrophysics Data System (ADS)

Geeraert, Jeroen L.

Very long baseline interferometry (VLBI) specifically same-beam interferometry (SBI), and dual-satellite geolocation are two fields of research not previously connected. This is due to the different application of each field, SBI is used for relative interplanetary navigation of two satellites while dual-satellite geolocation is used to locate the source of a radio frequency (RF) signal. In this dissertation however, we leverage both fields to create a novel method for multi-satellite orbit determination (OD) using time difference of arrival (TDOA) and frequency difference of arrival (FDOA) measurements. The measurements are double differenced between the satellites and the stations, in so doing, many of the common errors are canceled which can significantly improve measurement precision. Provided with this novel OD technique, the observability is first analyzed to determine the benefits and limitations of this method. In all but a few scenarios the measurements successfully reduce the covariance when examining the Cramer-Rao Lower Bound (CRLB). Reduced observability is encountered with geostationary satellites as their motion with respect to the stations is limited, especially when only one baseline is used. However, when using satellite pairs with greater relative motion with respect to the stations, even satellites that are close to, but not exactly in a geostationary orbit can be estimated accurately. We find that in a strong majority of cases the OD technique provides lower uncertainties and solutions far more accurate than using conventional OD observables such as range and range-rate while also not being affected by common errors and biases. We specifically examine GEO-GEO, GEO-MEO, and GEO-LEO dual-satellite estimation cases. The work is further extended by developing a relative navigation scenario where the chief satellite is assumed to have perfect knowledge, or some small amount of uncertainty considered but not estimated, while estimating the deputy satellite state with respect to the chief. Once again the results demonstrate that the TDOA and FDOA OD results are favorable with faster dynamics over classical measurements. This dissertation not only explores the OD side, but also gaps in geolocation research. First the mapping of ephemeris uncertainty to the geolocation covariance to provide a more realistic covariance was implemented. Furthermore, the geolocation solution was improved by appending a probabilistic altitude constraint to the posterior covariance, significantly reducing the projected geolocation uncertainty ellipse. The feasibility of using the geolocation setup to passively locate a LEO satellite was also considered. Finally the simulated results were verified using a long-arc of real data. The use of FDOA for small-body navigation and gravity recovery was also examined as an extended application.

Global shape estimates and GIS cartography of Io and Enceladus using new control point network

NASA Astrophysics Data System (ADS)

Nadezhdina, I.; Patraty, V.; Shishkina, L.; Zhukov, D.; Zubarev, A.; Karachevtseva, I.; Oberst, J.

2012-04-01

We have analyzed a total of 53 Galileo and Voyager images of Io and 54 Cassini images of Enceladus to derive new geodetic control point networks for the two satellites. In order to derive the network for Io we used a subset of 66 images from those used in previous control point network studies [1, 2]. Additionally we have carried out new point measurements. We used recently reconstructed Galileo spacecraft trajectory data, supplied by the spacecraft navigation team of JPL. A total of 1956 tie point measurements for Io and 4392 ones for Enceladus have been carried out, which were processed by performing photogrammetric bundle block adjustments. Measurements and block adjustments were performed by means of the «PHOTOMOD» software [3] which was especially adapted for this study to accommodate global networks of small bodies, such as Io and Enceladus. As a result, two catalogs with the Cartesian three-dimensional coordinates of 197 and 351 control points were obtained for Io and Enceladus, respectively. The control points for Io have a mean overall accuracy of 4985.7 m (RMS). The individual accuracy of the control points for Enceladus differ substantially over the surface (the range is from 0.1 to 36.0 km) because images lack coverage and resolutions. We also determine best-fit spheres, spheroids, and tri-axial ellipsoids. The centers of the models were found to be shifted from the coordinate system origin attesting to possible errors in the ephemeris of Io. Conclusion and Future work: A comparison of our results for Io with the most recent control point network analysis [2] has revealed that we managed to derive the same accuracy of the control points using a smaller number of images and measurements (This study: 1956 measurements, DLR study: 4392). This probably attests to the fact that the now available new navigation data are internally more consistent. At present an analysis of the data is in progress. We report that control point measurements and global network analysis for small planetary bodies by means of the software «PHOTOMOD» is fast and efficient. Using the new control points and shape models of the satellites we are currently preparing new maps of Io and Enceladus using GIS tools. For parts of the surface for which we have quality stereo-images we will produce DEMs and orthoimages, which will be shown at the conference. Acknowledgments: This research was funded by the Ministry of Education and Science of the Russian Federation (MEGA-GRANT, Project name: "Geodesy, cartography and the study of planets and satellites", contract No. 11.G34.31.0021).

Opportunity's Outcrop Outing

NASA Technical Reports Server (NTRS)

2006-01-01

This composite of three images from the navigation camera shows the view from NASA's Mars Exploration Rover Opportunity toward the southeast, in the direction of 'Victoria Crater,' on the rover's 817th Martian day, or sol (May 12, 2006). To reach Victoria Crater, still about 1,100 meters (two-thirds of a mile) from this location, the rover must navigate among the large ripples visible on the left and ahead in the distance.

On this sol, Opportunity was preparing to deploy its arm instrument suite to analyze a rock on the outcrop pavement. At upper right is a small depression that was the target of further imaging on sols 825 and 826 (May 20 and 21, 2006).

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

NASA Astrophysics Data System (ADS)

Moafipoor, Shahram

Personal navigators (PN) have been studied for about a decade in different fields and applications, such as safety and rescue operations, security and emergency services, and police and military applications. The common goal of all these applications is to provide precise and reliable position, velocity, and heading information of each individual in various environments. In the PN system developed in this dissertation, the underlying assumption is that the system does not require pre-existing infrastructure to enable pedestrian navigation. To facilitate this capability, a multisensor system concept, based on the Global Positioning System (GPS), inertial navigation, barometer, magnetometer, and a human pedometry model has been developed. An important aspect of this design is to use the human body as navigation sensor to facilitate Dead Reckoning (DR) navigation in GPS-challenged environments. The system is designed predominantly for outdoor environments, where occasional loss of GPS lock may happen; however, testing and performance demonstration have been extended to indoor environments. DR navigation is based on a relative-measurement approach, with the key idea of integrating the incremental motion information in the form of step direction (SD) and step length (SL) over time. The foundation of the intelligent navigation system concept proposed here rests in exploiting the human locomotion pattern, as well as change of locomotion in varying environments. In this context, the term intelligent navigation represents the transition from the conventional point-to-point DR to dynamic navigation using the knowledge about the mechanism of the moving person. This approach increasingly relies on integrating knowledge-based systems (KBS) and artificial intelligence (AI) methodologies, including artificial neural networks (ANN) and fuzzy logic (FL). In addition, a general framework of the quality control for the real-time validation of the DR processing is proposed, based on a two-stage Kalman Filter approach. The performance comparison of the algorithm based on different field and simulated datasets, with varying levels of sensor errors, showed that 90 per cent success rate was achieved in detection of outliers for SL and 80 per cent for SD. The SL is predicted for both KBS-based ANN and FL approaches with an average accumulated error of 2 per cent, observed for the total distance traveled, which is generally an improvement over most of the existing pedometry systems. The target accuracy of the system is +/-(3-5)m CEP50 (circular error, probable 50%). This dissertation provides a performance analysis in the outdoor and indoor environments for different operators. Another objective of this dissertation is to test the system's navigation limitation in DR mode in terms of time and trajectory length in order to determine the upper limit of indoor operations. It was determined that for more than four indoor loops, where the user walked 261m in about 6.5 minutes, the DR performance met the required accuracy specifications. However, these results are only relevant to the existing data. Future studies should consider more comprehensive performance analysis for longer trajectories in challenging environments and possible extension to image-based navigation to expand the indoor capability of the system.

Aerial Networking for the Implementation of Cooperative Control on Small Unmanned Aerial Systems

DTIC Science & Technology

2013-03-01

the relay aircraft to an optimal location. Secondly, a mesh network was configured and tested. This configuration successfully relayed aircraft...functionality, such as updating navigation waypoints to each aircraft. The results suggest the system be updated with more capable modems in a mesh ...

78 FR 77594 - Safety Zone; Barge Launches; Gulfport Lake; Gulfport, MS

Federal Register 2010, 2011, 2012, 2013, 2014

2013-12-24

... 1625-AA00 Safety Zone; Barge Launches; Gulfport Lake; Gulfport, MS AGENCY: Coast Guard, DHS. ACTION... Lake, Gulfport, MS. This action is necessary for the protection of persons and vessels on navigable waters during the launching of barges in Gulfport Lake, Gulfport, MS, particularly small craft in the...

A compliant mechanism for inspecting extremely confined spaces

NASA Astrophysics Data System (ADS)

Mascareñas, David; Moreu, Fernando; Cantu, Precious; Shields, Daniel; Wadden, Jack; El Hadedy, Mohamed; Farrar, Charles

2017-11-01

We present a novel, compliant mechanism that provides the capability to navigate extremely confined spaces for the purpose of infrastructure inspection. Extremely confined spaces are commonly encountered during infrastructure inspection. Examples of such spaces can include pipes, conduits, and ventilation ducts. Often these infrastructure features go uninspected simply because there is no viable way to access their interior. In addition, it is not uncommon for extremely confined spaces to possess a maze-like architecture that must be selectively navigated in order to properly perform an inspection. Efforts by the imaging sensor community have resulted in the development of imaging sensors on the millimeter length scale. Due to their compact size, they are able to inspect many extremely confined spaces of interest, however, the means to deliver these sensors to the proper location to obtain the desired images are lacking. To address this problem, we draw inspiration from the field of endoscopic surgery. Specifically we consider the work that has already been done to create long flexible needles that are capable of being steered through the human body. These devices are typically referred to as ‘steerable needles.’ Steerable needle technology is not directly applicable to the problem of navigating maze-like arrangements of extremely confined spaces, but it does provide guidance on how this problem should be approached. Specifically, the super-elastic nitinol tubing material that allows steerable needles to operate is also appropriate for the problem of navigating maze-like arrangements of extremely confined spaces. Furthermore, the portion of the mechanism that enters the extremely confined space is completely mechanical in nature. The mechanical nature of the device is an advantage when the extremely confined space features environmental hazards such as radiation that could degrade an electromechanically operated mechanism. Here, we present a compliant mechanism developed to navigate maze-like arrangements of extremely confined spaces. The mechanism is shown to be able to selectively navigate past three 90° bends. The ability to selectively navigate extremely confined spaces opens up new possibilities to use emerging miniature imaging technology for infrastructure inspection.