Stereo Vision Based Terrain Mapping for Off-Road Autonomous Navigation

NASA Technical Reports Server (NTRS)

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

2009-01-01

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

Generation of High-Resolution Geo-referenced Photo-Mosaics From Navigation Data

NASA Astrophysics Data System (ADS)

Delaunoy, O.; Elibol, A.; Garcia, R.; Escartin, J.; Fornari, D.; Humphris, S.

2006-12-01

Optical images of the ocean floor are a rich source of data to understand biological and geological processes. However, due to the attenuation of light in sea water, the area covered by the optical systems is very reduced, and a large number of images are then needed in order to cover an area of interest, as individually they do not provide a global view of the surveyed area. Therefore, generating a composite view (or photo-mosaic) from multiple overlapping images is usually the most practical and flexible solution to visually cover a wide area, allowing the analysis of the site in one single representation of the ocean floor. In most of the camera surveys which are carried out nowadays, some sort of positioning information is available (e.g., USBL, DVL, INS, gyros, etc). If it is a towed camera an estimation of the length of the tether and the mother ship GPS reading could also serve as navigation data. In any case, a photo-mosaic can be build just by taking into account the position and orientation of the camera. On the other hand, most of the regions of interest for the scientific community are quite large (>1Km2) and since better resolution is always required, the final photo-mosaic can be very large (>1,000,000 × 1,000,000 pixels), and cannot be handled by commonly available software. For this reason, we have developed a software package able to load a navigation file and the sequence of acquired images to automatically build a geo-referenced mosaic. This navigated mosaic provides a global view of the interest site, at the maximum available resolution. The developed package includes a viewer, allowing the user to load, view and annotate these geo-referenced photo-mosaics on a personal computer. A software library has been developed to allow the viewer to manage such very big images. Therefore, the size of the resulting mosaic is now only limited by the size of the hard drive. Work is being carried out to apply image processing techniques to the navigated

An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database.

PubMed

Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

2016-01-28

In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m.

An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database

PubMed Central

Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

2016-01-01

In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m. PMID:26828496

Orthogonally referenced integrated ensemble for navigation and timing

DOEpatents

Smith, Stephen Fulton; Moore, James Anthony

2013-02-26

An orthogonally referenced integrated ensemble for navigation and timing includes a dual-polyhedral oscillator array, including an outer sensing array of oscillators and an inner clock array of oscillators situated inside the outer sensing array. The outer sensing array includes a first pair of sensing oscillators situated along a first axis of the outer sensing array, a second pair of sensing oscillators situated along a second axis of the outer sensing array, and a third pair of sensing oscillators situated along a third axis of the outer sensing array. The inner clock array of oscillators includes a first pair of clock oscillators situated along a first axis of the inner clock array, a second pair of clock oscillators situated along a second axis of the inner clock array, and a third pair of clock oscillators situated along a third axis of the inner clock array.

Orthogonally referenced integrated ensemble for navigation and timing

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

Smith, Stephen Fulton; Moore, James Anthony

2014-04-01

An orthogonally referenced integrated ensemble for navigation and timing includes a dual-polyhedral oscillator array, including an outer sensing array of oscillators and an inner clock array of oscillators situated inside the outer sensing array. The outer sensing array includes a first pair of sensing oscillators situated along a first axis of the outer sensing array, a second pair of sensing oscillators situated along a second axis of the outer sensing array, and a third pair of sensing oscillators situated along a third axis of the outer sensing array. The inner clock array of oscillators includes a first pair of clockmore » oscillators situated along a first axis of the inner clock array, a second pair of clock oscillators situated along a second axis of the inner clock array, and a third pair of clock oscillators situated along a third axis of the inner clock array.« less

Terrain Referenced Navigation Using SIFT Features in LiDAR Range-Based Data

DTIC Science & Technology

2014-12-26

14 2.5 Geocentric and geodetic representation of the same point on Earth’s surface. . . 16 2.6 Difference between datum provided ellipsoid height h and...also called a geocentric system, in that its origin is coincident with the calculated center of the earth. 8 2.1.3.2 Local Navigation Frame. The local...utilizing them. 2.2.1.1 Ellipsoid Earth Models. While geocentric ECEF coordinates are useful to describe a point on or inside the earth they can be cumbersome

Underwater terrain-aided navigation system based on combination matching algorithm.

PubMed

Li, Peijuan; Sheng, Guoliang; Zhang, Xiaofei; Wu, Jingqiu; Xu, Baochun; Liu, Xing; Zhang, Yao

2018-07-01

Considering that the terrain-aided navigation (TAN) system based on iterated closest contour point (ICCP) algorithm diverges easily when the indicative track of strapdown inertial navigation system (SINS) is large, Kalman filter is adopted in the traditional ICCP algorithm, difference between matching result and SINS output is used as the measurement of Kalman filter, then the cumulative error of the SINS is corrected in time by filter feedback correction, and the indicative track used in ICCP is improved. The mathematic model of the autonomous underwater vehicle (AUV) integrated into the navigation system and the observation model of TAN is built. Proper matching point number is designated by comparing the simulation results of matching time and matching precision. Simulation experiments are carried out according to the ICCP algorithm and the mathematic model. It can be concluded from the simulation experiments that the navigation accuracy and stability are improved with the proposed combinational algorithm in case that proper matching point number is engaged. It will be shown that the integrated navigation system is effective in prohibiting the divergence of the indicative track and can meet the requirements of underwater, long-term and high precision of the navigation system for autonomous underwater vehicles. Copyright © 2017. Published by Elsevier Ltd.

Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits

NASA Astrophysics Data System (ADS)

Snider, Ross K.; Arathorn, David W.

2006-05-01

A significant challenge in robotics is providing a robot with the ability to sense its environment and then autonomously move while accommodating obstacles. The DARPA Grand Challenge, one of the most visible examples, set the goal of driving a vehicle autonomously for over a hundred miles avoiding obstacles along a predetermined path. Map-Seeking Circuits have shown their biomimetic capability in both vision and inverse kinematics and here we demonstrate their potential usefulness for intelligent exploration of unknown terrain using a multi-articulated linear robot. A robot that could handle any degree of terrain complexity would be useful for exploring inaccessible crowded spaces such as rubble piles in emergency situations, patrolling/intelligence gathering in tough terrain, tunnel exploration, and possibly even planetary exploration. Here we simulate autonomous exploratory navigation by an interaction of terrain discovery using the multi-articulated linear robot to build a local terrain map and exploitation of that growing terrain map to solve the propulsion problem of the robot.

Terrain classification in navigation of an autonomous mobile robot

NASA Astrophysics Data System (ADS)

Dodds, David R.

1991-03-01

In this paper we describe a method of path planning that integrates terrain classification (by means of fractals) the certainty grid method of spatial representation Kehtarnavaz Griswold collision-zones Dubois Prade fuzzy temporal and spatial knowledge and non-point sized qualitative navigational planning. An initially planned (" end-to-end" ) path is piece-wise modified to accommodate known and inferred moving obstacles and includes attention to time-varying multiple subgoals which may influence a section of path at a time after the robot has begun traversing that planned path.

Performance Characterization of a Landmark Measurement System for ARRM Terrain Relative Navigation

NASA Technical Reports Server (NTRS)

Shoemaker, Michael A.; Wright, Cinnamon; Liounis, Andrew J.; Getzandanner, Kenneth M.; Van Eepoel, John M.; DeWeese, Keith D.

2016-01-01

This paper describes the landmark measurement system being developed for terrain relative navigation on NASAs Asteroid Redirect Robotic Mission (ARRM),and the results of a performance characterization study given realistic navigational and model errors. The system is called Retina, and is derived from the stereo-photoclinometry methods widely used on other small-body missions. The system is simulated using synthetic imagery of the asteroid surface and discussion is given on various algorithmic design choices. Unlike other missions, ARRMs Retina is the first planned autonomous use of these methods during the close-proximity and descent phase of the mission.

Performance Characterization of a Landmark Measurement System for ARRM Terrain Relative Navigation

NASA Technical Reports Server (NTRS)

Shoemaker, Michael; Wright, Cinnamon; Liounis, Andrew; Getzandanner, Kenneth; Van Eepoel, John; Deweese, Keith

2016-01-01

This paper describes the landmark measurement system being developed for terrain relative navigation on NASAs Asteroid Redirect Robotic Mission (ARRM),and the results of a performance characterization study given realistic navigational and model errors. The system is called Retina, and is derived from the stereophotoclinometry methods widely used on other small-body missions. The system is simulated using synthetic imagery of the asteroid surface and discussion is given on various algorithmic design choices. Unlike other missions, ARRMs Retina is the first planned autonomous use of these methods during the close-proximity and descent phase of the mission.

To the North Coast of Devon: Collaborative Navigation While Exploring Unfamiliar Terrain

NASA Technical Reports Server (NTRS)

Clancey, William J.; Lee, Pascal; Cockell, Charles S.; Braham, Stephen; Shafto, Mike

2006-01-01

Navigation-knowing where one is and finding a safe route-is a fundamental aspect of all exploration. In unfamiliar terrain, one may use maps and instruments such as a compass or binoculars to assist, and people often collaborate in finding their way. This paper analyzes a group of people driving a humvee from a base camp to the north coast of Devon Island in the High Canadian Arctic. A complete audio recording and video during most stops allows a quantitative and semantic analysis of the conversations when the team stopped to take bearings and replan a route. Over a period of 2 hours, the humvee stopped 20 times, with an average duration of 3.15 min/pause and 3.85 min moving forward. The team failed to reach its goal due to difficult terrain causing mechanical problems. The analysis attempts to explain these facts by considering a variety of complicating factors, especially the navigation problem of relating maps and the world to locate the humvee and to plan a route. The analysis reveals patterns in topic structure and turn-taking, supporting the view that the collaboration was efficient, but the tools and information were inadequate for the task. This work is relevant for planning and training for planetary surface missions, as well as developing computer systems that could aid navigation.

Real-time Terrain Relative Navigation Test Results from a Relevant Environment for Mars Landing

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Cheng, Yang; Montgomery, James; Trawny, Nikolas; Tweddle, Brent; Zheng, Jason

2015-01-01

Terrain Relative Navigation (TRN) is an on-board GN&C function that generates a position estimate of a spacecraft relative to a map of a planetary surface. When coupled with a divert, the position estimate enables access to more challenging landing sites through pin-point landing or large hazard avoidance. The Lander Vision System (LVS) is a smart sensor system that performs terrain relative navigation by matching descent camera imagery to a map of the landing site and then fusing this with inertial measurements to obtain high rate map relative position, velocity and attitude estimates. A prototype of the LVS was recently tested in a helicopter field test over Mars analog terrain at altitudes representative of Mars Entry Descent and Landing conditions. TRN ran in real-time on the LVS during the flights without human intervention or tuning. The system was able to compute estimates accurate to 40m (3 sigma) in 10 seconds on a flight like processing system. This paper describes the Mars operational test space definition, how the field test was designed to cover that operational envelope, the resulting TRN performance across the envelope and an assessment of test space coverage.

Evaluation of a Map Interpretation and Terrain Analysis Course for Nap-of-the-Earth Navigation. Research Report 1198.

ERIC Educational Resources Information Center

Holman, Garvin L.

This report documents the training effectiveness of a map interpretation and terrain analysis course (MITAC) developed to enhance the ability of helicopter pilots to navigate accurately during low altitude terrain following flight. A study comparing student aviators taught by the MITAC technique with a control group of students taught by…

Seamless positioning and navigation by using geo-referenced images and multi-sensor data.

PubMed

Li, Xun; Wang, Jinling; Li, Tao

2013-07-12

Ubiquitous positioning is considered to be a highly demanding application for today's Location-Based Services (LBS). While satellite-based navigation has achieved great advances in the past few decades, positioning and navigation in indoor scenarios and deep urban areas has remained a challenging topic of substantial research interest. Various strategies have been adopted to fill this gap, within which vision-based methods have attracted growing attention due to the widespread use of cameras on mobile devices. However, current vision-based methods using image processing have yet to revealed their full potential for navigation applications and are insufficient in many aspects. Therefore in this paper, we present a hybrid image-based positioning system that is intended to provide seamless position solution in six degrees of freedom (6DoF) for location-based services in both outdoor and indoor environments. It mainly uses visual sensor input to match with geo-referenced images for image-based positioning resolution, and also takes advantage of multiple onboard sensors, including the built-in GPS receiver and digital compass to assist visual methods. Experiments demonstrate that such a system can greatly improve the position accuracy for areas where the GPS signal is negatively affected (such as in urban canyons), and it also provides excellent position accuracy for indoor environments.

Seamless Positioning and Navigation by Using Geo-Referenced Images and Multi-Sensor Data

PubMed Central

Li, Xun; Wang, Jinling; Li, Tao

2013-01-01

Ubiquitous positioning is considered to be a highly demanding application for today's Location-Based Services (LBS). While satellite-based navigation has achieved great advances in the past few decades, positioning and navigation in indoor scenarios and deep urban areas has remained a challenging topic of substantial research interest. Various strategies have been adopted to fill this gap, within which vision-based methods have attracted growing attention due to the widespread use of cameras on mobile devices. However, current vision-based methods using image processing have yet to revealed their full potential for navigation applications and are insufficient in many aspects. Therefore in this paper, we present a hybrid image-based positioning system that is intended to provide seamless position solution in six degrees of freedom (6DoF) for location-based services in both outdoor and indoor environments. It mainly uses visual sensor input to match with geo-referenced images for image-based positioning resolution, and also takes advantage of multiple onboard sensors, including the built-in GPS receiver and digital compass to assist visual methods. Experiments demonstrate that such a system can greatly improve the position accuracy for areas where the GPS signal is negatively affected (such as in urban canyons), and it also provides excellent position accuracy for indoor environments. PMID:23857267

Online Aerial Terrain Mapping for Ground Robot Navigation

PubMed Central

Peterson, John; Chaudhry, Haseeb; Abdelatty, Karim; Bird, John; Kochersberger, Kevin

2018-01-01

This work presents a collaborative unmanned aerial and ground vehicle system which utilizes the aerial vehicle’s overhead view to inform the ground vehicle’s path planning in real time. The aerial vehicle acquires imagery which is assembled into a orthomosaic and then classified. These terrain classes are used to estimate relative navigation costs for the ground vehicle so energy-efficient paths may be generated and then executed. The two vehicles are registered in a common coordinate frame using a real-time kinematic global positioning system (RTK GPS) and all image processing is performed onboard the unmanned aerial vehicle, which minimizes the data exchanged between the vehicles. This paper describes the architecture of the system and quantifies the registration errors between the vehicles. PMID:29461496

Online Aerial Terrain Mapping for Ground Robot Navigation.

PubMed

Peterson, John; Chaudhry, Haseeb; Abdelatty, Karim; Bird, John; Kochersberger, Kevin

2018-02-20

This work presents a collaborative unmanned aerial and ground vehicle system which utilizes the aerial vehicle's overhead view to inform the ground vehicle's path planning in real time. The aerial vehicle acquires imagery which is assembled into a orthomosaic and then classified. These terrain classes are used to estimate relative navigation costs for the ground vehicle so energy-efficient paths may be generated and then executed. The two vehicles are registered in a common coordinate frame using a real-time kinematic global positioning system (RTK GPS) and all image processing is performed onboard the unmanned aerial vehicle, which minimizes the data exchanged between the vehicles. This paper describes the architecture of the system and quantifies the registration errors between the vehicles.

Development of a computer program data base of a navigation aid environment for simulated IFR flight and landing studies

NASA Technical Reports Server (NTRS)

Bergeron, H. P.; Haynie, A. T.; Mcdede, J. B.

1980-01-01

A general aviation single pilot instrument flight rule simulation capability was developed. Problems experienced by single pilots flying in IFR conditions were investigated. The simulation required a three dimensional spatial navaid environment of a flight navigational area. A computer simulation of all the navigational aids plus 12 selected airports located in the Washington/Norfolk area was developed. All programmed locations in the list were referenced to a Cartesian coordinate system with the origin located at a specified airport's reference point. All navigational aids with their associated frequencies, call letters, locations, and orientations plus runways and true headings are included in the data base. The simulation included a TV displayed out-the-window visual scene of country and suburban terrain and a scaled model runway complex. Any of the programmed runways, with all its associated navaids, can be referenced to a runway on the airport in this visual scene. This allows a simulation of a full mission scenario including breakout and landing.

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.

Analysis and Testing of a LIDAR-Based Approach to Terrain Relative Navigation for Precise Lunar Landing

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Ivanov, Tonislav I.

2011-01-01

To increase safety and land near pre-deployed resources, future NASA missions to the moon will require precision landing. A LIDAR-based terrain relative navigation (TRN) approach can achieve precision landing under any lighting conditions. This paper presents results from processing flash lidar and laser altimeter field test data that show LIDAR TRN can obtain position estimates less than 90m while automatically detecting and eliminating incorrect measurements using internal metrics on terrain relief and data correlation. Sensitivity studies show that the algorithm has no degradation in matching performance with initial position uncertainties up to 1.6 km

A 3D terrain reconstruction method of stereo vision based quadruped robot navigation system

NASA Astrophysics Data System (ADS)

Ge, Zhuo; Zhu, Ying; Liang, Guanhao

2017-01-01

To provide 3D environment information for the quadruped robot autonomous navigation system during walking through rough terrain, based on the stereo vision, a novel 3D terrain reconstruction method is presented. In order to solve the problem that images collected by stereo sensors have large regions with similar grayscale and the problem that image matching is poor at real-time performance, watershed algorithm and fuzzy c-means clustering algorithm are combined for contour extraction. Aiming at the problem of error matching, duel constraint with region matching and pixel matching is established for matching optimization. Using the stereo matching edge pixel pairs, the 3D coordinate algorithm is estimated according to the binocular stereo vision imaging model. Experimental results show that the proposed method can yield high stereo matching ratio and reconstruct 3D scene quickly and efficiently.

Selection method of terrain matching area for TERCOM algorithm

NASA Astrophysics Data System (ADS)

Zhang, Qieqie; Zhao, Long

2017-10-01

The performance of terrain aided navigation is closely related to the selection of terrain matching area. The different matching algorithms have different adaptability to terrain. This paper mainly studies the adaptability to terrain of TERCOM algorithm, analyze the relation between terrain feature and terrain characteristic parameters by qualitative and quantitative methods, and then research the relation between matching probability and terrain characteristic parameters by the Monte Carlo method. After that, we propose a selection method of terrain matching area for TERCOM algorithm, and verify the method correctness with real terrain data by simulation experiment. Experimental results show that the matching area obtained by the method in this paper has the good navigation performance and the matching probability of TERCOM algorithm is great than 90%

Visual terrain mapping for traversable path planning of mobile robots

NASA Astrophysics Data System (ADS)

Shirkhodaie, Amir; Amrani, Rachida; Tunstel, Edward W.

2004-10-01

In this paper, we have primarily discussed technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain visual clues. The Kalman Filtering technique is applied for aggregative fusion of sub-terrain assessment results. The last two terrain classifiers are shown to have remarkable capability for terrain traversability assessment of natural terrains. We have conducted a comparative performance evaluation of all three terrain classifiers and presented the results in this paper.

Design and flight evaluation of an integrated navigation and near-terrain helicopter guidance system for night-time and adverse weather operations

NASA Technical Reports Server (NTRS)

Swenson, Harry N.; Zelenka, Richard E.; Dearing, Munro G.; Hardy, Gordon H.; Clark, Raymond; Davis, Tom; Amatrudo, Gary; Zirkler, Andre

1994-01-01

NASA and the U.S. Army have designed, developed, and flight evaluated a Computer Aiding for Low Altitude Helicopter Flight (CALAHF) guidance system. This system provides guidance to the pilot for near terrain covert helicopter operations. It automates the processing of precision navigation information, helicopter mission requirements, and terrain flight guidance. The automation is presented to the pilot through symbology on a helmet-mounted display. The symbology is a 'pilot-centered' design which preserves pilot flexibility and authority over the CALAHF system's automation. An extensive flight evaluation of the system has been conducted using the U.S. Army's NUH-60 STAR (Systems Testbed for Avionics Research) research helicopter. The evaluations were flown over a multiwaypoint helicopter mission in rugged mountainous terrain, at terrain clearance altitudes from 300 to 125 ft and airspeeds from 40 to 110 knots. The results of these evaluations showed that the pilots could precisely follow the automation symbology while maintaining a high degree of situational awareness.

PRIMUS: autonomous navigation in open terrain with a tracked vehicle

NASA Astrophysics Data System (ADS)

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

2004-09-01

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

Self-Navigating THE TERRAIN

ERIC Educational Resources Information Center

Anyaso, Hilary Hurd

2008-01-01

There's some good news in the academy regarding Black women: They occupy a number of high-profile executive posts in higher education. But whether Black women scholars want to follow in their footsteps or continue in a teaching or research capacity, the bad news is that many feel they are left to navigate the personal and professional politics of…

Context-Based Urban Terrain Reconstruction from Uav-Videos for Geoinformation Applications

NASA Astrophysics Data System (ADS)

Bulatov, D.; Solbrig, P.; Gross, H.; Wernerus, P.; Repasi, E.; Heipke, C.

2011-09-01

Urban terrain reconstruction has many applications in areas of civil engineering, urban planning, surveillance and defense research. Therefore the needs of covering ad-hoc demand and performing a close-range urban terrain reconstruction with miniaturized and relatively inexpensive sensor platforms are constantly growing. Using (miniaturized) unmanned aerial vehicles, (M)UAVs, represents one of the most attractive alternatives to conventional large-scale aerial imagery. We cover in this paper a four-step procedure of obtaining georeferenced 3D urban models from video sequences. The four steps of the procedure - orientation, dense reconstruction, urban terrain modeling and geo-referencing - are robust, straight-forward, and nearly fully-automatic. The two last steps - namely, urban terrain modeling from almost-nadir videos and co-registration of models 6ndash; represent the main contribution of this work and will therefore be covered with more detail. The essential substeps of the third step include digital terrain model (DTM) extraction, segregation of buildings from vegetation, as well as instantiation of building and tree models. The last step is subdivided into quasi- intrasensorial registration of Euclidean reconstructions and intersensorial registration with a geo-referenced orthophoto. Finally, we present reconstruction results from a real data-set and outline ideas for future work.

Earth-Referenced Aircraft Navigation and Surveillance Analysis

DOT National Transportation Integrated Search

2016-06-01

This document addresses a basic function of aircraft (and other vehicle) surveillance and navi-gation systems analyses quantifying the geometric relationship of two or more locations relative to each other and to the earth. Here, geometry means d...

Soft computing-based terrain visual sensing and data fusion for unmanned ground robotic systems

NASA Astrophysics Data System (ADS)

Shirkhodaie, Amir

2006-05-01

In this paper, we have primarily discussed technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on terrain visual clues. The Kalman Filtering technique is applied for aggregative fusion of sub-terrain assessment results. The last two terrain classifiers are shown to have remarkable capability for terrain traversability assessment of natural terrains. We have conducted a comparative performance evaluation of all three terrain classifiers and presented the results in this paper.

Flight Testing of Terrain-Relative Navigation and Large-Divert Guidance on a VTVL Rocket

NASA Technical Reports Server (NTRS)

Trawny, Nikolas; Benito, Joel; Tweddle, Brent; Bergh, Charles F.; Khanoyan, Garen; Vaughan, Geoffrey M.; Zheng, Jason X.; Villalpando, Carlos Y.; Cheng, Yang; Scharf, Daniel P.;

Terrain Display Alternatives Assessment of Information Density and Alerting Strategies

DOT National Transportation Integrated Search

1998-04-01

Current technology makes it possible to display navigation and terrain information on electronic : screens in the cockpit. The conventions used for position and terrain information must be clearly : presented so pilots can maintain their positional a...

Mobile robots traversability awareness based on terrain visual sensory data fusion

NASA Astrophysics Data System (ADS)

Shirkhodaie, Amir

2007-04-01

In this paper, we have presented methods that significantly improve the robot awareness of its terrain traversability conditions. The terrain traversability awareness is achieved by association of terrain image appearances from different poses and fusion of extracted information from multimodality imaging and range sensor data for localization and clustering environment landmarks. Initially, we describe methods for extraction of salient features of the terrain for the purpose of landmarks registration from two or more images taken from different via points along the trajectory path of the robot. The method of image registration is applied as a means of overlaying (two or more) of the same terrain scene at different viewpoints. The registration geometrically aligns salient landmarks of two images (the reference and sensed images). A Similarity matching techniques is proposed for matching the terrain salient landmarks. Secondly, we present three terrain classifier models based on rule-based, supervised neural network, and fuzzy logic for classification of terrain condition under uncertainty and mapping the robot's terrain perception to apt traversability measures. This paper addresses the technical challenges and navigational skill requirements of mobile robots for traversability path planning in natural terrain environments similar to Mars surface terrains. We have described different methods for detection of salient terrain features based on imaging texture analysis techniques. We have also presented three competing techniques for terrain traversability assessment of mobile robots navigating in unstructured natural terrain environments. These three techniques include: a rule-based terrain classifier, a neural network-based terrain classifier, and a fuzzy-logic terrain classifier. Each proposed terrain classifier divides a region of natural terrain into finite sub-terrain regions and classifies terrain condition exclusively within each sub-terrain region based on

Autonomous terrain characterization and modelling for dynamic control of unmanned vehicles

NASA Technical Reports Server (NTRS)

Talukder, A.; Manduchi, R.; Castano, R.; Owens, K.; Matthies, L.; Castano, A.; Hogg, R.

2002-01-01

This end-to-end obstacle negotiation system is envisioned to be useful in optimized path planning and vehicle navigation in terrain conditions cluttered with vegetation, bushes, rocks, etc. Results on natural terrain with various natural materials are presented.

High Speed Lunar Navigation for Crewed and Remotely Piloted Vehicles

NASA Technical Reports Server (NTRS)

Pedersen, L.; Allan, M.; To, V.; Utz, H.; Wojcikiewicz, W.; Chautems, C.

2010-01-01

Increased navigation speed is desirable for lunar rovers, whether autonomous, crewed or remotely operated, but is hampered by the low gravity, high contrast lighting and rough terrain. We describe lidar based navigation system deployed on NASA's K10 autonomous rover and to increase the terrain hazard situational awareness of the Lunar Electric Rover crew.

Navigation: National Plans; NAVSTAR-GPS; Laser Gyros

DTIC Science & Technology

1982-08-31

REFERENC-~CP STER . TECHNICAL REPORT ! "NO. 12686,-’-. - NAVIGATION: NATIONAL PLANS ; NAVSTAR-GPS; LASER GYROS CONTRACT NO. DAAK30-80-C-0073 31 AUGUST...Technical ReportAW Ng. riiNational Plans ; Navstar-GPS; S... : NavstarGPS; a3 Sept 1980 - 31 Aug 1982 ....Lasr Gyros. 6. PERFORMING ORG. REPORT NUMBER PRA...identify by block number) Navigation Navigation Satellites Laser Gyros Position-Location . NAVSTAR-GPS Fiberoptic Gyros Planning Global Positioning System

Determining navigability of terrain using point cloud data.

PubMed

Cockrell, Stephanie; Lee, Gregory; Newman, Wyatt

2013-06-01

This paper presents an algorithm to identify features of the navigation surface in front of a wheeled robot. Recent advances in mobile robotics have brought about the development of smart wheelchairs to assist disabled people, allowing them to be more independent. These robots have a human occupant and operate in real environments where they must be able to detect hazards like holes, stairs, or obstacles. Furthermore, to ensure safe navigation, wheelchairs often need to locate and navigate on ramps. The algorithm is implemented on data from a Kinect and can effectively identify these features, increasing occupant safety and allowing for a smoother ride.

Segmentation of stereo terrain images

NASA Astrophysics Data System (ADS)

George, Debra A.; Privitera, Claudio M.; Blackmon, Theodore T.; Zbinden, Eric; Stark, Lawrence W.

2000-06-01

We have studied four approaches to segmentation of images: three automatic ones using image processing algorithms and a fourth approach, human manual segmentation. We were motivated toward helping with an important NASA Mars rover mission task -- replacing laborious manual path planning with automatic navigation of the rover on the Mars terrain. The goal of the automatic segmentations was to identify an obstacle map on the Mars terrain to enable automatic path planning for the rover. The automatic segmentation was first explored with two different segmentation methods: one based on pixel luminance, and the other based on pixel altitude generated through stereo image processing. The third automatic segmentation was achieved by combining these two types of image segmentation. Human manual segmentation of Martian terrain images was used for evaluating the effectiveness of the combined automatic segmentation as well as for determining how different humans segment the same images. Comparisons between two different segmentations, manual or automatic, were measured using a similarity metric, SAB. Based on this metric, the combined automatic segmentation did fairly well in agreeing with the manual segmentation. This was a demonstration of a positive step towards automatically creating the accurate obstacle maps necessary for automatic path planning and rover navigation.

Learning for Autonomous Navigation

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Hippocampal place cell encoding of sloping terrain.

PubMed

Porter, Blake S; Schmidt, Robert; Bilkey, David K

2018-05-21

Effective navigation relies on knowledge of one's environment. A challenge to effective navigation is accounting for the time and energy costs of routes. Irregular terrain in ecological environments poses a difficult navigational problem as organisms ought to avoid effortful slopes to minimize travel costs. Route planning and navigation have previously been shown to involve hippocampal place cells and their ability to encode and store information about an organism's environment. However, little is known about how place cells may encode the slope of space and associated energy costs as experiments are traditionally carried out in flat, horizontal environments. We set out to investigate how dorsal-CA1 place cells in rats encode systematic changes to the slope of an environment by tilting a shuttle box from flat to 15° and 25° while minimizing external cue change. Overall, place cell encoding of tilted space was as robust as their encoding of flat ground as measured by traditional place cell metrics such as firing rates, spatial information, coherence, and field size. A large majority of place cells did, however, respond to slope by undergoing partial, complex remapping when the environment was shifted from one tilt angle to another. The propensity for place cells to remap did not, however, depend on the vertical distance the field shifted. Changes in slope also altered the temporal coding of information as measured by the rate of theta phase precession of place cell spikes, which decreased with increasing tilt angles. Together these observations indicate that place cells are sensitive to relatively small changes in terrain slope and that terrain slope may be an important source of information for organizing place cell ensembles. The terrain slope information encoded by place cells could be utilized by efferent regions to determine energetically advantageous routes to goal locations. This article is protected by copyright. All rights reserved. © 2018 Wiley

Relative Terrain Imaging Navigation (RETINA) Tool for the Asteroid Redirect Robotic Mission (ARRM)

NASA Technical Reports Server (NTRS)

Wright, Cinnamon A.; Van Eepoel, John; Liounis, Andrew; Shoemaker, Michael; DeWeese, Keith; Getzandanner, Kenneth

2016-01-01

As a part of the NASA initiative to collect a boulder off of an asteroid and return it to Lunar orbit, the Satellite Servicing Capabilities Office (SSCO) and NASA GSFC are developing an on-board relative terrain imaging navigation algorithm for the Asteroid Redirect Robotic Mission (ARRM). After performing several flybys and dry runs to verify and refine the shape, spin, and gravity models and obtain centimeter level imagery, the spacecraft will descend to the surface of the asteroid to capture a boulder and return it to Lunar Orbit. The algorithm implements Stereophotoclinometry methods to register landmarks with images taken onboard the spacecraft, and use these measurements to estimate the position and orientation of the spacecraft with respect to the asteroid. This paper will present an overview of the ARRM GN&C system and concept of operations as well as a description of the algorithm and its implementation. These techniques will be demonstrated for the descent to the surface of the proposed asteroid of interest, 2008 EV5, and preliminary results will be shown.

Navigating the Bio-Politics of Childhood

ERIC Educational Resources Information Center

Lee, Nick; Motzkau, Johanna

2011-01-01

Childhood research has long shared a bio-political terrain with state agencies in which children figure primarily as "human futures". In the 20th century bio-social dualism helped to make that terrain navigable by researchers, but, as life processes increasingly become key sites of bio-political action, bio-social dualism is becoming…

Utility of an airframe referenced spatial auditory display for general aviation operations

NASA Astrophysics Data System (ADS)

Naqvi, M. Hassan; Wigdahl, Alan J.; Ranaudo, Richard J.

2009-05-01

The University of Tennessee Space Institute (UTSI) completed flight testing with an airframe-referenced localized audio cueing display. The purpose was to assess its affect on pilot performance, workload, and situational awareness in two scenarios simulating single-pilot general aviation operations under instrument meteorological conditions. Each scenario consisted of 12 test procedures conducted under simulated instrument meteorological conditions, half with the cue off, and half with the cue on. Simulated aircraft malfunctions were strategically inserted at critical times during each test procedure. Ten pilots participated in the study; half flew a moderate workload scenario consisting of point to point navigation and holding pattern operations and half flew a high workload scenario consisting of non precision approaches and missed approach procedures. Flight data consisted of aircraft and navigation state parameters, NASA Task Load Index (TLX) assessments, and post-flight questionnaires. With localized cues there was slightly better pilot technical performance, a reduction in workload, and a perceived improvement in situational awareness. Results indicate that an airframe-referenced auditory display has utility and pilot acceptance in general aviation operations.

Criterion-Referenced and Norm-Referenced Assessments: Compatibility and Complementarity

ERIC Educational Resources Information Center

Lok, Beatrice; McNaught, Carmel; Young, Kenneth

2016-01-01

The tension between criterion-referenced and norm-referenced assessment is examined in the context of curriculum planning and assessment in outcomes-based approaches to higher education. This paper argues the importance of a criterion-referenced assessment approach once an outcomes-based approach has been adopted. It further discusses the…

Occlusion-free animation of driving routes for car navigation systems.

PubMed

Takahashi, Shigeo; Yoshida, Kenichi; Shimada, Kenji; Nishita, Tomoyuki

2006-01-01

This paper presents a method for occlusion-free animation of geographical landmarks, and its application to a new type of car navigation system in which driving routes of interest are always visible. This is achieved by animating a nonperspective image where geographical landmarks such as mountain tops and roads are rendered as if they are seen from different viewpoints. The technical contribution of this paper lies in formulating the nonperspective terrain navigation as an inverse problem of continuously deforming a 3D terrain surface from the 2D screen arrangement of its associated geographical landmarks. The present approach provides a perceptually reasonable compromise between the navigation clarity and visual realism where the corresponding nonperspective view is fully augmented by assigning appropriate textures and shading effects to the terrain surface according to its geometry. An eye tracking experiment is conducted to prove that the present approach actually exhibits visually-pleasing navigation frames while users can clearly recognize the shape of the driving route without occlusion, together with the spatial configuration of geographical landmarks in its neighborhood.

Crew performance and communication: Performing a terrain navigation task

NASA Technical Reports Server (NTRS)

Battiste, Vernol; Delzell, Susanne

1993-01-01

A study was conducted to examine the map and route cues pilots use while navigating under controlled, but realistic, nap-of-the-earth (NOE) flight conditions. US Army helicopter flight crews were presented a map and route overlay and asked to perform normal mission planning. They then viewed a video-recording of the out-the-window scene during low-level flights, without the route overlay, and were asked periodically to locate their current position on the map. The pilots and navigators were asked to communicate normally during the planning and flight phases. During each flight the navigator's response time, accuracy, and subjective workload were assessed. Post-flight NASA-TLX workload ratings were collected. No main effect of map orientation (north-up vs. track-up) was found for errors or response times on any of the tasks evaluated. Navigators in the north-up group rated their workload lower than those in the track-up group.

Perception, planning, and control for walking on rugged terrain

NASA Technical Reports Server (NTRS)

Simmons, Reid; Krotkov, Eric

1991-01-01

The CMU Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. To gain experience with the problems involved in walking on rugged terrain, a full-scale prototype leg was built and mounted on a carriage that rolls along overhead rails. Issues addressed in developing the software system to autonomously walk the leg through rugged terrain are described. In particular, the insights gained into perceiving and modeling rugged terrain, controlling the legged mechanism, interacting with the ground, choosing safe yet effective footfalls, and planning efficient leg moves through space are described.

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.

Map Interpretation and Terrain Analysis Course (MITAC) for Infantrymen: Illustrated Lectures

DTIC Science & Technology

1982-01-01

Factors Influencing Map Design . . . . . ..... ............ 4 Interpretation of Terrain Relief and Other Topographic Features...Institute (ARI) sponsored a project to design and develop a map interpretation and terrain analysis course (MITAC) to improve the ability of Army...helicopter pilots to navigate accurately when flying at nap-of-the-earth (NOE) altitudes (McGrath, 1975; McGrath & Foster, 1975). MITAC was designed to

Referencing academic assignments.

PubMed

Gopee, N

External examiners often identify inaccurate referencing as a weakness in scripts submitted for assessment. This article explores the main aspects of referencing, and offers a protocol for referencing founded on the Harvard (name-date) system.

Contrasting Norm Referenced and Criterion Referenced Measures.

ERIC Educational Resources Information Center

Randall, Robert S.

Differences in design between norm referenced measures (NRM) and criterion referenced measures (CRM) are reviewed, and some of the procedures proposed on designing and evaluating CRM are examined. Differences in design of NRM and CRM are said to arise from the different purposes that underlie each measure. In addition, there are differences among…

Quantifying Traversability of Terrain for a Mobile Robot

NASA Technical Reports Server (NTRS)

Howard, Ayanna; Seraji, Homayoun; Werger, Barry

2005-01-01

A document presents an updated discussion on a method of autonomous navigation for a robotic vehicle navigating across rough terrain. The method involves, among other things, the use of a measure of traversability, denoted the fuzzy traversability index, which embodies the information about the slope and roughness of terrain obtained from analysis of images acquired by cameras mounted on the robot. The improvements presented in the report focus on the use of the fuzzy traversability index to generate a traversability map and a grid map for planning the safest path for the robot. Once grid traversability values have been computed, they are utilized for rejecting unsafe path segments and for computing a traversalcost function for ranking candidate paths, selected by a search algorithm, from a specified initial position to a specified final position. The output of the algorithm is a set of waypoints designating a path having a minimal-traversal cost.

Self-position estimation using terrain shadows for precise planetary landing

NASA Astrophysics Data System (ADS)

Kuga, Tomoki; Kojima, Hirohisa

2018-07-01

In recent years, the investigation of moons and planets has attracted increasing attention in several countries. Furthermore, recently developed landing systems are now expected to reach more scientifically interesting areas close to hazardous terrain, requiring precise landing capabilities within a 100 m range of the target point. To achieve this, terrain-relative navigation (capable of estimating the position of a lander relative to the target point on the ground surface is actively being studied as an effective method for achieving highly accurate landings. This paper proposes a self-position estimation method using shadows on the terrain based on edge extraction from image processing algorithms. The effectiveness of the proposed method is validated through numerical simulations using images generated from a digital elevation model of simulated terrains.

Flight Test Evaluation of Synthetic Vision Concepts at a Terrain Challenged Airport

NASA Technical Reports Server (NTRS)

Kramer, Lynda J.; Prince, Lawrence J., III; Bailey, Randell E.; Arthur, Jarvis J., III; Parrish, Russell V.

2004-01-01

NASA's Synthetic Vision Systems (SVS) Project is striving to eliminate poor visibility as a causal factor in aircraft accidents as well as enhance operational capabilities of all aircraft through the display of computer generated imagery derived from an onboard database of terrain, obstacle, and airport information. To achieve these objectives, NASA 757 flight test research was conducted at the Eagle-Vail, Colorado airport to evaluate three SVS display types (Head-up Display, Head-Down Size A, Head-Down Size X) and two terrain texture methods (photo-realistic, generic) in comparison to the simulated Baseline Boeing-757 Electronic Attitude Direction Indicator and Navigation/Terrain Awareness and Warning System displays. The results of the experiment showed significantly improved situation awareness, performance, and workload for SVS concepts compared to the Baseline displays and confirmed the retrofit capability of the Head-Up Display and Size A SVS concepts. The research also demonstrated that the tunnel guidance display concept used within the SVS concepts achieved required navigation performance (RNP) criteria.

Learning for autonomous navigation

NASA Technical Reports Server (NTRS)

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

2005-01-01

Autonomous off-road navigation of robotic ground vehicles has important applications on Earth and in space exploration. Progress in this domain has been retarded by the limited lookahead range of 3-D sensors and by the difficulty of preprogramming systems to understand the traversability of the wide variety of terrain they can encounter.

Fuzzy Behavior-Based Navigation for Planetary

NASA Technical Reports Server (NTRS)

Tunstel, Edward; Danny, Harrison; Lippincott, Tanya; Jamshidi, Mo

1997-01-01

Adaptive behavioral capabilities are necessary for robust rover navigation in unstructured and partially-mapped environments. A control approach is described which exploits the approximate reasoning capability of fuzzy logic to produce adaptive motion behavior. In particular, a behavior-based architecture for hierarchical fuzzy control of microrovers is presented. Its structure is described, as well as mechanisms of control decision-making which give rise to adaptive behavior. Control decisions for local navigation result from a consensus of recommendations offered only by behaviors that are applicable to current situations. Simulation predicts the navigation performance on a microrover in simplified Mars-analog terrain.

On autonomous terrain model acquistion by a mobile robot

NASA Technical Reports Server (NTRS)

Rao, N. S. V.; Iyengar, S. S.; Weisbin, C. R.

1987-01-01

The following problem is considered: A point robot is placed in a terrain populated by an unknown number of polyhedral obstacles of varied sizes and locations in two/three dimensions. The robot is equipped with a sensor capable of detecting all the obstacle vertices and edges that are visible from the present location of the robot. The robot is required to autonomously navigate and build the complete terrain model using the sensor information. It is established that the necessary number of scanning operations needed for complete terrain model acquisition by any algorithm that is based on scan from vertices strategy is given by the summation of i = 1 (sup n) N(O sub i)-n and summation of i = 1 (sup n) N(O sub i)-2n in two- and three-dimensional terrains respectively, where O = (O sub 1, O sub 2,....O sub n) set of the obstacles in the terrain, and N(O sub i) is the number of vertices of the obstacle O sub i.

Expected Navigation Flight Performance for the Magnetospheric Multiscale (MMS) Mission

NASA Technical Reports Server (NTRS)

Olson, Corwin; Wright, Cinnamon; Long, Anne

2012-01-01

The Magnetospheric Multiscale (MMS) mission consists of four formation-flying spacecraft placed in highly eccentric elliptical orbits about the Earth. The primary scientific mission objective is to study magnetic reconnection within the Earth s magnetosphere. The baseline navigation concept is the independent estimation of each spacecraft state using GPS pseudorange measurements (referenced to an onboard Ultra Stable Oscillator) and accelerometer measurements during maneuvers. State estimation for the MMS spacecraft is performed onboard each vehicle using the Goddard Enhanced Onboard Navigation System, which is embedded in the Navigator GPS receiver. This paper describes the latest efforts to characterize expected navigation flight performance using upgraded simulation models derived from recent analyses.

Integration of radar altimeter, precision navigation, and digital terrain data for low-altitude flight

NASA Technical Reports Server (NTRS)

Zelenka, Richard E.

1992-01-01

A Kalman filter for the integration of a radar altimeter into a terrain database-dependent guidance system was developed. Results obtained from a low-altitude helicopter flight test data acquired over moderately rugged terrain showed that the proposed Kalman filter removes large disparities in predicted above-ground-level (AGL) altitude in the presence of measurement anomalies and dropouts. Integration of a radar altimeter makes it possible to operate a near-terrain guidance system at or below 50 ft (subject to obstacle-avoidance limitations), whereas without radar altimeter integration, a minimum clearance altitude of 220 AGL is needed, as is suggested by previous work.

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

NASA Technical Reports Server (NTRS)

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

2017-01-01

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

Mass data graphics requirements for symbol generators: example 2D airport navagation and 3D terrain function

NASA Astrophysics Data System (ADS)

Schiefele, Jens; Bader, Joachim; Kastner, S.; Wiesemann, Thorsten; von Viebahn, Harro

2002-07-01

Next generation of cockpit display systems will display mass data. Mass data includes terrain, obstacle, and airport databases. Display formats will be two and eventually 3D. A prerequisite for the introduction of these new functions is the availability of certified graphics hardware. The paper describes functionality and required features of an aviation certified 2D/3D graphics board. This graphics board should be based on low-level and hi-level API calls. These graphic calls should be very similar to OpenGL. All software and the API must be aviation certified. As an example application, a 2D airport navigation function and a 3D terrain visualization is presented. The airport navigation format is based on highly precise airport database following EUROCAE ED-99/RTCA DO-272 specifications. Terrain resolution is based on EUROCAE ED-98/RTCA DO-276 requirements.

Synthetic Vision Enhances Situation Awareness and RNP Capabilities for Terrain-Challenged Approaches

NASA Technical Reports Server (NTRS)

Kramer, Lynda J.; Prinzel, Lawrence J., III; Bailey, Randall E.; Arthur, Jarvis J., III

2003-01-01

The Synthetic Vision Systems (SVS) Project of Aviation Safety Program is striving to eliminate poor visibility as a causal factor in aircraft accidents as well as enhance operational capabilities of all aircraft through the display of computer generated imagery derived from an onboard database of terrain, obstacle, and airport information. To achieve these objectives, NASA 757 flight test research was conducted at the Eagle-Vail, Colorado airport to evaluate three SVS display types (Head-Up Display, Head-Down Size A, Head-Down Size X) and two terrain texture methods (photo-realistic, generic) in comparison to the simulated Baseline Boeing-757 Electronic Attitude Direction Indicator and Navigation / Terrain Awareness and Warning System displays. These independent variables were evaluated for situation awareness, path error, and workload while making approaches to Runway 25 and 07 and during simulated engine-out Cottonwood 2 and KREMM departures. The results of the experiment showed significantly improved situation awareness, performance, and workload for SVS concepts compared to the Baseline displays and confirmed the retrofit capability of the Head-Up Display and Size A SVS concepts. The research also demonstrated that the pathway and pursuit guidance used within the SVS concepts achieved required navigation performance (RNP) criteria.

Regionalized Lunar South Pole Surface Navigation System Analysis

NASA Technical Reports Server (NTRS)

Welch, Bryan W.

2008-01-01

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

Sensitivity of Magnetospheric Multi-Scale (MMS) Mission Navigation Accuracy to Major Error Sources

NASA Technical Reports Server (NTRS)

Olson, Corwin; Long, Anne; Car[emter. Russell

2011-01-01

The Magnetospheric Multiscale (MMS) mission consists of four satellites flying in formation in highly elliptical orbits about the Earth, with a primary objective of studying magnetic reconnection. The baseline navigation concept is independent estimation of each spacecraft state using GPS pseudorange measurements referenced to an Ultra Stable Oscillator (USO) with accelerometer measurements included during maneuvers. MMS state estimation is performed onboard each spacecraft using the Goddard Enhanced Onboard Navigation System (GEONS), which is embedded in the Navigator GPS receiver. This paper describes the sensitivity of MMS navigation performance to two major error sources: USO clock errors and thrust acceleration knowledge errors.

Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors

NASA Technical Reports Server (NTRS)

Bajracharya, Max; Howard, Andrew B.; Matthies, Larry H.

2009-01-01

Robust and reliable autonomous navigation in unstructured, off-road terrain is a critical element in making unmanned ground vehicles a reality. Existing approaches tend to rely on evaluating the traversability of terrain based on fixed parameters obtained via testing in specific environments. This results in a system that handles the terrain well that it trained in, but is unable to process terrain outside its test parameters. An adaptive system does not take the place of training, but supplements it. Whereas training imprints certain environments, an adaptive system would imprint terrain elements and the interactions amongst them, and allow the vehicle to build a map of local elements using proprioceptive sensors. Such sensors can include velocity, wheel slippage, bumper hits, and accelerometers. Data obtained by the sensors can be compared to observations from ranging sensors such as cameras and LADAR (laser detection and ranging) in order to adapt to any kind of terrain. In this way, it could sample its surroundings not only to create a map of clear space, but also of what kind of space it is and its composition. By having a set of building blocks consisting of terrain features, a vehicle can adapt to terrain that it has never seen before, and thus be robust to a changing environment. New observations could be added to its library, enabling it to infer terrain types that it wasn't trained on. This would be very useful in alien environments, where many of the physical features are known, but some are not. For example, a seemingly flat, hard plain could actually be soft sand, and the vehicle would sense the sand and avoid it automatically.

Real-time adaptive off-road vehicle navigation and terrain classification

NASA Astrophysics Data System (ADS)

Muller, Urs A.; Jackel, Lawrence D.; LeCun, Yann; Flepp, Beat

2013-05-01

We are developing a complete, self-contained autonomous navigation system for mobile robots that learns quickly, uses commodity components, and has the added benefit of emitting no radiation signature. It builds on the au­tonomous navigation technology developed by Net-Scale and New York University during the Defense Advanced Research Projects Agency (DARPA) Learning Applied to Ground Robots (LAGR) program and takes advantage of recent scientific advancements achieved during the DARPA Deep Learning program. In this paper we will present our approach and algorithms, show results from our vision system, discuss lessons learned from the past, and present our plans for further advancing vehicle autonomy.

Dynamic modeling and mobility analysis of the transforming roving-rolling explorer (TRREx) as it Traverses Rugged Martian Terrain

NASA Astrophysics Data System (ADS)

Edwin, Lionel E.; Mazzoleni, Andre P.

2016-03-01

All planetary surface exploration missions thus far have employed traditional rovers with a rocker-bogie suspension. These rovers can navigate moderately rough and flat terrain, but are not designed to traverse rugged terrain with steep slopes. The fact is, however, that the most scientifically interesting missions require exploration platforms with capabilities for navigating such types of rugged terrain. This issue motivates the development of new kinds of rovers that take advantage of the latest advances in robotic technologies to traverse rugged terrain efficiently. This work analyzes one such rover concept called the Transforming Roving-Rolling Explorer (TRREx) that is principally aimed at addressing the above issue. Biologically inspired by the way the armadillo curls up into a ball when threatened, and the way the golden wheel spider uses the dynamic advantages of a sphere to roll down hills when escaping danger, the TRREx rover can traverse like a traditional 6-wheeled rover over conventional terrain, but can also transform itself into a sphere, when necessary, to travel down steep inclines, or navigate rough terrain. This paper investigates the mobility of the TRREx when it is in its rolling mode, i.e. when it is a sphere and can steer itself through actuations that shift its center of mass to achieve the desired direction of roll. A mathematical model describing the dynamics of the rover in this spherical configuration is presented, and actuated rolling is demonstrated through computer simulation. Parametric analyzes that investigate the rover's mobility as a function of its design parameters are also presented. This work highlights the contribution of the spherical rolling mode to the enhanced mobility of the TRREx rover and how it could enable challenging surface exploration missions in the future.

The Reliability of Criterion-Referenced Measures.

ERIC Educational Resources Information Center

Livingston, Samuel A.

The assumptions of the classical test-theory model are used to develop a theory of reliability for criterion-referenced measures which parallels that for norm-referenced measures. It is shown that the Spearman-Brown formula holds for criterion-referenced measures and that the criterion-referenced reliability coefficient can be used to correct…

Navigating the Rural Terrain: Educators' Visions to Promote Change

ERIC Educational Resources Information Center

Vaughn, Margaret; Saul, Melissa

2013-01-01

Advocates of rural education emphasize the need to examine supports which may promote rural educators given the challenging contexts of which they face. Teacher visioning has been conceptualized as a navigational tool to help sustain and promote teachers given high-challenging contexts. The current study explored 10 public school teachers from…

Memory for Details with Self-Referencing

PubMed Central

Serbun, Sarah J.; Shih, Joanne Y.; Gutchess, Angela H.

2011-01-01

Self-referencing benefits item memory, but little is known about the ways in which referencing the self affects memory for details. Experiment 1 assessed whether the effects of self-referencing operate only at the item, or general, level or also enhance memory for specific visual details of objects. Participants incidentally encoded objects by making judgments in reference to the self, a close other (one’s mother), or a familiar other (Bill Clinton). Results indicate that referencing the self or a close other enhances both specific and general memory. Experiments 2 and 3 assessed verbal memory for source in a task that relied on distinguishing between different mental operations (internal sources). Results indicate that self-referencing disproportionately enhances source memory, relative to conditions referencing other people, semantic, or perceptual information. We conclude that self-referencing not only enhances specific memory for both visual and verbal information, but can disproportionately improve memory for specific internal source details as well. PMID:22092106

Memory for details with self-referencing.

PubMed

Serbun, Sarah J; Shih, Joanne Y; Gutchess, Angela H

2011-11-01

Self-referencing benefits item memory, but little is known about the ways in which referencing the self affects memory for details. Experiment 1 assessed whether the effects of self-referencing operate only at the item, or general, level or whether they also enhance memory for specific visual details of objects. Participants incidentally encoded objects by making judgements in reference to the self, a close other (one's mother), or a familiar other (Bill Clinton). Results indicate that referencing the self or a close other enhances both specific and general memory. Experiments 2 and 3 assessed verbal memory for source in a task that relied on distinguishing between different mental operations (internal sources). The results indicate that self-referencing disproportionately enhances source memory, relative to conditions referencing other people, semantic, or perceptual information. We conclude that self-referencing not only enhances specific memory for both visual and verbal information, but can also disproportionately improve memory for specific internal source details.

Integrated navigation, flight guidance, and synthetic vision system for low-level flight

NASA Astrophysics Data System (ADS)

Mehler, Felix E.

2000-06-01

Future military transport aircraft will require a new approach with respect to the avionics suite to fulfill an ever-changing variety of missions. The most demanding phases of these mission are typically the low level flight segments, including tactical terrain following/avoidance,payload drop and/or board autonomous landing at forward operating strips without ground-based infrastructure. As a consequence, individual components and systems must become more integrated to offer a higher degree of reliability, integrity, flexibility and autonomy over existing systems while reducing crew workload. The integration of digital terrain data not only introduces synthetic vision into the cockpit, but also enhances navigation and guidance capabilities. At DaimlerChrysler Aerospace AG Military Aircraft Division (Dasa-M), an integrated navigation, flight guidance and synthetic vision system, based on digital terrain data, has been developed to fulfill the requirements of the Future Transport Aircraft (FTA). The fusion of three independent navigation sensors provides a more reliable and precise solution to both the 4D-flight guidance and the display components, which is comprised of a Head-up and a Head-down Display with synthetic vision. This paper will present the system, its integration into the DLR's VFW 614 Advanced Technology Testing Aircraft System (ATTAS) and the results of the flight-test campaign.

A Leapfrog Navigation System

NASA Astrophysics Data System (ADS)

Opshaug, Guttorm Ringstad

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

Field evaluation of a wearable multimodal soldier navigation system.

PubMed

Aaltonen, Iina; Laarni, Jari

2017-09-01

Challenging environments pose difficulties for terrain navigation, and therefore wearable and multimodal navigation systems have been proposed to overcome these difficulties. Few such navigation systems, however, have been evaluated in field conditions. We evaluated how a multimodal system can aid in navigating in a forest in the context of a military exercise. The system included a head-mounted display, headphones, and a tactile vibrating vest. Visual, auditory, and tactile modalities were tested and evaluated using unimodal, bimodal, and trimodal conditions. Questionnaires, interviews and observations were used to evaluate the advantages and disadvantages of each modality and their multimodal use. The guidance was considered easy to interpret and helpful in navigation. Simplicity of the displayed information was required, which was partially conflicting with the request for having both distance and directional information available. Copyright © 2017 Elsevier Ltd. All rights reserved.

2D/3D Synthetic Vision Navigation Display

NASA Technical Reports Server (NTRS)

Prinzel, Lawrence J., III; Kramer, Lynda J.; Arthur, J. J., III; Bailey, Randall E.; Sweeters, jason L.

2008-01-01

Flight-deck display software was designed and developed at NASA Langley Research Center to provide two-dimensional (2D) and three-dimensional (3D) terrain, obstacle, and flight-path perspectives on a single navigation display. The objective was to optimize the presentation of synthetic vision (SV) system technology that permits pilots to view multiple perspectives of flight-deck display symbology and 3D terrain information. Research was conducted to evaluate the efficacy of the concept. The concept has numerous unique implementation features that would permit enhanced operational concepts and efficiencies in both current and future aircraft.

DspaceOgreTerrain 3D Terrain Visualization Tool

NASA Technical Reports Server (NTRS)

Myint, Steven; Jain, Abhinandan; Pomerantz, Marc I.

2012-01-01

DspaceOgreTerrain is an extension to the DspaceOgre 3D visualization tool that supports real-time visualization of various terrain types, including digital elevation maps, planets, and meshes. DspaceOgreTerrain supports creating 3D representations of terrains and placing them in a scene graph. The 3D representations allow for a continuous level of detail, GPU-based rendering, and overlaying graphics like wheel tracks and shadows. It supports reading data from the SimScape terrain- modeling library. DspaceOgreTerrain solves the problem of displaying the results of simulations that involve very large terrains. In the past, it has been used to visualize simulations of vehicle traverses on Lunar and Martian terrains. These terrains were made up of billions of vertices and would not have been renderable in real-time without using a continuous level of detail rendering technique.

Learning from Demonstration for Autonomous Navigation in Complex Unstructured Terrain

DTIC Science & Technology

2010-06-24

unstructured terrain Seraji and Howard, 2002, Huertas et al., 2005, Biesiadecki and Maimone, 2006] The common thread amongst these approaches is that they con...can be gathered either of- fline [ Seraji and Howard, 2002, Howard et al., 2007] or online [Thrun et al., 2006, Sun et al., 2007] by ob- serving where... Fe = F∗ = ~0; foreach P ie do P i∗ = planLossAugPath(start(P i e), goal(P ie), M); foreach x ∈ P ie do Fe + = Fe + Fx; foreach x ∈ P i∗ do F∗ = F∗ + Fx

Integrated GNSS Attitude Determination and Positioning for Direct Geo-Referencing

PubMed Central

Nadarajah, Nandakumaran; Paffenholz, Jens-André; Teunissen, Peter J. G.

2014-01-01

Direct geo-referencing is an efficient methodology for the fast acquisition of 3D spatial data. It requires the fusion of spatial data acquisition sensors with navigation sensors, such as Global Navigation Satellite System (GNSS) receivers. In this contribution, we consider an integrated GNSS navigation system to provide estimates of the position and attitude (orientation) of a 3D laser scanner. The proposed multi-sensor system (MSS) consists of multiple GNSS antennas rigidly mounted on the frame of a rotating laser scanner and a reference GNSS station with known coordinates. Precise GNSS navigation requires the resolution of the carrier phase ambiguities. The proposed method uses the multivariate constrained integer least-squares (MC-LAMBDA) method for the estimation of rotating frame ambiguities and attitude angles. MC-LAMBDA makes use of the known antenna geometry to strengthen the underlying attitude model and, hence, to enhance the reliability of rotating frame ambiguity resolution and attitude determination. The reliable estimation of rotating frame ambiguities is consequently utilized to enhance the relative positioning of the rotating frame with respect to the reference station. This integrated (array-aided) method improves ambiguity resolution, as well as positioning accuracy between the rotating frame and the reference station. Numerical analyses of GNSS data from a real-data campaign confirm the improved performance of the proposed method over the existing method. In particular, the integrated method yields reliable ambiguity resolution and reduces position standard deviation by a factor of about 0.8, matching the theoretical gain of 3/4 for two antennas on the rotating frame and a single antenna at the reference station. PMID:25036330

Integrated GNSS attitude determination and positioning for direct geo-referencing.

PubMed

Nadarajah, Nandakumaran; Paffenholz, Jens-André; Teunissen, Peter J G

2014-07-17

Direct geo-referencing is an efficient methodology for the fast acquisition of 3D spatial data. It requires the fusion of spatial data acquisition sensors with navigation sensors, such as Global Navigation Satellite System (GNSS) receivers. In this contribution, we consider an integrated GNSS navigation system to provide estimates of the position and attitude (orientation) of a 3D laser scanner. The proposed multi-sensor system (MSS) consists of multiple GNSS antennas rigidly mounted on the frame of a rotating laser scanner and a reference GNSS station with known coordinates. Precise GNSS navigation requires the resolution of the carrier phase ambiguities. The proposed method uses the multivariate constrained integer least-squares (MC-LAMBDA) method for the estimation of rotating frame ambiguities and attitude angles. MC-LAMBDA makes use of the known antenna geometry to strengthen the underlying attitude model and, hence, to enhance the reliability of rotating frame ambiguity resolution and attitude determination. The reliable estimation of rotating frame ambiguities is consequently utilized to enhance the relative positioning of the rotating frame with respect to the reference station. This integrated (array-aided) method improves ambiguity resolution, as well as positioning accuracy between the rotating frame and the reference station. Numerical analyses of GNSS data from a real-data campaign confirm the improved performance of the proposed method over the existing method. In particular, the integrated method yields reliable ambiguity resolution and reduces position standard deviation by a factor of about 0:8, matching the theoretical gain of √ 3/4 for two antennas on the rotating frame and a single antenna at the reference station.

Lidar Systems for Precision Navigation and Safe Landing on Planetary Bodies

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Pierrottet, Diego F.; Petway, Larry B.; Hines, Glenn D.; Roback, Vincent E.

2011-01-01

The ability of lidar technology to provide three-dimensional elevation maps of the terrain, high precision distance to the ground, and approach velocity can enable safe landing of robotic and manned vehicles with a high degree of precision. Currently, NASA is developing novel lidar sensors aimed at needs of future planetary landing missions. These lidar sensors are a 3-Dimensional Imaging Flash Lidar, a Doppler Lidar, and a Laser Altimeter. The Flash Lidar is capable of generating elevation maps of the terrain that indicate hazardous features such as rocks, craters, and steep slopes. The elevation maps collected during the approach phase of a landing vehicle, at about 1 km above the ground, can be used to determine the most suitable safe landing site. The Doppler Lidar provides highly accurate ground relative velocity and distance data allowing for precision navigation to the landing site. Our Doppler lidar utilizes three laser beams pointed to different directions to measure line of sight velocities and ranges to the ground from altitudes of over 2 km. Throughout the landing trajectory starting at altitudes of about 20 km, the Laser Altimeter can provide very accurate ground relative altitude measurements that are used to improve the vehicle position knowledge obtained from the vehicle navigation system. At altitudes from approximately 15 km to 10 km, either the Laser Altimeter or the Flash Lidar can be used to generate contour maps of the terrain, identifying known surface features such as craters, to perform Terrain relative Navigation thus further reducing the vehicle s relative position error. This paper describes the operational capabilities of each lidar sensor and provides a status of their development. Keywords: Laser Remote Sensing, Laser Radar, Doppler Lidar, Flash Lidar, 3-D Imaging, Laser Altimeter, Precession Landing, Hazard Detection

Solar-based navigation for robotic explorers

NASA Astrophysics Data System (ADS)

Shillcutt, Kimberly Jo

2000-12-01

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

Psychoanalytic theory and loving God concepts: parent referencing versus self-referencing.

PubMed

Buri, J R; Mueller, R A

1993-01-01

We investigated the relationship of college students' conceptions of the wrathfulness-kindliness of God to their parents' nurturance, their parents' permissiveness, authoritarianism, and authoritativeness, and the students' own self-esteem. Although parents' nurturance, authoritarianism, and authoritativeness were related to participants' conceptions of God (thus providing some support for psychoanalytic assertions), the variable of self-esteem far outweighed all other variables in accounting for the variance in God concepts. These results suggest that self-referencing explanations better account for individuals' conceptions of God than do parent referencing (i.e., psychoanalytic) explanations.

Criterion- Referenced Measurement; A Bibliography.

ERIC Educational Resources Information Center

Keller, Claudia Merkel

This bibliography lists selected articles, research reports, monographs, books, and reference works related to criterion-referenced measurement. It is limited primarily to material which deals directly with criterion-referenced tests and testing procedures, and includes reports on computer-assisted test construction and the adaptation of…

Self-Referencing Enhances Memory Specificity with Age

PubMed Central

Hamami, Ayala; Serbun, Sarah J.; Gutchess, Angela H.

2011-01-01

Self-referencing has been identified as an advantageous mnemonic strategy for young and older adults. However, little research has investigated the ways in which self-referencing may influence older adults’ memory for details, which is typically impaired with age, beyond memory for the item itself. Experiment 1 assessed the effects of self- and other-referencing on memory for visually detailed pictures of objects in thirty-two young and thirty-two older adults. Results indicate that self- and close other-referencing similarly enhance general (item) and specific (detail) recognition for both young and older adults relative to the distant other condition. Experiment 2 extended these findings to source memory, with young and older adults encoding verbal information in self-referent, semantic, and structural conditions. Findings suggest that self-referencing provides an age-equivalent boost in general memory and specific memory for specific source details. We conclude that the mnemonic benefits of referencing the self extend to specific memory for visual and verbal information across the lifespan. PMID:21480719

Criterion-Referenced Testing in Foreign Language Teaching.

ERIC Educational Resources Information Center

Takala, Sauli

A review of literature serves as the basis for a discussion of various aspects of criterion-referenced tests. The aspects discussed are: teaching and evaluation objectives, criterion- and norm-referenced measurement, stages in construction of criterion-referenced tests, construction and selection of items, test validity, and test reliability.…

Criterion vs. Norm-referenced Testing.

ERIC Educational Resources Information Center

Pimsleur, Paul

1975-01-01

A norm-referenced evaluation system, which evaluates the student in comparison to his peers, is rejected in favor of a criterion-referenced system. The latter, which rates the performance of a student on an absolute standard, makes for an individualized approach. Two kinds of tests are distinguished, the formative, administered during the course…

Airborne gravimetry, altimetry, and GPS navigation errors

NASA Technical Reports Server (NTRS)

Colombo, Oscar L.

1992-01-01

Proper interpretation of airborne gravimetry and altimetry requires good knowledge of aircraft trajectory. Recent advances in precise navigation with differential GPS have made it possible to measure gravity from the air with accuracies of a few milligals, and to obtain altimeter profiles of terrain or sea surface correct to one decimeter. These developments are opening otherwise inaccessible regions to detailed geophysical mapping. Navigation with GPS presents some problems that grow worse with increasing distance from a fixed receiver: the effect of errors in tropospheric refraction correction, GPS ephemerides, and the coordinates of the fixed receivers. Ionospheric refraction and orbit error complicate ambiguity resolution. Optimal navigation should treat all error sources as unknowns, together with the instantaneous vehicle position. To do so, fast and reliable numerical techniques are needed: efficient and stable Kalman filter-smoother algorithms, together with data compression and, sometimes, the use of simplified dynamics.

Quality of Internet information in pediatric otolaryngology: a comparison of three most referenced websites.

PubMed

Volsky, Peter G; Baldassari, Cristina M; Mushti, Sirisha; Derkay, Craig S

2012-09-01

Patients commonly refer to Internet health-related information. To date, no quantitative comparison of the accuracy and readability of common diagnoses in Pediatric Otolaryngology exist. (1) identify the three most frequently referenced Internet sources; (2) compare the content accuracy and (3) ascertain user-friendliness of each site; (4) inform practitioners and patients of the quality of available information. Twenty-four diagnoses in pediatric otolaryngology were entered in Google and the top five URLs for each were ranked. Articles were accessed for each topic in the three most frequently referenced sites. Standard rubrics were developed to include proprietary scores for content, errors, navigability, and validated metrics of readability. Wikipedia, eMedicine, and NLM/NIH MedlinePlus were the most referenced sources. For content accuracy, eMedicine scored highest (84%; p<0.05) over MedlinePlus (49%) and Wikipedia (46%). The highest incidence of errors and omissions per article was found in Wikipedia (0.98±0.19), twice more than eMedicine (0.42±0.19; p<0.05). Errors were similar between MedlinePlus and both eMedicine and Wikipedia. On ratings for user interface, which incorporated Flesch-Kinkaid Reading Level and Flesch Reading Ease, MedlinePlus was the most user-friendly (4.3±0.29). This was nearly twice that of eMedicine (2.4±0.26) and slightly greater than Wikipedia (3.7±0.3). All differences were significant (p<0.05). There were 7 topics for which articles were not available on MedlinePlus. Knowledge of the quality of available information on the Internet improves pediatric otolaryngologists' ability to counsel parents. The top web search results for pediatric otolaryngology diagnoses are Wikipedia, MedlinePlus, and eMedicine. Online information varies in quality, with a 46-84% concordance with current textbooks. eMedicine has the most accurate, comprehensive content and fewest errors, but is more challenging to read and navigate. Both Wikipedia and

Improved geomagnetic referencing in the Arctic environment

USGS Publications Warehouse

Poedjono, B.; Beck, N.; Buchanan, A. C.; Borri, L.; Maus, S.; Finn, Carol; Worthington, E. William; White, Tim

2016-01-01

Geomagnetic referencing uses the Earth’s magnetic field to determine accurate wellbore positioning essential for success in today's complex drilling programs, either as an alternative or a complement to north-seeking gyroscopic referencing. However, fluctuations in the geomagnetic field, especially at high latitudes, make the application of geomagnetic referencing in those areas more challenging. Precise crustal mapping and the monitoring of real-time variations by nearby magnetic observatories is crucial to achieving the required geomagnetic referencing accuracy. The Deadhorse Magnetic Observatory (DED), located at Prudhoe Bay, Alaska, has already played a vital role in the success of several commercial ventures in the area, providing essential, accurate, real-time data to the oilfield drilling industry. Geomagnetic referencing is enhanced with real-time data from DED and other observatories, and has been successfully used for accurate wellbore positioning. The availability of real-time geomagnetic measurements leads to significant cost and time savings in wellbore surveying, improving accuracy and alleviating the need for more expensive surveying techniques. The correct implementation of geomagnetic referencing is particularly critical as we approach the increased activity associated with the upcoming maximum of the 11-year solar cycle. The DED observatory further provides an important service to scientific communities engaged in studies of ionospheric, magnetospheric and space weather phenomena.

Referencing web pages and e-journals.

PubMed

Bryson, David

2013-12-01

One of the areas that can confuse students and authors alike is how to reference web pages and electronic journals (e-journals). The aim of this professional development article is to go back to first principles for referencing and see how with examples these should be referenced.

Reactive navigation for autonomous guided vehicle using neuro-fuzzy techniques

NASA Astrophysics Data System (ADS)

Cao, Jin; Liao, Xiaoqun; Hall, Ernest L.

1999-08-01

A Neuro-fuzzy control method for navigation of an Autonomous Guided Vehicle robot is described. Robot navigation is defined as the guiding of a mobile robot to a desired destination or along a desired path in an environment characterized by as terrain and a set of distinct objects, such as obstacles and landmarks. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Neural network and fuzzy logic control techniques can improve real-time control performance for mobile robot due to its high robustness and error-tolerance ability. For a mobile robot to navigate automatically and rapidly, an important factor is to identify and classify mobile robots' currently perceptual environment. In this paper, a new approach of the current perceptual environment feature identification and classification, which are based on the analysis of the classifying neural network and the Neuro- fuzzy algorithm, is presented. The significance of this work lies in the development of a new method for mobile robot navigation.

On-board computational efficiency in real time UAV embedded terrain reconstruction

NASA Astrophysics Data System (ADS)

Partsinevelos, Panagiotis; Agadakos, Ioannis; Athanasiou, Vasilis; Papaefstathiou, Ioannis; Mertikas, Stylianos; Kyritsis, Sarantis; Tripolitsiotis, Achilles; Zervos, Panagiotis

2014-05-01

In the last few years, there is a surge of applications for object recognition, interpretation and mapping using unmanned aerial vehicles (UAV). Specifications in constructing those UAVs are highly diverse with contradictory characteristics including cost-efficiency, carrying weight, flight time, mapping precision, real time processing capabilities, etc. In this work, a hexacopter UAV is employed for near real time terrain mapping. The main challenge addressed is to retain a low cost flying platform with real time processing capabilities. The UAV weight limitation affecting the overall flight time, makes the selection of the on-board processing components particularly critical. On the other hand, surface reconstruction, as a computational demanding task, calls for a highly demanding processing unit on board. To merge these two contradicting aspects along with customized development, a System on a Chip (SoC) integrated circuit is proposed as a low-power, low-cost processor, which natively supports camera sensors and positioning and navigation systems. Modern SoCs, such as Omap3530 or Zynq, are classified as heterogeneous devices and provide a versatile platform, allowing access to both general purpose processors, such as the ARM11, as well as specialized processors, such as a digital signal processor and floating field-programmable gate array. A UAV equipped with the proposed embedded processors, allows on-board terrain reconstruction using stereo vision in near real time. Furthermore, according to the frame rate required, additional image processing may concurrently take place, such as image rectification andobject detection. Lastly, the onboard positioning and navigation (e.g., GNSS) chip may further improve the quality of the generated map. The resulting terrain maps are compared to ground truth geodetic measurements in order to access the accuracy limitations of the overall process. It is shown that with our proposed novel system,there is much potential in

Mapping Nearby Terrain in 3D by Use of a Grid of Laser Spots

NASA Technical Reports Server (NTRS)

Padgett, Curtis; Liebe, Carl; Chang, Johnny; Brown, Kenneth

2007-01-01

A proposed optoelectronic system, to be mounted aboard an exploratory robotic vehicle, would be used to generate a three-dimensional (3D) map of nearby terrain and obstacles for purposes of navigating the vehicle across the terrain and avoiding the obstacles. The difference between this system and the other systems would lie in the details of implementation. In this system, the illumination would be provided by a laser. The beam from the laser would pass through a two-dimensional diffraction grating, which would divide the beam into multiple beams propagating in different, fixed, known directions. These beams would form a grid of bright spots on the nearby terrain and obstacles. The centroid of each bright spot in the image would be computed. For each such spot, the combination of (1) the centroid, (2) the known direction of the light beam that produced the spot, and (3) the known baseline would constitute sufficient information for calculating the 3D position of the spot.

Comparison of baseline-referenced versus norm-referenced analytical approaches for in-theatre assessment of mild traumatic brain injury neurocognitive impairment.

PubMed

Haran, F Jay; Dretsch, Michael N; Slaboda, Jill C; Johnson, Dagny E; Adam, Octavian R; Tsao, Jack W

2016-01-01

To examine differences between the baseline-referenced and norm-referenced approaches for determining decrements in Automated Neuropsychological Assessment Metrics Version 4 TBI-MIL (ANAM) performance following mild traumatic brain injury (mTBI). ANAM data were reviewed for 616 US Service members, with 528 of this sample having experienced an mTBI and 88 were controls. Post-injury change scores were calculated for each sub-test: (1) normative change score = in-theater score - normative mean and (2) baseline change score = in-theater score - pre-deployment baseline. Reliable change cut-scores were applied to the change and the resulting frequency distributions were compared using McNemar tests. Receiver operator curves (ROC) using both samples (i.e. mTBI and control) were calculated for the change scores for each approach to determine the discriminate ability of the ANAM. There were no statistical differences, p < 0.05 (Bonferonni-Holm corrected), between the approaches. When the area under the curve for the ROCs were averaged across sub-tests, there were no significant differences between either the norm-referenced (0.65) or baseline-referenced (0.66) approaches, p > 0.05. Overall, the findings suggest there is no clear advantage of using the baseline-referenced approach over norm-referenced approach.

Flight Simulator Evaluation of Synthetic Vision Display Concepts to Prevent Controlled Flight Into Terrain (CFIT)

NASA Technical Reports Server (NTRS)

Arthur, Jarvis J., III; Prinzel, Lawrence J., III; Kramer, Lynda J.; Parrish, Russell V.; Bailey, Randall E.

2004-01-01

In commercial aviation, over 30-percent of all fatal accidents worldwide are categorized as Controlled Flight Into Terrain (CFIT) accidents, where a fully functioning airplane is inadvertently flown into the ground. The major hypothesis for a simulation experiment conducted at NASA Langley Research Center was that a Primary Flight Display (PFD) with synthetic terrain will improve pilots ability to detect and avoid potential CFITs compared to conventional instrumentation. All display conditions, including the baseline, contained a Terrain Awareness and Warning System (TAWS) and Vertical Situation Display (VSD) enhanced Navigation Display (ND). Each pilot flew twenty-two approach departure maneuvers in Instrument Meteorological Conditions (IMC) to the terrain challenged Eagle County Regional Airport (EGE) in Colorado. For the final run, flight guidance cues were altered such that the departure path went into terrain. All pilots with a synthetic vision system (SVS) PFD (twelve of sixteen pilots) noticed and avoided the potential CFIT situation. The four pilots who flew the anomaly with the conventional baseline PFD configuration (which included a TAWS and VSD enhanced ND) had a CFIT event. Additionally, all the SVS display concepts enhanced the pilot s situational awareness, decreased workload and improved flight technical error (FTE) compared to the baseline configuration.

Using Grid Cells for Navigation.

PubMed

Bush, Daniel; Barry, Caswell; Manson, Daniel; Burgess, Neil

2015-08-05

Mammals are able to navigate to hidden goal locations by direct routes that may traverse previously unvisited terrain. Empirical evidence suggests that this "vector navigation" relies on an internal representation of space provided by the hippocampal formation. The periodic spatial firing patterns of grid cells in the hippocampal formation offer a compact combinatorial code for location within large-scale space. Here, we consider the computational problem of how to determine the vector between start and goal locations encoded by the firing of grid cells when this vector may be much longer than the largest grid scale. First, we present an algorithmic solution to the problem, inspired by the Fourier shift theorem. Second, we describe several potential neural network implementations of this solution that combine efficiency of search and biological plausibility. Finally, we discuss the empirical predictions of these implementations and their relationship to the anatomy and electrophysiology of the hippocampal formation. Copyright © 2015 The Authors. Published by Elsevier Inc. All rights reserved.

Self-Referenced Processing, Neurodevelopment and Joint Attention in Autism

ERIC Educational Resources Information Center

Mundy, Peter; Gwaltney, Mary; Henderson, Heather

2010-01-01

This article describes a parallel and distributed processing model (PDPM) of joint attention, self-referenced processing and autism. According to this model, autism involves early impairments in the capacity for rapid, integrated processing of self-referenced (proprioceptive and interoceptive) and other-referenced (exteroceptive) information.…

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

NASA Technical Reports Server (NTRS)

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

2004-01-01

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

Fully autonomous navigation for the NASA cargo transfer vehicle

NASA Technical Reports Server (NTRS)

Wertz, James R.; Skulsky, E. David

1991-01-01

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

76 FR 64859 - Pilot Loading of Navigation and Terrain Awareness Database Updates

Federal Register 2010, 2011, 2012, 2013, 2014

2011-10-19

... category the task of updating databases used in self-contained, front-panel or pedestal-mounted navigation... Rule This rulemaking would allow pilots of all certificated aircraft equipped with self-contained... verification, or by errors in ATC assignments which may occur during redirection of the flight. Both types of...

Velocity, water-quality, and bathymetric surveys of the Grays Landing and Maxwell Navigation Pools, and Selected Tributaries to the Monongahela River, Pennsylvania, 2010–11

USGS Publications Warehouse

Hoffman, Scott A.; Roland, Mark A.; Schalk, Luther F.; Fulton, John W.

2013-01-01

The U.S. Geological Survey (USGS) conducted velocity, water-quality, and bathymetric surveys from spring 2010 to summer 2011 in the Grays Landing and Maxwell navigation pools of the Monongahela River, Pennsylvania, and selected tributaries in response to elevated levels of total dissolved solids (TDS) recorded in early September 2009. Velocity data were collected using an Acoustic Doppler Current Profiler. Water-quality surveys included the in-situ collection of specific-conductance, water-temperature, and turbidity data using a water-quality sonde. Additionally, discrete water samples were collected and analyzed for TDS, chloride, and sulfate. Bathymetric data were collected using an echo sounder, and the shoreline was delineated using a laser range finder and electronic compass. The data were geo-referenced using a differential global positioning system and navigational software. Horizontal (x, y) coordinates were referenced to the North American Datum of 1983. Depth (z) elevations were referenced to the North American Vertical Datum of 1988. The data are provided in electronic format (appendix 1) and may be downloaded and can be used in a geographic information system for cartographic display and data analysis.

17 CFR 151.3 - Spot months for Referenced Contracts.

Code of Federal Regulations, 2014 CFR

2014-04-01

... Referenced Futures Contract for the ICE Futures U.S. Sugar No. 11 (SB) Referenced Contract; (3) At the close... delivery period in the underlying Core Referenced Futures Contract for the ICE Futures U.S. Sugar No. 16... Exchange Light Sweet Crude Oil (CL) contract; (2) New York Mercantile Exchange New York Harbor No. 2...

Reactive, Safe Navigation for Lunar and Planetary Robots

NASA Technical Reports Server (NTRS)

Utz, Hans; Ruland, Thomas

2008-01-01

When humans return to the moon, Astronauts will be accompanied by robotic helpers. Enabling robots to safely operate near astronauts on the lunar surface has the potential to significantly improve the efficiency of crew surface operations. Safely operating robots in close proximity to astronauts on the lunar surface requires reactive obstacle avoidance capabilities not available on existing planetary robots. In this paper we present work on safe, reactive navigation using a stereo based high-speed terrain analysis and obstacle avoidance system. Advances in the design of the algorithms allow it to run terrain analysis and obstacle avoidance algorithms at full frame rate (30Hz) on off the shelf hardware. The results of this analysis are fed into a fast, reactive path selection module, enforcing the safety of the chosen actions. The key components of the system are discussed and test results are presented.

A location referencing system to support data integration

DOT National Transportation Integrated Search

1997-05-01

An investigation of South Dakota Department of Transportation (SDDOT) location referencing practices and procedures identified the functional requirements of and specific changes that should be implemented to establish a standard location referencing...

Perception system and functions for autonomous navigation in a natural environment

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

10 CFR 434.103 - Referenced standards (RS).

Code of Federal Regulations, 2011 CFR

2011-01-01

... 10 Energy 3 2011-01-01 2011-01-01 false Referenced standards (RS). 434.103 Section 434.103 Energy DEPARTMENT OF ENERGY ENERGY CONSERVATION ENERGY CODE FOR NEW FEDERAL COMMERCIAL AND MULTI-FAMILY HIGH RISE RESIDENTIAL BUILDINGS Administration and Enforcement-General § 434.103 Referenced standards (RS). 103.1The...

10 CFR 434.103 - Referenced standards (RS).

Code of Federal Regulations, 2010 CFR

2010-01-01

... 10 Energy 3 2010-01-01 2010-01-01 false Referenced standards (RS). 434.103 Section 434.103 Energy DEPARTMENT OF ENERGY ENERGY CONSERVATION ENERGY CODE FOR NEW FEDERAL COMMERCIAL AND MULTI-FAMILY HIGH RISE RESIDENTIAL BUILDINGS Administration and Enforcement-General § 434.103 Referenced standards (RS). 103.1The...

A Rationale for Criterion-Referenced Proficiency Testing

ERIC Educational Resources Information Center

Clifford, Ray

2016-01-01

This article summarizes some of the technical issues that add to the complexity of language testing. It focuses in particular on the criterion-referenced nature of the ACTFL Proficiency Guidelines-Speaking; and it proposes a criterion-referenced interpretation of the ACTFL guidelines for reading and listening. It then demonstrates how using…

Horizon Based Orientation Estimation for Planetary Surface Navigation

NASA Technical Reports Server (NTRS)

Bouyssounouse, X.; Nefian, A. V.; Deans, M.; Thomas, A.; Edwards, L.; Fong, T.

2016-01-01

Planetary rovers navigate in extreme environments for which a Global Positioning System (GPS) is unavailable, maps are restricted to relatively low resolution provided by orbital imagery, and compass information is often lacking due to weak or not existent magnetic fields. However, an accurate rover localization is particularly important to achieve the mission success by reaching the science targets, avoiding negative obstacles visible only in orbital maps, and maintaining good communication connections with ground. This paper describes a horizon solution for precise rover orientation estimation. The detected horizon in imagery provided by the on board navigation cameras is matched with the horizon rendered over the existing terrain model. The set of rotation parameters (roll, pitch yaw) that minimize the cost function between the two horizon curves corresponds to the rover estimated pose.

Honeybee Odometry: Performance in Varying Natural Terrain

PubMed Central

Tautz, Juergen; Zhang, Shaowu; Spaethe, Johannes; Brockmann, Axel; Si, Aung

2004-01-01

Recent studies have shown that honeybees flying through short, narrow tunnels with visually textured walls perform waggle dances that indicate a much greater flight distance than that actually flown. These studies suggest that the bee's “odometer” is driven by the optic flow (image motion) that is experienced during flight. One might therefore expect that, when bees fly to a food source through a varying outdoor landscape, their waggle dances would depend upon the nature of the terrain experienced en route. We trained honeybees to visit feeders positioned along two routes, each 580 m long. One route was exclusively over land. The other was initially over land, then over water and, finally, again over land. Flight over water resulted in a significantly flatter slope of the waggle-duration versus distance regression, compared to flight over land. The mean visual contrast of the scenes was significantly greater over land than over water. The results reveal that, in outdoor flight, the honeybee's odometer does not run at a constant rate; rather, the rate depends upon the properties of the terrain. The bee's perception of distance flown is therefore not absolute, but scene-dependent. These findings raise important and interesting questions about how these animals navigate reliably. PMID:15252454

Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual Localisation

NASA Technical Reports Server (NTRS)

Laubach, Sharon L.; Olson, Clark F.; Burdick, Joel W.; Hayati, Samad

1999-01-01

The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain.

Self-referencing Taper Curves for Loblolly Pine

Treesearch

Mike Strub; Chris Cieszewski; David Hyink

2005-01-01

We compare the traditional fitting of relative diameter over relative height with methods based on self-referencing functions and stochastic parameter estimation using data collected by the Virginia Polytechnic Institute and State University Growth and Yield Cooperative. Two sets of self-referencing equations assume known diameter at 4.5 feet inside (dib) and outside (...

Effect of EEG Referencing Methods on Auditory Mismatch Negativity

PubMed Central

Mahajan, Yatin; Peter, Varghese; Sharma, Mridula

2017-01-01

Auditory event-related potentials (ERPs) have consistently been used in the investigation of auditory and cognitive processing in the research and clinical laboratories. There is currently no consensus on the choice of appropriate reference for auditory ERPs. The most commonly used references in auditory ERP research are the mathematically linked-mastoids (LM) and average referencing (AVG). Since LM and AVG referencing procedures do not solve the issue of electrically-neutral reference, Reference Electrode Standardization Technique (REST) was developed to create a neutral reference for EEG recordings. The aim of the current research is to compare the influence of the reference on amplitude and latency of auditory mismatch negativity (MMN) as a function of magnitude of frequency deviance across three commonly used electrode montages (16, 32, and 64-channel) using REST, LM, and AVG reference procedures. The current study was designed to determine if the three reference methods capture the variation in amplitude and latency of MMN with the deviance magnitude. We recorded MMN from 12 normal hearing young adults in an auditory oddball paradigm with 1,000 Hz pure tone as standard and 1,030, 1,100, and 1,200 Hz as small, medium and large frequency deviants, respectively. The EEG data recorded to these sounds was re-referenced using REST, LM, and AVG methods across 16-, 32-, and 64-channel EEG electrode montages. Results revealed that while the latency of MMN decreased with increment in frequency of deviant sounds, no effect of frequency deviance was present for amplitude of MMN. There was no effect of referencing procedure on the experimental effect tested. The amplitude of MMN was largest when the ERP was computed using LM referencing and the REST referencing produced the largest amplitude of MMN for 64-channel montage. There was no effect of electrode-montage on AVG referencing induced ERPs. Contrary to our predictions, the results suggest that the auditory MMN elicited

Multi-Purpose Avionic Architecture for Vision Based Navigation Systems for EDL and Surface Mobility Scenarios

NASA Astrophysics Data System (ADS)

Tramutola, A.; Paltro, D.; Cabalo Perucha, M. P.; Paar, G.; Steiner, J.; Barrio, A. M.

2015-09-01

Vision Based Navigation (VBNAV) has been identified as a valid technology to support space exploration because it can improve autonomy and safety of space missions. Several mission scenarios can benefit from the VBNAV: Rendezvous & Docking, Fly-Bys, Interplanetary cruise, Entry Descent and Landing (EDL) and Planetary Surface exploration. For some of them VBNAV can improve the accuracy in state estimation as additional relative navigation sensor or as absolute navigation sensor. For some others, like surface mobility and terrain exploration for path identification and planning, VBNAV is mandatory. This paper presents the general avionic architecture of a Vision Based System as defined in the frame of the ESA R&T study “Multi-purpose Vision-based Navigation System Engineering Model - part 1 (VisNav-EM-1)” with special focus on the surface mobility application.

Identifying opportune landing sites in degraded visual environments with terrain and cultural databases

NASA Astrophysics Data System (ADS)

Moody, Marc; Fisher, Robert; Little, J. Kristin

2014-06-01

Boeing has developed a degraded visual environment navigational aid that is flying on the Boeing AH-6 light attack helicopter. The navigational aid is a two dimensional software digital map underlay generated by the Boeing™ Geospatial Embedded Mapping Software (GEMS) and fully integrated with the operational flight program. The page format on the aircraft's multi function displays (MFD) is termed the Approach page. The existing work utilizes Digital Terrain Elevation Data (DTED) and OpenGL ES 2.0 graphics capabilities to compute the pertinent graphics underlay entirely on the graphics processor unit (GPU) within the AH-6 mission computer. The next release will incorporate cultural databases containing Digital Vertical Obstructions (DVO) to warn the crew of towers, buildings, and power lines when choosing an opportune landing site. Future IRAD will include Light Detection and Ranging (LIDAR) point cloud generating sensors to provide 2D and 3D synthetic vision on the final approach to the landing zone. Collision detection with respect to terrain, cultural, and point cloud datasets may be used to further augment the crew warning system. The techniques for creating the digital map underlay leverage the GPU almost entirely, making this solution viable on most embedded mission computing systems with an OpenGL ES 2.0 capable GPU. This paper focuses on the AH-6 crew interface process for determining a landing zone and flying the aircraft to it.

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

NASA Technical Reports Server (NTRS)

Krozel, James A.

1988-01-01

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

Terrain types and local-scale stratigraphy of grooved terrain on ganymede

NASA Technical Reports Server (NTRS)

Murchie, Scott L.; Head, James W.; Helfenstein, Paul; Plescia, Jeffrey B.

1986-01-01

Grooved terrain is subdivided on the basis of pervasive morphology into: (1) groove lanes - elongate parallel groove bands, (2) grooved polygons - polygonal domains of parallel grooves, (3) reticulate terrain - polygonal domains of orthogonal grooves, and (4) complex grooved terrain - polygons with several complexly cross-cutting groove sets. Detailed geologic mapping of select areas, employing previously established conventions for determining relative age relations, reveals a general three-stage sequence of grooved terrain emplacement: first, dissection of the lithosphere by throughgoing grooves, and pervasive deformation of intervening blocks; second, extensive flooding and continued deformation of the intervening blocks; third, repeated superposition of groove lanes concentrated at sites of initial throughgoing grooves. This sequence is corroborated by crater-density measurements. Dominant orientations of groove sets are parallel to relict zones of weakness that probably were reactivated during grooved terrain formation. Groove lane morphology and development consistent with that predicted for passive rifts suggests a major role of global expansion in grooved terrain formation.

System for real-time generation of georeferenced terrain models

NASA Astrophysics Data System (ADS)

Schultz, Howard J.; Hanson, Allen R.; Riseman, Edward M.; Stolle, Frank; Zhu, Zhigang; Hayward, Christopher D.; Slaymaker, Dana

2001-02-01

A growing number of law enforcement applications, especially in the areas of border security, drug enforcement and anti- terrorism require high-resolution wide area surveillance from unmanned air vehicles. At the University of Massachusetts we are developing an aerial reconnaissance system capable of generating high resolution, geographically registered terrain models (in the form of a seamless mosaic) in real-time from a single down-looking digital video camera. The efficiency of the processing algorithms, as well as the simplicity of the hardware, will provide the user with the ability to produce and roam through stereoscopic geo-referenced mosaic images in real-time, and to automatically generate highly accurate 3D terrain models offline in a fraction of the time currently required by softcopy conventional photogrammetry systems. The system is organized around a set of integrated sensor and software components. The instrumentation package is comprised of several inexpensive commercial-off-the-shelf components, including a digital video camera, a differential GPS, and a 3-axis heading and reference system. At the heart of the system is a set of software tools for image registration, mosaic generation, geo-location and aircraft state vector recovery. Each process is designed to efficiently handle the data collected by the instrument package. Particular attention is given to minimizing geospatial errors at each stage, as well as modeling propagation of errors through the system. Preliminary results for an urban and forested scene are discussed in detail.

Optimal multiguidance integration in insect navigation.

PubMed

Hoinville, Thierry; Wehner, Rüdiger

2018-03-13

In the last decades, desert ants have become model organisms for the study of insect navigation. In finding their way, they use two major navigational routines: path integration using a celestial compass and landmark guidance based on sets of panoramic views of the terrestrial environment. It has been claimed that this information would enable the insect to acquire and use a centralized cognitive map of its foraging terrain. Here, we present a decentralized architecture, in which the concurrently operating path integration and landmark guidance routines contribute optimally to the directions to be steered, with "optimal" meaning maximizing the certainty (reliability) of the combined information. At any one time during its journey, the animal computes a path integration (global) vector and landmark guidance (local) vector, in which the length of each vector is proportional to the certainty of the individual estimates. Hence, these vectors represent the limited knowledge that the navigator has at any one place about the direction of the goal. The sum of the global and local vectors indicates the navigator's optimal directional estimate. Wherever applied, this decentralized model architecture is sufficient to simulate the results of quite a number of diverse cue-conflict experiments, which have recently been performed in various behavioral contexts by different authors in both desert ants and honeybees. They include even those experiments that have deliberately been designed by former authors to strengthen the evidence for a metric cognitive map in bees.

Teachers' Sense of Efficacy: A Self- or Norm-Referenced Construct?

ERIC Educational Resources Information Center

Ashton, Patricia; And Others

1984-01-01

Two approaches to the measurement of teacher efficacy were investigated to determine whether teachers' sense of self-efficacy is a self-referenced or norm-referenced construct. Two forms of an instrument consisting of 25 teaching problem situations were developed: one required self-referenced responses, while the other required norm-referenced…

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

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Technologies Render Views of Earth for Virtual Navigation

NASA Technical Reports Server (NTRS)

2012-01-01

On a December night in 1995, 159 passengers and crewmembers died when American Airlines Flight 965 flew into the side of a mountain while in route to Cali, Colombia. A key factor in the tragedy: The pilots had lost situational awareness in the dark, unfamiliar terrain. They had no idea the plane was approaching a mountain until the ground proximity warning system sounded an alarm only seconds before impact. The accident was of the kind most common at the time CFIT, or controlled flight into terrain says Trey Arthur, research aerospace engineer in the Crew Systems and Aviation Operations Branch at NASA s Langley Research Center. In situations such as bad weather, fog, or nighttime flights, pilots would rely on airspeed, altitude, and other readings to get an accurate sense of location. Miscalculations and rapidly changing conditions could contribute to a fully functioning, in-control airplane flying into the ground. To improve aviation safety by enhancing pilots situational awareness even in poor visibility, NASA began exploring the possibilities of synthetic vision creating a graphical display of the outside terrain on a screen inside the cockpit. How do you display a mountain in the cockpit? You have to have a graphics-powered computer, a terrain database you can render, and an accurate navigation solution, says Arthur. In the mid-1990s, developing GPS technology offered a means for determining an aircraft s position in space with high accuracy, Arthur explains. As the necessary technologies to enable synthetic vision emerged, NASA turned to an industry partner to develop the terrain graphical engine and database for creating the virtual rendering of the outside environment.

Open-Loop Flight Testing of COBALT Navigation and Sensor Technologies for Precise Soft Landing

NASA Technical Reports Server (NTRS)

Carson, John M., III; Restrepo, Caroline I.; Seubert, Carl R.; Amzajerdian, Farzin; Pierrottet, Diego F.; Collins, Steven M.; O'Neal, Travis V.; Stelling, Richard

2017-01-01

An open-loop flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) payload was conducted onboard the Masten Xodiac suborbital rocket testbed. The payload integrates two complementary sensor technologies that together provide a spacecraft with knowledge during planetary descent and landing to precisely navigate and softly touchdown in close proximity to targeted surface locations. The two technologies are the Navigation Doppler Lidar (NDL), for high-precision velocity and range measurements, and the Lander Vision System (LVS) for map-relative state esti- mates. A specialized navigation filter running onboard COBALT fuses the NDL and LVS data in real time to produce a very precise Terrain Relative Navigation (TRN) solution that is suitable for future, autonomous planetary landing systems that require precise and soft landing capabilities. During the open-loop flight campaign, the COBALT payload acquired measurements and generated a precise navigation solution, but the Xodiac vehicle planned and executed its maneuvers based on an independent, GPS-based navigation solution. This minimized the risk to the vehicle during the integration and testing of the new navigation sensing technologies within the COBALT payload.

Airborne Digital Sensor System and GPS-aided inertial technology for direct geopositioning in rough terrain

USGS Publications Warehouse

Sanchez, Richard D.

2004-01-01

High-resolution airborne digital cameras with onboard data collection based on the Global Positioning System (GPS) and inertial navigation systems (INS) technology may offer a real-time means to gather accurate topographic map information by reducing ground control and eliminating aerial triangulation. Past evaluations of this integrated system over relatively flat terrain have proven successful. The author uses Emerge Digital Sensor System (DSS) combined with Applanix Corporation?s Position and Orientation Solutions for Direct Georeferencing to examine the positional mapping accuracy in rough terrain. The positional accuracy documented in this study did not meet large-scale mapping requirements owing to an apparent system mechanical failure. Nonetheless, the findings yield important information on a new approach for mapping in Antarctica and other remote or inaccessible areas of the world.

Self-referenced processing, neurodevelopment and joint attention in autism.

PubMed

Mundy, Peter; Gwaltney, Mary; Henderson, Heather

2010-09-01

This article describes a parallel and distributed processing model (PDPM) of joint attention, self-referenced processing and autism. According to this model, autism involves early impairments in the capacity for rapid, integrated processing of self-referenced (proprioceptive and interoceptive) and other-referenced (exteroceptive) information. Measures of joint attention have proven useful in research on autism because they are sensitive to the early development of the 'parallel' and integrated processing of self- and other-referenced stimuli. Moreover, joint attention behaviors are a consequence, but also an organizer of the functional development of a distal distributed cortical system involving anterior networks including the prefrontal and insula cortices, as well as posterior neural networks including the temporal and parietal cortices. Measures of joint attention provide early behavioral indicators of atypical development in this parallel and distributed processing system in autism. In addition it is proposed that an early, chronic disturbance in the capacity for integrating self- and other-referenced information may have cascading effects on the development of self awareness in autism. The assumptions, empirical support and future research implications of this model are discussed.

Backtracking behaviour in lost ants: an additional strategy in their navigational toolkit

PubMed Central

Wystrach, Antoine; Schwarz, Sebastian; Baniel, Alice; Cheng, Ken

2013-01-01

Ants use multiple sources of information to navigate, but do not integrate all this information into a unified representation of the world. Rather, the available information appears to serve three distinct main navigational systems: path integration, systematic search and the use of learnt information—mainly via vision. Here, we report on an additional behaviour that suggests a supplemental system in the ant's navigational toolkit: ‘backtracking’. Homing ants, having almost reached their nest but, suddenly displaced to unfamiliar areas, did not show the characteristic undirected headings of systematic searches. Instead, these ants backtracked in the compass direction opposite to the path that they had just travelled. The ecological function of this behaviour is clear as we show it increases the chances of returning to familiar terrain. Importantly, the mechanistic implications of this behaviour stress an extra level of cognitive complexity in ant navigation. Our results imply: (i) the presence of a type of ‘memory of the current trip’ allowing lost ants to take into account the familiar view recently experienced, and (ii) direct sharing of information across different navigational systems. We propose a revised architecture of the ant's navigational toolkit illustrating how the different systems may interact to produce adaptive behaviours. PMID:23966644

Oral Interpretation Performance as A Self-Referencing Process.

ERIC Educational Resources Information Center

Plax, Pamela M.

Oral interpretation utilizes the self-referencing qualities of language and literature which involves the interpreter as both actor and reader. By "self-referencing" is meant the capacity language has to express not only literal meaning but also, at the same time, the process of realization and of attitudinizing toward this meaning.…

Social referencing and cat-human communication.

PubMed

Merola, I; Lazzaroni, M; Marshall-Pescini, S; Prato-Previde, E

2015-05-01

Cats' (Felis catus) communicative behaviour towards humans was explored using a social referencing paradigm in the presence of a potentially frightening object. One group of cats observed their owner delivering a positive emotional message, whereas another group received a negative emotional message. The aim was to evaluate whether cats use the emotional information provided by their owners about a novel/unfamiliar object to guide their own behaviour towards it. We assessed the presence of social referencing, in terms of referential looking towards the owner (defined as looking to the owner immediately before or after looking at the object), the behavioural regulation based on the owner's emotional (positive vs negative) message (vocal and facial), and the observational conditioning following the owner's actions towards the object. Most cats (79 %) exhibited referential looking between the owner and the object, and also to some extent changed their behaviour in line with the emotional message given by the owner. Results are discussed in relation to social referencing in other species (dogs in particular) and cats' social organization and domestication history.

Postgraduate nursing student knowledge, attitudes, skills, and confidence in appropriately referencing academic work.

PubMed

Greenwood, Melanie; Walkem, Kerrie; Smith, Lindsay Mervyn; Shearer, Toniele; Stirling, Christine

2014-08-01

Preventing plagiarism is an ongoing issue for higher education institutions. Although plagiarism has been traditionally seen as cheating, it is increasingly thought to be the result of poor referencing, with students reporting difficulties citing and referencing bibliographic sources. This study examined the academic knowledge, attitude, skills, and confidence of students in a school of nursing to understand poor referencing. A cross-sectional quantitative and qualitative survey was distributed to postgraduate (N = 1,000) certificate, diploma, and master's students. Quantitative data gathered demographics, cultural and linguistic background, and use of technology. Thematic analysis discovered patterns and themes. Results showed participants understood requirements for referencing; half indicated poor referencing was due to difficulty referencing Internet sources or losing track of sources, and many lacked confidence in key referencing tasks. Despite this, 50% did not make use of referencing resources. Overall, these data suggest incorrect referencing is rarely intentional and predominantly caused by skills deficit. Copyright 2014, SLACK Incorporated.

Functional requirements for a comprehensive transportation location referencing system

DOT National Transportation Integrated Search

2000-06-01

Transportation agencies manage data that is referenced in one, two, three, and four dimensions. Location referencing system (LRS) data models vary across transportation agencies and often within organizations as well. This has resulted in failed atte...

Analysis of terrain map matching using multisensing techniques for applications to autonomous vehicle navigation

NASA Technical Reports Server (NTRS)

Page, Lance; Shen, C. N.

1991-01-01

This paper describes skyline-based terrain matching, a new method for locating the vantage point of laser range-finding measurements on a global map previously prepared by satellite or aerial mapping. Skylines can be extracted from the range-finding measurements and modelled from the global map, and are represented in parametric, cylindrical form with azimuth angle as the independent variable. The three translational parameters of the vantage point are determined with a three-dimensional matching of these two sets of skylines.

Terrain Park Injuries

PubMed Central

Moffat, Craig; McIntosh, Scott; Bringhurst, Jade; Danenhauer, Karen; Gilmore, Nathan; Hopkins, Christy L.

2009-01-01

Background: This study examined demographics, injury pattern, and hospital outcome in patients injured in winter resort terrain parks. Methods: The study included patients ≥12 years of age who presented to a regional trauma center with an acute injury sustained at a winter resort. Emergency department (ED) research assistants collected patient injury and helmet use information using a prospectively designed questionnaire. ED and hospital data were obtained from trauma registry and hospital records. Results: Seventy-two patients were injured in a terrain park, and 263 patients were injured on non-terrain park slopes. Patients injured in terrain parks were more likely to be male [68/72 (94%) vs. 176/263 (67%), p<0.0001], younger in age [23 ± 7 vs. 36 ± 17, p<0.0001], live locally [47/72 (65%) vs. 124/263 (47%), p=0.006], use a snowboard [50/72 (69%) vs. 91/263 (35%), p<0.0001], hold a season pass [46/66 (70%) vs. 98/253 (39%), p<0.0001], and sustain an upper extremity injury [29/72 (40%) vs. 52/263 (20%), p<0.001] when compared to patients injured on non-terrain park slopes. There were no differences between the groups in terms of EMS transport to hospital, helmet use, admission rate, hospital length of stay, and patients requiring specialty consultation in the ED. Conclusions: Patients injured in terrain parks represent a unique demographic within winter resort patrons. Injury severity appears to be similar to those patients injured on non-terrain park slopes. PMID:20046245

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

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

EISLER, G. RICHARD

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

Perception for rugged terrain

NASA Technical Reports Server (NTRS)

Kweon, In SO; Hebert, Martial; Kanade, Takeo

1989-01-01

A three-dimensional perception system for building a geometrical description of rugged terrain environments from range image data is presented with reference to the exploration of the rugged terrain of Mars. An intermediate representation consisting of an elevation map that includes an explicit representation of uncertainty and labeling of the occluded regions is proposed. The locus method used to convert range image to an elevation map is introduced, along with an uncertainty model based on this algorithm. Both the elevation map and the locus method are the basis of a terrain matching algorithm which does not assume any correspondences between range images. The two-stage algorithm consists of a feature-based matching algorithm to compute an initial transform and an iconic terrain matching algorithm to merge multiple range images into a uniform representation. Terrain modeling results on real range images of rugged terrain are presented. The algorithms considered are a fundamental part of the perception system for the Ambler, a legged locomotor.

Criterion-Referenced Measurement: Redirections.

ERIC Educational Resources Information Center

Ellett, Frederick S., Jr.

Basic issues in criterion-referenced measurement are addressed. In section II, issues involved in determining what a person does and can do are considered. A preliminary analysis of "can" is given which shows that there are several important senses of "can". In section III, results of an analysis of "ability" are…

Is the Federal Government Jumping on the Criterion-Referenced Testing Bandwagon?

ERIC Educational Resources Information Center

Buck, Lawrence S.

The increasing use of criterion referenced testing (CRT) among the various branches of the federal government is described. The requirements of the merit system have tended to promote the use of norm referenced tests except for uses such as pass/fail performance tests. The two areas in which criterion-referenced tests have been most useful are…

Analysis of Social Referencing Skills among Children with Autism

ERIC Educational Resources Information Center

Brim, Devorah; Townsend, Dawn Buffington; DeQuinzio, Jaime Ann; Poulson, Claire L.

2009-01-01

Social referencing, a form of nonverbal communication, involves seeking out discriminative stimuli provided by others about contingencies in an ambiguous context in order to respond in a manner that produces reinforcement. Although demonstrated by typically developing infants, social referencing is notably absent or impaired in individuals with…

Terrain shape estimation from optical flow, using Kalman filtering

NASA Astrophysics Data System (ADS)

Hoff, William A.; Sklair, Cheryl W.

1990-01-01

As one moves through a static environment, the visual world as projected on the retina seems to flow past. This apparent motion, called optical flow, can be an important source of depth perception for autonomous robots. An important application is in planetary exploration -the landing vehicle must find a safe landing site in rugged terrain, and an autonomous rover must be able to navigate safely through this terrain. In this paper, we describe a solution to this problem. Image edge points are tracked between frames of a motion sequence, and the range to the points is calculated from the displacement of the edge points and the known motion of the camera. Kalman filtering is used to incrementally improve the range estimates to those points, and provide an estimate of the uncertainty in each range. Errors in camera motion and image point measurement can also be modelled with Kalman filtering. A surface is then interpolated to these points, providing a complete map from which hazards such as steeply sloping areas can be detected. Using the method of extended Kalman filtering, our approach allows arbitrary camera motion. Preliminary results of an implementation are presented, and show that the resulting range accuracy is on the order of 1-2% of the range.

Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation

PubMed Central

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

2015-01-01

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

Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation.

PubMed

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

2015-07-28

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

Unifying Terrain Awareness for the Visually Impaired through Real-Time Semantic Segmentation

PubMed Central

Yang, Kailun; Wang, Kaiwei; Romera, Eduardo; Hu, Weijian; Sun, Dongming; Sun, Junwei; Cheng, Ruiqi; Chen, Tianxue; López, Elena

2018-01-01

Navigational assistance aims to help visually-impaired people to ambulate the environment safely and independently. This topic becomes challenging as it requires detecting a wide variety of scenes to provide higher level assistive awareness. Vision-based technologies with monocular detectors or depth sensors have sprung up within several years of research. These separate approaches have achieved remarkable results with relatively low processing time and have improved the mobility of impaired people to a large extent. However, running all detectors jointly increases the latency and burdens the computational resources. In this paper, we put forward seizing pixel-wise semantic segmentation to cover navigation-related perception needs in a unified way. This is critical not only for the terrain awareness regarding traversable areas, sidewalks, stairs and water hazards, but also for the avoidance of short-range obstacles, fast-approaching pedestrians and vehicles. The core of our unification proposal is a deep architecture, aimed at attaining efficient semantic understanding. We have integrated the approach in a wearable navigation system by incorporating robust depth segmentation. A comprehensive set of experiments prove the qualified accuracy over state-of-the-art methods while maintaining real-time speed. We also present a closed-loop field test involving real visually-impaired users, demonstrating the effectivity and versatility of the assistive framework. PMID:29748508

Information measures for terrain visualization

NASA Astrophysics Data System (ADS)

Bonaventura, Xavier; Sima, Aleksandra A.; Feixas, Miquel; Buckley, Simon J.; Sbert, Mateu; Howell, John A.

2017-02-01

Many quantitative and qualitative studies in geoscience research are based on digital elevation models (DEMs) and 3D surfaces to aid understanding of natural and anthropogenically-influenced topography. As well as their quantitative uses, the visual representation of DEMs can add valuable information for identifying and interpreting topographic features. However, choice of viewpoints and rendering styles may not always be intuitive, especially when terrain data are augmented with digital image texture. In this paper, an information-theoretic framework for object understanding is applied to terrain visualization and terrain view selection. From a visibility channel between a set of viewpoints and the component polygons of a 3D terrain model, we obtain three polygonal information measures. These measures are used to visualize the information associated with each polygon of the terrain model. In order to enhance the perception of the terrain's shape, we explore the effect of combining the calculated information measures with the supplementary digital image texture. From polygonal information, we also introduce a method to select a set of representative views of the terrain model. Finally, we evaluate the behaviour of the proposed techniques using example datasets. A publicly available framework for both the visualization and the view selection of a terrain has been created in order to provide the possibility to analyse any terrain model.

Robot navigation research at CESAR (Center for Engineering Systems Advanced Research)

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

Barnett, D.L.; de Saussure, G.; Pin, F.G.

1989-01-01

A considerable amount of work has been reported on the problem of robot navigation in known static terrains. Algorithms have been proposed and implemented to search for an optimum path to the goal, taking into account the finite size and shape of the robot. Not as much work has been reported on robot navigation in unknown, unstructured, or dynamic environments. A robot navigating in an unknown environment must explore with its sensors, construct an abstract representation of its global environment to plan a path to the goal, and update or revise its plan based on accumulated data obtained and processedmore » in real-time. The core of the navigation program for the CESAR robots is a production system developed on the expert-system-shell CLIPS which runs on an NCUBE hypercube on board the robot. The production system can call on C-compiled navigation procedures. The production rules can read the sensor data and address the robot's effectors. This architecture was found efficient and flexible for the development and testing of the navigation algorithms; however, in order to process intelligently unexpected emergencies, it was found necessary to be able to control the production system through externally generated asynchronous data. This led to the design of a new asynchronous production system, APS, which is now being developed on the robot. This paper will review some of the navigation algorithms developed and tested at CESAR and will discuss the need for the new APS and how it is being integrated into the robot architecture. 18 refs., 3 figs., 1 tab.« less

Geological terrain models

NASA Technical Reports Server (NTRS)

Kaupp, V. H.; Macdonald, H. C.; Waite, W. P.

1981-01-01

The initial phase of a program to determine the best interpretation strategy and sensor configuration for a radar remote sensing system for geologic applications is discussed. In this phase, terrain modeling and radar image simulation were used to perform parametric sensitivity studies. A relatively simple computer-generated terrain model is presented, and the data base, backscatter file, and transfer function for digital image simulation are described. Sets of images are presented that simulate the results obtained with an X-band radar from an altitude of 800 km and at three different terrain-illumination angles. The simulations include power maps, slant-range images, ground-range images, and ground-range images with statistical noise incorporated. It is concluded that digital image simulation and computer modeling provide cost-effective methods for evaluating terrain variations and sensor parameter changes, for predicting results, and for defining optimum sensor parameters.

Sampling in rugged terrain

USGS Publications Warehouse

Dawson, D.K.; Ralph, C. John; Scott, J. Michael

1981-01-01

Work in rugged terrain poses some unique problems that should be considered before research is initiated. Besides the obvious physical difficulties of crossing uneven terrain, topography can influence the bird species? composition of a forest and the observer's ability to detect birds and estimate distances. Census results can also be affected by the slower rate of travel on rugged terrain. Density figures may be higher than results obtained from censuses in similar habitat on level terrain because of the greater likelihood of double-recording of individuals and of recording species that sing infrequently. In selecting a census technique, the researcher should weigh the efficiency and applicability of a technique for the objectives of his study in light of the added difficulties posed by rugged terrain. The variable circular-plot method is probably the most effective technique for estimating bird numbers. Bird counts and distance estimates are facilitated because the observer is stationary, and calculations of species? densities take into account differences in effective area covered amongst stations due to variability in terrain or vegetation structure. Institution of precautions that minimize the risk of injury to field personnel can often enhance the observer?s ability to detect birds.

Differently Aged Terrain

NASA Image and Video Library

2010-07-09

NASA Cassini spacecraft examines old and new terrain on Saturn fascinating Enceladus, a moon where jets of water ice particles and vapor spew from the south pole. Newly created terrain is at the bottom, in the center and on the left of this view.

Network global navigation satellite system survey to harmonize water-surface elevation data for the Rainy River Basin

USGS Publications Warehouse

Ziegeweid, Jeffrey R.; Silliker, R. Jason; Densmore, Brenda K.; Krahulik, Justin

2016-08-15

Continuously recording water-level streamgages in Rainy Lake and Namakan Reservoir are used to regulate water levels according to rule curves established in 2000 by the International Joint Commission; however, water levels at streamgages were referenced to a variety of vertical datums, confounding efforts to model the flow of water through the system, regulate water levels during periods of high inflow, and evaluate the effectiveness of the rule curves. In October 2014, the U.S. Geological Survey, Natural Resources Canada, International Joint Commission, and National Park Service began a joint field study with the goal of obtaining precise elevations referenced to a uniform vertical datum for all reference marks used to set water levels at streamgages throughout Rainy Lake and Namakan Reservoir. This report was prepared by the U.S. Geological Survey in cooperation with Natural Resources Canada, International Joint Commission, and National Park Service.Three field crews deployed Global Navigation Satellite System receivers statically over 16 reference marks colocated with active and discontinued water-level streamgages throughout Rainy River, Rainy Lake, Namakan Reservoir, and select tributaries of Rainy Lake and Namakan Reservoir. A Global Navigation Satellite System receiver also was deployed statically over a National Geodetic Survey cooperative base network control station for use as a quality-control reference mark. Satellite data were collected simultaneously during a 5-day period and processed independently by the U.S. Geological Survey and Natural Resources Canada to obtain accurate positioning and elevations for the 17 surveyed reference marks. Processed satellite data were used to convert published water levels to elevations above sea level referenced to the Canadian Geodetic Vertical Datum of 2013 in order to compare water-surface elevations referenced to a uniform vertical datum throughout the study area. In this report, an “offset” refers to the

Tele-Operated Lunar Rover Navigation Using Lidar

NASA Technical Reports Server (NTRS)

Pedersen, Liam; Allan, Mark B.; Utz, Hans, Heinrich; Deans, Matthew C.; Bouyssounouse, Xavier; Choi, Yoonhyuk; Fluckiger, Lorenzo; Lee, Susan Y.; To, Vinh; Loh, Jonathan;

Parameter estimation for terrain modeling from gradient data. [navigation system for Martian rover

NASA Technical Reports Server (NTRS)

Dangelo, K. R.

1974-01-01

A method is developed for modeling terrain surfaces for use on an unmanned Martian roving vehicle. The modeling procedure employs a two-step process which uses gradient as well as height data in order to improve the accuracy of the model's gradient. Least square approximation is used in order to stochastically determine the parameters which describe the modeled surface. A complete error analysis of the modeling procedure is included which determines the effect of instrumental measurement errors on the model's accuracy. Computer simulation is used as a means of testing the entire modeling process which includes the acquisition of data points, the two-step modeling process and the error analysis. Finally, to illustrate the procedure, a numerical example is included.

17 CFR 151.3 - Spot months for Referenced Contracts.

Code of Federal Regulations, 2013 CFR

2013-04-01

... Contract for the ICE Futures U.S. Sugar No. 11 (SB) Referenced Contract; (3) At the close of business on... in the underlying Core Referenced Futures Contract for the ICE Futures U.S. Sugar No. 16 (SF... Exchange Light Sweet Crude Oil (CL) contract; (2) New York Mercantile Exchange New York Harbor No. 2...

17 CFR 151.3 - Spot months for Referenced Contracts.

Code of Federal Regulations, 2012 CFR

2012-04-01

... Contract for the ICE Futures U.S. Sugar No. 11 (SB) Referenced Contract; (3) At the close of business on... in the underlying Core Referenced Futures Contract for the ICE Futures U.S. Sugar No. 16 (SF... Exchange Light Sweet Crude Oil (CL) contract; (2) New York Mercantile Exchange New York Harbor No. 2...

Complete Scene Recovery and Terrain Classification in Textured Terrain Meshes

PubMed Central

Song, Wei; Cho, Kyungeun; Um, Kyhyun; Won, Chee Sun; Sim, Sungdae

2012-01-01

Terrain classification allows a mobile robot to create an annotated map of its local environment from the three-dimensional (3D) and two-dimensional (2D) datasets collected by its array of sensors, including a GPS receiver, gyroscope, video camera, and range sensor. However, parts of objects that are outside the measurement range of the range sensor will not be detected. To overcome this problem, this paper describes an edge estimation method for complete scene recovery and complete terrain reconstruction. Here, the Gibbs-Markov random field is used to segment the ground from 2D videos and 3D point clouds. Further, a masking method is proposed to classify buildings and trees in a terrain mesh. PMID:23112653

Volunteers Oriented Interface Design for the Remote Navigation of Rescue Robots at Large-Scale Disaster Sites

NASA Astrophysics Data System (ADS)

Yang, Zhixiao; Ito, Kazuyuki; Saijo, Kazuhiko; Hirotsune, Kazuyuki; Gofuku, Akio; Matsuno, Fumitoshi

This paper aims at constructing an efficient interface being similar to those widely used in human daily life, to fulfill the need of many volunteer rescuers operating rescue robots at large-scale disaster sites. The developed system includes a force feedback steering wheel interface and an artificial neural network (ANN) based mouse-screen interface. The former consists of a force feedback steering control and a six monitors’ wall. It provides a manual operation like driving cars to navigate a rescue robot. The latter consists of a mouse and a camera’s view displayed in a monitor. It provides a semi-autonomous operation by mouse clicking to navigate a rescue robot. Results of experiments show that a novice volunteer can skillfully navigate a tank rescue robot through both interfaces after 20 to 30 minutes of learning their operation respectively. The steering wheel interface has high navigating speed in open areas, without restriction of terrains and surface conditions of a disaster site. The mouse-screen interface is good at exact navigation in complex structures, while bringing little tension to operators. The two interfaces are designed to switch into each other at any time to provide a combined efficient navigation method.

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.

Helping me, helping you: self-referencing and gender roles in donor advertising.

PubMed

Hupfer, M E

2006-06-01

Donor advertising typically emphasizes altruism, but an appeal to individual self-interest may be more effective in heightening blood donation intentions among youthful nondonors. A total of 292 undergraduate business students at a Canadian university provided complete data in response to a between-subjects full-factorial advertising experiment with sex, self-referencing, and message strategy factors. Self-referencing, or mental processing that links information to the self-concept, was elicited at either a low or moderate level, whereas the message strategy was either agentic (donate blood because you may need it yourself) or communal (donate blood because someone close to you may need it). Dependent variables included identification with the ad, donation intentions, and a discrimination measure of recognition memory. A three-way interaction among sex, self-referencing level (low or moderate), and message (agentic or communal) was found. Two-way self-referencing by message graphs of donation intentions and ad identification showed a parallel structure for males in that their responses were generally more favorable when self-referencing was at a moderate level, regardless of the message type. Among women, however, crossover interactions between the level of self-referencing and the message type (agentic vs. communal) were observed, such that the message's effect differed with the level of self-referencing. For both men and women, the agentic message was more effective than communal ad copy when a moderate level of self-referencing was achieved. Collection agencies should consider appealing to young nondonors by suggesting that they give blood to make it available for themselves if required.

Fusing terrain and goals: agent control in urban environments

NASA Astrophysics Data System (ADS)

Kaptan, Varol; Gelenbe, Erol

2006-04-01

The changing face of contemporary military conflicts has forced a major shift of focus in tactical planning and evaluation from the classical Cold War battlefield to an asymmetric guerrilla-type warfare in densely populated urban areas. The new arena of conflict presents unique operational difficulties due to factors like complex mobility restrictions and the necessity to preserve civilian lives and infrastructure. In this paper we present a novel method for autonomous agent control in an urban environment. Our approach is based on fusing terrain information and agent goals for the purpose of transforming the problem of navigation in a complex environment with many obstacles into the easier problem of navigation in a virtual obstacle-free space. The main advantage of our approach is its ability to act as an adapter layer for a number of efficient agent control techniques which normally show poor performance when applied to an environment with many complex obstacles. Because of the very low computational and space complexity at runtime, our method is also particularly well suited for simulation or control of a huge number of agents (military as well as civilian) in a complex urban environment where traditional path-planning may be too expensive or where a just-in-time decision with hard real-time constraints is required.

[epiDRB--a new minimally invasive concept for referencing in the field of computer-assisted orthopaedic surgery].

PubMed

Ohnsorge, J A K; Weisskopf, M; Siebert, C H

2005-01-01

Optoelectronic navigation for computer-assisted orthopaedic surgery (CAOS) is based on a firm connection of bone with passive reflectors or active light-emitting diodes in a specific three-dimensional pattern. Even a so-called "minimally-invasive" dynamic reference base (DRB) requires fixation with screws or clamps via incision of the skin. Consequently an originally percutaneous intervention would unnecessarily be extended to an open procedure. Thus, computer-assisted navigation is rarely applied. Due to their tree-like design most DRB's interfere with the surgeon's actions and therefore are at permanent risk to be accidentally dislocated. Accordingly, the optic communication between the camera and the operative site may repeatedly be interrupted. The aim of the research was the development of a less bulky, more comfortable, stable and safely trackable device that can be fixed truly percutaneously. With engineering support of the industrial partner the radiolucent epiDRB was developed. It can be fixed with two or more pins and gains additional stability from its epicutaneous position. The intraoperative applicability and reliability was experimentally tested. Its low centre of gravity and its flat design allow the device to be located directly in the area of interest. Thanks to its epicutaneous position and its particular shape the epiDRB may perpetually be tracked by the navigation system without hindering the surgeon's actions. Hence, the risk of being displaced by accident is minimised and the line of sight remains unaffected. With the newly developed epiDRB computer-assisted navigation becomes easier and safer to handle even in punctures and other percutaneous procedures at the spine as much as at the extremities without an unproportionate amount of additional trauma. Due to the special design referencing of more than one vertebral body is possible at one time, thus decreasing radiation exposure and increasing efficiency.

Mars Rover Navigation Results Using Sun Sensor Heading Determination

NASA Technical Reports Server (NTRS)

Volpe, Richard

1998-01-01

Upcoming missions to the surface of Mars will use mobile robots to traverse long distances from the landing site. To prepare for these missions, the prototype rover, Rocky 7, has been tested in desert field trials conducted with a team of planetary scientists. While several new capabilities have been demonstrated, foremost among these was sun-sensor based traversal of natural terrain totaling a distance of one kilometer. This paper describes navigation results obtained in the field tests, where cross-track error was only 6% of distance traveled. Comparison with previous results of other planetary rover systems shows this to be a significant improvement.

A better norm-referenced grading using the standard deviation criterion.

PubMed

Chan, Wing-shing

2014-01-01

The commonly used norm-referenced grading assigns grades to rank-ordered students in fixed percentiles. It has the disadvantage of ignoring the actual distance of scores among students. A simple norm-referenced grading via standard deviation is suggested for routine educational grading. The number of standard deviation of a student's score from the class mean was used as the common yardstick to measure achievement level. Cumulative probability of a normal distribution was referenced to help decide the amount of students included within a grade. RESULTS of the foremost 12 students from a medical examination were used for illustrating this grading method. Grading by standard deviation seemed to produce better cutoffs in allocating an appropriate grade to students more according to their differential achievements and had less chance in creating arbitrary cutoffs in between two similarly scored students than grading by fixed percentile. Grading by standard deviation has more advantages and is more flexible than grading by fixed percentile for norm-referenced grading.

Improving the Accuracy of Direct Geo-referencing of Smartphone-Based Mobile Mapping Systems Using Relative Orientation and Scene Geometric Constraints.

PubMed

Alsubaie, Naif M; Youssef, Ahmed A; El-Sheimy, Naser

2017-09-30

This paper introduces a new method which facilitate the use of smartphones as a handheld low-cost mobile mapping system (MMS). Smartphones are becoming more sophisticated and smarter and are quickly closing the gap between computers and portable tablet devices. The current generation of smartphones are equipped with low-cost GPS receivers, high-resolution digital cameras, and micro-electro mechanical systems (MEMS)-based navigation sensors (e.g., accelerometers, gyroscopes, magnetic compasses, and barometers). These sensors are in fact the essential components for a MMS. However, smartphone navigation sensors suffer from the poor accuracy of global navigation satellite System (GNSS), accumulated drift, and high signal noise. These issues affect the accuracy of the initial Exterior Orientation Parameters (EOPs) that are inputted into the bundle adjustment algorithm, which then produces inaccurate 3D mapping solutions. This paper proposes new methodologies for increasing the accuracy of direct geo-referencing of smartphones using relative orientation and smartphone motion sensor measurements as well as integrating geometric scene constraints into free network bundle adjustment. The new methodologies incorporate fusing the relative orientations of the captured images and their corresponding motion sensor measurements to improve the initial EOPs. Then, the geometric features (e.g., horizontal and vertical linear lines) visible in each image are extracted and used as constraints in the bundle adjustment procedure which correct the relative position and orientation of the 3D mapping solution.

Terrain - Umbra Package v. 1.0

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

Oppel, Fred; Hart, Brian; Rigdon, James Brian

This library contains modules that read terrain files (e.g., OpenFlight, Open Scene Graph IVE, GeoTIFF Image) and to read and manage ESRI terrain datasets. All data is stored and managed in Open Scene Graph (OSG). Terrain system accesses OSG and provides elevation data, access to meta-data such as soil types and enables linears, areals and buildings to be placed in a terrain, These geometry objects include boxes, point, path, and polygon (region), and sector modules. Utilities have been made available for clamping objects to the terrain and accessing LOS information. This assertion includes a managed C++ wrapper code (TerrainWrapper) tomore » enable C# applications, such as OpShed and UTU, to incorporate this library.« less

Bibliography on Criterion Referenced Measurement.

ERIC Educational Resources Information Center

Ellsworth, Randolph A.; Franz, Carleen

This bibliography contains 262 references on Criterion Referenced Measurement (CRM) that were obtained from the following sources: (1) the author's personal files; (2) a bibliography compiled by Hsu and Boston (ERIC Document #ED 068 531) containing 52 references; (3) a bibliography compiled by Keller (ERIC Document #ED 060 041) containing 116…

Incorporating scale into digital terrain analysis

NASA Astrophysics Data System (ADS)

Dragut, L. D.; Eisank, C.; Strasser, T.

2009-04-01

Digital Elevation Models (DEMs) and their derived terrain attributes are commonly used in soil-landscape modeling. Process-based terrain attributes meaningful to the soil properties of interest are sought to be produced through digital terrain analysis. Typically, the standard 3 X 3 window-based algorithms are used for this purpose, thus tying the scale of resulting layers to the spatial resolution of the available DEM. But this is likely to induce mismatches between scale domains of terrain information and soil properties of interest, which further propagate biases in soil-landscape modeling. We have started developing a procedure to incorporate scale into digital terrain analysis for terrain-based environmental modeling (Drăguţ et al., in press). The workflow was exemplified on crop yield data. Terrain information was generalized into successive scale levels with focal statistics on increasing neighborhood size. The degree of association between each terrain derivative and crop yield values was established iteratively for all scale levels through correlation analysis. The first peak of correlation indicated the scale level to be further retained. While in a standard 3 X 3 window-based analysis mean curvature was one of the poorest correlated terrain attribute, after generalization it turned into the best correlated variable. To illustrate the importance of scale, we compared the regression results of unfiltered and filtered mean curvature vs. crop yield. The comparison shows an improvement of R squared from a value of 0.01 when the curvature was not filtered, to 0.16 when the curvature was filtered within 55 X 55 m neighborhood size. This indicates the optimum size of curvature information (scale) that influences soil fertility. We further used these results in an object-based image analysis environment to create terrain objects containing aggregated values of both terrain derivatives and crop yield. Hence, we introduce terrain segmentation as an alternative

Collective navigation of cargo-carrying swarms

PubMed Central

Shklarsh, Adi; Finkelshtein, Alin; Ariel, Gil; Kalisman, Oren; Ingham, Colin; Ben-Jacob, Eshel

2012-01-01

Much effort has been devoted to the study of swarming and collective navigation of micro-organisms, insects, fish, birds and other organisms, as well as multi-agent simulations and to the study of real robots. It is well known that insect swarms can carry cargo. The studies here are motivated by a less well-known phenomenon: cargo transport by bacteria swarms. We begin with a concise review of how bacteria swarms carry natural, micrometre-scale objects larger than the bacteria (e.g. fungal spores) as well as man-made beads and capsules (for drug delivery). A comparison of the trajectories of virtual beads in simulations (using different putative coupling between the virtual beads and the bacteria) with the observed trajectories of transported fungal spores implies the existence of adaptable coupling. Motivated by these observations, we devised new, multi-agent-based studies of cargo transport by agent swarms. As a first step, we extended previous modelling of collective navigation of simple bacteria-inspired agents in complex terrain, using three putative models of agent–cargo coupling. We found that cargo-carrying swarms can navigate efficiently in a complex landscape. We further investigated how the stability, elasticity and other features of agent–cargo bonds influence the collective motion and the transport of the cargo, and found sharp phase shifts and dual successful strategies for cargo delivery. Further understanding of such mechanisms may provide valuable clues to understand cargo-transport by smart swarms of other organisms as well as by man-made swarming robots. PMID:24312731

A Criterion-Referenced Viewpoint on Standards/Cutscores in Language Testing.

ERIC Educational Resources Information Center

Davidson, Fred; Lynch, Brian K.

"Standard" is distinguished from "criterion" as it is used in criterion-referenced testing. The former is argued to refer to the real-world cutpoint at which a decision is made based on a test's result (e.g., exemption from a special training program). The latter is a skill or set of skills to which a test is referenced.…

LIDAR-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing

NASA Technical Reports Server (NTRS)

Busnardo, David M.; Aitken, Matthew L.; Tolson, Robert H.; Pierrottet, Diego; Amzajerdian, Farzin

2011-01-01

In support of NASA s Autonomous Landing and Hazard Avoidance Technology (ALHAT) project, an extended Kalman filter routine has been developed for estimating the position, velocity, and attitude of a spacecraft during the landing phase of a planetary mission. The proposed filter combines measurements of acceleration and angular velocity from an inertial measurement unit (IMU) with range and Doppler velocity observations from an onboard light detection and ranging (LIDAR) system. These high-precision LIDAR measurements of distance to the ground and approach velocity will enable both robotic and manned vehicles to land safely and precisely at scientifically interesting sites. The filter has been extensively tested using a lunar landing simulation and shown to improve navigation over flat surfaces or rough terrain. Experimental results from a helicopter flight test performed at NASA Dryden in August 2008 demonstrate that LIDAR can be employed to significantly improve navigation based exclusively on IMU integration.

Mars: Fretted and chaotic terrains

NASA Technical Reports Server (NTRS)

Sharp, R. P.

1973-01-01

Fretted Martian terrain is characterized by smooth, flat, lowland areas separated from a cratered upland by abrupt escarpments of complex planimetric configuration and a maximum estimated height approaching 1 to 2 km. It is the product of some unusual erosive or abstractive process that has created steep escarpments. Chaotic terrain differs from fretted terrain in having a rough floor topography featuring a haphazard jumble of large angular blocks, and by arc-shaped slump blocks on its bounding escarpments. Its existence has now been confirmed by Mariner 9 pictures, and the characteristics, location, and areal extent of chaotic terrain have been more accurately and completely defined.

NPSNET: Dynamic Terrain and Cultured Feature Depiction

DTIC Science & Technology

1992-09-01

defaults. bridge(terrain *ptr, vertex pos, bridge mattype bmat ); This constructor takes only the pointer to the underlying terrain, a placement, and a...material to use for construction. bridge(terrain *ptr, vertex pos, bridge-mattype bmat , float dir); This constructor takes a terrain pointer, a...placement position, a material to use, and a direction to run. bridge(terrain *ptr, vertex pos, bridge-mattype bmat , float dir, float width, float height

Effects of a Velocity-Vector Based Command Augmentation System and Synthetic Vision System Terrain Portrayal and Guidance Symbology Concepts on Single-Pilot Performance

NASA Technical Reports Server (NTRS)

Liu, Dahai; Goodrich, Kenneth H.; Peak, Bob

2010-01-01

This study investigated the effects of synthetic vision system (SVS) concepts and advanced flight controls on the performance of pilots flying a light, single-engine general aviation airplane. We evaluated the effects and interactions of two levels of terrain portrayal, guidance symbology, and flight control response type on pilot performance during the conduct of a relatively complex instrument approach procedure. The terrain and guidance presentations were evaluated as elements of an integrated primary flight display system. The approach procedure used in the study included a steeply descending, curved segment as might be encountered in emerging, required navigation performance (RNP) based procedures. Pilot performance measures consisted of flight technical performance, perceived workload, perceived situational awareness and subjective preference. The results revealed that an elevation based generic terrain portrayal significantly improved perceived situation awareness without adversely affecting flight technical performance or workload. Other factors (pilot instrument rating, control response type, and guidance symbology) were not found to significantly affect the performance measures.

Recent advances on terrain database correlation testing

NASA Astrophysics Data System (ADS)

Sakude, Milton T.; Schiavone, Guy A.; Morelos-Borja, Hector; Martin, Glenn; Cortes, Art

1998-08-01

Terrain database correlation is a major requirement for interoperability in distributed simulation. There are numerous situations in which terrain database correlation problems can occur that, in turn, lead to lack of interoperability in distributed training simulations. Examples are the use of different run-time terrain databases derived from inconsistent on source data, the use of different resolutions, and the use of different data models between databases for both terrain and culture data. IST has been developing a suite of software tools, named ZCAP, to address terrain database interoperability issues. In this paper we discuss recent enhancements made to this suite, including improved algorithms for sampling and calculating line-of-sight, an improved method for measuring terrain roughness, and the application of a sparse matrix method to the terrain remediation solution developed at the Visual Systems Lab of the Institute for Simulation and Training. We review the application of some of these new algorithms to the terrain correlation measurement processes. The application of these new algorithms improves our support for very large terrain databases, and provides the capability for performing test replications to estimate the sampling error of the tests. With this set of tools, a user can quantitatively assess the degree of correlation between large terrain databases.

Interim Terrain Data (ITD) and Vector Product Interim Terrain Data (VITD) user's guide

DOT National Transportation Integrated Search

1996-09-01

This guide is intended to be a convenient reference for users of these types of terrain analysis data. ITD is a digitized version of the standard 1:50,000-scale tactical terrain analysis data base (TTADB) product produced by the Defense Mapping Agenc...

Local-scale stratigraphy of grooved terrain on Ganymede

NASA Technical Reports Server (NTRS)

Murchie, Scott L.; Head, James W.; Helfenstein, Paul; Plescia, Jeffrey B.

1987-01-01

The surface of the Jovian satellite, Ganymede, is divided into two main units, dark terrain cut by arcuate and subradial furrows, and light terrain consisting largely of areas with pervasive U-shaped grooves. The grooved terrain may be subdivided on the basis of pervasive morphology of groove domains into four terrain types: (1) elongate bands of parallel grooves (groove lanes); (2) polygonal domains of parallel grooves (grooved polygons); (3) polygonal domains of two orthogonal groove sets (reticulate terrain); and (4) polygons having two to several complexly cross-cutting groove sets (complex grooved terrain). Reticulate terrain is frequently dark and not extensively resurfaced, and grades to a more hummocky terrain type. The other three grooved terrain types have almost universally been resurfaced by light material during their emplacement. The sequence of events during grooved terrain emplacement has been investigated. An attempt is made to integrate observed geologic and tectonic patterns to better constrain the relative ages and styles of emplacement of grooved terrain types. A revised model of grooved terrain emplacement is proposed and is tested using detailed geologic mapping and measurement of crater density.

A methodology for design of a linear referencing system for surface transportation

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

Vonderohe, A.; Hepworth, T.

1997-06-01

The transportation community has recently placed significant emphasis on development of data models, procedural standards, and policies for management of linearly-referenced data. There is an Intelligent Transportation Systems initiative underway to create a spatial datum for location referencing in one, two, and three dimensions. Most recently, a call was made for development of a unified linear reference system to support public, private, and military surface transportation needs. A methodology for design of the linear referencing system was developed from geodetic engineering principles and techniques used for designing geodetic control networks. The method is founded upon the law of propagation ofmore » random error and the statistical analysis of systems of redundant measurements, used to produce best estimates for unknown parameters. A complete mathematical development is provided. Example adjustments of linear distance measurement systems are included. The classical orders of design are discussed with regard to the linear referencing system. A simple design example is provided. A linear referencing system designed and analyzed with this method will not only be assured of meeting the accuracy requirements of users, it will have the potential for supporting delivery of error estimates along with the results of spatial analytical queries. Modeling considerations, alternative measurement methods, implementation strategies, maintenance issues, and further research needs are discussed. Recommendations are made for further advancement of the unified linear referencing system concept.« less

Remote sensing of Earth terrain

NASA Technical Reports Server (NTRS)

Kong, Jin AU; Shin, Robert T.; Nghiem, Son V.; Yueh, Herng-Aung; Han, Hsiu C.; Lim, Harold H.; Arnold, David V.

1990-01-01

Remote sensing of earth terrain is examined. The layered random medium model is used to investigate the fully polarimetric scattering of electromagnetic waves from vegetation. The model is used to interpret the measured data for vegetation fields such as rice, wheat, or soybean over water or soil. Accurate calibration of polarimetric radar systems is essential for the polarimetric remote sensing of earth terrain. A polarimetric calibration algorithm using three arbitrary in-scene reflectors is developed. In the interpretation of active and passive microwave remote sensing data from the earth terrain, the random medium model was shown to be quite successful. A multivariate K-distribution is proposed to model the statistics of fully polarimetric radar returns from earth terrain. In the terrain cover classification using the synthetic aperture radar (SAR) images, the applications of the K-distribution model will provide better performance than the conventional Gaussian classifiers. The layered random medium model is used to study the polarimetric response of sea ice. Supervised and unsupervised classification procedures are also developed and applied to synthetic aperture radar polarimetric images in order to identify their various earth terrain components for more than two classes. These classification procedures were applied to San Francisco Bay and Traverse City SAR images.

The Testing of English as a Second/Foreign Language in the Criterion-Referenced Era.

ERIC Educational Resources Information Center

Davidson, Fred

In the assessment of second/foreign language proficiency, we are entering the era of criterion-referenced assessment as language learning is being recognized as an integrative, multifaceted construct. Norm-referenced measurement (NRM) is compared with criterion-referenced measurement (CRM). CRM is characterized by attention to skill, whereas NRM…

16 CFR 1203.3 - Referenced documents.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 16 Commercial Practices 2 2010-01-01 2010-01-01 false Referenced documents. 1203.3 Section 1203.3 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER PRODUCT SAFETY ACT REGULATIONS SAFETY... international standard, it has become a consensus national standard because all recent major voluntary standards...

49 CFR 19.6 - Availability of material referenced in this part.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 1 2010-10-01 2010-10-01 false Availability of material referenced in this part... ORGANIZATIONS General § 19.6 Availability of material referenced in this part. (a) Copies of Federal Transit... Division at (202) 366-4865. (b) Copies of Federal Aviation Administration (FAA) documents identified in...

49 CFR 19.6 - Availability of material referenced in this part.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 49 Transportation 1 2012-10-01 2012-10-01 false Availability of material referenced in this part... ORGANIZATIONS General § 19.6 Availability of material referenced in this part. (a) Copies of Federal Transit... Division at (202) 366-4865. (b) Copies of Federal Aviation Administration (FAA) documents identified in...

49 CFR 19.6 - Availability of material referenced in this part.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 49 Transportation 1 2013-10-01 2013-10-01 false Availability of material referenced in this part... ORGANIZATIONS General § 19.6 Availability of material referenced in this part. (a) Copies of Federal Transit... Division at (202) 366-4865. (b) Copies of Federal Aviation Administration (FAA) documents identified in...

49 CFR 19.6 - Availability of material referenced in this part.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 49 Transportation 1 2014-10-01 2014-10-01 false Availability of material referenced in this part... ORGANIZATIONS General § 19.6 Availability of material referenced in this part. (a) Copies of Federal Transit... Division at (202) 366-4865. (b) Copies of Federal Aviation Administration (FAA) documents identified in...

49 CFR 19.6 - Availability of material referenced in this part.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 49 Transportation 1 2011-10-01 2011-10-01 false Availability of material referenced in this part... ORGANIZATIONS General § 19.6 Availability of material referenced in this part. (a) Copies of Federal Transit... Division at (202) 366-4865. (b) Copies of Federal Aviation Administration (FAA) documents identified in...

Improving the Accuracy of Direct Geo-referencing of Smartphone-Based Mobile Mapping Systems Using Relative Orientation and Scene Geometric Constraints

PubMed Central

Alsubaie, Naif M.; Youssef, Ahmed A.; El-Sheimy, Naser

2017-01-01

This paper introduces a new method which facilitate the use of smartphones as a handheld low-cost mobile mapping system (MMS). Smartphones are becoming more sophisticated and smarter and are quickly closing the gap between computers and portable tablet devices. The current generation of smartphones are equipped with low-cost GPS receivers, high-resolution digital cameras, and micro-electro mechanical systems (MEMS)-based navigation sensors (e.g., accelerometers, gyroscopes, magnetic compasses, and barometers). These sensors are in fact the essential components for a MMS. However, smartphone navigation sensors suffer from the poor accuracy of global navigation satellite System (GNSS), accumulated drift, and high signal noise. These issues affect the accuracy of the initial Exterior Orientation Parameters (EOPs) that are inputted into the bundle adjustment algorithm, which then produces inaccurate 3D mapping solutions. This paper proposes new methodologies for increasing the accuracy of direct geo-referencing of smartphones using relative orientation and smartphone motion sensor measurements as well as integrating geometric scene constraints into free network bundle adjustment. The new methodologies incorporate fusing the relative orientations of the captured images and their corresponding motion sensor measurements to improve the initial EOPs. Then, the geometric features (e.g., horizontal and vertical linear lines) visible in each image are extracted and used as constraints in the bundle adjustment procedure which correct the relative position and orientation of the 3D mapping solution. PMID:28973958

Problems in Criterion-Referenced Measurement. CSE Monograph Series in Evaluation, 3.

ERIC Educational Resources Information Center

Harris, Chester W., Ed.; And Others

Six essays on technical measurement problems in criterion referenced tests and four essays by psychometricians proposing solutions are presented: (1) "Criterion-Referenced Measurement" and Other Such Terms, by Marvin C. Alkin which is an overview of the first six papers; (2) Selecting Objectives and Generating Test Items for Objectives-Based…

Global multi-resolution terrain elevation data 2010 (GMTED2010)

USGS Publications Warehouse

Danielson, Jeffrey J.; Gesch, Dean B.

2011-01-01

In 1996, the U.S. Geological Survey (USGS) developed a global topographic elevation model designated as GTOPO30 at a horizontal resolution of 30 arc-seconds for the entire Earth. Because no single source of topographic information covered the entire land surface, GTOPO30 was derived from eight raster and vector sources that included a substantial amount of U.S. Defense Mapping Agency data. The quality of the elevation data in GTOPO30 varies widely; there are no spatially-referenced metadata, and the major topographic features such as ridgelines and valleys are not well represented. Despite its coarse resolution and limited attributes, GTOPO30 has been widely used for a variety of hydrological, climatological, and geomorphological applications as well as military applications, where a regional, continental, or global scale topographic model is required. These applications have ranged from delineating drainage networks and watersheds to using digital elevation data for the extraction of topographic structure and three-dimensional (3D) visualization exercises (Jenson and Domingue, 1988; Verdin and Greenlee, 1996; Lehner and others, 2008). Many of the fundamental geophysical processes active at the Earth's surface are controlled or strongly influenced by topography, thus the critical need for high-quality terrain data (Gesch, 1994). U.S. Department of Defense requirements for mission planning, geographic registration of remotely sensed imagery, terrain visualization, and map production are similarly dependent on global topographic data. Since the time GTOPO30 was completed, the availability of higher-quality elevation data over large geographic areas has improved markedly. New data sources include global Digital Terrain Elevation Data (DTEDRegistered) from the Shuttle Radar Topography Mission (SRTM), Canadian elevation data, and data from the Ice, Cloud, and land Elevation Satellite (ICESat). Given the widespread use of GTOPO30 and the equivalent 30-arc

Standards for Evaluating Criterion-Referenced Tests.

ERIC Educational Resources Information Center

Walker, Clinton B.

Standards for evaluating criterion-referenced tests are presented. Twenty-one standards, grouped in three categories, are discussed. Category one is defined as measurement properties and is comprised of conceptual validity, including description of the domain, test item agreement with objectives, and item representativeness of the objectives; and…

Self-referenced single-shot THz detection

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

Russell, Brandon K.; Ofori-Okai, Benjamin K.; Chen, Zhijiang

We demonstrate a self-referencing method to reduce noise in a single-shot terahertz detection scheme. By splitting a single terahertz pulse and using a reflective echelon, both the signal and reference terahertz time-domain waveforms were measured using one laser pulse. Simultaneous acquisition of these waveforms significantly reduces noise originating from shot-to-shot fluctuations. Here, we show that correlation function based referencing, which is not limited to polarization dependent measurements, can achieve a noise floor that is comparable to state-of-the-art polarization-gated balanced detection. Lastly, we extract the DC conductivity of a 30 nm free-standing gold film using a single THz pulse. The measuredmore » value of σ 0 = 1.3 ± 0.4 × 10 7 S m -1 is in good agreement with the value measured by four-point probe, indicating the viability of this method for measuring dynamical changes and small signals.« less

Self-referenced single-shot THz detection

DOE PAGES

Russell, Brandon K.; Ofori-Okai, Benjamin K.; Chen, Zhijiang; ...

2017-06-29

We demonstrate a self-referencing method to reduce noise in a single-shot terahertz detection scheme. By splitting a single terahertz pulse and using a reflective echelon, both the signal and reference terahertz time-domain waveforms were measured using one laser pulse. Simultaneous acquisition of these waveforms significantly reduces noise originating from shot-to-shot fluctuations. Here, we show that correlation function based referencing, which is not limited to polarization dependent measurements, can achieve a noise floor that is comparable to state-of-the-art polarization-gated balanced detection. Lastly, we extract the DC conductivity of a 30 nm free-standing gold film using a single THz pulse. The measuredmore » value of σ 0 = 1.3 ± 0.4 × 10 7 S m -1 is in good agreement with the value measured by four-point probe, indicating the viability of this method for measuring dynamical changes and small signals.« less

Real-time path planning in dynamic virtual environments using multiagent navigation graphs.

PubMed

Sud, Avneesh; Andersen, Erik; Curtis, Sean; Lin, Ming C; Manocha, Dinesh

2008-01-01

We present a novel approach for efficient path planning and navigation of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multi-agent Navigation Graph (MaNG), which is constructed using first- and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. Moreover, we use the path information and proximity relationships for local dynamics computation of each agent by extending a social force model [Helbing05]. We compute the MaNG using graphics hardware and present culling techniques to accelerate the computation. We also address undersampling issues and present techniques to improve the accuracy of our algorithm. Our algorithm is used for real-time multi-agent planning in pursuit-evasion, terrain exploration and crowd simulation scenarios consisting of hundreds of moving agents, each with a distinct goal.

Design and Flight Evaluation of an Integrated Navigation and Near-Terrain Helicopter Guidance System for Nighttime and Adverse Weather Operations

DOT National Transportation Integrated Search

1994-08-01

NASA and the U.S. Army have designed, developed, and flight evaluated a : Computer Aiding for Low-Altitude Helicopter Flight (CALAHF) guidance system. : This system provides guidance to the pilot for near-terrain covert helicopter : operations. It au...

Constraint-Referenced Analytics of Algebra Learning

ERIC Educational Resources Information Center

Sutherland, Scot M.; White, Tobin F.

2016-01-01

The development of the constraint-referenced analytics tool for monitoring algebra learning activities presented here came from the desire to firstly, take a more quantitative look at student responses in collaborative algebra activities, and secondly, to situate those activities in a more traditional introductory algebra setting focusing on…

Criterion-Referenced Test Items for Welding.

ERIC Educational Resources Information Center

Davis, Diane, Ed.

This test item bank on welding contains test questions based upon competencies found in the Missouri Welding Competency Profile. Some test items are keyed for multiple competencies. These criterion-referenced test items are designed to work with the Vocational Instructional Management System. Questions have been statistically sampled and validated…

An automated system for terrain database construction

NASA Technical Reports Server (NTRS)

Johnson, L. F.; Fretz, R. K.; Logan, T. L.; Bryant, N. A.

1987-01-01

An automated Terrain Database Preparation System (TDPS) for the construction and editing of terrain databases used in computerized wargaming simulation exercises has been developed. The TDPS system operates under the TAE executive, and it integrates VICAR/IBIS image processing and Geographic Information System software with CAD/CAM data capture and editing capabilities. The terrain database includes such features as roads, rivers, vegetation, and terrain roughness.

Neuro-fuzzy controller to navigate an unmanned vehicle.

PubMed

Selma, Boumediene; Chouraqui, Samira

2013-12-01

A Neuro-fuzzy control method for an Unmanned Vehicle (UV) simulation is described. The objective is guiding an autonomous vehicle to a desired destination along a desired path in an environment characterized by a terrain and a set of distinct objects, such as obstacles like donkey traffic lights and cars circulating in the trajectory. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Fuzzy Logic Controller can very well describe the desired system behavior with simple "if-then" relations owing the designer to derive "if-then" rules manually by trial and error. On the other hand, Neural Networks perform function approximation of a system but cannot interpret the solution obtained neither check if its solution is plausible. The two approaches are complementary. Combining them, Neural Networks will allow learning capability while Fuzzy-Logic will bring knowledge representation (Neuro-Fuzzy). In this paper, an artificial neural network fuzzy inference system (ANFIS) controller is described and implemented to navigate the autonomous vehicle. Results show several improvements in the control system adjusted by neuro-fuzzy techniques in comparison to the previous methods like Artificial Neural Network (ANN).

Complex geomorphologic assemblage of terrains in association with the banded terrain in Hellas basin, Mars

NASA Astrophysics Data System (ADS)

Diot, X.; El-Maarry, M. R.; Schlunegger, F.; Norton, K. P.; Thomas, N.; Grindrod, P. M.; Chojnacki, M.

2016-02-01

Hellas basin acts as a major sink for the southern highlands of Mars and is likely to have recorded several episodes of sedimentation and erosion. The north-western part of the basin displays a potentially unique Amazonian landscape domain in the deepest part of Hellas, called ;banded terrain;, which is a deposit characterized by an alternation of narrow band shapes and inter-bands displaying a sinuous and relatively smooth surface texture suggesting a viscous flow origin. Here we use high-resolution (HiRISE and CTX) images to assess the geomorphological interaction of the banded terrain with the surrounding geomorphologic domains in the NW interior of Hellas to gain a better understanding of the geological evolution of the region as a whole. Our analysis reveals that the banded terrain is associated with six geomorphologic domains: a central plateau named Alpheus Colles, plain deposits (P1 and P2), reticulate (RT1 and RT2) and honeycomb terrains. Based on the analysis of the geomorphology of these domains and their cross-cutting relationships, we show that no widespread deposition post-dates the formation of the banded terrain, which implies that this domain is the youngest and latest deposit of the interior of Hellas. Therefore, the level of geologic activity in the NW Hellas during the Amazonian appears to have been relatively low and restricted to modification of the landscape through mechanical weathering, aeolian and periglacial processes. Thermophysical data and cross-cutting relationships support hypotheses of modification of the honeycomb terrain via vertical rise of diapirs such as ice diapirism, and the formation of the plain deposits through deposition and remobilization of an ice-rich mantle deposit. Finally, the observed gradual transition between honeycomb and banded terrain suggests that the banded terrain may have covered a larger area of the NW interior of Hellas in the past than previously thought. This has implications on the understanding of

Chaotic Terrain

NASA Technical Reports Server (NTRS)

2003-01-01

[figure removed for brevity, see original site]

Released 4 June 2003

Chaotic terrain on Mars is thought to form when there is a sudden removal of subsurface water or ice, causing the surface material to slump and break into blocks. The chaotic terrain in this THEMIS visible image is confined to a crater just south of Elysium Planitia. It is common to see chaotic terrain in the vicinity of the catastrophic outflow channels on Mars, but the terrain in this image is on the opposite side of the planet from these channels, making it somewhat of an oddity.

Image information: VIS instrument. Latitude -5.9, Longitude 108.1 East (251.9 West). 19 meter/pixel resolution.

Note: this THEMIS visual image has not been radiometrically nor geometrically calibrated for this preliminary release. An empirical correction has been performed to remove instrumental effects. A linear shift has been applied in the cross-track and down-track direction to approximate spacecraft and planetary motion. Fully calibrated and geometrically projected images will be released through the Planetary Data System in accordance with Project policies at a later time.

NASA's Jet Propulsion Laboratory manages the 2001 Mars Odyssey mission for NASA's Office of Space Science, Washington, D.C. The Thermal Emission Imaging System (THEMIS) was developed by Arizona State University, Tempe, in collaboration with Raytheon Santa Barbara Remote Sensing. The THEMIS investigation is led by Dr. Philip Christensen at Arizona State University. Lockheed Martin Astronautics, Denver, is the prime contractor for the Odyssey project, and developed and built the orbiter. Mission operations are conducted jointly from Lockheed Martin and from JPL, a division of the California Institute of Technology in Pasadena.

Single-Frame Terrain Mapping Software for Robotic Vehicles

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.

2011-01-01

This software is a component in an unmanned ground vehicle (UGV) perception system that builds compact, single-frame terrain maps for distribution to other systems, such as a world model or an operator control unit, over a local area network (LAN). Each cell in the map encodes an elevation value, terrain classification, object classification, terrain traversability, terrain roughness, and a confidence value into four bytes of memory. The input to this software component is a range image (from a lidar or stereo vision system), and optionally a terrain classification image and an object classification image, both registered to the range image. The single-frame terrain map generates estimates of the support surface elevation, ground cover elevation, and minimum canopy elevation; generates terrain traversability cost; detects low overhangs and high-density obstacles; and can perform geometry-based terrain classification (ground, ground cover, unknown). A new origin is automatically selected for each single-frame terrain map in global coordinates such that it coincides with the corner of a world map cell. That way, single-frame terrain maps correctly line up with the world map, facilitating the merging of map data into the world map. Instead of using 32 bits to store the floating-point elevation for a map cell, the vehicle elevation is assigned to the map origin elevation and reports the change in elevation (from the origin elevation) in terms of the number of discrete steps. The single-frame terrain map elevation resolution is 2 cm. At that resolution, terrain elevation from 20.5 to 20.5 m (with respect to the vehicle's elevation) is encoded into 11 bits. For each four-byte map cell, bits are assigned to encode elevation, terrain roughness, terrain classification, object classification, terrain traversability cost, and a confidence value. The vehicle s current position and orientation, the map origin, and the map cell resolution are all included in a header for each

Selecting Items for Criterion-Referenced Tests.

ERIC Educational Resources Information Center

Mellenbergh, Gideon J.; van der Linden, Wim J.

1982-01-01

Three item selection methods for criterion-referenced tests are examined: the classical theory of item difficulty and item-test correlation; the latent trait theory of item characteristic curves; and a decision-theoretic approach for optimal item selection. Item contribution to the standardized expected utility of mastery testing is discussed. (CM)

The navigation system of the JPL robot

NASA Technical Reports Server (NTRS)

Thompson, A. M.

1977-01-01

The control structure of the JPL research robot and the operations of the navigation subsystem are discussed. The robot functions as a network of interacting concurrent processes distributed among several computers and coordinated by a central executive. The results of scene analysis are used to create a segmented terrain model in which surface regions are classified by traversibility. The model is used by a path planning algorithm, PATH, which uses tree search methods to find the optimal path to a goal. In PATH, the search space is defined dynamically as a consequence of node testing. Maze-solving and the use of an associative data base for context dependent node generation are also discussed. Execution of a planned path is accomplished by a feedback guidance process with automatic error recovery.

Application of the Deformation Information System for automated analysis and mapping of mining terrain deformations - case study from SW Poland

NASA Astrophysics Data System (ADS)

Blachowski, Jan; Grzempowski, Piotr; Milczarek, Wojciech; Nowacka, Anna

2015-04-01

Monitoring, mapping and modelling of mining induced terrain deformations are important tasks for quantifying and minimising threats that arise from underground extraction of useful minerals and affect surface infrastructure, human safety, the environment and security of the mining operation itself. The number of methods and techniques used for monitoring and analysis of mining terrain deformations is wide and expanding with the progress in geographical information technologies. These include for example: terrestrial geodetic measurements, Global Navigation Satellite Systems, remote sensing, GIS based modelling and spatial statistics, finite element method modelling, geological modelling, empirical modelling using e.g. the Knothe theory, artificial neural networks, fuzzy logic calculations and other. The presentation shows the results of numerical modelling and mapping of mining terrain deformations for two cases of underground mining sites in SW Poland, hard coal one (abandoned) and copper ore (active) using the functionalities of the Deformation Information System (DIS) (Blachowski et al, 2014 @ http://meetingorganizer.copernicus.org/EGU2014/EGU2014-7949.pdf). The functionalities of the spatial data modelling module of DIS have been presented and its applications in modelling, mapping and visualising mining terrain deformations based on processing of measurement data (geodetic and GNSS) for these two cases have been characterised and compared. These include, self-developed and implemented in DIS, automation procedures for calculating mining terrain subsidence with different interpolation techniques, calculation of other mining deformation parameters (i.e. tilt, horizontal displacement, horizontal strain and curvature), as well as mapping mining terrain categories based on classification of the values of these parameters as used in Poland. Acknowledgments. This work has been financed from the National Science Centre Project "Development of a numerical method of

Hydrographic Basins Analysis Using Digital Terrain Modelling

NASA Astrophysics Data System (ADS)

Mihaela, Pişleagă; -Minda Codruţa, Bădăluţă; Gabriel, Eleş; Daniela, Popescu

2017-10-01

The paper, emphasis the link between digital terrain modelling and studies of hydrographic basins, concerning the hydrological processes analysis. Given the evolution of computing techniques but also of the software digital terrain modelling made its presence felt increasingly, and established itself as a basic concept in many areas, due to many advantages. At present, most digital terrain modelling is derived from three alternative sources such as ground surveys, photogrammetric data capture or from digitized cartographic sources. A wide range of features may be extracted from digital terrain models, such as surface, specific points and landmarks, linear features but also areal futures like drainage basins, hills or hydrological basins. The paper highlights how the use appropriate software for the preparation of a digital terrain model, a model which is subsequently used to study hydrographic basins according to various geomorphological parameters. As a final goal, it shows the link between digital terrain modelling and hydrographic basins study that can be used to optimize the correlation between digital model terrain and hydrological processes in order to obtain results as close to the real field processes.

Terrain modeling for microwave landing system

NASA Technical Reports Server (NTRS)

Poulose, M. M.

1991-01-01

A powerful analytical approach for evaluating the terrain effects on a microwave landing system (MLS) is presented. The approach combines a multiplate model with a powerful and exhaustive ray tracing technique and an accurate formulation for estimating the electromagnetic fields due to the antenna array in the presence of terrain. Both uniform theory of diffraction (UTD) and impedance UTD techniques have been employed to evaluate these fields. Innovative techniques are introduced at each stage to make the model versatile to handle most general terrain contours and also to reduce the computational requirement to a minimum. The model is applied to several terrain geometries, and the results are discussed.

Using Grid Cells for Navigation

PubMed Central

Bush, Daniel; Barry, Caswell; Manson, Daniel; Burgess, Neil

2015-01-01

Summary Mammals are able to navigate to hidden goal locations by direct routes that may traverse previously unvisited terrain. Empirical evidence suggests that this “vector navigation” relies on an internal representation of space provided by the hippocampal formation. The periodic spatial firing patterns of grid cells in the hippocampal formation offer a compact combinatorial code for location within large-scale space. Here, we consider the computational problem of how to determine the vector between start and goal locations encoded by the firing of grid cells when this vector may be much longer than the largest grid scale. First, we present an algorithmic solution to the problem, inspired by the Fourier shift theorem. Second, we describe several potential neural network implementations of this solution that combine efficiency of search and biological plausibility. Finally, we discuss the empirical predictions of these implementations and their relationship to the anatomy and electrophysiology of the hippocampal formation. PMID:26247860

Social referencing in dog-owner dyads?

PubMed

Merola, I; Prato-Previde, E; Marshall-Pescini, S

2012-03-01

Social referencing is the seeking of information from another individual to form one's own understanding and guide action. In this study, adult dogs were tested in a social referencing paradigm involving their owner and a potentially scary object. Dogs received either a positive or negative message from the owner. The aim was to evaluate the presence of referential looking to the owner, behavioural regulation based on the owner's (vocal and facial) emotional message and observational conditioning following the owner's actions towards the object. Most dogs (83%) looked referentially to the owner after looking at the strange object, thus they appear to seek information about the environment from the human, but little differences were found between dogs in the positive and negative groups as regards behavioural regulation: possible explanations for this are discussed. Finally, a strong effect of observational conditioning was found with dogs in the positive group moving closer to the fan and dogs in the negative group moving away, both mirroring their owner's behaviour. Results are discussed in relation to studies on human-dog communication, attachment and social learning.

Self-referencing enhances recollection in both young and older adults

PubMed Central

Leshikar, Eric D.; Dulas, Michael R.; Duarte, Audrey

2014-01-01

Processing information in relation to the self enhances subsequent item recognition in both young and older adults, and further, enhances recollection at least in the young. Because older adults experience recollection memory deficits it is unknown whether self-referencing improves recollection in older adults. We examined recollection benefits from self-referential encoding in older and younger adults and further examined the quality and quantity of episodic details facilitated by self-referencing. We further investigated the influence of valence on recollection given prior findings of age group differences in emotional memory (i.e. “positivity effects”). Across 2 experiments, young and older adults processed positive and negative adjectives either for self-relevance or for semantic meaning. We found that self-referencing, relative to semantic encoding, increased recollection memory in both age groups. In Experiment 1, both groups remembered proportionally more negative than positive items when adjectives were processed semantically; however, when adjectives were processed self-referentially, both groups exhibited evidence of better recollection for the positive items, inconsistent with a positivity effect in aging. In Experiment 2, both groups reported more episodic details associated with recollected items, as measured by a memory characteristic questionnaire (MCQ), for the self-reference relative to the semantic condition. Overall, these data suggest that self-referencing leads to detail-rich memory representations reflected in higher rates of recollection across age. PMID:25264018

Criterion-Referenced Testing and Measurement: A Review of Technical Issues and Developments.

ERIC Educational Resources Information Center

Hambleton, Ronald K.; And Others

The success of objectives-based programs depends to a considerable extent on how effectively students and teachers assess mastery of objectives and make decisions for future instruction. While educators disagree on the usefulness of criterion-referenced tests the position taken in this monograph is that criterion-referenced tests are useful, and…

A Long Distance Laser Altimeter for Terrain Relative Navigation and Spacecraft Landing

NASA Technical Reports Server (NTRS)

Pierrottet, Diego F.; Amzajerdian, Farzin; Barnes, Bruce W.

2014-01-01

A high precision laser altimeter was developed under the Autonomous Landing and Hazard Avoidance (ALHAT) project at NASA Langley Research Center. The laser altimeter provides slant-path range measurements from operational ranges exceeding 30 km that will be used to support surface-relative state estimation and navigation during planetary descent and precision landing. The altimeter uses an advanced time-of-arrival receiver, which produces multiple signal-return range measurements from tens of kilometers with 5 cm precision. The transmitter is eye-safe, simplifying operations and testing on earth. The prototype is fully autonomous, and able to withstand the thermal and mechanical stresses experienced during test flights conducted aboard helicopters, fixed-wing aircraft, and Morpheus, a terrestrial rocket-powered vehicle developed by NASA Johnson Space Center. This paper provides an overview of the sensor and presents results obtained during recent field experiments including a helicopter flight test conducted in December 2012 and Morpheus flight tests conducted during March of 2014.

The MAP program: building the digital terrain model.

Treesearch

R.H. Twito; R.W. Mifflin; R.J. McGaughey

1987-01-01

PLANS, a software package for integrated timber-harvest planning, uses digital terrain models to provide the topographic data needed to fit harvest and transportation designs to specific terrain. MAP, an integral program in the PLANS package, is used to construct the digital terrain models required by PLANS. MAP establishes digital terrain models using digitizer-traced...

Vegetation-terrain feature relationships in southeast Arizona

NASA Technical Reports Server (NTRS)

Schrumpf, B. J. (Principal Investigator); Mouat, D. A.

1972-01-01

There are no author-identified significant results in this report. Studies of relationships of vegetation distribution to geomorphic characteristics of the landscape and of plant phenological patterns to vegetation identification of satellite imagery indicate that there exists positive relationships between certain plant species and certain terrain features. Not all species were found to exhibit positive relationships with all terrain feature variables, but enough positive relationships seem to exist to indicate that terrain feature variable-vegetation relationship studies have a definite place in plant ecological investigations. Even more importantly, the vegetation groups examined appeared to be successfully discriminated by the terrain feature variables. This would seem to indicate that spatial interpretations of vegetation groups may be possible. While vegetational distributions aren't determined by terrain feature differences, terrain features do mirror factors which directly influence vegetational response and hence distribution. As a result, those environmental features which can be readily and rapidly ascertained on relatively small-scale imagery may prove to be valuable indicators of vegetation distribution.

Maximizing Accessibility to Spatially Referenced Digital Data.

ERIC Educational Resources Information Center

Hunt, Li; Joselyn, Mark

1995-01-01

Discusses some widely available spatially referenced datasets, including raster and vector datasets. Strategies for improving accessibility include: acquisition of data in a software-dependent format; reorganization of data into logical geographic units; acquisition of intelligent retrieval software; improving computer hardware; and intelligent…

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.

Towards Camera-LIDAR Fusion-Based Terrain Modelling for Planetary Surfaces: Review and Analysis

PubMed Central

Shaukat, Affan; Blacker, Peter C.; Spiteri, Conrad; Gao, Yang

2016-01-01

In recent decades, terrain modelling and reconstruction techniques have increased research interest in precise short and long distance autonomous navigation, localisation and mapping within field robotics. One of the most challenging applications is in relation to autonomous planetary exploration using mobile robots. Rovers deployed to explore extraterrestrial surfaces are required to perceive and model the environment with little or no intervention from the ground station. Up to date, stereopsis represents the state-of-the art method and can achieve short-distance planetary surface modelling. However, future space missions will require scene reconstruction at greater distance, fidelity and feature complexity, potentially using other sensors like Light Detection And Ranging (LIDAR). LIDAR has been extensively exploited for target detection, identification, and depth estimation in terrestrial robotics, but is still under development to become a viable technology for space robotics. This paper will first review current methods for scene reconstruction and terrain modelling using cameras in planetary robotics and LIDARs in terrestrial robotics; then we will propose camera-LIDAR fusion as a feasible technique to overcome the limitations of either of these individual sensors for planetary exploration. A comprehensive analysis will be presented to demonstrate the advantages of camera-LIDAR fusion in terms of range, fidelity, accuracy and computation. PMID:27879625

Swedish PE Teachers Struggle with Assessment in a Criterion-Referenced Grading System

ERIC Educational Resources Information Center

Svennberg, Lena; Meckbach, Jane; Redelius, Karin

2018-01-01

In the field of education, the international trend is to turn to criterion-referenced grading in the hope of achieving accountable and consistent grades. Despite a national criterion-referenced grading system emphasising knowledge as the only base for grading, Swedish physical education (PE) grades have been shown to value non-knowledge factors,…

Triton - False Color of Cantaloupe Terrain

NASA Image and Video Library

1996-09-26

Voyager violet, green, and ultraviolet images of Triton were map projected into cylindrical coordinates and combined to produce this false color terrain map. Several compositionally distinct terrain and geologic features are portrayed. At center is a gray blue unit referred to as 'cantaloupe' terrain because of its unusual topographic texture. The unit appears to predate other units to the left. Immediately adjacent to the cantaloupe terrain, is a smoother unit, represented by a reddish color, that has been dissected by a prominent fault system. This unit apparently overlies a much higher albedo material, seen farther left. A prominent angular albedo boundary separates relatively undisturbed smooth terrain from irregular patches which have been derived from breakup of the same material. Also visible at the far left are diffuse, elongated streaks, which seem to emanate from circular, often bright centered features. The parallel streaks may represent vented particulate materials blown in the same direction by winds in Triton's thin atmosphere. The Voyager Mission was conducted by JPL for NASA's Office of Space Science and Applications. http://photojournal.jpl.nasa.gov/catalog/PIA00060

Using Norm-Referenced Data to Set Standards for a Minimum Competency Program in the State of South Carolina.

ERIC Educational Resources Information Center

Garcia-Quintana, Roan A.; Mappus, M. Lynne

1980-01-01

Norm referenced data were utilized for determining the mastery cutoff score on a criterion referenced test. Once a cutoff score on the norm referenced measure is selected, the cutoff score on the criterion referenced measure becomes that score which maximizes proportion of consistent classifications and proportion of improvement beyond change. (CP)

Embedding External Referencing of Standards into Higher Education: Collaborative Relationships Are the Key

ERIC Educational Resources Information Center

Sefcik, Lesley; Bedford, Simon; Czech, Peter; Smith, Judith; Yorke, Jonathan

2018-01-01

External referencing of assessment and students' achievement standards is a growing priority area within higher education, which is being pressured by government requirements to evidence outcome attainment. External referencing benefits stakeholders connected to higher education by helping to assure that assessments and standards within courses…

Reorienting with terrain slope and landmarks.

PubMed

Nardi, Daniele; Newcombe, Nora S; Shipley, Thomas F

2013-02-01

Orientation (or reorientation) is the first step in navigation, because establishing a spatial frame of reference is essential for a sense of location and heading direction. Recent research on nonhuman animals has revealed that the vertical component of an environment provides an important source of spatial information, in both terrestrial and aquatic settings. Nonetheless, humans show large individual and sex differences in the ability to use terrain slope for reorientation. To understand why some participants--mainly women--exhibit a difficulty with slope, we tested reorientation in a richer environment than had been used previously, including both a tilted floor and a set of distinct objects that could be used as landmarks. This environment allowed for the use of two different strategies for solving the task, one based on directional cues (slope gradient) and one based on positional cues (landmarks). Overall, rather than using both cues, participants tended to focus on just one. Although men and women did not differ significantly in their encoding of or reliance on the two strategies, men showed greater confidence in solving the reorientation task. These facts suggest that one possible cause of the female difficulty with slope might be a generally lower spatial confidence during reorientation.

Iapetus Bright and Dark Terrains

NASA Technical Reports Server (NTRS)

1990-01-01

Saturn's outermost large moon, Iapetus, has a bright, heavily cratered icy terrain and a dark terrain, as shown in this Voyager 2 image taken on August 22, 1981. Amazingly, the dark material covers precisely the side of Iapetus that leads in the direction of orbital motion around Saturn (except for the poles), whereas the bright material occurs on the trailing hemisphere and at the poles. The bright terrain is made of dirty ice, and the dark terrain is surfaced by carbonaceous molecules, according to measurements made with Earth-based telescopes. Iapetus' dark hemisphere has been likened to tar or asphalt and is so dark that no details within this terrain were visible to Voyager 2. The bright icy hemisphere, likened to dirty snow, shows many large impact craters. The closest approach by Voyager 2 to Iapetus was a relatively distant 600,000 miles, so that our best images, such as this, have a resolution of about 12 miles. The dark material is made of organic substances, probably including poisonous cyano compounds such as frozen hydrogen cyanide polymers. Though we know a little about the dark terrain's chemical nature, we do not understand its origin. Two theories have been developed, but neither is fully satisfactory--(1) the dark material may be organic dust knocked off the small neighboring satellite Phoebe and 'painted' onto the leading side of Iapetus as the dust spirals toward Saturn and Iapetus hurtles through the tenuous dust cloud, or (2) the dark material may be made of icy-cold carbonaceous 'cryovolcanic' lavas that were erupted from Iapetus' interior and then blackened by solar radiation, charged particles, and cosmic rays. A determination of the actual cause, as well as discovery of any other geologic features smaller than 12 miles across, awaits the Cassini Saturn orbiter to arrive in 2004.

Robot Would Climb Steep Terrain

NASA Technical Reports Server (NTRS)

Kennedy, Brett; Ganino, Anthony; Aghazarian, Hrand; Hogg, Robert; McHerny, Michael; Garrett, Michael

2007-01-01

This brief describes the steep terrain access robot (STAR) -- a walking robot that has been proposed for exploring steep terrain on remote planets. The STAR would be able to climb up or down on slopes as steep as vertical, and even beyond vertical to overhangs. Its system of walking mechanisms and controls would be to react forces and maintain stability. To enable the STAR to anchor itself in the terrain on steep slopes to maintain stability and react forces, it would be necessary to equip the tips of the walking legs with new ultrasonic/ sonic drill corers (USDCs) and to develop sensors and control algorithms to enable robust utilization of the USDCs.

Basalt: Biologic Analog Science Associated with Lava Terrains

NASA Astrophysics Data System (ADS)

Lim, D. S. S.; Abercromby, A.; Kobs-Nawotniak, S. E.; Kobayashi, L.; Hughes, S. S.; Chappell, S.; Bramall, N. E.; Deans, M. C.; Heldmann, J. L.; Downs, M.; Cockell, C. S.; Stevens, A. H.; Caldwell, B.; Hoffman, J.; Vadhavk, N.; Marquez, J.; Miller, M.; Squyres, S. W.; Lees, D. S.; Fong, T.; Cohen, T.; Smith, T.; Lee, G.; Frank, J.; Colaprete, A.

2015-12-01

This presentation will provide an overview of the BASALT (Biologic Analog Science Associated with Lava Terrains) program. BASALT research addresses Science, Science Operations, and Technology. Specifically, BASALT is focused on the investigation of terrestrial volcanic terrains and their habitability as analog environments for early and present-day Mars. Our scientific fieldwork is conducted under simulated Mars mission constraints to evaluate strategically selected concepts of operations (ConOps) and capabilities with respect to their anticipated value for the joint human and robotic exploration of Mars. a) Science: The BASALT science program is focused on understanding habitability conditions of early and present-day Mars in two relevant Mars-analog locations (the Southwest Rift Zone (SWRZ) and the East Rift Zone (ERZ) flows on the Big Island of Hawai'i and the eastern Snake River Plain (ESRP) in Idaho) to characterize and compare the physical and geochemical conditions of life in these environments and to learn how to seek, identify, and characterize life and life-related chemistry in basaltic environments representing these two epochs of martian history. b) Science Operations: The BASALT team will conduct real (non-simulated) biological and geological science at two high-fidelity Mars analogs, all within simulated Mars mission conditions (including communication latencies and bandwidth constraints) that are based on current architectural assumptions for Mars exploration missions. We will identify which human-robotic ConOps and supporting capabilities enable science return and discovery. c) Technology: BASALT will incorporate and evaluate technologies in to our field operations that are directly relevant to conducting the scientific investigations regarding life and life-related chemistry in Mars-analogous terrestrial environments. BASALT technologies include the use of mobile science platforms, extravehicular informatics, display technologies, communication

A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

NASA Technical Reports Server (NTRS)

Klarer, P.

1994-01-01

An alternative methodology for designing an autonomous navigation and control system is discussed. This generalized hybrid system is based on a less sequential and less anthropomorphic approach than that used in the more traditional artificial intelligence (AI) technique. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules. This is accomplished by intertask communications channels which implement each behavior module and each interconnection node as a stand-alone task. The proposed design architecture allows for construction of hybrid systems which employ both subsumption and traditional AI techniques as well as providing for a teleoperator's interface. Implementation of the architecture is planned for the prototype Robotic All Terrain Lunar Explorer Rover (RATLER) which is described briefly.

Terrain Portrayal for Head-Down Displays Experiment

NASA Technical Reports Server (NTRS)

Hughes, Monica F.; Takallu, M. A.

2002-01-01

The General Aviation Element of the Aviation Safety Program's Synthetic Vision Systems (SVS) Project is developing technology to eliminate low visibility induced General Aviation (GA) accidents. SVS displays present computer generated 3-dimensional imagery of the surrounding terrain on the Primary Flight Display (PFD) to greatly enhance pilot's situation awareness (SA), reducing or eliminating Controlled Flight into Terrain, as well as Low-Visibility Loss of Control accidents. SVS-conducted research is facilitating development of display concepts that provide the pilot with an unobstructed view of the outside terrain, regardless of weather conditions and time of day. A critical component of SVS displays is the appropriate presentation of terrain to the pilot. An experimental study has been conducted at NASA Langley Research Center (LaRC) to explore and quantify the relationship between the realism of the terrain presentation and resulting enhancements of pilot SA and pilot performance. Composed of complementary simulation and flight test efforts, Terrain Portrayal for Head-Down Displays (TP-HDD) experiments will help researchers evaluate critical terrain portrayal concepts. The experimental effort is to provide data to enable design trades that optimize SVS applications, as well as develop requirements and recommendations to facilitate the certification process. This paper focuses on the experimental set-up and preliminary qualitative results of the TP-HDD simulation experiment. In this experiment a fixed based flight simulator was equipped with various types of Head Down flight displays, ranging from conventional round dials (typical of most GA aircraft) to glass cockpit style PFD's. The variations of the PFD included an assortment of texturing and Digital Elevation Model (DEM) resolution combinations. A test matrix of 10 terrain display configurations (in addition to the baseline displays) were evaluated by 27 pilots of various backgrounds and experience levels

Criterion-Referenced Test Items for Small Engines.

ERIC Educational Resources Information Center

Herd, Amon

This notebook contains criterion-referenced test items for testing students' knowledge of small engines. The test items are based upon competencies found in the Missouri Small Engine Competency Profile. The test item bank is organized in 18 sections that cover the following duties: shop procedures; tools and equipment; fasteners; servicing fuel…

Criterion-Referenced Measurement: Half a Century Wasted?

ERIC Educational Resources Information Center

Popham, W. James

2014-01-01

Fifty years ago, Robert Glaser introduced the concept of criterion-referenced measurement in an article in American Psychologist. Its early proponents predicted that this measurement strategy would revolutionize education. But has it lived up to its promise? W. James Popham explores this question by looking at the history of criterion-referenced…

Vegetation and terrain mapping in Alaska using Landsat MSS and digital terrain data

USGS Publications Warehouse

Shasby, Mark; Carneggie, David M.

1986-01-01

During the past 5 years, the U.S. Geological Survey's (USGS) Earth Resources Observation Systems (EROS) Data Center Field Office in Anchorage, Alaska has worked cooperatively with Federal and State resource management agencies to produce land-cover and terrain maps for 245 million acres of Alaska. The need for current land-cover information in Alaska comes principally from the mandates of the Alaska National Interest Lands Conservation Act (ANILCA), December 1980, which requires major land management agencies to prepare comprehensive management plans. The land-cover mapping projects integrate digital Landsat data, terrain data, aerial photographs, and field data. The resultant land-cover and terrain maps and associated data bases are used for resource assessment, management, and planning by many Alaskan agencies including the U.S. Fish and Wildlife Service, U.S. Forest Service, Bureau of Land Management, and Alaska Department of Natural Resources. Applications addressed through use of the digital land-cover and terrain data bases range from comprehensive refuge planning to multiphased sampling procedures designed to inventory vegetation statewide. The land-cover mapping programs in Alaska demonstrate the operational utility of digital Landsat data and have resulted in a new land-cover mapping program by the USGS National Mapping Division to compile 1:250,000-scale land-cover maps in Alaska using a common statewide land-cover map legend.

Validity and Reliability of Criterion-Referenced Measures: Issues and Procedures for Special Educators.

ERIC Educational Resources Information Center

Harris, Larry P.; Wolf, Steven R.

1979-01-01

The article focuses on the controversy over norm-referenced v criterion-referenced measures (CRM) in assessment of learning disorders. The authors contend that while the reliability of CRMs is generally indisputable, the validity of measures designed from local curricula is still dependent on the intuitive judgments of teachers. (Author/SBH)

Terrain profiling from Seasat altimetry

NASA Technical Reports Server (NTRS)

Brooks, R. L.

1981-01-01

To determine their applicability for terrain profiling, Seasat altimeter measurements were analyzed for the following geographic areas: (1) Andean salars of southern Bolivia; (2) Alaska; (3) south-central Arizona; (4) imperial Valley of California; (5) Yuma Valley of Arizona; and (6) Great Salt Lake Desert. Analysis of the data over all of these geographic areas shows that the satellite altimeter servo did not respond quickly enough to changing terrain features. However, it is demonstrated that retracking of the archived surface return waveforms yields surface elevations over smooth terrain accurate to + or - 1 m when correlated with large scale maps. The retracking algorithm used and its verification over the salars of southern Bolivia are described. Results are presented for each of the six geographic areas.

Criterion-Referenced Test Items for Auto Body.

ERIC Educational Resources Information Center

Tannehill, Dana, Ed.

This test item bank on auto body repair contains criterion-referenced test questions based upon competencies found in the Missouri Auto Body Competency Profile. Some test items are keyed for multiple competencies. The tests cover the following 26 competency areas in the auto body curriculum: auto body careers; measuring and mixing; tools and…

Electronics. Criterion-Referenced Test (CRT) Item Bank.

ERIC Educational Resources Information Center

Davis, Diane, Ed.

This document contains 519 criterion-referenced multiple choice and true or false test items for a course in electronics. The test item bank is designed to work with both the Vocational Instructional Management System (VIMS) and the Vocational Administrative Management System (VAMS) in Missouri. The items are grouped into 15 units covering the…

A Criterion-Referenced Examination of Physician Competence.

ERIC Educational Resources Information Center

Norcini, John J.; And Others

1988-01-01

A test of skill in reading electrocardiographs (ECGs) was developed as a physician competence (PC) test. The criterion-referenced test ranked 1,825 persons taking the 1983 Certifying Examination in Cardiovascular Diseases (CECD) as expected on the basis of prior education and examination scores on the CECD. The ECG test modestly correlated with…

Fretted Terrain Valleys

NASA Technical Reports Server (NTRS)

2004-01-01

30 October 2004 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows shallow tributary valleys in the Ismenius Lacus fretted terrain region of northern Arabia Terra. These valleys exhibit a variety of typical fretted terrain valley wall and floor textures, including a lineated, pitted material somewhat reminiscent of the surface of a brain. Origins for these features are still being debated within the Mars science community; there are no clear analogs to these landforms on Earth. This image is located near 39.9oN, 332.1oW. The picture covers an area about 3 km (1.9 mi) wide. Sunlight illuminates the scene from the lower left.

41 CFR 101-45.004 - All terrain vehicles.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 41 Public Contracts and Property Management 2 2012-07-01 2012-07-01 false All terrain vehicles. 101-45.004 Section 101-45.004 Public Contracts and Property Management Federal Property Management... DESTRUCTION OF PERSONAL PROPERTY § 101-45.004 All terrain vehicles. (a) Three-wheeled all terrain vehicles...

Criteria-Referenced Formative Assessment in the Arts

ERIC Educational Resources Information Center

Chen, Fei; Lui, Angela M.; Andrade, Heidi; Valle, Christopher; Mir, Hirah

2017-01-01

The purpose of this study was to examine the effect of criteria-referenced formative assessment on achievement in the arts. Seventy-five schools in New York City were assigned to either the treatment or control condition. The treatment involved 3195 elementary, middle, or high school students instructed by 43 music, visual arts, theater, or dance…

Terrain Traversing Device Having a Wheel with Microhooks

NASA Technical Reports Server (NTRS)

Parness, Aaron (Inventor); McKenzie, Clifford F. (Inventor)

2014-01-01

A terrain traversing device includes an annular rotor element with a plurality of co-planar microspine hooks arranged on the periphery of the annular rotor element. Each microspine hook has an independently flexible suspension configuration that permits the microspine hook to initially engage an irregularity in a terrain surface at a preset initial engagement angle and subsequently engage the irregularity with a continuously varying engagement angle when the annular rotor element is rotated for urging the terrain traversing device to traverse a terrain surface.

Terrain and refractivity effects on non-optical paths

NASA Astrophysics Data System (ADS)

Barrios, Amalia E.

1994-07-01

The split-step parabolic equation (SSPE) has been used extensively to model tropospheric propagation over the sea, but recent efforts have extended this method to propagation over arbitrary terrain. At the Naval Command, Control and Ocean Surveillance Center (NCCOSC), Research, Development, Test and Evaluation Division, a split-step Terrain Parabolic Equation Model (TPEM) has been developed that takes into account variable terrain and range-dependent refractivity profiles. While TPEM has been previously shown to compare favorably with measured data and other existing terrain models, two alternative methods to model radiowave propagation over terrain, implemented within TPEM, will be presented that give a two to ten-fold decrease in execution time. These two methods are also shown to agree well with measured data.

Geomagnetic referencing in the arctic environment

USGS Publications Warehouse

Podjono, Benny; Beck, Nathan; Buchanan, Andrew; Brink, Jason; Longo, Joseph; Finn, Carol A.; Worthington, E. William

2011-01-01

Geomagnetic referencing is becoming an increasingly attractive alternative to north-seeking gyroscopic surveys to achieve the precise wellbore positioning essential for success in today's complex drilling programs. However, the greater magnitude of variations in the geomagnetic environment at higher latitudes makes the application of geomagnetic referencing in those areas more challenging. Precise, real-time data on those variations from relatively nearby magnetic observatories can be crucial to achieving the required accuracy, but constructing and operating an observatory in these often harsh environments poses a number of significant challenges. Operational since March 2010, the Deadhorse Magnetic Observatory (DED), located in Deadhorse, Alaska, was created through collaboration between the United States Geological Survey (USGS) and a leading oilfield services supply company. DED was designed to produce real-time geomagnetic data at the required level of accuracy, and to do so reliably under the extreme temperatures and harsh weather conditions often experienced in the area. The observatory will serve a number of key scientific communities as well as the oilfield drilling industry, and has already played a vital role in the success of several commercial ventures in the area, providing essential, accurate data while offering significant cost and time savings, compared with traditional surveying techniques.

Geomagnetic referencing in the arctic environment

USGS Publications Warehouse

Poedjono, B.; Beck, N.; Buchanan, A. C.; Brink, J.; Longo, J.; Finn, C.A.; Worthington, E.W.

2011-01-01

Geomagnetic referencing is becoming an increasingly attractive alternative to north-seeking gyroscopic surveys to achieve the precise wellbore positioning essential for success in today's complex drilling programs. However, the greater magnitude of variations in the geomagnetic environment at higher latitudes makes the application of geomagnetic referencing in those areas more challenging. Precise, real-time data on those variations from relatively nearby magnetic observatories can be crucial to achieving the required accuracy, but constructing and operating an observatory in these often harsh environments poses a number of significant challenges. Operational since March 2010, the Deadhorse Magnetic Observatory (DED), located in Deadhorse, Alaska, was created through collaboration between the United States Geological Survey (USGS) and a leading oilfield services supply company. DED was designed to produce real-time geomagnetic data at the required level of accuracy, and to do so reliably under the extreme temperatures and harsh weather conditions often experienced in the area. The observatory will serve a number of key scientific communities as well as the oilfield drilling industry, and has already played a vital role in the success of several commercial ventures in the area, providing essential, accurate data while offering significant cost and time savings, compared with traditional surveying techniques. Copyright 2011, Society of Petroleum Engineers.

Grooved Terrain on Ganymede: A Galileo-based Synthesis

NASA Technical Reports Server (NTRS)

Pappalardo, Robert T.; Collins, Geoffrey C.; Head, James W.; Moore, Jeffrey M.; Schenk, Paul M.

2003-01-01

Swaths of bright "grooved terrain" (sulci) on Ganymede are 10s to 100s of kilometers wide and cross-cut the older dark terrain, forming an intricate patchwork across 2/3 of Ganymede's surface. The view of grooved terrain developed from Voyager images is that bright cells are broad graben infilled by extrusion of relatively clean (silicate-poor) liquid water, warm ice, or icy slush, and then extended and faulted. Galileo imaging has greatly improved understanding of the emplacement history and geological implications of grooved terrain, supporting a rift-like model for its formation.

Self-Referenced Memory, Social Cognition, and Symptom Presentation in Autism

PubMed Central

Henderson, Heather A.; Zahka, Nicole E.; Kojkowski, Nicole M.; Inge, Anne P.; Schwartz, Caley B.; Hileman, Camilla M.; Coman, Drew C.; Mundy, Peter C.

2009-01-01

Background We examined performance on a self-referenced memory (SRM) task for higher functioning children with autism (HFA) and a matched comparison group. SRM performance was examined in relation to symptom severity and social cognitive tests of mentalizing. Method Sixty-two children (31 HFA, 31 comparison; 8–16 years) completed a SRM task in which they read a list of words and decided whether the word described something about them, something about Harry Potter, or contained a certain number of letters. They then identified words that were familiar from a longer list. Dependent measures were memory performance (d′) in each of the three encoding conditions as well as a self-memory bias score (d′ self-d′ other). Children completed The Strange Stories Task and The Children’s Eyes Test as measures of social cognition. Parents completed the SCQ and ASSQ as measures of symptom severity. Results Children in the comparison sample showed the standard SRM effect in which they recognized significantly more self-referenced words relative to words in the other-referenced and letter conditions. In contrast, HFA children showed comparable rates of recognition for self- and other-referenced words. For all children, SRM performance improved with age and enhanced SRM performance was related to lower levels of social problems. These associations were not accounted for by performance on the mentalizing tasks. Conclusions Children with HFA did not show the standard enhanced processing of self- vs. other-relevant information. Individual differences in the tendency to preferentially process self-relevant information may be associated with social cognitive processes that serve to modify the expression of social symptoms in children with autism. PMID:19298471

Self-referenced memory, social cognition, and symptom presentation in autism.

PubMed

Henderson, Heather A; Zahka, Nicole E; Kojkowski, Nicole M; Inge, Anne P; Schwartz, Caley B; Hileman, Camilla M; Coman, Drew C; Mundy, Peter C

2009-07-01

We examined performance on a self-referenced memory (SRM) task for higher-functioning children with autism (HFA) and a matched comparison group. SRM performance was examined in relation to symptom severity and social cognitive tests of mentalizing. Sixty-two children (31 HFA, 31 comparison; 8-16 years) completed a SRM task in which they read a list of words and decided whether the word described something about them, something about Harry Potter, or contained a certain number of letters. They then identified words that were familiar from a longer list. Dependent measures were memory performance (d') in each of the three encoding conditions as well as a self-memory bias score (d' self-d' other). Children completed The Strange Stories Task and The Children's Eyes Test as measures of social cognition. Parents completed the SCQ and ASSQ as measures of symptom severity. Children in the comparison sample showed the standard SRM effect in which they recognized significantly more self-referenced words relative to words in the other-referenced and letter conditions. In contrast, HFA children showed comparable rates of recognition for self- and other-referenced words. For all children, SRM performance improved with age and enhanced SRM performance was related to lower levels of social problems. These associations were not accounted for by performance on the mentalizing tasks. Children with HFA did not show the standard enhanced processing of self- vs. other-relevant information. Individual differences in the tendency to preferentially process self-relevant information may be associated with social cognitive processes that serve to modify the expression of social symptoms in children with autism.

A Humanistic Approach to Criterion Referenced Testing.

ERIC Educational Resources Information Center

Wilson, H. A.

Test construction is not the strictly logical process that we might wish it to be. This is particularly true in a large on-going project such as the National Assessment of Educational Progress (NAEP). Most of the really deep questions can only be answered by the exercise of well-informed human judgment. Criterion-referenced testing is still a term…

Navigation.

PubMed

Wiltschko, Roswitha

2017-07-01

Experiments with migrating birds displaced during autumn migration outside their normal migration corridor reveal two different navigational strategies: adult migrants compensate for the displacement, and head towards their traditional wintering areas, whereas young first-time migrants continue in their migratory direction. Young birds are guided to their still unknown goal by a genetically coded migration program that indicates duration and direction(s) of the migratory flight by controlling the amount of migratory restlessness and the compass course(s) with respect to the geomagnetic field and celestial rotation. Adult migrants that have already wintered and are familiar with the goal area approach the goal by true navigation, specifically heading towards it and changing their course correspondingly after displacement. During their first journey, young birds experience the distribution of potential navigational factors en route and in their winter home, which allows them to truly navigate on their next migrations. The navigational factors used appear to include magnetic intensity as a component in their multi-modal navigational 'map'; olfactory input is also involved, even if it is not yet entirely clear in what way. The mechanisms of migratory birds for true navigation over long distances appear to be in principle similar to those discussed for by homing pigeons.

The Terrain of Margaritifer Chaos

NASA Technical Reports Server (NTRS)

1999-01-01

The jumbled and broken terrain in the picture on the left is known as chaotic terrain. Chaotic terrain was first observed in Mariner 6 and 7 images of Mars more than 30 years ago, and is thought to result from collapse after material--perhaps water or ice--was removed from the subsurface by events such as the formation of giant flood channels. The region shown here is named 'Margaritifer Chaos'. The left picture is a Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) red wide angle camera context frame that covers an area 115 km (71 miles) across. The small white box is centered at 10.3oS, 21.4oW and indicates the location of the high-resolution view on the right. The high resolution view (right) covers a small portion of the Margaritifer Chaos at 1.8 meters (6 feet) per pixel. The area shown is 3 km (1.9 miles) across. Uplands are lumpy with small bright outcrops of bedrock. Lowlands or valleys in the chaotic terrain have floors covered by light-toned windblown d rifts. This image is typical of the very highest-resolution views of the equatorial latitudes of Mars. Both pictures are illuminated from the left/upper left, north is toward the top.

Student Assessment System. Domain Referenced Tests. Allied Health Occupations/Practical Nursing. Volume 1: Skills.

ERIC Educational Resources Information Center

Simpson, Bruce; And Others

These performance tests for the area of allied health occupations/practical nursing consist of a sampling technique (domain referenced tests) which covers all the possible performance situations. When used in total, they may also serve as a comprehensive test. Introductory materials discuss domain referenced testing, determining the domains, and…

Cross-coupled control for all-terrain rovers.

PubMed

Reina, Giulio

2013-01-08

Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors' control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors.

Lunar terrain mapping and relative-roughness analysis

NASA Technical Reports Server (NTRS)

Rowan, L. C.; Mccauley, J. F.; Holm, E. A.

1971-01-01

Terrain maps of the equatorial zone were prepared at scales of 1:2,000,000 and 1:1,000,000 to classify lunar terrain with respect to roughness and to provide a basis for selecting sites for Surveyor and Apollo landings, as well as for Ranger and Lunar Orbiter photographs. Lunar terrain was described by qualitative and quantitative methods and divided into four fundamental classes: maria, terrae, craters, and linear features. Some 35 subdivisions were defined and mapped throughout the equatorial zone, and, in addition, most of the map units were illustrated by photographs. The terrain types were analyzed quantitatively to characterize and order their relative roughness characteristics. For some morphologically homogeneous mare areas, relative roughness can be extrapolated to the large scales from measurements at small scales.

Intelligent mobility research for robotic locomotion in complex terrain

NASA Astrophysics Data System (ADS)

Trentini, Michael; Beckman, Blake; Digney, Bruce; Vincent, Isabelle; Ricard, Benoit

2006-05-01

The objective of the Autonomous Intelligent Systems Section of Defence R&D Canada - Suffield is best described by its mission statement, which is "to augment soldiers and combat systems by developing and demonstrating practical, cost effective, autonomous intelligent systems capable of completing military missions in complex operating environments." The mobility requirement for ground-based mobile systems operating in urban settings must increase significantly if robotic technology is to augment human efforts in these roles and environments. The intelligence required for autonomous systems to operate in complex environments demands advances in many fields of robotics. This has resulted in large bodies of research in areas of perception, world representation, and navigation, but the problem of locomotion in complex terrain has largely been ignored. In order to achieve its objective, the Autonomous Intelligent Systems Section is pursuing research that explores the use of intelligent mobility algorithms designed to improve robot mobility. Intelligent mobility uses sensing, control, and learning algorithms to extract measured variables from the world, control vehicle dynamics, and learn by experience. These algorithms seek to exploit available world representations of the environment and the inherent dexterity of the robot to allow the vehicle to interact with its surroundings and produce locomotion in complex terrain. The primary focus of the paper is to present the intelligent mobility research within the framework of the research methodology, plan and direction defined at Defence R&D Canada - Suffield. It discusses the progress and future direction of intelligent mobility research and presents the research tools, topics, and plans to address this critical research gap. This research will create effective intelligence to improve the mobility of ground-based mobile systems operating in urban settings to assist the Canadian Forces in their future urban operations.

Energy Referencing in LANL HE-EOS Codes

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

Leiding, Jeffery Allen; Coe, Joshua Damon

2017-10-19

Here, We briefly describe the choice of energy referencing in LANL's HE-EOS codes, HEOS and MAGPIE. Understanding this is essential to comparing energies produced by different EOS codes, as well as to the correct calculation of shock Hugoniots of HEs and other materials. In all equations after (3) throughout this report, all energies, enthalpies and volumes are assumed to be molar quantities.

Performance Evaluation and Analysis for Gravity Matching Aided Navigation.

PubMed

Wu, Lin; Wang, Hubiao; Chai, Hua; Zhang, Lu; Hsu, Houtse; Wang, Yong

2017-04-05

Simulation tests were accomplished in this paper to evaluate the performance of gravity matching aided navigation (GMAN). Four essential factors were focused in this study to quantitatively evaluate the performance: gravity database (DB) resolution, fitting degree of gravity measurements, number of samples in matching, and gravity changes in the matching area. Marine gravity anomaly DB derived from satellite altimetry was employed. Actual dynamic gravimetry accuracy and operating conditions were referenced to design the simulation parameters. The results verified that the improvement of DB resolution, gravimetry accuracy, number of measurement samples, or gravity changes in the matching area generally led to higher positioning accuracies, while the effects of them were different and interrelated. Moreover, three typical positioning accuracy targets of GMAN were proposed, and the conditions to achieve these targets were concluded based on the analysis of several different system requirements. Finally, various approaches were provided to improve the positioning accuracy of GMAN.

Performance Evaluation and Analysis for Gravity Matching Aided Navigation

PubMed Central

Wu, Lin; Wang, Hubiao; Chai, Hua; Zhang, Lu; Hsu, Houtse; Wang, Yong

2017-01-01

Simulation tests were accomplished in this paper to evaluate the performance of gravity matching aided navigation (GMAN). Four essential factors were focused in this study to quantitatively evaluate the performance: gravity database (DB) resolution, fitting degree of gravity measurements, number of samples in matching, and gravity changes in the matching area. Marine gravity anomaly DB derived from satellite altimetry was employed. Actual dynamic gravimetry accuracy and operating conditions were referenced to design the simulation parameters. The results verified that the improvement of DB resolution, gravimetry accuracy, number of measurement samples, or gravity changes in the matching area generally led to higher positioning accuracies, while the effects of them were different and interrelated. Moreover, three typical positioning accuracy targets of GMAN were proposed, and the conditions to achieve these targets were concluded based on the analysis of several different system requirements. Finally, various approaches were provided to improve the positioning accuracy of GMAN. PMID:28379178

Machine Shop. Criterion-Referenced Test (CRT) Item Bank.

ERIC Educational Resources Information Center

Davis, Diane, Ed.

This drafting criterion-referenced test item bank is keyed to the machine shop competency profile developed by industry and education professionals in Missouri. The 16 references used for drafting the test items are listed. Test items are arranged under these categories: orientation to machine shop; performing mathematical calculations; performing…

An Investigation Into the Use of Criterion-Referenced Measurement in Vocational and Technical Training.

ERIC Educational Resources Information Center

Day, Gerald F.

The paper investigates and analyses the current state of the art of criterion-referenced measurement (CRM), with a view to determining its use in training and instructional programs. It presents a reveiw of the literature pertaining to the following aspects: a brief history of CRM; a definition and comparison of criterion-referenced and…

Terrain Traversing Device Having a Wheel with Microhooks

NASA Technical Reports Server (NTRS)

Wiltsie, Nicholas (Inventor); Carpenter, Kalind C. (Inventor); Parness, Aaron (Inventor)

2015-01-01

A terrain traversing device is described. The device includes an annular rotor element with a plurality of co-planar microspine hooks arranged on the periphery of the annular rotor element. Each microspine hook has an independently flexible suspension configuration that permits the microspine hook to initially engage an irregularity in a terrain surface at a preset initial engagement angle and subsequently engage the irregularity with a continuously varying engagement angle when the annular rotor element is rotated for urging the terrain traversing device to traverse a terrain surface. Improvements related to the design, fabrication and use of the microspine hooks in the device are also described.

Pluto Fretted Terrain

NASA Image and Video Library

2016-05-20

NASA New Horizons scientists have spotted an expanse of terrain they describe as fretted bright plains divided into polygon-shaped blocks by a network of dark, connected valleys in Pluto informally named Venera Terra region.

Mathematical Modeling Of The Terrain Around A Robot

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1992-01-01

In conceptual system for modeling of terrain around autonomous mobile robot, representation of terrain used for control separated from representation provided by sensors. Concept takes motion-planning system out from under constraints imposed by discrete spatial intervals of square terrain grid(s). Separation allows sensing and motion-controlling systems to operate asynchronously; facilitating integration of new map and sensor data into planning of motions.

Cross-Coupled Control for All-Terrain Rovers

PubMed Central

Reina, Giulio

2013-01-01

Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors' control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors. PMID:23299625

Wind turbine wake measurement in complex terrain

NASA Astrophysics Data System (ADS)

Hansen, KS; Larsen, GC; Menke, R.; Vasiljevic, N.; Angelou, N.; Feng, J.; Zhu, WJ; Vignaroli, A.; W, W. Liu; Xu, C.; Shen, WZ

2016-09-01

SCADA data from a wind farm and high frequency time series measurements obtained with remote scanning systems have been analysed with focus on identification of wind turbine wake properties in complex terrain. The analysis indicates that within the flow regime characterized by medium to large downstream distances (more than 5 diameters) from the wake generating turbine, the wake changes according to local atmospheric conditions e.g. vertical wind speed. In very complex terrain the wake effects are often “overruled” by distortion effects due to the terrain complexity or topology.

The Trouble with the Curve: An Argument for the Abolishment of Norm-Referenced Evaluation

ERIC Educational Resources Information Center

Raymond, Gregory

2013-01-01

The norm-referenced evaluation system has been used to grade students, from elementary to post-secondary, for decades. However, the system itself is inherently flawed. Looking at the history of the norm-referenced system and its most famous tool, the Bell Curve, and taking examples from the author's own teaching experience, this paper examines the…

Terrain Commander: a next-generation remote surveillance system

NASA Astrophysics Data System (ADS)

Finneral, Henry J.

2003-09-01

Terrain Commander is a fully automated forward observation post that provides the most advanced capability in surveillance and remote situational awareness. The Terrain Commander system was selected by the Australian Government for its NINOX Phase IIB Unattended Ground Sensor Program with the first systems delivered in August of 2002. Terrain Commander offers next generation target detection using multi-spectral peripheral sensors coupled with autonomous day/night image capture and processing. Subsequent intelligence is sent back through satellite communications with unlimited range to a highly sophisticated central monitoring station. The system can "stakeout" remote locations clandestinely for 24 hours a day for months at a time. With its fully integrated SATCOM system, almost any site in the world can be monitored from virtually any other location in the world. Terrain Commander automatically detects and discriminates intruders by precisely cueing its advanced EO subsystem. The system provides target detection capabilities with minimal nuisance alarms combined with the positive visual identification that authorities demand before committing a response. Terrain Commander uses an advanced beamforming acoustic sensor and a distributed array of seismic, magnetic and passive infrared sensors to detect, capture images and accurately track vehicles and personnel. Terrain Commander has a number of emerging military and non-military applications including border control, physical security, homeland defense, force protection and intelligence gathering. This paper reviews the development, capabilities and mission applications of the Terrain Commander system.

Procedures for Constructing and Using Criterion-Referenced Performance Tests.

ERIC Educational Resources Information Center

Campbell, Clifton P.; Allender, Bill R.

1988-01-01

Criterion-referenced performance tests (CRPT) provide a realistic method for objectively measuring task proficiency against predetermined attainment standards. This article explains the procedures of constructing, validating, and scoring CRPTs and includes a checklist for a welding test. (JOW)

Effective Score Reporting of Non-Norm-Referenced Assessment.

ERIC Educational Resources Information Center

Haenn, Joseph F.; And Others

The Maryland State Department of Education issued a request for proposals to develop a score reporting system for the Maryland Functional Testing Program. RMC Research Corporation conducted a literature review of extant literature and developed a national survey of non-norm-referenced test score reporting practices. This comprehensive analysis of…

Slip-based terrain estimation with a skid-steer vehicle

NASA Astrophysics Data System (ADS)

Reina, Giulio; Galati, Rocco

2016-10-01

In this paper, a novel approach for online terrain characterisation is presented using a skid-steer vehicle. In the context of this research, terrain characterisation refers to the estimation of physical parameters that affects the terrain ability to support vehicular motion. These parameters are inferred from the modelling of the kinematic and dynamic behaviour of a skid-steer vehicle that reveals the underlying relationships governing the vehicle-terrain interaction. The concept of slip track is introduced as a measure of the slippage experienced by the vehicle during turning motion. The proposed terrain estimation system includes common onboard sensors, that is, wheel encoders, electrical current sensors and yaw rate gyroscope. Using these components, the system can characterise terrain online during normal vehicle operations. Experimental results obtained from different surfaces are presented to validate the system in the field showing its effectiveness and potential benefits to implement adaptive driving assistance systems or to automatically update the parameters of onboard control and planning algorithms.

Stratigraphy of the layered terrain in Valles Marineris, Mars

NASA Technical Reports Server (NTRS)

Komatsu, G.; Strom, Roger G.

1991-01-01

The layered terrain in Valles Marineris provides information about its origin and the geologic history of this canyon system. Whether the terrain is sedimentary material deposited in a dry or lacustrine environment, or volcanic material related to the tectonics of the canyon is still controversial. However, recent studies of Gangis Layered Terrain suggests a cyclic sequence of deposition and erosion under episodic lacustrine conditions. The stratigraphic studies are extended to four other occurrences of layered terrains in Valles Marineris in an attempt to correlate and distinguish between depositional environments. The Juvantae Chasma, Hebes Chasma, Ophir and Candor Chasmata, Melas Chasma, and Gangis Layered Terrain were examined. Although there are broad similarities among the layered terrains, no two deposits are exactly alike. This suggests that there was no synchronized regional depositional processes to form all the layered deposits. However, the similar erosional style of the lower massive weakly bedded unit in Hebes, Gangis, and Ophir-Candor suggests it may have been deposited under similar circumstances.

Sakhalin Island terrain intelligence

USGS Publications Warehouse

,

1943-01-01

This folio of maps and explanatory tables outlines the principal terrain features of Sakhalin Island. Each map and table is devoted to a specialized set of problems; together they cover the subjects of terrain appreciation, climate, rivers, water supply, construction materials, suitability for roads, suitability for airfields, fuels and other mineral resources, and geology. In most cases, the map of the island is divided into two parts: N. of latitude 50° N., Russian Sakhalin, and south of latitude 50° N., Japanese Sakhalin or Karafuto. These maps and data were compiled by the United States Geological Survey during the period from March to September, 1943.

High-gain Antenna & Terrain

NASA Image and Video Library

1997-07-06

Areas of rocky Martian terrain are seen in this image, taken by the Imager for Mars Pathfinder (IMP) on Sol 2. Portions of a lander petal and deflated airbag are at lower left. The dark disk at center is the high-gain antenna, and the silver cylindrical objects at upper right are part of the antenna's mechanism. An area of relatively smooth terrain is seen at upper right, which may offer clues to how this area was formed, and may be a future target for Sojourner's studies. The black area at lower right and small strip at top center is missing data. http://photojournal.jpl.nasa.gov/catalog/PIA00625

Geomorphic Evolution of Sputnik Planum and Surrounding Terrain

NASA Astrophysics Data System (ADS)

Howard, A. D.; Moore, J. M.; White, O. L.; Umurhan, O. M.; Schenk, P.; Beyer, R. A.; McKinnon, W. B.; Singer, K. N.; Spencer, J. R.; Stern, A.; Weaver, H. A., Jr.; Young, L. A.; Ennico Smith, K.; Olkin, C.

2015-12-01

The informally-named Sputnik Planum is a vast expanse (about 835 km east-west and 1500 km north-south) of N2, CH4, and CO ices which appears craterless at current resolutions, but which gives evidence of both glacial and convective flow in the ices (Stern and the New Horizons Team, Science, 2015). This ice field is surrounded by uplands of varying morphology from hilly terrain to the northeast, plains of apparent ices interspersed with rough terrain to the east, and textured ice surrounding the mountainous terrain to the southwest. The morphology and composition of this bordering terrain will provide clues to the long-term evolution of Sputnik Planum as higher resolution visual and spectral imaging of this region are returned from the New Horizons spacecraft over the next few months. Interactions between Sputnik Planum and surrounding terrain may have involved glacial erosion and deposition. The geomorphic evolution of this region will be discussed in the context of newly-returned encounter data.

14 CFR 91.223 - Terrain awareness and warning system.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 2 2011-01-01 2011-01-01 false Terrain awareness and warning system. 91..., and Certificate Requirements § 91.223 Terrain awareness and warning system. (a) Airplanes manufactured... seat, unless that airplane is equipped with an approved terrain awareness and warning system that as a...

14 CFR 91.223 - Terrain awareness and warning system.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 2 2013-01-01 2013-01-01 false Terrain awareness and warning system. 91..., and Certificate Requirements § 91.223 Terrain awareness and warning system. (a) Airplanes manufactured... seat, unless that airplane is equipped with an approved terrain awareness and warning system that as a...

14 CFR 91.223 - Terrain awareness and warning system.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 2 2014-01-01 2014-01-01 false Terrain awareness and warning system. 91..., and Certificate Requirements § 91.223 Terrain awareness and warning system. (a) Airplanes manufactured... seat, unless that airplane is equipped with an approved terrain awareness and warning system that as a...

14 CFR 91.223 - Terrain awareness and warning system.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 2 2012-01-01 2012-01-01 false Terrain awareness and warning system. 91..., and Certificate Requirements § 91.223 Terrain awareness and warning system. (a) Airplanes manufactured... seat, unless that airplane is equipped with an approved terrain awareness and warning system that as a...

14 CFR 91.223 - Terrain awareness and warning system.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 2 2010-01-01 2010-01-01 false Terrain awareness and warning system. 91..., and Certificate Requirements § 91.223 Terrain awareness and warning system. (a) Airplanes manufactured... seat, unless that airplane is equipped with an approved terrain awareness and warning system that as a...

Assessment of Spatial Navigation and Docking Performance During Simulated Rover Tasks

NASA Technical Reports Server (NTRS)

Wood, S. J.; Dean, S. L.; De Dios, Y. E.; Moore, S. T.

2010-01-01

INTRODUCTION: Following long-duration exploration transits, pressurized rovers will enhance surface mobility to explore multiple sites across Mars and other planetary bodies. Multiple rovers with docking capabilities are envisioned to expand the range of exploration. However, adaptive changes in sensorimotor and cognitive function may impair the crew s ability to safely navigate and perform docking tasks shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify post-flight decrements in spatial navigation and docking performance during a rover simulation. METHODS: Eight crewmembers returning from the International Space Station will be tested on a motion simulator during four pre-flight and three post-flight sessions over the first 8 days following landing. The rover simulation consists of a serial presentation of discrete tasks to be completed within a scheduled 10 min block. The tasks are based on navigating around a Martian outpost spread over a 970 sq m terrain. Each task is subdivided into three components to be performed as quickly and accurately as possible: (1) Perspective taking: Subjects use a joystick to indicate direction of target after presentation of a map detailing current orientation and location of the rover with the task to be performed. (2) Navigation: Subjects drive the rover to the desired location while avoiding obstacles. (3) Docking: Fine positioning of the rover is required to dock with another object or align a camera view. Overall operator proficiency will be based on how many tasks the crewmember can complete during the 10 min time block. EXPECTED RESULTS: Functionally relevant testing early post-flight will develop evidence regarding the limitations to early surface operations and what countermeasures are needed. This approach can be easily adapted to a wide variety of simulated vehicle designs to provide sensorimotor assessments for other operational and civilian populations.

Criterion-Referenced Testing: A Discussion of Theory and Practice in the Army

DTIC Science & Technology

1975-12-01

Roorch (7S-11 / CRITERION-REFERENCED TESTING: A DISCUSSION OF THEORY AND PRACTICE IN THE ARMY R.b,’t W. Sw. zey. Richard . Pearstein aWn William H...Standards Research Memorandum 75,-1i -- RITERION-REFERENCED TESTING: A DISCUSSION OF THEORY AND 9.0 PRACTICE IN THE ARMY, Robert W./Swezey, Richard B...1󈨏. (b) Block, J. H. fEd.) Mastery Learning: Theory and Practice. New York: Holt, Rinehart, and Winston, lfT7,1. Branson , R. K., Stone, J. H1

Some Reliability Problems in a Criterion-Referenced Test.

ERIC Educational Resources Information Center

Roudabush, Glenn E.; Green, Donald Ross

This paper describes the development of a criterion-referenced test. The Prescriptive Mathematics Inventory (PMI) was developed to measure 400 stated behavioral objectives. The test consists of three overlapping levels with the objectives chosen to cover 90 to 95 per cent of the mathematics curriculum nominally taught in grades 4 through 8. Each…

Auto Mechanics. Criterion-Referenced Test (CRT) Item Bank.

ERIC Educational Resources Information Center

Tannehill, Dana, Ed.

This document contains 546 criterion-referenced multiple choice and true or false test items for a course in auto mechanics. The test item bank is designed to work with both the Vocational Instructional Management System (VIMS) and Vocational Administrative Management System (VAMS) in Missouri. The items are grouped into 35 units covering the…

Criterion-Referenced Test (CRT) Items for Building Trades.

ERIC Educational Resources Information Center

Davis, Diane, Ed.

This test item bank is intended to help instructors construct criterion-referenced tests for secondary-level courses in building trades. The bank is keyed to the Missouri Building Trades Competency Profile, which was developed by industry and education professionals in Missouri, and is designed to be used in conjunction with the Vocational…

Predicting Southern Appalachian overstory vegetation with digital terrain data

Treesearch

Paul V. Bolstad; Wayne Swank; James Vose

1998-01-01

Vegetation in mountainous regions responds to small-scale variation in terrain, largely due to effects on both temperature and soil moisture. However, there are few studies of quantitative, terrain-based methods for predicting vegetation composition. This study investigated relationships between forest composition, elevation, and a derived index of terrain shape, and...

Prediction errors to emotional expressions: the roles of the amygdala in social referencing.

PubMed

Meffert, Harma; Brislin, Sarah J; White, Stuart F; Blair, James R

2015-04-01

Social referencing paradigms in humans and observational learning paradigms in animals suggest that emotional expressions are important for communicating valence. It has been proposed that these expressions initiate stimulus-reinforcement learning. Relatively little is known about the role of emotional expressions in reinforcement learning, particularly in the context of social referencing. In this study, we examined object valence learning in the context of a social referencing paradigm. Participants viewed objects and faces that turned toward the objects and displayed a fearful, happy or neutral reaction to them, while judging the gender of these faces. Notably, amygdala activation was larger when the expressions following an object were less expected. Moreover, when asked, participants were both more likely to want to approach, and showed stronger amygdala responses to, objects associated with happy relative to objects associated with fearful expressions. This suggests that the amygdala plays two roles in social referencing: (i) initiating learning regarding the valence of an object as a function of prediction errors to expressions displayed toward this object and (ii) orchestrating an emotional response to the object when value judgments are being made regarding this object. Published by Oxford University Press 2014. This work is written by US Government employees and is in the public domain in the US.

Automated basin delineation from digital terrain data

NASA Technical Reports Server (NTRS)

Marks, D.; Dozier, J.; Frew, J.

1983-01-01

While digital terrain grids are now in wide use, accurate delineation of drainage basins from these data is difficult to efficiently automate. A recursive order N solution to this problem is presented. The algorithm is fast because no point in the basin is checked more than once, and no points outside the basin are considered. Two applications for terrain analysis and one for remote sensing are given to illustrate the method, on a basin with high relief in the Sierra Nevada. This technique for automated basin delineation will enhance the utility of digital terrain analysis for hydrologic modeling and remote sensing.

SURVIVORSHIP NAVIGATION OUTCOME MEASURES: A report from the ACS Patient Navigation Working Group on Survivorship Navigation

PubMed Central

Pratt-Chapman, Mandi; Simon, Melissa A.; Patterson, Angela; Risendal, Betsy C.; Patierno, Steven

2013-01-01

Survivorship navigation is a relatively new concept in the field of patient navigation, but an important one. This paper highlights the essential functions of the survivorship navigator and defines core outcomes and measures for navigation in the survivorship period. Barriers to access to care experienced by patients during active cancer treatment can continue into the post-treatment period, affecting quality follow-up care for survivors. These barriers to care can be particularly acute for non-English speakers, immigrants, the uninsured, the underinsured and other vulnerable populations. The survivorship navigator can help reduce barriers and facilitate access to survivorship care and services through communication and information exchange for patients. Survivorship navigation may improve appropriate health care utilization through education and care coordination, potentially improving health outcomes and quality of life of survivors while reducing cost to the health care system. Survivorship navigators can also educate survivors on how to improve their overall wellness, thereby directly impacting the health of a growing population of cancer survivors. PMID:21780092

14 CFR 121.389 - Flight navigator and specialized navigation equipment.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Flight navigator and specialized navigation equipment. 121.389 Section 121.389 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF....389 Flight navigator and specialized navigation equipment. (a) No certificate holder may operate an...

14 CFR 121.389 - Flight navigator and specialized navigation equipment.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Flight navigator and specialized navigation equipment. 121.389 Section 121.389 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF....389 Flight navigator and specialized navigation equipment. (a) No certificate holder may operate an...

Student Assessment System. Domain Referenced Tests. Cosmetology. Volume I: Skills. Georgia Vocational Education Program Articulation.

ERIC Educational Resources Information Center

Rice, Linda Maxwell; And Others

These performance tests for the area of cosmetology consist of a sampling technique (domain referenced tests) which covers all the possible performance situations. When used in total, they may also serve as a comprehensive test. Introductory materials discuss domain referenced testing, determining the domains, and developing performance testing…

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

Accelerating preschoolers' early literacy development through classroom-based teacher-child storybook reading and explicit print referencing.

PubMed

Justice, Laura M; Kaderavek, Joan N; Fan, Xitao; Sofka, Amy; Hunt, Aileen

2009-01-01

This study examined the impact of teacher use of a print referencing style during classroom-based storybook reading sessions conducted over an academic year. Impacts on preschoolers' early literacy development were examined, focusing specifically on the domain of print knowledge. This randomized, controlled trial examined the effects of a print referencing style on 106 preschool children attending 23 classrooms serving disadvantaged preschoolers. Following random assignment, teachers in 14 classrooms used a print referencing style during 120 large-group storybook reading sessions during a 30-week period. Teachers in 9 comparison classrooms read at the same frequency and with the same storybooks but used their normal style of reading. Children whose teachers used a print referencing style showed larger gains on 3 standardized measures of print knowledge: print concept knowledge, alphabet knowledge, and name writing, with medium-sized effects. The convergence of the present findings with those of previous efficacy studies indicates that print referencing intervention can be used confidently as an approach for facilitating print knowledge in preschool-age children. Speech-language pathologists can serve an important role in supporting preschool educators as they use this evidence-based technique with pupils in their classrooms.

Area navigation and required navigation performance procedures and depictions

DOT National Transportation Integrated Search

2012-09-30

Area navigation (RNAV) and required navigation performance (RNP) procedures are fundamental to the implementation of a performance based navigation (PBN) system, which is a key enabling technology for the Next Generation Air Transportation System (Ne...

Scene Segmentation For Autonomous Robotic Navigation Using Sequential Laser Projected Structured Light

NASA Astrophysics Data System (ADS)

Brown, C. David; Ih, Charles S.; Arce, Gonzalo R.; Fertell, David A.

1987-01-01

Vision systems for mobile robots or autonomous vehicles navigating in an unknown terrain environment must provide a rapid and accurate method of segmenting the scene ahead into regions of pathway and background. A major distinguishing feature between the pathway and background is the three dimensional texture of these two regions. Typical methods of textural image segmentation are very computationally intensive, often lack the required robustness, and are incapable of sensing the three dimensional texture of various regions of the scene. A method is presented where scanned laser projected lines of structured light, viewed by a stereoscopically located single video camera, resulted in an image in which the three dimensional characteristics of the scene were represented by the discontinuity of the projected lines. This image was conducive to processing with simple regional operators to classify regions as pathway or background. Design of some operators and application methods, and demonstration on sample images are presented. This method provides rapid and robust scene segmentation capability that has been implemented on a microcomputer in near real time, and should result in higher speed and more reliable robotic or autonomous navigation in unstructured environments.

Little Dog learning of tractive and compressive terrain characteristics

NASA Astrophysics Data System (ADS)

Digney, Bruce L.

2011-05-01

In recent years research into legged locomotion across extreme terrains has increased. Much of this work was done under the DARPA Learning Legged Locomotion program that utilized a standard Little Dog robot platform and prepared terrain test boards with known geometric data. While path planing using geometric information is necessary, acquiring and utilizing tractive and compressive terrain characteristics is equally important. This paper describes methods and results for learning tractive and compressive terrain characteristics with the Little Dog robot. The estimation of terrain traction and compressive/support capabilities using the mechanisms and movements of the robot rather than dedicated instruments is the goal of this research. The resulting characteristics may differ from those of standard tests, however they will be directly usable to the locomotion controllers given that they are obtained in the physical context of the actual robot and its actual movements. This paper elaborates on the methods used and presents results. Future work will develop better suited probabilistic models and interwave these methods with other purposeful actions of the robot to lessen the need for direct terrain probing actions.

Digital terrain tapes: user guide

USGS Publications Warehouse

,

1980-01-01

DMATC's digital terrain tapes are a by-product of the agency's efforts to streamline the production of raised-relief maps. In the early 1960's DMATC developed the Digital Graphics Recorder (DGR) system that introduced new digitizing techniques and processing methods into the field of three-dimensional mapping. The DGR system consisted of an automatic digitizing table and a computer system that recorded a grid of terrain elevations from traces of the contour lines on standard topographic maps. A sequence of computer accuracy checks was performed and then the elevations of grid points not intersected by contour lines were interpolated. The DGR system produced computer magnetic tapes which controlled the carving of plaster forms used to mold raised-relief maps. It was realized almost immediately that this relatively simple tool for carving plaster molds had enormous potential for storing, manipulating, and selectively displaying (either graphically or numerically) a vast number of terrain elevations. As the demand for the digital terrain tapes increased, DMATC began developing increasingly advanced digitizing systems and now operates the Digital Topographic Data Collection System (DTDCS). With DTDCS, two types of data elevations as contour lines and points, and stream and ridge lines are sorted, matched, and resorted to obtain a grid of elevation values for every 0.01 inch on each map (approximately 200 feet on the ground). Undefined points on the grid are found by either linear or or planar interpolation.

Photometric diversity of terrains on Triton

NASA Technical Reports Server (NTRS)

Hillier, J.; Veverka, J.; Helfenstein, P.; Lee, P.

1994-01-01

Voyager disk-resolved images of Triton in the violet (0.41 micrometers) and green (0.56 micrometer wavelengths have been analyzed to derive the photometric characteristics of terrains on Triton. Similar conclusions are found using two distinct but related definitions of photometric units, one based on color ratio and albedo properties (A. S. McEwen, 1990), the other on albedo and brightness ratios at different phase angles (P. Lee et al., 1992). A significant diversity of photometric behavior, much broader than that discovered so far on any other icy satellite, occurs among Triton's terrains. Remarkably, differences in photometric behavior do not correlate well with geologic terrain boundaries defined on the basis of surface morphology. This suggests that in most cases photometric properties on Triton are controlled by thin deposits superposed on underlying geologic units. Single scattering albedos are 0.98 or higher and asymmetry factors range from -0.35 to -0.45 for most units. The most distinct scattering behavior is exhibited by the reddish northern units already identified as the Anomalously Scattering Region (ASR), which scatters light almost isotropically with g = -0.04. In part due to the effects of Triton's clouds and haze, it is difficult to constrain the value of bar-theta, Hapke's macroscopic roughness parameter, precisely for Triton or to map differences in bar-theta among the different photometric terrains. However, our study shows that Triton must be relatively smooth, with bar-theta less than 15-20 degs and suggests that a value of 14 degs is appropriate. The differences in photometric characteristics lead to significantly different phase angle behavior for the various terrains. For example, a terrain (e.g., the ASR) that appears dark relative to another at low phase angles will reverse its contrast (become relatively brighter) at larger phase angles. The photometric parameters have been used to calculate hemispherical albedos for the units and to

An Evaluation of Available Models for Estimating the Reliability and Validity of Criterion Referenced Measures.

ERIC Educational Resources Information Center

Oakland, Thomas

New strategies for evaluation criterion referenced measures (CRM) are discussed. These strategies examine the following issues: (1) the use of normed referenced measures (NRM) as CRM and then estimating the reliability and validity of such measures in terms of variance from an arbitrarily specified criterion score, (2) estimation of the…

Parallel Implementation of the Terrain Masking Algorithm

DTIC Science & Technology

1994-03-01

contains behavior rules which can define a computation or an algorithm. It can communicate with other process nodes, it can contain local data, and it can...terrain maskirg calculation is being performed. It is this algorithm that comsumes about seventy percent of the total terrain masking calculation time

Dogs' social referencing towards owners and strangers.

PubMed

Merola, Isabella; Prato-Previde, Emanuela; Marshall-Pescini, Sarah

2012-01-01

Social referencing is a process whereby an individual uses the emotional information provided by an informant about a novel object/stimulus to guide his/her own future behaviour towards it. In this study adult dogs were tested in a social referencing paradigm involving a potentially scary object with either their owner or a stranger acting as the informant and delivering either a positive or negative emotional message. The aim was to evaluate the influence of the informant's identity on the dogs' referential looking behaviour and behavioural regulation when the message was delivered using only vocal and facial emotional expressions. Results show that most dogs looked referentially at the informant, regardless of his/her identity. Furthermore, when the owner acted as the informant dogs that received a positive emotional message changed their behaviour, looking at him/her more often and spending more time approaching the object and close to it; conversely, dogs that were given a negative message took longer to approach the object and to interact with it. Fewer differences in the dog's behaviour emerged when the informant was the stranger, suggesting that the dog-informant relationship may influence the dog's behavioural regulation. Results are discussed in relation to studies on human-dog communication, attachment, mood modification and joint attention.

Dogs' Social Referencing towards Owners and Strangers

PubMed Central

Merola, Isabella; Prato-Previde, Emanuela; Marshall-Pescini, Sarah

2012-01-01

Social referencing is a process whereby an individual uses the emotional information provided by an informant about a novel object/stimulus to guide his/her own future behaviour towards it. In this study adult dogs were tested in a social referencing paradigm involving a potentially scary object with either their owner or a stranger acting as the informant and delivering either a positive or negative emotional message. The aim was to evaluate the influence of the informant's identity on the dogs' referential looking behaviour and behavioural regulation when the message was delivered using only vocal and facial emotional expressions. Results show that most dogs looked referentially at the informant, regardless of his/her identity. Furthermore, when the owner acted as the informant dogs that received a positive emotional message changed their behaviour, looking at him/her more often and spending more time approaching the object and close to it; conversely, dogs that were given a negative message took longer to approach the object and to interact with it. Fewer differences in the dog's behaviour emerged when the informant was the stranger, suggesting that the dog-informant relationship may influence the dog's behavioural regulation. Results are discussed in relation to studies on human-dog communication, attachment, mood modification and joint attention. PMID:23071828

Aging, self-referencing, and medial prefrontal cortex.

PubMed

Gutchess, Angela H; Kensinger, Elizabeth A; Schacter, Daniel L

2007-01-01

The lateral prefrontal cortex undergoes both structural and functional changes with healthy aging. In contrast, there is little structural change in the medial prefrontal cortex, but relatively little is known about the functional changes to this region with age. Using an event-related fMRI design, we investigated the response of medial prefrontal cortex during self-referencing in order to compare age groups on a task that young and elderly perform similarly and that is known to actively engage the region in young adults. Nineteen young (M age = 23) and seventeen elderly (M age = 72) judged whether adjectives described themselves, another person, or were presented in upper case. We assessed the overlap in activations between young and elderly for the self-reference effect (self vs. other person), and found that both groups engage medial prefrontal cortex and mid-cingulate during self-referencing. The only cerebral differences between the groups in self versus other personality assessment were found in somatosensory and motor-related areas. In contrast, age-related modulations were found in the cerebral network recruited for emotional valence processing. Elderly (but not young) showed increased activity in the dorsal prefrontal cortex for positive relative to negative items, which could reflect an increase in controlled processing of positive information for elderly adults.

A Criterion-Referenced Approach to Student Ratings of Instruction

ERIC Educational Resources Information Center

Meyer, J. Patrick; Doromal, Justin B.; Wei, Xiaoxin; Zhu, Shi

2017-01-01

We developed a criterion-referenced student rating of instruction (SRI) to facilitate formative assessment of teaching. It involves four dimensions of teaching quality that are grounded in current instructional design principles: Organization and structure, Assessment and feedback, Personal interactions, and Academic rigor. Using item response…

Self-referenced interferometer for cylindrical surfaces.

PubMed

Šarbort, Martin; Řeřucha, Šimon; Holá, Miroslava; Buchta, Zdeněk; Lazar, Josef

2015-11-20

We present a new interferometric method for shape measurement of hollow cylindrical tubes. We propose a simple and robust self-referenced interferometer where the reference and object waves are represented by the central and peripheral parts, respectively, of the conical wave generated by a single axicon lens. The interferogram detected by a digital camera is characterized by a closed-fringe pattern with a circular carrier. The interference phase is demodulated using spatial synchronous detection. The capabilities of the interferometer are experimentally tested for various hollow cylindrical tubes with lengths up to 600 mm.

Environmental impacts of forest road construction on mountainous terrain

PubMed Central

2013-01-01

Forest roads are the base infrastructure foundation of forestry operations. These roads entail a complex engineering effort because they can cause substantial environmental damage to forests and include a high-cost construction. This study was carried out in four sample sites of Giresun, Trabzon(2) and Artvin Forest Directorate, which is in the Black Sea region of Turkey. The areas have both steep terrain (30-50% gradient) and very steep terrain (51-80% gradient). Bulldozers and hydraulic excavators were determined to be the main machines for forest road construction, causing environmental damage and cross sections in mountainous areas. As a result of this study, the percent damage to forests was determined as follows: on steep terrain, 21% of trees were damaged by excavators and 33% of trees were damaged by bulldozers during forest road construction, and on very steep terrain, 27% of trees were damaged by excavators and 44% of trees were damaged by bulldozers during forest road construction. It was also determined that on steep terrain, when excavators were used, 12.23% less forest area was destroyed compared with when bulldozers were used and 16.13% less area was destroyed by excavators on very steep terrain. In order to reduce the environmental damage on the forest ecosystem, especially in steep terrains, hydraulic excavators should replace bulldozers in forest road construction activities. PMID:23497078

Environmental impacts of forest road construction on mountainous terrain.

PubMed

Caliskan, Erhan

2013-03-15

Forest roads are the base infrastructure foundation of forestry operations. These roads entail a complex engineering effort because they can cause substantial environmental damage to forests and include a high-cost construction. This study was carried out in four sample sites of Giresun, Trabzon(2) and Artvin Forest Directorate, which is in the Black Sea region of Turkey. The areas have both steep terrain (30-50% gradient) and very steep terrain (51-80% gradient). Bulldozers and hydraulic excavators were determined to be the main machines for forest road construction, causing environmental damage and cross sections in mountainous areas.As a result of this study, the percent damage to forests was determined as follows: on steep terrain, 21% of trees were damaged by excavators and 33% of trees were damaged by bulldozers during forest road construction, and on very steep terrain, 27% of trees were damaged by excavators and 44% of trees were damaged by bulldozers during forest road construction. It was also determined that on steep terrain, when excavators were used, 12.23% less forest area was destroyed compared with when bulldozers were used and 16.13% less area was destroyed by excavators on very steep terrain. In order to reduce the environmental damage on the forest ecosystem, especially in steep terrains, hydraulic excavators should replace bulldozers in forest road construction activities.

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.

A Self-Referencing Intensity-Based Fiber Optic Sensor with Multipoint Sensing Characteristics

PubMed Central

Choi, Sang-Jin; Kim, Young-Chon; Song, Minho; Pan, Jae-Kyung

2014-01-01

A self-referencing, intensity-based fiber optic sensor (FOS) is proposed and demonstrated. The theoretical analysis for the proposed design is given, and the validity of the theoretical analysis is confirmed via experiments. We define the measurement parameter, X, and the calibration factor, β, to find the transfer function, Hm,n, of the intensity-based FOS head. The self-referencing and multipoint sensing characteristics of the proposed system are validated by showing the measured Hm,n2 and relative error versus the optical power attenuation of the sensor head for four cases: optical source fluctuation, various remote sensing point distances, fiber Bragg gratings (FBGs) with different characteristics, and multiple sensor heads with cascade and/or parallel forms. The power-budget analysis and limitations of the measurement rates are discussed, and the measurement results of fiber-reinforced plastic (FRP) coupon strain using the proposed FOS are given as an actual measurement. The proposed FOS has several benefits, including a self-referencing characteristic, the flexibility to determine FBGs, and a simple structure in terms of the number of devices and measuring procedure. PMID:25046010

A guide to the Harvard referencing system.

PubMed

Dwyer, M

This article explains how to reference an academic work using the Harvard system. Instructions comply with the relevant British standards, i.e. BS 5605:1990, BS 1629:1989 and BS 6371:1983. The importance of referencing in an approved manner is discussed and problem areas such as joint authors, corporate authorship and unpublished works are examined. The issue of second-hand references that are not addressed by the standards is also explained.

Management of information for mission operations using automated keyword referencing

NASA Technical Reports Server (NTRS)

Davidson, Roger A.; Curran, Patrick S.

1993-01-01

Although millions of dollars have helped to improve the operability and technology of ground data systems for mission operations, almost all mission documentation remains bound in printed volumes. This form of documentation is difficult and timeconsuming to use, may be out-of-date, and is usually not cross-referenced with other related volumes of mission documentation. A more effective, automated method of mission information access is needed. A new method of information management for mission operations using automated keyword referencing is proposed. We expound on the justification for and the objectives of this concept. The results of a prototype tool for mission information access that uses a hypertextlike user interface and existing mission documentation are shared. Finally, the future directions and benefits of our proposed work are described.

Terrain Analysis for Human-Robot Interaction (TAH-RI): Enabling Terrain Understanding to Improve Tactical Behavior

DTIC Science & Technology

2005-04-01

determine terrain. (Howard, Seraji , & Tunstel 2001; Larson, Voyles, & Demir 2004) use inclinometers to determine the slope of the terrain. (Larson, Voyles...G .a............... jCurent Lonation Seht Currt Lons o in Workspace Weights N+FW Let j2 8 05 6608 + S SE Lon: 82 4225+’€;+"++ Fe ++et/Gride8 I5o04o𔃻s...o SShow Grld Lines i + iShow Cell Weights •+ iSS wArrows j Show Path fe .1 i Show Aerial Image li"’ .. . Run++ Trulla ........ j •:9 : 9 onltdm-82,e

Assessment of antipodal-impact terrains on Mars

NASA Astrophysics Data System (ADS)

Williams, David A.; Greeley, Ronald

1994-08-01

The regions anitpodal to Mars' three largest impact basins, Hellas, Isidis, and Argyre, were assessed for evidence of impact-induced disrupted terrains. Photogeology and computer modeling using the Simplified Arbitrary Lagrangian Eulerian (SALE) finite element code suggest that such terrains could have been found by the Hellas impact. Maximum antipodal pressures are 1100 MPa for Hellas, 520 MPa for Isidis, and 150 MPa for Argyre. The results suggest that if antipodal fracturing were associated with later volcanism, then Alba Patera may be related to the Hellas event, as proposed by Peterson (1978). Alba Patera is a unique volcano in the solar system, being a shield volcano which emitted large volume lava flows. This volcanism could be the result of the focusing of seismic energy which created a fractured region that served as a volcanic conduit for the future release of large volumes of magma. No disrupted terrain features are observed antipodal to the Isidis or Argyre basins, although some of the old fractures in Noctis Labyrinthus could have originated in response to the Isidis impact, and later have been reactivated by the Tharsis tectonics assumed to have produced Noctis. If the lower calculated antipodal pressures for Argyre were capable of producing disrupted terrains, then the terrains have been covered subsequently by volcanic or aeolian material, or modified beyond recognition.

Assessment of antipodal-impact terrains on Mars

NASA Technical Reports Server (NTRS)

Williams, David A.; Greeley, Ronald

1994-01-01

The regions anitpodal to Mars' three largest impact basins, Hellas, Isidis, and Argyre, were assessed for evidence of impact-induced disrupted terrains. Photogeology and computer modeling using the Simplified Arbitrary Lagrangian Eulerian (SALE) finite element code suggest that such terrains could have been found by the Hellas impact. Maximum antipodal pressures are 1100 MPa for Hellas, 520 MPa for Isidis, and 150 MPa for Argyre. The results suggest that if antipodal fracturing were associated with later volcanism, then Alba Patera may be related to the Hellas event, as proposed by Peterson (1978). Alba Patera is a unique volcano in the solar system, being a shield volcano which emitted large volume lava flows. This volcanism could be the result of the focusing of seismic energy which created a fractured region that served as a volcanic conduit for the future release of large volumes of magma. No disrupted terrain features are observed antipodal to the Isidis or Argyre basins, although some of the old fractures in Noctis Labyrinthus could have originated in response to the Isidis impact, and later have been reactivated by the Tharsis tectonics assumed to have produced Noctis. If the lower calculated antipodal pressures for Argyre were capable of producing disrupted terrains, then the terrains have been covered subsequently by volcanic or aeolian material, or modified beyond recognition.

Automatic construction of aerial corridor for navigation of unmanned aircraft systems in class G airspace using LiDAR

NASA Astrophysics Data System (ADS)

Feng, Dengchao; Yuan, Xiaohui

2016-05-01

According to the airspace classification by the Federal Aviation Agency, Class G airspace is the airspace at 1,200 feet or less to the ground, which is beneath class E airspace and between classes B-D cylinders around towered airstrips. However, the lack of flight supervision mechanism in this airspace, unmanned aerial system (UAS) missions pose many safety issues. Collision avoidance and route planning for UASs in class G airspace is critical for broad deployment of UASs in commercial and security applications. Yet, unlike road network, there is no stationary marker in airspace to identify corridors that are available and safe for UASs to navigate. In this paper, we present an automatic LiDAR-based airspace corridor construction method for navigation in class G airspace and a method for route planning to minimize collision and intrusion. Our idea is to combine LiDAR to automatically identify ground objects that pose navigation restrictions such as airports and high-rises. Digital terrain model (DTM) is derived from LiDAR point cloud to provide an altitude-based class G airspace description. Following the FAA Aeronautical Information Manual, the ground objects that define the restricted airspaces are used together with digital surface model derived from LiDAR data to construct the aerial corridor for navigation of UASs. Preliminary results demonstrate competitive performance and the construction of aerial corridor can be automated with much great efficiency.

Processes Modifying Cratered Terrains on Pluto

NASA Technical Reports Server (NTRS)

Moore, J. M.

2015-01-01

The July encounter with Pluto by the New Horizons spacecraft permitted imaging of its cratered terrains with scales as high as approximately 100 m/pixel, and in stereo. In the initial download of images, acquired at 2.2 km/pixel, widely distributed impact craters up to 260 km diameter are seen in the near-encounter hemisphere. Many of the craters appear to be significantly degraded or infilled. Some craters appear partially destroyed, perhaps by erosion such as associated with the retreat of scarps. Bright ice-rich deposits highlight some crater rims and/or floors. While the cratered terrains identified in the initial downloaded images are generally seen on high-to-intermediate albedo surfaces, the dark equatorial terrain informally known as Cthulhu Regio is also densely cratered. We will explore the range of possible processes that might have operated (or still be operating) to modify the landscape from that of an ancient pristinely cratered state to the present terrains revealed in New Horizons images. The sequence, intensity, and type of processes that have modified ancient landscapes are, among other things, the record of climate and volatile evolution throughout much of the Pluto's existence. The deciphering of this record will be discussed. This work was supported by NASA's New Horizons project.

Automatic Computer Mapping of Terrain

NASA Technical Reports Server (NTRS)

Smedes, H. W.

1971-01-01

Computer processing of 17 wavelength bands of visible, reflective infrared, and thermal infrared scanner spectrometer data, and of three wavelength bands derived from color aerial film has resulted in successful automatic computer mapping of eight or more terrain classes in a Yellowstone National Park test site. The tests involved: (1) supervised and non-supervised computer programs; (2) special preprocessing of the scanner data to reduce computer processing time and cost, and improve the accuracy; and (3) studies of the effectiveness of the proposed Earth Resources Technology Satellite (ERTS) data channels in the automatic mapping of the same terrain, based on simulations, using the same set of scanner data. The following terrain classes have been mapped with greater than 80 percent accuracy in a 12-square-mile area with 1,800 feet of relief; (1) bedrock exposures, (2) vegetated rock rubble, (3) talus, (4) glacial kame meadow, (5) glacial till meadow, (6) forest, (7) bog, and (8) water. In addition, shadows of clouds and cliffs are depicted, but were greatly reduced by using preprocessing techniques.

Terrain Classification of Norwegian Slab Avalanche Accidents

ERIC Educational Resources Information Center

Hallandvik, Linda; Aadland, Eivind; Vikene, Odd Lennart

2016-01-01

It is difficult to rely on snow conditions, weather, and human factors when making judgments about avalanche risk because these variables are dynamic and complex; terrain, however, is more easily observed and interpreted. Therefore, this study aimed to investigate (1) the type of terrain in which historical fatal snow avalanche accidents in Norway…

WNDCOM: estimating surface winds in mountainous terrain

Treesearch

Bill C. Ryan

1983-01-01

WNDCOM is a mathematical model for estimating surface winds in mountainous terrain. By following the procedures described, the sheltering and diverting effect of terrain, the individual components of the windflow, and the surface wind in remote mountainous areas can be estimated. Components include the contribution from the synoptic scale pressure gradient, the sea...

Interplanetary navigation

NASA Technical Reports Server (NTRS)

Stuart, J. R.

1984-01-01

The evolution of NASA's planetary navigation techniques is traced, and radiometric and optical data types are described. Doppler navigation; the Deep Space Network; differenced two-way range techniques; differential very long base interferometry; and optical navigation are treated. The Doppler system enables a spacecraft in cruise at high absolute declination to be located within a total angular uncertainty of 1/4 microrad. The two-station range measurement provides a 1 microrad backup at low declinations. Optical data locate the spacecraft relative to the target to an angular accuracy of 5 microrad. Earth-based radio navigation and its less accurate but target-relative counterpart, optical navigation, thus form complementary measurement sources, which provide a powerful sensory system to produce high-precision orbit estimates.

Large Terrain Continuous Level of Detail 3D Visualization Tool

NASA Technical Reports Server (NTRS)

Myint, Steven; Jain, Abhinandan

2012-01-01

This software solved the problem of displaying terrains that are usually too large to be displayed on standard workstations in real time. The software can visualize terrain data sets composed of billions of vertices, and can display these data sets at greater than 30 frames per second. The Large Terrain Continuous Level of Detail 3D Visualization Tool allows large terrains, which can be composed of billions of vertices, to be visualized in real time. It utilizes a continuous level of detail technique called clipmapping to support this. It offloads much of the work involved in breaking up the terrain into levels of details onto the GPU (graphics processing unit) for faster processing.

Statistical Modeling of Robotic Random Walks on Different Terrain

NASA Astrophysics Data System (ADS)

Naylor, Austin; Kinnaman, Laura

Issues of public safety, especially with crowd dynamics and pedestrian movement, have been modeled by physicists using methods from statistical mechanics over the last few years. Complex decision making of humans moving on different terrains can be modeled using random walks (RW) and correlated random walks (CRW). The effect of different terrains, such as a constant increasing slope, on RW and CRW was explored. LEGO robots were programmed to make RW and CRW with uniform step sizes. Level ground tests demonstrated that the robots had the expected step size distribution and correlation angles (for CRW). The mean square displacement was calculated for each RW and CRW on different terrains and matched expected trends. The step size distribution was determined to change based on the terrain; theoretical predictions for the step size distribution were made for various simple terrains. It's Dr. Laura Kinnaman, not sure where to put the Prefix.

Time Counts! Some Comments on System Latency in Head-Referenced Displays

NASA Technical Reports Server (NTRS)

Ellis, Stephen R.; Adelstein, Bernard D.

2013-01-01

System response latency is a prominent characteristic of human-computer interaction. Laggy systems are; however, not simply annoying but substantially reduce user productivity. The impact of latency on head referenced display systems, particularly head-mounted systems, is especially disturbing since not only can it interfere with dynamic registration in augmented reality displays but it also can in some cases indirectly contribute to motion sickness. We will summarize several experiments using standard psychophysical discrimination techniques that suggest what system latencies will be required to achieve perceptual stability for spatially referenced computer-generated imagery. In conclusion I will speculate about other system performance characteristics that I would hope to have for a dream augmented reality system.

Virtual terrain: a security-based representation of a computer network

NASA Astrophysics Data System (ADS)

Holsopple, Jared; Yang, Shanchieh; Argauer, Brian

2008-03-01

Much research has been put forth towards detection, correlating, and prediction of cyber attacks in recent years. As this set of research progresses, there is an increasing need for contextual information of a computer network to provide an accurate situational assessment. Typical approaches adopt contextual information as needed; yet such ad hoc effort may lead to unnecessary or even conflicting features. The concept of virtual terrain is, therefore, developed and investigated in this work. Virtual terrain is a common representation of crucial information about network vulnerabilities, accessibilities, and criticalities. A virtual terrain model encompasses operating systems, firewall rules, running services, missions, user accounts, and network connectivity. It is defined as connected graphs with arc attributes defining dynamic relationships among vertices modeling network entities, such as services, users, and machines. The virtual terrain representation is designed to allow feasible development and maintenance of the model, as well as efficacy in terms of the use of the model. This paper will describe the considerations in developing the virtual terrain schema, exemplary virtual terrain models, and algorithms utilizing the virtual terrain model for situation and threat assessment.

Terrain Portrayal for Head-Down Displays Flight Test

NASA Technical Reports Server (NTRS)

Hughes, Monica F.; Glaab, Louis J.

2003-01-01

The Synthetic Vision Systems General Aviation (SVS-GA) element of NASA's Aviation Safety Program is developing technology to eliminate low visibility induced General Aviation (GA) accidents through the application of synthetic vision techniques. SVS displays present computer generated 3-dimensional imagery of the surrounding terrain to greatly enhance pilot's situation awareness (SA), reducing or eliminating Controlled Flight into Terrain (CFIT), as well as Low-Visibility Loss of Control (LVLOC) accidents. In addition to substantial safety benefits, SVS displays have many potential operational benefits that can lead to flight in instrument meteorological conditions (IMC) resembling those conducted in visual meteorological conditions (VMC). Potential benefits could include lower landing minimums, more approach options, reduced training time, etc. SVS conducted research will develop display concepts providing the pilot with an unobstructed view of the outside terrain, regardless of weather conditions and time of day. A critical component of SVS displays is the appropriate presentation of terrain to the pilot. The relationship between the realism of the terrain presentation and resulting enhancements of pilot SA and pilot performance has been largely undefined. Comprised of coordinated simulation and flight test efforts, the terrain portrayal for head-down displays (TP-HDD) test series examined the effects of two primary elements of terrain portrayal: variations of digital elevation model (DEM) resolution and terrain texturing. Variations in DEM resolution ranged from sparsely spaced (30 arc-sec/2,953ft) to very closely spaced data (1 arc-sec/98 ft). Variations in texture involved three primary methods: constant color, elevation-based generic, and photo-realistic, along with a secondary depth cue enhancer in the form of a fishnet grid overlay. The TP-HDD test series was designed to provide comprehensive data to enable design trades to optimize all SVS applications, as

LOD-based clustering techniques for efficient large-scale terrain storage and visualization

NASA Astrophysics Data System (ADS)

Bao, Xiaohong; Pajarola, Renato

2003-05-01

Large multi-resolution terrain data sets are usually stored out-of-core. To visualize terrain data at interactive frame rates, the data needs to be organized on disk, loaded into main memory part by part, then rendered efficiently. Many main-memory algorithms have been proposed for efficient vertex selection and mesh construction. Organization of terrain data on disk is quite difficult because the error, the triangulation dependency and the spatial location of each vertex all need to be considered. Previous terrain clustering algorithms did not consider the per-vertex approximation error of individual terrain data sets. Therefore, the vertex sequences on disk are exactly the same for any terrain. In this paper, we propose a novel clustering algorithm which introduces the level-of-detail (LOD) information to terrain data organization to map multi-resolution terrain data to external memory. In our approach the LOD parameters of the terrain elevation points are reflected during clustering. The experiments show that dynamic loading and paging of terrain data at varying LOD is very efficient and minimizes page faults. Additionally, the preprocessing of this algorithm is very fast and works from out-of-core.

Reflections on Teaching Referencing: What Four Case Studies Can Tell Us about Developing Effective Teaching Strategies

ERIC Educational Resources Information Center

Hyland, Theresa

2010-01-01

Two contradictions are inherent in our research into referencing practices and the subsequent development of teaching strategies to remedy inappropriate practices. First, aggregate studies and teaching strategies that tend toward a one-size-fits-all formula for researching and teaching referencing do not consider individual differences in…

Criteria to Evaluate Interpretive Guides for Criterion-Referenced Tests

ERIC Educational Resources Information Center

Trapp, William J.

2007-01-01

This project provides a list of criteria for which the contents of interpretive guides written for customized, criterion-referenced tests can be evaluated. The criteria are based on the "Standards for Educational and Psychological Testing" (1999) and examine the content breadth of interpretive guides. Interpretive guides written for…

The Concept of Performance Levels in Criterion-Referenced Assessment.

ERIC Educational Resources Information Center

Hewitson, Mal

The concept of performance levels in criterion-referenced assessment is explored by applying the idea to different types of tests commonly used in schools, mastery tests (including diagnostic tests) and achievement tests. In mastery tests, a threshold performance standard must be established for each criterion. Attainment of this threshold…

Acquisition of Social Referencing via Discrimination Training in Infants

ERIC Educational Resources Information Center

Pelaez, Martha; Virues-Ortega, Javier; Gewirtz, Jacob L.

2012-01-01

This experiment investigated social referencing as a form of discriminative learning in which maternal facial expressions signaled the consequences of the infant's behavior in an ambiguous context. Eleven 4- and 5-month-old infants and their mothers participated in a discrimination-training procedure using an ABAB design. Different consequences…

Repetitive Domain-Referenced Testing Using Computers: the TITA System.

ERIC Educational Resources Information Center

Olympia, P. L., Jr.

The TITA (Totally Interactive Testing and Analysis) System algorithm for the repetitive construction of domain-referenced tests utilizes a compact data bank, is highly portable, is useful in any discipline, requires modest computer hardware, and does not present a security problem. Clusters of related keyphrases, statement phrases, and distractors…

Impact of Terrain Features for Tactical Network Connectivity

DTIC Science & Technology

2013-09-01

Impact of Terrain Features for Tactical Network Connectivity David Tate Lance Joneckis John Fregeau Corinne Kramer David Sparrow I N S T I T U...2000. I N S T I T U T E F O R D E F E N S E A N A LY S E S IDA Document NS D-5026 Impact of Terrain Features for Tactical Network Connectivity...visibility is acceptable when networks operate over flat terrain. Under our simple LOS model of connectivity, mobility has little impact in such an

10 CFR 170.21 - Schedule of fees for production and utilization facilities, review of standard referenced design...

Code of Federal Regulations, 2010 CFR

2010-01-01

..., review of standard referenced design approvals, special projects, inspections and import and export... standard referenced design approvals, special projects, inspections and import and export licenses..., approvals of facility standard reference designs, re-qualification and replacement examinations for reactor...

10 CFR 170.21 - Schedule of fees for production and utilization facilities, review of standard referenced design...

Code of Federal Regulations, 2014 CFR

2014-01-01

..., review of standard referenced design approvals, special projects, inspections and import and export... standard referenced design approvals, special projects, inspections and import and export licenses..., approvals of facility standard reference designs, re-qualification and replacement examinations for reactor...

10 CFR 170.21 - Schedule of fees for production and utilization facilities, review of standard referenced design...

Code of Federal Regulations, 2013 CFR

2013-01-01

..., review of standard referenced design approvals, special projects, inspections and import and export... standard referenced design approvals, special projects, inspections and import and export licenses..., approvals of facility standard reference designs, re-qualification and replacement examinations for reactor...

10 CFR 170.21 - Schedule of fees for production and utilization facilities, review of standard referenced design...

Code of Federal Regulations, 2011 CFR

2011-01-01

..., review of standard referenced design approvals, special projects, inspections and import and export... standard referenced design approvals, special projects, inspections and import and export licenses..., approvals of facility standard reference designs, re-qualification and replacement examinations for reactor...

Making Room for Foster Children: A Criterion-Referenced Approach to ESEA Title I Migrant Program Evaluation.

ERIC Educational Resources Information Center

Oxford, Rebecca L.; And Others

The Washington state Title I Migrant Program Evaluation project is a feasibility study designed to assess the suitability of existing normed criterion referenced tests to measuring mathematics achievement at grades four, five, and six. Objectives include judging the technical qualities and content of several normed criterion referenced tests;…

Terrain modeling for real-time simulation

NASA Astrophysics Data System (ADS)

Devarajan, Venkat; McArthur, Donald E.

1993-10-01

There are many applications, such as pilot training, mission rehearsal, and hardware-in-the- loop simulation, which require the generation of realistic images of terrain and man-made objects in real-time. One approach to meeting this requirement is to drape photo-texture over a planar polygon model of the terrain. The real time system then computes, for each pixel of the output image, the address in a texture map based on the intersection of the line-of-sight vector with the terrain model. High quality image generation requires that the terrain be modeled with a fine mesh of polygons while hardware costs limit the number of polygons which may be displayed for each scene. The trade-off between these conflicting requirements must be made in real-time because it depends on the changing position and orientation of the pilot's eye point or simulated sensor. The traditional approach is to develop a data base consisting of multiple levels of detail (LOD), and then selecting for display LODs as a function of range. This approach could lead to both anomalies in the displayed scene and inefficient use of resources. An approach has been developed in which the terrain is modeled with a set of nested polygons and organized as a tree with each node corresponding to a polygon. This tree is pruned to select the optimum set of nodes for each eye-point position. As the point of view moves, the visibility of some nodes drops below the limit of perception and may be deleted while new points must be added in regions near the eye point. An analytical model has been developed to determine the number of polygons required for display. This model leads to quantitative performance measures of the triangulation algorithm which is useful for optimizing system performance with a limited display capability.

77 FR 12197 - Standard for All-Terrain Vehicles

Federal Register 2010, 2011, 2012, 2013, 2014

2012-02-29

... National Standard for Four-Wheel All-Terrain Vehicles Equipment Configuration, and Performance Requirements... product safety standard the American National Standard for Four Wheel All-Terrain Vehicles Equipment... shall not have a foldable, removable, or retractable structure in the ATV foot environment; (6...

Atmospheric studies in complex terrain: a planning guide for future studies

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

Orgill, M.M.

The objective of this study is to assist the US Department of Energy in Conducting its atmospheric studies in complex terrain (ASCOT0 by defining various complex terrain research systems and relating these options to specific landforms sites. This includes: (1) reviewing past meteorological and diffusion research on complex terrain; (2) relating specific terrain-induced airflow phenomena to specific landforms and time and space scales; (3) evaluating the technical difficulty of modeling and measuring terrain-induced airflow phenomena; and (4) avolving severdal research options and proposing candidate sites for continuing and expanding field and modeling work. To evolve research options using variable candidatemore » sites, four areas were considered: site selection, terrain uniqueness and quantification, definition of research problems and research plans. 36 references, 111 figures, 20 tables.« less

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.

Space shuttle navigation analysis. Volume 2: Baseline system navigation

NASA Technical Reports Server (NTRS)

Jones, H. L.; Luders, G.; Matchett, G. A.; Rains, R. G.

1980-01-01

Studies related to the baseline navigation system for the orbiter are presented. The baseline navigation system studies include a covariance analysis of the Inertial Measurement Unit calibration and alignment procedures, postflight IMU error recovery for the approach and landing phases, on-orbit calibration of IMU instrument biases, and a covariance analysis of entry and prelaunch navigation system performance.

Modified Navigation Instructions for Spatial Navigation Assistance Systems Lead to Incidental Spatial Learning

PubMed Central

Gramann, Klaus; Hoepner, Paul; Karrer-Gauss, Katja

2017-01-01

Spatial cognitive skills deteriorate with the increasing use of automated GPS navigation and a general decrease in the ability to orient in space might have further impact on independence, autonomy, and quality of life. In the present study we investigate whether modified navigation instructions support incidental spatial knowledge acquisition. A virtual driving environment was used to examine the impact of modified navigation instructions on spatial learning while using a GPS navigation assistance system. Participants navigated through a simulated urban and suburban environment, using navigation support to reach their destination. Driving performance as well as spatial learning was thereby assessed. Three navigation instruction conditions were tested: (i) a control group that was provided with classical navigation instructions at decision points, and two other groups that received navigation instructions at decision points including either (ii) additional irrelevant information about landmarks or (iii) additional personally relevant information (i.e., individual preferences regarding food, hobbies, etc.), associated with landmarks. Driving performance revealed no differences between navigation instructions. Significant improvements were observed in both modified navigation instruction conditions on three different measures of spatial learning and memory: subsequent navigation of the initial route without navigation assistance, landmark recognition, and sketch map drawing. Future navigation assistance systems could incorporate modified instructions to promote incidental spatial learning and to foster more general spatial cognitive abilities. Such systems might extend mobility across the lifespan. PMID:28243219

Text Features and Preschool Teachers' Use of Print Referencing

ERIC Educational Resources Information Center

Dynia, Jaclyn M.; Justice, Laura M.; Pentimonti, Jill M.; Piasta, Shayne B.; Kaderavek, Joan N.

2013-01-01

Storybook features, such as linguistic richness and print salience, potentially influence how a teacher references print. This study addressed two research questions: (1) to what extent does the linguistic richness and print salience of children's storybooks relate to teachers' use of print referencing? and (2) to what extent is there an interplay…

Aeronautic Instruments. Section VI : Aerial Navigation and Navigating Instruments

NASA Technical Reports Server (NTRS)

Eaton, H N

1923-01-01

This report outlines briefly the methods of aerial navigation which have been developed during the past few years, with a description of the different instruments used. Dead reckoning, the most universal method of aerial navigation, is first discussed. Then follows an outline of the principles of navigation by astronomical observation; a discussion of the practical use of natural horizons, such as sea, land, and cloud, in making extant observations; the use of artificial horizons, including the bubble, pendulum, and gyroscopic types. A description is given of the recent development of the radio direction finder and its application to navigation.

Estimating Slopes In Images Of Terrain By Use Of BRDF

NASA Technical Reports Server (NTRS)

Scholl, Marija S.

1995-01-01

Proposed method of estimating slopes of terrain features based on use of bidirectional reflectivity distribution function (BRDF) in analyzing aerial photographs, satellite video images, or other images produced by remote sensors. Estimated slopes integrated along horizontal coordinates to obtain estimated heights; generating three-dimensional terrain maps. Method does not require coregistration of terrain features in pairs of images acquired from slightly different perspectives nor requires Sun or other source of illumination to be low in sky over terrain of interest. On contrary, best when Sun is high. Works at almost all combinations of illumination and viewing angles.

Autonomous Navigation by a Mobile Robot

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand

2005-01-01

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Northern Arabia Etched Terrain

NASA Image and Video Library

2002-06-17

Many places on Mars, such as in this image from NASA Mars Odyssey spacecraft of a crater superposed on the floor of a larger crater, display scabby, eroded landscapes that commonly are referred to as etched terrain.

Local curvature entropy-based 3D terrain representation using a comprehensive Quadtree

NASA Astrophysics Data System (ADS)

Chen, Qiyu; Liu, Gang; Ma, Xiaogang; Mariethoz, Gregoire; He, Zhenwen; Tian, Yiping; Weng, Zhengping

2018-05-01

Large scale 3D digital terrain modeling is a crucial part of many real-time applications in geoinformatics. In recent years, the improved speed and precision in spatial data collection make the original terrain data more complex and bigger, which poses challenges for data management, visualization and analysis. In this work, we presented an effective and comprehensive 3D terrain representation based on local curvature entropy and a dynamic Quadtree. The Level-of-detail (LOD) models of significant terrain features were employed to generate hierarchical terrain surfaces. In order to reduce the radical changes of grid density between adjacent LODs, local entropy of terrain curvature was regarded as a measure of subdividing terrain grid cells. Then, an efficient approach was presented to eliminate the cracks among the different LODs by directly updating the Quadtree due to an edge-based structure proposed in this work. Furthermore, we utilized a threshold of local entropy stored in each parent node of this Quadtree to flexibly control the depth of the Quadtree and dynamically schedule large-scale LOD terrain. Several experiments were implemented to test the performance of the proposed method. The results demonstrate that our method can be applied to construct LOD 3D terrain models with good performance in terms of computational cost and the maintenance of terrain features. Our method has already been deployed in a geographic information system (GIS) for practical uses, and it is able to support the real-time dynamic scheduling of large scale terrain models more easily and efficiently.

Effects of Picture Referencing on PVC Chair, Love Seat, and Settee Assemblies by Students with Mental Retardation.

ERIC Educational Resources Information Center

Martin, James E.; And Others

1992-01-01

This study examined the effects of two indirect corrective feedback procedures (picture and video referencing involving instructor prompting) on the assembly skills of five secondary students with moderate mental retardation. Picture and video referencing conditions were more effective than assembly photographs, sequenced pictures, sequenced…

Relationships between narrative language samples and norm-referenced test scores in language assessments of school-age children.

PubMed

Danahy Ebert, Kerry; Scott, Cheryl M

2014-10-01

Both narrative language samples and norm-referenced language tests can be important components of language assessment for school-age children. The present study explored the relationship between these 2 tools within a group of children referred for language assessment. The study is a retrospective analysis of clinical records from 73 school-age children. Participants had completed an oral narrative language sample and at least one norm-referenced language test. Correlations between microstructural language sample measures and norm-referenced test scores were compared for younger (6- to 8-year-old) and older (9- to 12-year-old) children. Contingency tables were constructed to compare the 2 types of tools, at 2 different cutpoints, in terms of which children were identified as having a language disorder. Correlations between narrative language sample measures and norm-referenced tests were stronger for the younger group than the older group. Within the younger group, the level of language assessed by each measure contributed to associations among measures. Contingency analyses revealed moderate overlap in the children identified by each tool, with agreement affected by the cutpoint used. Narrative language samples may complement norm-referenced tests well, but age combined with narrative task can be expected to influence the nature of the relationship.

Software requirements specification for the GIS-T/ISTEA pooled fund study phase C linear referencing engine

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

Amai, W.; Espinoza, J. Jr.; Fletcher, D.R.

1997-06-01

This Software Requirements Specification (SRS) describes the features to be provided by the software for the GIS-T/ISTEA Pooled Fund Study Phase C Linear Referencing Engine project. This document conforms to the recommendations of IEEE Standard 830-1984, IEEE Guide to Software Requirements Specification (Institute of Electrical and Electronics Engineers, Inc., 1984). The software specified in this SRS is a proof-of-concept implementation of the Linear Referencing Engine as described in the GIS-T/ISTEA pooled Fund Study Phase B Summary, specifically Sheet 13 of the Phase B object model. The software allows an operator to convert between two linear referencing methods and a datummore » network.« less

Ground-Referenced Visual Orientation with Imaging Displays.

DTIC Science & Technology

1979-11-01

Scientific Report,9ROUND-REFERENCED,,IUA OINAON 0 ober 1 77 - Segtemb r 1979 . CROING O I N AME AND ADDRESS-. RAM N. EU neiy NfJIllio, ( 2 _ 2 :.-- 14...subject can view any 45 x 45-degree stimulus scene (Figures 1 and 2 ). A comparison disc of variable diameter can be viewed alternatively by the...A REAL IMAGE AT 1 m Figure 2 . Cutaway schematic diagrams of the "moon machine" showing the presentation of the collimated lunar disc (above) and the

Evaluating terrain based criteria for snow avalanche exposure ratings using GIS

NASA Astrophysics Data System (ADS)

Delparte, Donna; Jamieson, Bruce; Waters, Nigel

2010-05-01

Snow avalanche terrain in backcountry regions of Canada is increasingly being assessed based upon the Avalanche Terrain Exposure Scale (ATES). ATES is a terrain based classification introduced in 2004 by Parks Canada to identify "simple", "challenging" and "complex" backcountry areas. The ATES rating system has been applied to well over 200 backcountry routes, has been used in guidebooks, trailhead signs and maps and is part of the trip planning component of the AVALUATOR™, a simple decision-support tool for backcountry users. Geographic Information Systems (GIS) offers a means to model and visualize terrain based criteria through the use of digital elevation model (DEM) and land cover data. Primary topographic variables such as slope, aspect and curvature are easily derived from a DEM and are compatible with the equivalent evaluation criteria in ATES. Other components of the ATES classification are difficult to extract from a DEM as they are not strictly terrain based. An overview is provided of the terrain variables that can be generated from DEM and land cover data; criteria from ATES which are not clearly terrain based are identified for further study or revision. The second component of this investigation was the development of an algorithm for inputting suitable ATES criteria into a GIS, thereby mimicking the process avalanche experts use when applying the ATES classification to snow avalanche terrain. GIS based classifications were compared to existing expert assessments for validity. The advantage of automating the ATES classification process through GIS is to assist avalanche experts with categorizing and mapping remote backcountry terrain.

VLBI Phase-Referenced Observations on Southern Hemisphere HIPPARCOS Radio Start

NASA Technical Reports Server (NTRS)

Guirado, J. C.; Preston, R. A.; Jones, D. L.; Lestrade, J. F.; Reynolds, J. E.; Jauncey, D. L.; Tzioumis, A. K.; Ferris, R. H.; King, E. A.; Lovell, J. E. J.;

Student Assessment System. Domain Referenced Tests. Transportation/Automotive Mechanics. Volume I: Skills. Georgia Vocational Education Program Articulation.

ERIC Educational Resources Information Center

Watkins, James F.; And Others

These performance tests for the area of transportation/automotive mechanics consist of a sampling technique (domain referenced tests) which covers all the possible performance situations. When used in total, they may also serve as a comprehensive test. Introductory materials discuss domain referenced testing, determining the domains, and…

INL Autonomous Navigation System

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

2005-03-30

The INL Autonomous Navigation System provides instructions for autonomously navigating a robot. The system permits high-speed autonomous navigation including obstacle avoidance, waypoing navigation and path planning in both indoor and outdoor environments.

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.

Urban Modification of Convection and Rainfall in Complex Terrain

NASA Astrophysics Data System (ADS)

Freitag, B. M.; Nair, U. S.; Niyogi, D.

2018-03-01

Despite a globally growing proportion of cities located in regions of complex terrain, interactions between urbanization and complex terrain and their meteorological impacts are not well understood. We utilize numerical model simulations and satellite data products to investigate such impacts over San Miguel de Tucumán, Argentina. Numerical modeling experiments show urbanization results in 20-30% less precipitation downwind of the city and an eastward shift in precipitation upwind. Our experiments show that changes in surface energy, boundary layer dynamics, and thermodynamics induced by urbanization interact synergistically with the persistent forcing of atmospheric flow by complex terrain. With urbanization increasing in mountainous regions, land-atmosphere feedbacks can exaggerate meteorological forcings leading to weather impacts that require important considerations for sustainable development of urban regions within complex terrain.

Tandem mobile robot system

DOEpatents

Buttz, James H.; Shirey, David L.; Hayward, David R.

2003-01-01

A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

Criterion-Referenced Measurement in the Army: Development of a Research- Based, Practical, Test Construction Manual

DTIC Science & Technology

1978-09-01

iE ARI TECHNICAL REPORT S~ TR-78-A31 M CCriterion-Reforencod Loasurement In the Army: Development of a Research-Based, Practical, Test Construction ...conducted to develop a Criterion- 1 Referenced Tests (CRTs) Construction Manual. Major accomplishments were the preparation of a written review of the...survey of the literature on Criterion-Referenced Testing’ conducted in order to provide an information base for development of the CRT Construction

E-Referencer: Transforming Boolean OPACs to Web Search Engines.

ERIC Educational Resources Information Center

Khoo, Christopher S. G.; Poo, Danny C. C.; Toh, Teck-Kang; Hong, Glenn

E-Referencer is an expert intermediary system for searching library online public access catalogs (OPACs) on the World Wide Web. It is implemented as a proxy server that mediates the interaction between the user and Boolean OPACs. It transforms a Boolean OPAC into a retrieval system with many of the search capabilities of Web search engines.…

33 CFR 207.185 - Taylors Bayou, Tex., Beaumont Navigation District Lock; use, administration, and navigation.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 3 2011-07-01 2011-07-01 false Taylors Bayou, Tex., Beaumont Navigation District Lock; use, administration, and navigation. 207.185 Section 207.185 Navigation and... § 207.185 Taylors Bayou, Tex., Beaumont Navigation District Lock; use, administration, and navigation...

33 CFR 207.185 - Taylors Bayou, Tex., Beaumont Navigation District Lock; use, administration, and navigation.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 3 2010-07-01 2010-07-01 false Taylors Bayou, Tex., Beaumont Navigation District Lock; use, administration, and navigation. 207.185 Section 207.185 Navigation and... § 207.185 Taylors Bayou, Tex., Beaumont Navigation District Lock; use, administration, and navigation...

Student Assessment System. Domain Referenced Tests. Transportation/Automotive Mechanics. Volume II: Theory. Georgia Vocational Education Program Articulation.

ERIC Educational Resources Information Center

Watkins, James F., Comp.

These written domain referenced tests (DRTs) for the area of transportation/automotive mechanics test cognitive abilities or knowledge of theory. Introductory materials describe domain referenced testing and test development. Each multiple choice test includes a domain statement, describing the behavior and content of the domain, and a test item…

Comparison of bottom-track to global positioning system referenced discharges measured using an acoustic Doppler current profiler

USGS Publications Warehouse

Wagner, Chad R.; Mueller, David S.

2011-01-01

A negative bias in discharge measurements made with an acoustic Doppler current profiler (ADCP) can be caused by the movement of sediment on or near the streambed. The integration of a global positioning system (GPS) to track the movement of the ADCP can be used to avoid the systematic negative bias associated with a moving streambed. More than 500 discharge transects from 63 discharge measurements with GPS data were collected at sites throughout the US, Canada, and New Zealand with no moving bed to compare GPS and bottom-track-referenced discharges. Although the data indicated some statistical bias depending on site conditions and type of GPS data used, these biases were typically about 0.5% or less. An assessment of differential correction sources was limited by a lack of data collected in a range of different correction sources and different GPS receivers at the same sites. Despite this limitation, the data indicate that the use of Wide Area Augmentation System (WAAS) corrected positional data is acceptable for discharge measurements using GGA as the boat-velocity reference. The discharge data based on GPS-referenced boat velocities from the VTG data string, which does not require differential correction, were comparable to the discharges based on GPS-referenced boat velocities from the differentially-corrected GGA data string. Spatial variability of measure discharges referenced to GGA, VTG and bottom-tracking is higher near the channel banks. The spatial variability of VTG-referenced discharges is correlated with the spatial distribution of maximum Horizontal Dilution of Precision (HDOP) values and the spatial variability of GGA-referenced discharges is correlated with proximity to channel banks.

Use of population-referenced total activity counts percentiles to assess and classify physical activity of population groups.

PubMed

Wolff-Hughes, Dana L; Troiano, Richard P; Boyer, William R; Fitzhugh, Eugene C; McClain, James J

2016-06-01

Population-referenced total activity counts per day (TAC/d) percentiles provide public health practitioners a standardized measure of physical activity (PA) volume obtained from an accelerometer that can be compared across populations. The purpose of this study was to describe the application of TAC/d population-referenced percentiles to characterize the PA levels of population groups relative to US estimates. A total of 679 adults participating in the 2011 NYC Physical Activity Transit survey wore an ActiGraph accelerometer on their hip for seven consecutive days. Accelerometer-derived TAC/d was classified into age- and gender-specific quartiles of US population-referenced TAC/d to compare differences in the distributions by borough (N=5). Males in Brooklyn, Manhattan, and Staten Island had significantly greater TAC/d than US males. Females in Brooklyn and Queens had significantly greater levels of TAC/d compared to US females. The proportion of males in each population-referenced TAC/d quartile varied significantly by borough (χ(2)(12)=2.63, p=0.002), with disproportionately more men in Manhattan and the Bronx found to be in the highest and lowest US population-referenced TAC/d quartiles, respectively. For females, there was no significant difference in US population-reference TAC/d quartile by borough (χ(2)(12)=1.09, p=0.36). These results demonstrate the utility of population-referenced TAC/d percentiles in public health monitoring and surveillance. These findings also provide insights into the PA levels of NYC residents relative to the broader US population, which can be used to guide health promotion efforts. Published by Elsevier Inc.

Use of population-referenced total activity counts percentiles to assess and classify physical activity of population groups

PubMed Central

Wolff-Hughes, Dana L.; Troiano, Richard P.; Boyer, William R.; Fitzhugh, Eugene C.; McClain, James J.

2016-01-01

Objectives Population-referenced total activity counts per day (TAC/d) percentiles provide public health practitioners a standardized measure of physical activity (PA) volume obtained from an accelerometer that can be compared across populations. The purpose of this study was to describe the application of TAC/d population-referenced percentiles to characterize the PA levels of population groups relative to US estimates. Methods A total of 679 adults participating in the 2011 NYC Physical Activity Transit survey wore an ActiGraph accelerometer on their hip for seven consecutive days. Accelerometer-derived TAC/d was classified into age- and gender-specific quartiles of US population-referenced TAC/d to compare differences in the distributions by borough (N=5). Results Males in Brooklyn, Manhattan, and Staten Island had significantly greater TAC/d than US males. Females in Brooklyn and Queens had significantly greater levels of TAC/d compared to US females. The proportion of males in each population-referenced TAC/d quartile varied significantly by borough (χ2(12)=2.63, p=0.002), with disproportionately more men in Manhattan and the Bronx found to be in the highest and lowest US population-referenced TAC/d quartiles, respectively. For females, there was no significant difference in US population-reference TAC/d quartile by borough (χ2(12)=1.09, p=0.36). Conclusions These results demonstrate the utility of population-referenced TAC/d percentiles in public health monitoring and surveillance. These findings also provide insights into the PA levels of NYC residents relative to the broader US population, which can be used to guide health promotion efforts. PMID:26876630

Positional Accuracy of Airborne Integrated Global Positioning and Inertial Navigation Systems for Mapping in Glen Canyon, Arizona

USGS Publications Warehouse

Sanchez, Richard D.; Hothem, Larry D.

2002-01-01

High-resolution airborne and satellite image sensor systems integrated with onboard data collection based on the Global Positioning System (GPS) and inertial navigation systems (INS) may offer a quick and cost-effective way to gather accurate topographic map information without ground control or aerial triangulation. The Applanix Corporation?s Position and Orientation Solutions for Direct Georeferencing of aerial photography was used in this project to examine the positional accuracy of integrated GPS/INS for terrain mapping in Glen Canyon, Arizona. The research application in this study yielded important information on the usefulness and limits of airborne integrated GPS/INS data-capture systems for mapping.

77 FR 13969 - Revising Standards Referenced in the Acetylene Standard

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-08

.... OSHA-2011-0183] RIN 1218-AC64 Revising Standards Referenced in the Acetylene Standard AGENCY: Occupational Safety and Health Administration (OSHA), Department of Labor. ACTION: Final rule; confirmation of effective date. SUMMARY: OSHA is confirming the effective date of its direct final rule that revises the...

Navigable networks as Nash equilibria of navigation games.

PubMed

Gulyás, András; Bíró, József J; Kőrösi, Attila; Rétvári, Gábor; Krioukov, Dmitri

2015-07-03

Common sense suggests that networks are not random mazes of purposeless connections, but that these connections are organized so that networks can perform their functions well. One function common to many networks is targeted transport or navigation. Here, using game theory, we show that minimalistic networks designed to maximize the navigation efficiency at minimal cost share basic structural properties with real networks. These idealistic networks are Nash equilibria of a network construction game whose purpose is to find an optimal trade-off between the network cost and navigability. We show that these skeletons are present in the Internet, metabolic, English word, US airport, Hungarian road networks, and in a structural network of the human brain. The knowledge of these skeletons allows one to identify the minimal number of edges, by altering which one can efficiently improve or paralyse navigation in the network.

Autonomous Navigation Above the GNSS Constellations and Beyond: GPS Navigation for the Magnetospheric Multiscale Mission and SEXTANT Pulsar Navigation Demonstration

NASA Technical Reports Server (NTRS)

Winternitz, Luke

2017-01-01

This talk will describe two first-of-their-kind technology demonstrations attached to ongoing NASA science missions, both of which aim to extend the range of autonomous spacecraft navigation far from the Earth. First, we will describe the onboard GPS navigation system for the Magnetospheric Multiscale (MMS) mission which is currently operating in elliptic orbits reaching nearly halfway to the Moon. The MMS navigation system is a key outgrowth of a larger effort at NASA Goddard Space Flight Center to advance high-altitude Global Navigation Satellite System (GNSS) navigation on multiple fronts, including developing Global Positioning System receivers and onboard navigation software, running simulation studies, and leading efforts to characterize and protect signals at high-altitude in the so-called GNSS Space-Service Volume (SSV). In the second part of the talk, we will describe the Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) mission that aims to make the first in-space demonstration of X-ray pulsar navigation (XNAV). SEXTANT is attached to the NASA astrophysics mission Neutron-star Interior Composition ExploreR (NICER) whose International Space Station mounted X-ray telescope is investigating the fundamental physics of extremes in gravity, material density, and electromagnetic fields found in neutron stars, and whose instrument provides a nearly ideal navigation sensor for XNAV.

Apollo Onboard Navigation Techniques

NASA Technical Reports Server (NTRS)

Interbartolo, Michael

2009-01-01

This viewgraph presentation reviews basic navigation concepts, describes coordinate systems and identifies attitude determination techniques including Primary Guidance, Navigation and Control System (PGNCS) IMU management and Command and Service Module Stabilization and Control System/Lunar Module (LM) Abort Guidance System (AGS) attitude management. The presentation also identifies state vector determination techniques, including PGNCS coasting flight navigation, PGNCS powered flight navigation and LM AGS navigation.

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

Federal Register 2010, 2011, 2012, 2013, 2014

2013-11-15

... Devices, Navigation and Display Systems, Radar Systems, Navigational Aids, Mapping Systems and Related... navigation products, including GPS devices, navigation and display systems, radar systems, navigational aids..., radar systems, navigational aids, mapping systems and related software by reason of infringement of one...

Community-Referenced Math Activities for Moderately and Severely Handicapped Individuals.

ERIC Educational Resources Information Center

Schoen, Sharon F.

Community-referenced activities, which involve combinations of skills used in routine tasks of daily living, are critical for the independent functioning of moderately and severely handicapped persons. The paper examines the characteristics of these activities in order to extract implications for enhancing instruction. The tasks involved in such…

A statistically robust EEG re-referencing procedure to mitigate reference effect

PubMed Central

Lepage, Kyle Q.; Kramer, Mark A.; Chu, Catherine J.

2014-01-01

Background The electroencephalogram (EEG) remains the primary tool for diagnosis of abnormal brain activity in clinical neurology and for in vivo recordings of human neurophysiology in neuroscience research. In EEG data acquisition, voltage is measured at positions on the scalp with respect to a reference electrode. When this reference electrode responds to electrical activity or artifact all electrodes are affected. Successful analysis of EEG data often involves re-referencing procedures that modify the recorded traces and seek to minimize the impact of reference electrode activity upon functions of the original EEG recordings. New method We provide a novel, statistically robust procedure that adapts a robust maximum-likelihood type estimator to the problem of reference estimation, reduces the influence of neural activity from the re-referencing operation, and maintains good performance in a wide variety of empirical scenarios. Results The performance of the proposed and existing re-referencing procedures are validated in simulation and with examples of EEG recordings. To facilitate this comparison, channel-to-channel correlations are investigated theoretically and in simulation. Comparison with existing methods The proposed procedure avoids using data contaminated by neural signal and remains unbiased in recording scenarios where physical references, the common average reference (CAR) and the reference estimation standardization technique (REST) are not optimal. Conclusion The proposed procedure is simple, fast, and avoids the potential for substantial bias when analyzing low-density EEG data. PMID:24975291

Axillary breast: Navigating uncharted terrain

PubMed Central

Bhave, Medha A

2015-01-01

Introduction: Axillary breast is a common condition that leads to discomfort and cosmetic problems. Liposuction alone and open excision are two techniques used for treatment. Materials and Methods: This study assesses the results of treatment in 24 consecutive patients, operated between 2005 and 2015. All patients had Kajava class IV masses. Three were treated by liposuction alone, while 21 were treated by open axillaplasty with limited liposuction. Results: One patient treated by liposuction alone had to be re-operated for a residual lump, while with axillaplasty, no major complications were observed and the results were uniformly good. Discussion: Certain points of technique emerged as major determinants in obtaining the best results. In brief, these are: a) limited skin excision; b) placing elliptical incisions within the most lax, apical axillary skin, irrespective of the location of the lump; c) raising skin flaps at the level of superficial fascia; d)meticulous dissection and preservation of the nerves, especially the second intercostobrachial; f) judicious liposuction for eliminating dog ears and axillary sculpting only; g) avoiding drains. Conclusion: Open axillaplasty with limited liposuction is the best way to minimise complications and produce good results. PMID:26933282

Flooding of Ganymede's bright terrains by low-viscosity water-ice lavas.

PubMed

Schenk, P M; McKinnon, W B; Gwynn, D; Moore, J M

2001-03-01

Large regions of the jovian moon Ganymede have been resurfaced, but the means has been unclear. Suggestions have ranged from volcanic eruptions of liquid water or solid ice to tectonic deformation, but definitive high-resolution morphological evidence has been lacking. Here we report digital elevation models of parts of the surface of Ganymede, derived from stereo pairs combining data from the Voyager and Galileo spacecraft, which reveal bright, smooth terrains that lie at roughly constant elevations 100 to 1,000 metres below the surrounding rougher terrains. These topographic data, together with new images that show fine-scale embayment and burial of older features, indicate that the smooth terrains were formed by flooding of shallow structural troughs by low-viscosity water-ice lavas. The oldest and most deformed areas (the 'reticulate' terrains) in general have the highest relative elevations, whereas units of the most common resurfaced type--the grooved terrain--lie at elevations between those of the smooth and reticulate terrains. Bright terrain, which accounts for some two-thirds of the surface, probably results from a continuum of processes, including crustal rifting, shallow flooding and groove formation. Volcanism plays an integral role in these processes, and is consistent with partial melting of Ganymede's interior.

Navigable networks as Nash equilibria of navigation games

PubMed Central

Gulyás, András; Bíró, József J.; Kőrösi, Attila; Rétvári, Gábor; Krioukov, Dmitri

2015-01-01

Common sense suggests that networks are not random mazes of purposeless connections, but that these connections are organized so that networks can perform their functions well. One function common to many networks is targeted transport or navigation. Here, using game theory, we show that minimalistic networks designed to maximize the navigation efficiency at minimal cost share basic structural properties with real networks. These idealistic networks are Nash equilibria of a network construction game whose purpose is to find an optimal trade-off between the network cost and navigability. We show that these skeletons are present in the Internet, metabolic, English word, US airport, Hungarian road networks, and in a structural network of the human brain. The knowledge of these skeletons allows one to identify the minimal number of edges, by altering which one can efficiently improve or paralyse navigation in the network. PMID:26138277

Simple and robust referencing system enables identification of dissolved-phase xenon spectral frequencies.

PubMed

Antonacci, Michael A; Zhang, Le; Burant, Alex; McCallister, Drew; Branca, Rosa T

2018-08-01

To assess the effect of macroscopic susceptibility gradients on the gas-phase referenced dissolved-phase 129 Xe (DPXe) chemical shift (CS) and to establish the robustness of a water-based referencing system for in vivo DPXe spectra. Frequency shifts induced by spatially varying magnetic susceptibility are calculated by finite-element analysis for the human head and chest. Their effect on traditional gas-phase referenced DPXe CS is then assessed theoretically and experimentally. A water-based referencing system for the DPXe resonances that uses the local water protons as reference is proposed and demonstrated in vivo in rats. Across the human brain, macroscopic susceptibility gradients can induce an apparent variation in the DPXe CS of up to 2.5 ppm. An additional frequency shift as large as 6.5 ppm can exist between DPXe and gas-phase resonances. By using nearby water protons as reference for the DPXe CS, the effect of macroscopic susceptibility gradients is eliminated and consistent CS values are obtained in vivo, regardless of shimming conditions, region of interest analyzed, animal orientation, or lung inflation. Combining in vitro and in vivo spectroscopic measurements finally enables confident assignment of some of the DPXe peaks observed in vivo. To use hyperpolarized xenon as a biological probe in tissues, the DPXe CS in specific organs/tissues must be reliably measured. When the gas-phase is used as reference, variable CS values are obtained for DPXe resonances. Reliable peak assignments in DPXe spectra can be obtained by using local water protons as reference. Magn Reson Med 80:431-441, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

Terrain Portrayal for Synthetic Vision Systems Head-Down Displays Evaluation Results

NASA Technical Reports Server (NTRS)

Hughes, Monica F.; Glaab, Louis J.

2007-01-01

A critical component of SVS displays is the appropriate presentation of terrain to the pilot. At the time of this study, the relationship between the complexity of the terrain presentation and resulting enhancements of pilot SA and pilot performance had been largely undefined. The terrain portrayal for SVS head-down displays (TP-HDD) simulation examined the effects of two primary elements of terrain portrayal on the primary flight display (PFD): variations of digital elevation model (DEM) resolution and terrain texturing. Variations in DEM resolution ranged from sparsely spaced (30 arc-sec) to very closely spaced data (1 arc-sec). Variations in texture involved three primary methods: constant color, elevation-based generic, and photo-realistic, along with a secondary depth cue enhancer in the form of a fishnet grid overlay.

The Effect of Sensory Noise Created by Compliant and Sway-Referenced Support Surfaces on Postural Stability

NASA Technical Reports Server (NTRS)

Forth, Katharine E.; Taylor, Laura C.; Paloski, William H.

2006-01-01

The purpose of the present experiment was to compare in normal human subjects the differential effects on postural stability of introducing somatosensory noise via compliant and/or sway-referenced support surfaces during quiet standing. The use of foam surfaces (two thicknesses: thin (0.95cm) and thick (7.62cm)) and sway-referenced support allowed comparison between two different types of destabilizing factors that increased ankle/foot somatosensory noise. Under some conditions neck extensions were used to increase sensory noise by deviating the vestibular system from its optimal orientation for balance control. The impact of these conditions on postural control was assessed through objective measures of instability. Thick foam and sway-referenced support conditions generated comparable instability in subjects, as measured by equilibrium score and minimum time-to-contact. However, simultaneous application of the conditions resulted in greater instability, suggesting a higher level of generated sensory noise and thus, different receptor types affected during each manipulation. Indeed, sway-referenced support generated greater anterior-posterior center-of-mass (COM) sway, while thick foam generated greater medio-lateral COM sway and velocity. Neck extension had minimal effect on postural stability until combined with simultaneous thick foam and sway-referenced support. Thin foam never generated enough sensory noise to affect postural stability even with noise added by sway-reference support or neck extension. These results provide an interesting window into the central integration of redundant sensory information and indicate the postural impact of sensory inputs is not solely based on their existence, but also their level of noise.

47 CFR 1.959 - Computation of average terrain elevation.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Section 1.959 Telecommunication FEDERAL COMMUNICATIONS COMMISSION GENERAL PRACTICE AND PROCEDURE Wireless..., average terrain elevation must be calculated by computer using elevations from a 30 second point or better..., if the results differ significantly from the computer derived averages. (a) Radial average terrain...

47 CFR 1.959 - Computation of average terrain elevation.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Section 1.959 Telecommunication FEDERAL COMMUNICATIONS COMMISSION GENERAL PRACTICE AND PROCEDURE Wireless..., average terrain elevation must be calculated by computer using elevations from a 30 second point or better..., if the results differ significantly from the computer derived averages. (a) Radial average terrain...

Convective boundary layer heights over mountainous terrain - A review of concepts -

NASA Astrophysics Data System (ADS)

De Wekker, Stephan; Kossmann, Meinolf

2015-12-01

Mountainous terrain exerts an important influence on the Earth's atmosphere and affects atmospheric transport and mixing at a wide range of temporal and spatial scales. The vertical scale of this transport and mixing is determined by the height of the atmospheric boundary layer, which is therefore an important parameter in air pollution studies, weather forecasting, climate modeling, and many other applications. It is recognized that the spatio-temporal structure of the daytime convective boundary layer (CBL) height is strongly modified and more complex in hilly and mountainous terrain compared to flat terrain. While the CBL over flat terrain is mostly dominated by turbulent convection, advection from multi-scale thermally driven flows plays an important role for the CBL evolution over mountainous terrain. However, detailed observations of the CBL structure and understanding of the underlying processes are still limited. Characteristics of CBL heights in mountainous terrain are reviewed for dry, convective conditions. CBLs in valleys and basins, where hazardous accumulation of pollutants is of particular concern, are relatively well-understood compared to CBLs over slopes, ridges, or mountain peaks. Interests in the initiation of shallow and deep convection, and of budgets and long-range transport of air pollutants and trace gases, have triggered some recent studies on terrain induced exchange processes between the CBL and the overlying atmosphere. These studies have helped to gain more insight into CBL structure over complex mountainous terrain, but also show that the universal definition of CBL height over mountains remains an unresolved issue. The review summarizes the progress that has been made in documenting and understanding spatio-temporal behavior of CBL heights in mountainous terrain and concludes with a discussion of open research questions and opportunities for future research.

Modelling prehistoric terrain Models using LiDAR-data: a geomorphological approach

NASA Astrophysics Data System (ADS)

Höfler, Veit; Wessollek, Christine; Karrasch, Pierre

2015-10-01

Terrain surfaces conserve human activities in terms of textures and structures. With reference to archaeological questions, the geological archive is investigated by means of models regarding anthropogenic traces. In doing so, the high-resolution digital terrain model is of inestimable value for the decoding of the archive. The evaluation of these terrain models and the reconstruction of historical surfaces is still a challenging issue. Due to the data collection by means of LiDAR systems (light detection and ranging) and despite their subsequent pre-processing and filtering, recently anthropogenic artefacts are still present in the digital terrain model. Analysis have shown that elements, such as contour lines and channels, can well be extracted from a high-resolution digital terrain model. This way, channels in settlement areas show a clear anthropogenic character. This fact can also be observed for contour lines. Some contour lines representing a possibly natural ground surface and avoid anthropogenic artefacts. Comparable to channels, noticeable patterns of contour lines become visible in areas with anthropogenic artefacts. The presented workflow uses functionalities of ArcGIS and the programming language R.1 The method starts with the extraction of contour lines from the digital terrain model. Through macroscopic analyses based on geomorphological expert knowledge, contour lines are selected representing the natural geomorphological character of the surface. In a first step, points are determined along each contour line in regular intervals. This points and the corresponding height information which is taken from an original digital terrain model is saved as a point cloud. Using the programme library gstat, a variographic analysis and the use of a Kriging-procedure based on this follow.2-4 The result is a digital terrain model filtered considering geomorphological expert knowledge showing no human degradation in terms of artefacts, preserving the landscape

Complex terrain influences ecosystem carbon responses to temperature and precipitation

NASA Astrophysics Data System (ADS)

Reyes, W. M.; Epstein, H. E.; Li, X.; McGlynn, B. L.; Riveros-Iregui, D. A.; Emanuel, R. E.

2017-08-01

Terrestrial ecosystem responses to temperature and precipitation have major implications for the global carbon cycle. Case studies demonstrate that complex terrain, which accounts for more than 50% of Earth's land surface, can affect ecological processes associated with land-atmosphere carbon fluxes. However, no studies have addressed the role of complex terrain in mediating ecophysiological responses of land-atmosphere carbon fluxes to climate variables. We synthesized data from AmeriFlux towers and found that for sites in complex terrain, responses of ecosystem CO2 fluxes to temperature and precipitation are organized according to terrain slope and drainage area, variables associated with water and energy availability. Specifically, we found that for tower sites in complex terrain, mean topographic slope and drainage area surrounding the tower explained between 51% and 78% of site-to-site variation in the response of CO2 fluxes to temperature and precipitation depending on the time scale. We found no such organization among sites in flat terrain, even though their flux responses exhibited similar ranges. These results challenge prevailing conceptual framework in terrestrial ecosystem modeling that assumes that CO2 fluxes derive from vertical soil-plant-climate interactions. We conclude that the terrain in which ecosystems are situated can also have important influences on CO2 responses to temperature and precipitation. This work has implications for about 14% of the total land area of the conterminous U.S. This area is considered topographically complex and contributes to approximately 15% of gross ecosystem carbon production in the conterminous U.S.

VTAC: virtual terrain assisted impact assessment for cyber attacks

NASA Astrophysics Data System (ADS)

Argauer, Brian J.; Yang, Shanchieh J.

2008-03-01

Overwhelming intrusion alerts have made timely response to network security breaches a difficult task. Correlating alerts to produce a higher level view of intrusion state of a network, thus, becomes an essential element in network defense. This work proposes to analyze correlated or grouped alerts and determine their 'impact' to services and users of the network. A network is modeled as 'virtual terrain' where cyber attacks maneuver. Overlaying correlated attack tracks on virtual terrain exhibits the vulnerabilities exploited by each track and the relationships between them and different network entities. The proposed impact assessment algorithm utilizes the graph-based virtual terrain model and combines assessments of damages caused by the attacks. The combined impact scores allow to identify severely damaged network services and affected users. Several scenarios are examined to demonstrate the uses of the proposed Virtual Terrain Assisted Impact Assessment for Cyber Attacks (VTAC).

Patient Navigation from the Paired Perspectives of Cancer Patients and Navigators: A Qualitative Analysis

PubMed Central

Yosha, Amanat M.; Carroll, Jennifer K.; Hendren, Samantha; Salamone, Charcy M.; Sanders, Mechelle; Fiscella, Kevin; Epstein, Ronald M.

2011-01-01

Objective Patient navigation for cancer care assesses and alleviates barriers to health care services. We examined paired perspectives of cancer patients and their navigators to examine the process of patient navigation. We explored the strengths, limitations, and our own lessons learned about adopting the novel methodology of multiperspective analysis. Methods As part of a larger RCT, patients and navigators were interviewed separately. We reviewed interviews with 18 patient-navigator dyads. Dyad summaries were created that explicitly incorporated both patient and navigator perspectives. Emerging themes and verbatim quotations were reflected in the summaries. Results Paired perspectives were valuable in identifying struggles that arose during navigation. These were represented as imbalanced investment and relational amelioration. Patients and navigators had general consensus about important patient needs for cancer care, but characterized these needs differently. Conclusion Our experience with multiperspective analysis revealed a methodology that delivers novel relational findings, but is best conducted de novo rather than as part of a larger study. Practice Implications Multiperspective analysis should be more widely adopted with clear aims and analytic strategy that strengthen the ability to reveal relational dynamics. Navigation training programs should anticipate navigator struggles and provide navigators with tools to manage them. PMID:21255958

Remote Sensing of Martian Terrain Hazards via Visually Salient Feature Detection

NASA Astrophysics Data System (ADS)

Al-Milli, S.; Shaukat, A.; Spiteri, C.; Gao, Y.

2014-04-01

The main objective of the FASTER remote sensing system is the detection of rocks on planetary surfaces by employing models that can efficiently characterise rocks in terms of semantic descriptions. The proposed technique abates some of the algorithmic limitations of existing methods with no training requirements, lower computational complexity and greater robustness towards visual tracking applications over long-distance planetary terrains. Visual saliency models inspired from biological systems help to identify important regions (such as rocks) in the visual scene. Surface rocks are therefore completely described in terms of their local or global conspicuity pop-out characteristics. These local and global pop-out cues are (but not limited to); colour, depth, orientation, curvature, size, luminance intensity, shape, topology etc. The currently applied methods follow a purely bottom-up strategy of visual attention for selection of conspicuous regions in the visual scene without any topdown control. Furthermore the choice of models used (tested and evaluated) are relatively fast among the state-of-the-art and have very low computational load. Quantitative evaluation of these state-ofthe- art models was carried out using benchmark datasets including the Surrey Space Centre Lab Testbed, Pangu generated images, RAL Space SEEKER and CNES Mars Yard datasets. The analysis indicates that models based on visually salient information in the frequency domain (SRA, SDSR, PQFT) are the best performing ones for detecting rocks in an extra-terrestrial setting. In particular the SRA model seems to be the most optimum of the lot especially that it requires the least computational time while keeping errors competitively low. The salient objects extracted using these models can then be merged with the Digital Elevation Models (DEMs) generated from the same navigation cameras in order to be fused to the navigation map thus giving a clear indication of the rock locations.

ATRAN Terrain Sensing Guidance-The Grand-Daddy System

NASA Astrophysics Data System (ADS)

Koch, Richard F.; Evans, Donald C.

1980-12-01

ATRAN was the pioneer terrain sensing guidance system developed in the 1950 era and deployed in Europe on the Air Force's mobile, ground launched TM-76A MACE cruise missile in the late 1950's and early 1960's. The background, principles and technology are described for this system which was the forerunner of todays modern autonomous standoff terrain sensing guided weapons.

Investigation of Terrain Analysis and Classification Methods for Ground Vehicles

DTIC Science & Technology

2012-08-27

exteroceptive terrain classifier takes exteroceptive sensor data (here, color stereo images of the terrain) as its input and returns terrain class...Mishkin & Laubach, 2006), the rover cannot safely travel beyond the distance it can image with its cameras, which has been as little as 15 meters or...field of view roughly 44°×30°, capturing pairs of color images at 640×480 pixels each (Videre Design, 2001). Range data were extracted from the stereo

Furrow Topography and the Elastic Thickness of Ganymede's Dark Terrain Lithosphere

NASA Technical Reports Server (NTRS)

Pappalardo, Robert T.; Nimmo, Francis; Giese, Bernd; Bader, Christina E.; DeRemer, Lindsay C.; Prockter, Louise M.

2003-01-01

The effective elastic thickness of Ganymede's lithosphere tell of the satellite's thermal evolution through time. Generally it has been inferred that dark terrain, which is less tectonically deformed than grooved terrain, represents regions of cooler and thicker lithosphere [1]. The ancient dark terrain is cut by furrows, tectonic troughs about 5 to 20 km in width, which may have formed in response to large ancient impacts [1, 2]. We have applied the methods of [3] to estimate effective elastic thickness based on topographic profiles across tectonic furrows, extracted from a stereo-derived digital elevation model (DEM) of dark terrain in Galileo Regio [4]. Asymmetry in furrow topography and inferred flexure suggests asymmetric furrow fault geometry. We find effective elastic thicknesses 0.4 km, similar to analyzed areas alongside bright grooved terrain. Data and Analysis: A broken-plate elastic model.

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

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

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

NASA Astrophysics Data System (ADS)

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

2018-06-01

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

Automated Generation of Geo-Referenced Mosaics From Video Data Collected by Deep-Submergence Vehicles: Preliminary Results

NASA Astrophysics Data System (ADS)

Rhzanov, Y.; Beaulieu, S.; Soule, S. A.; Shank, T.; Fornari, D.; Mayer, L. A.

2005-12-01

Many advances in understanding geologic, tectonic, biologic, and sedimentologic processes in the deep ocean are facilitated by direct observation of the seafloor. However, making such observations is both difficult and expensive. Optical systems (e.g., video, still camera, or direct observation) will always be constrained by the severe attenuation of light in the deep ocean, limiting the field of view to distances that are typically less than 10 meters. Acoustic systems can 'see' much larger areas, but at the cost of spatial resolution. Ultimately, scientists want to study and observe deep-sea processes in the same way we do land-based phenomena so that the spatial distribution and juxtaposition of processes and features can be resolved. We have begun development of algorithms that will, in near real-time, generate mosaics from video collected by deep-submergence vehicles. Mosaics consist of >>10 video frames and can cover 100's of square-meters. This work builds on a publicly available still and video mosaicking software package developed by Rzhanov and Mayer. Here we present the results of initial tests of data collection methodologies (e.g., transects across the seafloor and panoramas across features of interest), algorithm application, and GIS integration conducted during a recent cruise to the Eastern Galapagos Spreading Center (0 deg N, 86 deg W). We have developed a GIS database for the region that will act as a means to access and display mosaics within a geospatially-referenced framework. We have constructed numerous mosaics using both video and still imagery and assessed the quality of the mosaics (including registration errors) under different lighting conditions and with different navigation procedures. We have begun to develop algorithms for efficient and timely mosaicking of collected video as well as integration with navigation data for georeferencing the mosaics. Initial results indicate that operators must be properly versed in the control of the

"People" can be better than "you": The moderating role of regulatory focus on self-referencing messages in physical activity promotion campaigns among college students.

PubMed

Lee, Seungae; Mackert, Michael

2017-01-01

Self-referencing effects explain why many advertisements try to relate people with the ads; when an individual relates an ad to the self, the person will be more likely to recall the ad. However, this study revealed that the regulatory focus of messages is a boundary condition for self-referencing strategy. Self-referencing did not yield a positive persuasion effect in prevention-focused messages. The underlying message process analyses further revealed people avoid elaborating prevention-focused messages when used with self-referencing, rather than viewing them in a biased manner. The findings provide guidance for health communication practitioners' use of self-referencing statements.

Geomagnetic referencing--the real-time compass for directional drillers

USGS Publications Warehouse

Buchanan, Andrew; Finn, Carol; Love, Jeffrey J.; Worthington, E. William; Lawson, Fraser; Maus, Stefan; Okewunmi, Shola; Poedjono, Benny

2013-01-01

To pinpoint the location and direction of a wellborne, directional driller rely on measurements from accelerometers, magnetometer and gyroscopes. In the past, high-accuracy guidance methods required a halt in drilling to obtain directional measurements. Advances in geomagnetic referencing now allow companies to use real-time data acquired during drilling to accurately potion horizontal wells, decrease well spacing and drill multiple wells from limited surface locations.

Issues and Procedures in the Development of Criterion Referenced Tests.

ERIC Educational Resources Information Center

Klein, Stephen P.; Kosecoff, Jacqueline

The basic steps and procedures in the development of criterion referenced tests (CRT), as well as the issues and problems associated with these activities are discussed. In the first section of the paper, the discussions focus upon the purpose and defining characteristics of CRTs, item construction and selection, improving item quality, content…

Self-referenced continuous-variable quantum key distribution protocol

DOE PAGES

Soh, Daniel Beom Soo; Sarovar, Mohan; Brif, Constantin; ...

2015-10-21

We introduce a new continuous-variable quantum key distribution (CV-QKD) protocol, self-referenced CV-QKD, that eliminates the need for transmission of a high-power local oscillator between the communicating parties. In this protocol, each signal pulse is accompanied by a reference pulse (or a pair of twin reference pulses), used to align Alice’s and Bob’s measurement bases. The method of phase estimation and compensation based on the reference pulse measurement can be viewed as a quantum analog of intradyne detection used in classical coherent communication, which extracts the phase information from the modulated signal. We present a proof-of-principle, fiber-based experimental demonstration of themore » protocol and quantify the expected secret key rates by expressing them in terms of experimental parameters. Our analysis of the secret key rate fully takes into account the inherent uncertainty associated with the quantum nature of the reference pulse(s) and quantifies the limit at which the theoretical key rate approaches that of the respective conventional protocol that requires local oscillator transmission. The self-referenced protocol greatly simplifies the hardware required for CV-QKD, especially for potential integrated photonics implementations of transmitters and receivers, with minimum sacrifice of performance. Furthermore, it provides a pathway towards scalable integrated CV-QKD transceivers, a vital step towards large-scale QKD networks.« less

Self-referenced continuous-variable quantum key distribution protocol

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

Soh, Daniel Beom Soo; Sarovar, Mohan; Brif, Constantin

We introduce a new continuous-variable quantum key distribution (CV-QKD) protocol, self-referenced CV-QKD, that eliminates the need for transmission of a high-power local oscillator between the communicating parties. In this protocol, each signal pulse is accompanied by a reference pulse (or a pair of twin reference pulses), used to align Alice’s and Bob’s measurement bases. The method of phase estimation and compensation based on the reference pulse measurement can be viewed as a quantum analog of intradyne detection used in classical coherent communication, which extracts the phase information from the modulated signal. We present a proof-of-principle, fiber-based experimental demonstration of themore » protocol and quantify the expected secret key rates by expressing them in terms of experimental parameters. Our analysis of the secret key rate fully takes into account the inherent uncertainty associated with the quantum nature of the reference pulse(s) and quantifies the limit at which the theoretical key rate approaches that of the respective conventional protocol that requires local oscillator transmission. The self-referenced protocol greatly simplifies the hardware required for CV-QKD, especially for potential integrated photonics implementations of transmitters and receivers, with minimum sacrifice of performance. Furthermore, it provides a pathway towards scalable integrated CV-QKD transceivers, a vital step towards large-scale QKD networks.« less

Self-Referenced Continuous-Variable Quantum Key Distribution Protocol

NASA Astrophysics Data System (ADS)

Soh, Daniel B. S.; Brif, Constantin; Coles, Patrick J.; Lütkenhaus, Norbert; Camacho, Ryan M.; Urayama, Junji; Sarovar, Mohan

2015-10-01

We introduce a new continuous-variable quantum key distribution (CV-QKD) protocol, self-referenced CV-QKD, that eliminates the need for transmission of a high-power local oscillator between the communicating parties. In this protocol, each signal pulse is accompanied by a reference pulse (or a pair of twin reference pulses), used to align Alice's and Bob's measurement bases. The method of phase estimation and compensation based on the reference pulse measurement can be viewed as a quantum analog of intradyne detection used in classical coherent communication, which extracts the phase information from the modulated signal. We present a proof-of-principle, fiber-based experimental demonstration of the protocol and quantify the expected secret key rates by expressing them in terms of experimental parameters. Our analysis of the secret key rate fully takes into account the inherent uncertainty associated with the quantum nature of the reference pulse(s) and quantifies the limit at which the theoretical key rate approaches that of the respective conventional protocol that requires local oscillator transmission. The self-referenced protocol greatly simplifies the hardware required for CV-QKD, especially for potential integrated photonics implementations of transmitters and receivers, with minimum sacrifice of performance. As such, it provides a pathway towards scalable integrated CV-QKD transceivers, a vital step towards large-scale QKD networks.

Does contingency in adults' responding influence 12-month-old infants' social referencing?

PubMed

Stenberg, Gunilla

2017-11-01

In two experiments we examined the influence of contingent versus non-contingent responding on infant social referencing behavior. EXPERIMENT 1: Forty 12-month-old infants were exposed to an ambiguous toy in a social referencing situation. In one condition an unfamiliar adult who in a previous play situation had responded contingently to the infant's looks gave the infant positive information about the toy. In the other condition an unfamiliar adult who previously had not responded contingently delivered the positive information. EXPERIMENT 2: Forty-eight 12-month-old infants participated in Experiment 2. In this experiment it was examined whether the familiarity of the adult influences infants' reactions to contingency in responding. In one condition a parent who previously had responded contingently to the infant's looks provided positive information about the ambiguous toy, and in the other condition a parent who previously had not responded contingently provided the positive information. The infants looked more at the contingent experimenter in Experimenter 1, and also played more with the toy after receiving positive information from the contingent experimenter. No differences in looking at the parent and in playing with the toy were found in Experiment 2. The results indicate that contingency in responding, as well as the familiarity of the adult, influence infants' social referencing behavior. Copyright © 2017 Elsevier Inc. All rights reserved.

Does contingency in adults' responding influence 12-month-old infants' social referencing?

PubMed

Stenberg, Gunilla

2017-02-01

In two experiments we examined the influence of contingent versus non-contingent responding on infant social referencing behavior. EXPERIMENT 1: Forty 12-month-old infants were exposed to an ambiguous toy in a social referencing situation. In one condition an unfamiliar adult who in a previous play situation had responded contingently to the infant's looks gave the infant positive information about the toy. In the other condition an unfamiliar adult who previously had not responded contingently delivered the positive information. EXPERIMENT 2: Forty-eight 12-month-old infants participated in Experiment 2. In this experiment it was examined whether the familiarity of the adult influences infants' reactions to contingency in responding. In one condition a parent who previously had responded contingently to the infant's looks provided positive information about the ambiguous toy, and in the other condition a parent who previously had not responded contingently provided the positive information. The infants looked more at the contingent experimenter in Experimenter 1, and also played more with the toy after receiving positive information from the contingent experimenter. No differences in looking at the parent and in playing with the toy were found in Experiment 2. The results indicate that contingency in responding, as well as the familiarity of the adult, influence infants' social referencing behavior. Copyright © 2016 Elsevier Inc. All rights reserved.

Spatial and temporal variability of hyperspectral signatures of terrain

NASA Astrophysics Data System (ADS)

Jones, K. F.; Perovich, D. K.; Koenig, G. G.

2008-04-01

Electromagnetic signatures of terrain exhibit significant spatial heterogeneity on a range of scales as well as considerable temporal variability. A statistical characterization of the spatial heterogeneity and spatial scaling algorithms of terrain electromagnetic signatures are required to extrapolate measurements to larger scales. Basic terrain elements including bare soil, grass, deciduous, and coniferous trees were studied in a quasi-laboratory setting using instrumented test sites in Hanover, NH and Yuma, AZ. Observations were made using a visible and near infrared spectroradiometer (350 - 2500 nm) and hyperspectral camera (400 - 1100 nm). Results are reported illustrating: i) several difference scenes; ii) a terrain scene time series sampled over an annual cycle; and iii) the detection of artifacts in scenes. A principal component analysis indicated that the first three principal components typically explained between 90 and 99% of the variance of the 30 to 40-channel hyperspectral images. Higher order principal components of hyperspectral images are useful for detecting artifacts in scenes.

Criterion-Referenced Testing for College-Level General Education: Some Problems and Recommendations.

ERIC Educational Resources Information Center

Benoist, Howard

1979-01-01

The adoption of a criterion-referenced assessment system and the resulting disadvantages of this form of evaluation for the college general education program are discussed, including problems in identifying assessment validation procedures. (RAO)

Advocates and critics for tactical behaviors in UGV navigation

NASA Astrophysics Data System (ADS)

Hussain, Talib S.; Vidaver, Gordon; Berliner, Jeffrey

2005-05-01

Critical to the development of unmanned ground vehicle platforms is the incorporation of adaptive tactical behaviors for the planning of high-level navigation and tactical actions. BBN Technologies recently completed a simulation-based project for the Army Research Lab (ARL) in which we applied an evolutionary computation approach to navigating through a terrain to capture flag objectives while faced with one or more mobile enemies. Our Advocates and Critics for Tactical Behaviors (ACTB) system evolves plans for the vehicle that control its movement goals (in the form of waypoints), and its future actions (e.g., pointing cameras). We apply domain-specific, state-dependent genetic operators called advocates that promote specific tactical behaviors (e.g., adapt a plan to stay closer to walls). We define the fitness function as a weighted sum of a number of independent, domain-specific, state-dependent evaluation components called critics. Critics reward plans based upon specific tactical criteria, such as minimizing risk of exposure or time to the flags. Additionally, the ACTB system provides the capability for a human commander to specify the "rules of engagement" under which the vehicle will operate. The rules of engagement determine the planning emphasis required under different tactical situations (e.g., discovery of an enemy), and provide a mechanism for automatically adapting the relative selection probabilities of the advocates, the weights of the critics, and the depth of planning in response to tactical events. The ACTB system demonstrated highly effective performance in a head-to-head testing event, held by ARL, against two competing tactical behavior systems.

Are Titan's radial Labyrinth terrains surface expressions of large laccoliths?

NASA Astrophysics Data System (ADS)

Schurmeier, L.; Dombard, A. J.; Malaska, M.; Radebaugh, J.

2017-12-01

The Labyrinth terrain unit may be the one of the best examples of the surface expression of Titan's complicated history. They are characterized as highly eroded, dissected, and elevated plateaus and remnant ridges, with an assumed composition that is likely organic-rich based on radar emissivity. How these features accumulated organic-rich sediments and formed topographic highs by either locally uplifting or surviving pervasive regional deflation or erosion is an important question for understanding the history of Titan. There are several subsets of Labyrinth terrains, presumably with differing evolutionary histories and formation processes. We aim to explain the formation of a subset of Labyrinth terrain units informally referred to as "radial Labyrinth terrains." They are elevated and appear dome-like, circular in planform, have a strong radial dissection pattern, are bordered by Undifferentiated Plains units, and are found in the mid-latitudes. Based on their shape, clustering, and dimensions, we suggest that they may be the surface expression of large subsurface laccoliths. A recent study by Manga and Michaut (Icarus, 2017) explained Europa's lenticulae (pits, domes, spots) with the formation of saucer-shaped sills that form laccoliths around the brittle-ductile transition depth within the ice shell (1-5 km). Here, we apply the same scaling relationships and find that the larger size of radial labyrinth terrains with Titan's higher gravity implies deeper intrusion depths of around 20-40 km. This intrusion depth matches the expected brittle-ductile transition on Titan based on our finite element simulations and yield strength envelope analyses. We hypothesize that Titan's radial labyrinth terrains formed as cryovolcanic (water) intrusions that rose to the brittle-ductile transition within the ice shell where they spread horizontally, and uplifted the overlying ice. The organic-rich sedimentary cover also uplifted, becoming more susceptible to pluvial and fluvial

14 CFR 135.154 - Terrain awareness and warning system.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Terrain awareness and warning system. 135... Aircraft and Equipment § 135.154 Terrain awareness and warning system. (a) Airplanes manufactured after... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 135.154 - Terrain awareness and warning system.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Terrain awareness and warning system. 135... Aircraft and Equipment § 135.154 Terrain awareness and warning system. (a) Airplanes manufactured after... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 135.154 - Terrain awareness and warning system.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Terrain awareness and warning system. 135... Aircraft and Equipment § 135.154 Terrain awareness and warning system. (a) Airplanes manufactured after... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 135.154 - Terrain awareness and warning system.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Terrain awareness and warning system. 135... Aircraft and Equipment § 135.154 Terrain awareness and warning system. (a) Airplanes manufactured after... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 135.154 - Terrain awareness and warning system.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Terrain awareness and warning system. 135... Aircraft and Equipment § 135.154 Terrain awareness and warning system. (a) Airplanes manufactured after... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

Key Terrain: Application to the Layers of Cyberspace

DTIC Science & Technology

2017-03-01

in the early stages and exploration into better integrating military strategies could prove beneficial to those working to develop relevant and...200 words) The concept of key terrain is a common fixture in military strategy and tactics. The emergence of cyberspace, with characteristics unseen...concept of key terrain is a common fixture in military strategy and tactics. The emergence of cyberspace, with characteristics unseen in any

Self-Referenced Memory, Social Cognition, and Symptom Presentation in Autism

ERIC Educational Resources Information Center

Henderson, Heather A.; Zahka, Nicole E.; Kojkowski, Nicole M.; Inge, Anne P.; Schwartz, Caley B.; Hileman, Camilla M.; Coman, Drew C.; Mundy, Peter C.

2009-01-01

Background: We examined performance on a self-referenced memory (SRM) task for higher-functioning children with autism (HFA) and a matched comparison group. SRM performance was examined in relation to symptom severity and social cognitive tests of mentalizing. Method: Sixty-two children (31 HFA, 31 comparison; 8-16 years) completed a SRM task in…

Ten Issues in Criterion-Referenced Testing: A Response to Commonly Heard Criticisms.

ERIC Educational Resources Information Center

Curlette, William L.; Stallings, William M.

1979-01-01

The 10 criticisms of criterion-referenced tests addressed in this paper are: the domains tested; pedagogical influence; difficulty of items; cumbersome reports; reliability; arbitrary criteria; local objectives; labeling; predictive validity; and repeated testing. (SJL)

Curiosity Traverse into Different Terrain

NASA Image and Video Library

2013-01-15

This image maps the traverse of NASA Mars rover Curiosity from Bradbury Landing to Yellowknife Bay, with an inset documenting a change in the ground thermal properties with arrival at a different type of terrain.

V-TECS Criterion-Referenced Test Item Bank for Radiologic Technology Occupations.

ERIC Educational Resources Information Center

Reneau, Fred; And Others

This Vocational-Technical Education Consortium of States (V-TECS) criterion-referenced test item bank provides 696 multiple-choice items and 33 matching items for radiologic technology occupations. These job titles are included: radiologic technologist, chief; radiologic technologist; nuclear medicine technologist; radiation therapy technologist;…

Standardization of a geo-referenced fishing data set for the Indian Ocean bigeye tuna, Thunnus obesus (1952-2014)

NASA Astrophysics Data System (ADS)

Wibawa, Teja A.; Lehodey, Patrick; Senina, Inna

2017-02-01

Geo-referenced catch and fishing effort data of the bigeye tuna fisheries in the Indian Ocean over 1952-2014 were analyzed and standardized to facilitate population dynamics modeling studies. During this 62-year historical period of exploitation, many changes occurred both in the fishing techniques and the monitoring of activity. This study includes a series of processing steps used for standardization of spatial resolution, conversion and standardization of catch and effort units, raising of geo-referenced catch into nominal catch level, screening and correction of outliers, and detection of major catchability changes over long time series of fishing data, i.e., the Japanese longline fleet operating in the tropical Indian Ocean. A total of 30 fisheries were finally determined from longline, purse seine and other-gears data sets, from which 10 longline and 4 purse seine fisheries represented 96 % of the whole historical geo-referenced catch. Nevertheless, one-third of total nominal catch is still not included due to a total lack of geo-referenced information and would need to be processed separately, accordingly to the requirements of the study. The geo-referenced records of catch, fishing effort and associated length frequency samples of all fisheries are available at doi:10.1594/PANGAEA.864154.

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.

14 CFR 121.354 - Terrain awareness and warning system.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Terrain awareness and warning system. 121... § 121.354 Terrain awareness and warning system. (a) Airplanes manufactured after March 29, 2002. No... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 121.354 - Terrain awareness and warning system.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Terrain awareness and warning system. 121... § 121.354 Terrain awareness and warning system. (a) Airplanes manufactured after March 29, 2002. No... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 121.354 - Terrain awareness and warning system.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Terrain awareness and warning system. 121... § 121.354 Terrain awareness and warning system. (a) Airplanes manufactured after March 29, 2002. No... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 121.354 - Terrain awareness and warning system.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Terrain awareness and warning system. 121... § 121.354 Terrain awareness and warning system. (a) Airplanes manufactured after March 29, 2002. No... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 121.354 - Terrain awareness and warning system.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Terrain awareness and warning system. 121... § 121.354 Terrain awareness and warning system. (a) Airplanes manufactured after March 29, 2002. No... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

Dirt bikes and all terrain vehicles: the real threat to pediatric kidneys.

PubMed

Wu, Hsi-Yang; Gaines, Barbara A

2007-10-01

Recent reviews show that bicycles are the major cause of significant renal injury with few injuries occurring during contact sports. All-terrain vehicles are also responsible for significant pediatric renal trauma. We determined whether dirt bikes and all-terrain vehicles cause more significant renal injuries than contact sports. A retrospective review of our pediatric trauma database revealed 115 consecutive patients treated for renal trauma from 2000 to 2005. A total of 20 bicycle injuries occurred, including 6 on dirt bikes. A total of 13 all-terrain vehicle injuries occurred, including 4 involving rollovers. A total of 12 contact sport injuries occurred, including 2 during pick-up games. The mean grade of renal injury was compared among the mechanisms, with grades III-V considered high grade. In descending order of renal injury the mechanisms were dirt bike (2.8), all-terrain vehicle rollover (2.8), bicycle (2.3), all-terrain vehicle (2.1), contact sports (1.8) and organized contact sports (1.4). Dirt bikes and all-terrain vehicle rollovers caused significantly greater renal trauma than organized contact sports (2.8 vs 1.4, p = 0.007 and 0.02, respectively), whereas overall bicycle and all-terrain vehicle accidents resulted in similar renal trauma grades compared to those of all contact sports. The 2 high grade renal injuries during contact sports occurred during pick-up football games without protective gear. Physician advice regarding children with a solitary kidney should include avoiding dirt bikes and all-terrain vehicles. Efforts to limit all-terrain vehicle use in children younger than 16 years would decrease the risk of significant renal injury in this population more effectively than limiting contact sports participation.

An Investigation Into the Feasibility of Using a Modern Gravity Gradient Instrument for Passive Aircraft Navigation and Terrain Avoidance

DTIC Science & Technology

2009-03-01

the research objectives for this study are presented. It should be noted that sensor cost was not considered for this study. Additionally, further...development costs ) for gravity compensation require- ments of its trident submarine inertial navigation systems and by the Air Force Geo- physics...52]: T (r, φ, λ) = GM ae Nmax∑ n=2 n∑ m=0 (a r )n+1 (Cnm cosmλ+ Snm sinmλ)P nm(cos φ) (31) 44 where r, φ, λ are the geocentric distance, lattitude and

Linear Self-Referencing Techiques for Short-Optical-Pulse Characterization

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

Dorrer, C.; Kang, I.

2008-04-04

Linear self-referencing techniques for the characterization of the electric field of short optical pulses are presented. The theoretical and practical advantages of these techniques are developed. Experimental implementations are described, and their performance is compared to the performance of their nonlinear counterparts. Linear techniques demonstrate unprecedented sensitivity and are a perfect fit in many domains where the precise, accurate measurement of the electric field of an optical pulse is required.

A greedy-navigator approach to navigable city plans

NASA Astrophysics Data System (ADS)

Lee, Sang Hoon; Holme, Petter

2013-01-01

We use a set of four theoretical navigability indices for street maps to investigate the shape of the resulting street networks, if they are grown by optimizing these indices. The indices compare the performance of simulated navigators (having a partial information about the surroundings, like humans in many real situations) to the performance of optimally navigating individuals. We show that our simple greedy shortcut construction strategy generates the emerging structures that are different from real road network, but not inconceivable. The resulting city plans, for all navigation indices, share common qualitative properties such as the tendency for triangular blocks to appear, while the more quantitative features, such as degree distributions and clustering, are characteristically different depending on the type of metrics and routing strategies. We show that it is the type of metrics used which determines the overall shapes characterized by structural heterogeneity, but the routing schemes contribute to more subtle details of locality, which is more emphasized in case of unrestricted connections when the edge crossing is allowed.

Navigation Doppler lidar sensor for precision altitude and vector velocity measurements: flight test results

NASA Astrophysics Data System (ADS)

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

2011-06-01

An all fiber Navigation Doppler Lidar (NDL) system is under development at NASA Langley Research Center (LaRC) for precision descent and landing applications on planetary bodies. The sensor produces high-resolution line of sight range, altitude above ground, ground relative attitude, and high precision velocity vector measurements. Previous helicopter flight test results demonstrated the NDL measurement concepts, including measurement precision, accuracies, and operational range. This paper discusses the results obtained from a recent campaign to test the improved sensor hardware, and various signal processing algorithms applicable to real-time processing. The NDL was mounted in an instrumentation pod aboard an Erickson Air-Crane helicopter and flown over various terrains. The sensor was one of several sensors tested in this field test by NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) project.

Navigation Doppler Lidar Sensor for Precision Altitude and Vector Velocity Measurements Flight Test Results

NASA Technical Reports Server (NTRS)

Pierrottet, Diego F.; Lockhard, George; Amzajerdian, Farzin; Petway, Larry B.; Barnes, Bruce; Hines, Glenn D.

2011-01-01

An all fiber Navigation Doppler Lidar (NDL) system is under development at NASA Langley Research Center (LaRC) for precision descent and landing applications on planetary bodies. The sensor produces high resolution line of sight range, altitude above ground, ground relative attitude, and high precision velocity vector measurements. Previous helicopter flight test results demonstrated the NDL measurement concepts, including measurement precision, accuracies, and operational range. This paper discusses the results obtained from a recent campaign to test the improved sensor hardware, and various signal processing algorithms applicable to real-time processing. The NDL was mounted in an instrumentation pod aboard an Erickson Air-Crane helicopter and flown over vegetation free terrain. The sensor was one of several sensors tested in this field test by NASA?s Autonomous Landing and Hazard Avoidance Technology (ALHAT) project.

Photometric Properties of Enceladus' South Polar Terrain

NASA Astrophysics Data System (ADS)

Annex, Andrew; Verbiscer, A. J.; Helfenstein, P.

2012-10-01

Cassini images reveal in exquisite detail the complex and varied terrains within the geologically active south pole of Enceladus. The region is dominated by four parallel rifts or sulci, informally known as tiger stripes, from which plumes comprised primarily of water vapor erupt [1,2]. The rich data set of Cassini images acquired at high spatial resolution (< 0.5 km/pixel) and a variety of viewing and illumination geometries enables the quantitative analysis of surface scattering properties through disk-resolved photometry. Here we investigate the photometric properties of individual terrain units [3] through fits of the Hapke photometric model [4] to data acquired in the clear (CL1 CL2), UV3, GRN, and IR3 filters, centered at 0.61, 0.34, 0.57, and 0.93 μm, respectively. Terrain units include the tiger stripe smooth and platy plank formations, tiger stripe medial dorsum structures, relict tiger stripe structures, south pole funiscular (ropy) plains, south pole lateral fold-and-wedge formations, and the south pole reticulated plains. Despite the constant, ubiquitous infall of plume particles onto the surface, differences in scattering properties, texture, and albedo among terrain units can be discerned. Work supported by NASA's Cassini Data Analysis Program. [1] Porco et al. 2006 Science 311, 1393-1401. [2] Hansen et al. 2008 Nature 456, 477-479. [3] Spencer et al. 2009 in Saturn from Cassini-Huygens (M. K. Dougherty et al. Eds.) 683-724. [4] Hapke 2002 Icarus 157, 523-534.

Terrain intelligence Chita Oblast (U.S.S.R.)

USGS Publications Warehouse

,

1943-01-01

The following folio of maps and explanatory tables outlines the principal terrain features of the Chita Oblast.  Each map and table is devoted to a specialized set of problems; together they cover such subjects as terrain appreciations, rivers, surface-water and ground-water supplies, construction materials, fuels, suitability for temporary roads and airfields, mineral resources, and geology.  These maps and data were complied by the United States Geological Survey.

A fault tolerant gait for a hexapod robot over uneven terrain.

PubMed

Yang, J M; Kim, J H

2000-01-01

The fault tolerant gait of legged robots in static walking is a gait which maintains its stability against a fault event preventing a leg from having the support state. In this paper, a fault tolerant quadruped gait is proposed for a hexapod traversing uneven terrain with forbidden regions, which do not offer viable footholds but can be stepped over. By comparing performance of straight-line motion and crab walking over even terrain, it is shown that the proposed gait has better mobility and terrain adaptability than previously developed gaits. Based on the proposed gait, we present a method for the generation of the fault tolerant locomotion of a hexapod over uneven terrain with forbidden regions. The proposed method minimizes the number of legs on the ground during walking, and foot adjustment algorithm is used for avoiding steps on forbidden regions. The effectiveness of the proposed strategy over uneven terrain is demonstrated with a computer simulation.

Summary: Update to ASTM Guide E 1523 to Charge Control and Charge Referencing Techniques in X-ray Photoelectron Spectroscopy

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

Baer, Donald R.

2005-04-22

An updated version of the ASTM guide E1523 to the methods to charge control and charge referencing techniques in x-ray photoelectron spectroscopy has been released by ASTM. The guide is meant to acquaint x-ray photoelectron spectroscopy (XPS) users with the various charge control and charge referencing techniques that are and have been used in the acquisition and interpretation of XPS data from surfaces of insulating specimens. The current guide has been expanded to include new references as well as recommendations for reporting information on charge control and charge referencing. The previous version of the document had been published in 1997.

Accuracy assessment of linear spectral mixture model due to terrain undulation

NASA Astrophysics Data System (ADS)

Wang, Tianxing; Chen, Songlin; Ma, Ya

2008-12-01

Mixture spectra are common in remote sensing due to the limitations of spatial resolution and the heterogeneity of land surface. During the past 30 years, a lot of subpixel model have developed to investigate the information within mixture pixels. Linear spectral mixture model (LSMM) is a simper and more general subpixel model. LSMM also known as spectral mixture analysis is a widely used procedure to determine the proportion of endmembers (constituent materials) within a pixel based on the endmembers' spectral characteristics. The unmixing accuracy of LSMM is restricted by variety of factors, but now the research about LSMM is mostly focused on appraisement of nonlinear effect relating to itself and techniques used to select endmembers, unfortunately, the environment conditions of study area which could sway the unmixing-accuracy, such as atmospheric scatting and terrain undulation, are not studied. This paper probes emphatically into the accuracy uncertainty of LSMM resulting from the terrain undulation. ASTER dataset was chosen and the C terrain correction algorithm was applied to it. Based on this, fractional abundances for different cover types were extracted from both pre- and post-C terrain illumination corrected ASTER using LSMM. Simultaneously, the regression analyses and the IKONOS image were introduced to assess the unmixing accuracy. Results showed that terrain undulation could dramatically constrain the application of LSMM in mountain area. Specifically, for vegetation abundances, a improved unmixing accuracy of 17.6% (regression against to NDVI) and 18.6% (regression against to MVI) for R2 was achieved respectively by removing terrain undulation. Anyway, this study indicated in a quantitative way that effective removal or minimization of terrain illumination effects was essential for applying LSMM. This paper could also provide a new instance for LSMM applications in mountainous areas. In addition, the methods employed in this study could be

Criterion-Referenced Test (CRT) Items for Air Conditioning, Heating and Refrigeration.

ERIC Educational Resources Information Center

Davis, Diane, Ed.

These criterion-referenced test (CRT) items for air conditioning, heating, and refrigeration are keyed to the Missouri Air Conditioning, Heating, and Refrigeration Competency Profile. The items are designed to work with both the Vocational Instructional Management System and Vocational Administrative Management System. For word processing and…

43 CFR 46.135 - Incorporation of referenced documents into NEPA analysis.

Code of Federal Regulations, 2012 CFR

2012-10-01

... the analysis at hand. (b) Citations of specific information or analysis from other source documents... NEPA analysis. 46.135 Section 46.135 Public Lands: Interior Office of the Secretary of the Interior... Quality § 46.135 Incorporation of referenced documents into NEPA analysis. (a) The Responsible Official...

43 CFR 46.135 - Incorporation of referenced documents into NEPA analysis.

Code of Federal Regulations, 2011 CFR

2011-10-01

... the analysis at hand. (b) Citations of specific information or analysis from other source documents... NEPA analysis. 46.135 Section 46.135 Public Lands: Interior Office of the Secretary of the Interior... Quality § 46.135 Incorporation of referenced documents into NEPA analysis. (a) The Responsible Official...

43 CFR 46.135 - Incorporation of referenced documents into NEPA analysis.

Code of Federal Regulations, 2014 CFR

2014-10-01

... the analysis at hand. (b) Citations of specific information or analysis from other source documents... NEPA analysis. 46.135 Section 46.135 Public Lands: Interior Office of the Secretary of the Interior... Quality § 46.135 Incorporation of referenced documents into NEPA analysis. (a) The Responsible Official...

43 CFR 46.135 - Incorporation of referenced documents into NEPA analysis.

Code of Federal Regulations, 2010 CFR

2010-10-01

... the analysis at hand. (b) Citations of specific information or analysis from other source documents... NEPA analysis. 46.135 Section 46.135 Public Lands: Interior Office of the Secretary of the Interior... Quality § 46.135 Incorporation of referenced documents into NEPA analysis. (a) The Responsible Official...

43 CFR 46.135 - Incorporation of referenced documents into NEPA analysis.

Code of Federal Regulations, 2013 CFR

2013-10-01

... the analysis at hand. (b) Citations of specific information or analysis from other source documents... NEPA analysis. 46.135 Section 46.135 Public Lands: Interior Office of the Secretary of the Interior... Quality § 46.135 Incorporation of referenced documents into NEPA analysis. (a) The Responsible Official...

The regulatory function of social referencing in preschoolers with Down syndrome or Williams syndrome

PubMed Central

2013-01-01

Background An important developmental task is to learn to recognize another person as a source of information and to utilize this information as a method of learning about the surrounding world. This socially guided form of learning, referred to as social referencing, is critical for the development of children’s understanding of other people, themselves and their surrounding world. In the present project, the regulatory function of social referencing was examined in two genetic disorders that are characterized by differing patterns of socio-cognitive development: Down syndrome (DS) and Williams syndrome (WS). Methods Participants were 20 children with DS and 20 children with WS aged 42 to 71 months, matched on chronological age and gender. Each child participated in four studies: one study in which we examined performance in a social referencing paradigm and three studies in which we considered performance on tasks designed to tap each of three component abilities (initiating eye contact, gaze following and emotional responsivity) important for success in social referencing. Results The majority of children in both groups demonstrated positive behavioral responses regarding the stimulus in the Social Referencing task when the adult communicated a joyful message but did not regulate their own behavior in accordance with the adult’s expression of fear. Between-group differences were observed in both conditions, with most differences indicating more advanced socio-communicative competence for children with DS than for children with WS even though the overall intellectual abilities and receptive language abilities of the children with WS were significantly higher than were those of the children with DS. The results of follow-up studies indicated that children with DS were more likely to initiate eye contact (unsolicited) and to follow another person’s gaze in triadic situations than were children with WS. Neither group regulated their behavior in response to

Applying FastSLAM to Articulated Rovers

NASA Astrophysics Data System (ADS)

Hewitt, Robert Alexander

This thesis presents the navigation algorithms designed for use on Kapvik, a 30 kg planetary micro-rover built for the Canadian Space Agency; the simulations used to test the algorithm; and novel techniques for terrain classification using Kapvik's LIDAR (Light Detection And Ranging) sensor. Kapvik implements a six-wheeled, skid-steered, rocker-bogie mobility system. This warrants a more complicated kinematic model for navigation than a typical 4-wheel differential drive system. The design of a 3D navigation algorithm is presented that includes nonlinear Kalman filtering and Simultaneous Localization and Mapping (SLAM). A neural network for terrain classification is used to improve navigation performance. Simulation is used to train the neural network and validate the navigation algorithms. Real world tests of the terrain classification algorithm validate the use of simulation for training and the improvement to SLAM through the reduction of extraneous LIDAR measurements in each scan.

Real-time terrain storage generation from multiple sensors towards mobile robot operation interface.

PubMed

Song, Wei; Cho, Seoungjae; Xi, Yulong; Cho, Kyungeun; Um, Kyhyun

2014-01-01

A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots.

Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface

PubMed Central

Cho, Seoungjae; Xi, Yulong; Cho, Kyungeun

2014-01-01

A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots. PMID:25101321

Lunar terrain mapping and relative-roughness analysis

USGS Publications Warehouse

Rowan, Lawrence C.; McCauley, John F.; Holm, Esther A.

1971-01-01

Terrain maps of the equatorial zone (long 70° E.-70° W. and lat 10° N-10° S.) were prepared at scales of 1:2,000,000 and 1:1,000,000 to classify lunar terrain with respect to roughness and to provide a basis for selecting sites for Surveyor and Apollo landings as well as for Ranger and Lunar Orbiter photographs. The techniques that were developed as a result of this effort can be applied to future planetary exploration. By using the best available earth-based observational data and photographs 1:1,000,000-scale and U.S. Geological Survey lunar geologic maps and U.S. Air Force Aeronautical Chart and Information Center LAC charts, lunar terrain was described by qualitative and quantitative methods and divided into four fundamental classes: maria, terrae, craters, and linear features. Some 35 subdivisions were defined and mapped throughout the equatorial zone, and, in addition, most of the map units were illustrated by photographs. The terrain types were analyzed quantitatively to characterize and order their relative-roughness characteristics. Approximately 150,000 east-west slope measurements made by a photometric technique (photoclinometry) in 51 sample areas indicate that algebraic slope-frequency distributions are Gaussian, and so arithmetic means and standard deviations accurately describe the distribution functions. The algebraic slope-component frequency distributions are particularly useful for rapidly determining relative roughness of terrain. The statistical parameters that best describe relative roughness are the absolute arithmetic mean, the algebraic standard deviation, and the percentage of slope reversal. Statistically derived relative-relief parameters are desirable supplementary measures of relative roughness in the terrae. Extrapolation of relative roughness for the maria was demonstrated using Ranger VII slope-component data and regional maria slope data, as well as the data reported here. It appears that, for some morphologically homogeneous

[The accuracy of palpation from orientation points for the navigated implantation of knee prostheses].

PubMed

Fuiko, R; Kotten, B; Zettl, R; Ritschl, P

2004-03-01

Cinematic and pointing procedures are used for non-image based navigated implantation during total knee replacement. Pointing procedures require an exact knowledge of the landmarks. In this anatomical study, landmarks are defined and repeatedly referenced. Precision and reproducibility are evaluated by means of an inter- and an intra-observer study. The axes of the femur and tibia are calculated using the landmarks. The specific landmarks of 30 femurs and 27 tibias were palpated by three surgeons and digitised by means of a photogrammetric system, as used intra-operatively. The recorded data were statistically evaluated. The specific landmarks can be referenced with great precision. The vectors that influence the implant position show a mean femoral deviation of 0.9 mm and a mean tibial deviation of 1.0 mm. The repeating accuracy of every observer was 1.5 mm femoral and 1.0 mm tibial. The calculated long axes at the femur and tibia thus reach a precision of 0.1 degrees (min.-max.: 0-0.9 degrees) at the femur and 0.2 degrees (.0-1.1 degrees) at the tibia. The short axes at the distal femur and proximal tibia exhibit an average deviation of from 0.7 degrees to 1.9 degrees (0-11.3 degrees). Long axes (mechanical axes) can be determined exactly but the precision of the short axes (rotational axes) is unsatisfactory, although palpation of landmarks was accurate. Therefore, palpation of more than one rotational axis at the femur and tibia is mandatory and should be visualized on the monitor during surgery.

75 FR 5767 - All Terrain Vehicle Chinese Language Webinar; Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2010-02-04

... CONSUMER PRODUCT SAFETY COMMISSION All Terrain Vehicle Chinese Language Webinar; Meeting AGENCY... announcing the following meeting: All Terrain Vehicle Chinese Language Webinar. The webinar will focus on CPSC's requirements for ATV's, including CPSC's Action Plan and mandatory vehicle requirements. Date...

Sculpting Mountains: Interactive Terrain Modeling Based on Subsurface Geology.

PubMed

Cordonnier, Guillaume; Cani, Marie-Paule; Benes, Bedrich; Braun, Jean; Galin, Eric

2018-05-01

Most mountain ranges are formed by the compression and folding of colliding tectonic plates. Subduction of one plate causes large-scale asymmetry while their layered composition (or stratigraphy) explains the multi-scale folded strata observed on real terrains. We introduce a novel interactive modeling technique to generate visually plausible, large scale terrains that capture these phenomena. Our method draws on both geological knowledge for consistency and on sculpting systems for user interaction. The user is provided hands-on control on the shape and motion of tectonic plates, represented using a new geologically-inspired model for the Earth crust. The model captures their volume preserving and complex folding behaviors under collision, causing mountains to grow. It generates a volumetric uplift map representing the growth rate of subsurface layers. Erosion and uplift movement are jointly simulated to generate the terrain. The stratigraphy allows us to render folded strata on eroded cliffs. We validated the usability of our sculpting interface through a user study, and compare the visual consistency of the earth crust model with geological simulation results and real terrains.

Integrated terrain mapping with digital Landsat images in Queensland, Australia

USGS Publications Warehouse

Robinove, Charles Joseph

1979-01-01

Mapping with Landsat images usually is done by selecting single types of features, such as soils, vegetation, or rocks, and creating visually interpreted or digitally classified maps of each feature. Individual maps can then be overlaid on or combined with other maps to characterize the terrain. Integrated terrain mapping combines several terrain features into each map unit which, in many cases, is more directly related to uses of the land and to methods of land management than the single features alone. Terrain brightness, as measured by the multispectral scanners in Landsat 1 and 2, represents an integration of reflectance from the terrain features within the scanner's instantaneous field of view and is therefore more correlatable with integrated terrain units than with differentiated ones, such as rocks, soils, and vegetation. A test of the feasibilty of the technique of mapping integrated terrain units was conducted in a part of southwestern Queensland, Australia, in cooperation with scientists of the Queensland Department of Primary Industries. The primary purpose was to test the use of digital classification techniques to create a 'land systems map' usable for grazing land management. A recently published map of 'land systems' in the area (made by aerial photograph interpretation and ground surveys), which are integrated terrain units composed of vegetation, soil, topography, and geomorphic features, was used as a basis for comparison with digitally classified Landsat multispectral images. The land systems, in turn, each have a specific grazing capacity for cattle (expressed in beasts per km 2 ) which is estimated following analysis of both research results and property carrying capacities. Landsat images, in computer-compatible tape form, were first contrast-stretched to increase their visual interpretability, and digitally classified by the parallelepiped method into distinct spectral classes to determine their correspondence to the land systems classes and

Eastern Siberia terrain intelligence

USGS Publications Warehouse

,

1942-01-01

The following folio of terrain intelligence maps, charts and explanatory tables represent an attempt to bring together available data on natural physical conditions such as will affect military operations in Eastern Siberia. The area covered is the easternmost section of the U.S.S.R.; that is the area east of the Yenisei River. Each map and accompanying table is devoted· to a specialized set of problems; together they cover such subjects as geology, construction materials, mineral fuels, terrain, water supply, rivers and climate. The data is somewhat generalized due to the scale of treatment as well as to the scarcity of basic data. Each of the maps are rated as to reliability according to the reliability scale on the following page. Considerable of the data shown is of an interpretative nature, although precise data from literature was used wherever possible. The maps and tables were compiled  by a special group from the United States Geological Survey in cooperation with the Intelligence Branch of the Office, Chief of Engineers, War Department.

Continuing My Journey on Designing and Refining Criterion-Referenced Assessment Rubrics

ERIC Educational Resources Information Center

Burton, Kelley

2015-01-01

The article "Designing criterion-referenced assessment" (Burton, 2006) appeared in the "Journal of Learning Design," Volume 1, Issue 2 in 2006. Nine years later, Associate Professor Burton reflects upon her original article. when the article was written, the author worked at the Queensland University of Technology (QUT). At…

What Influences Youth to Operate All-Terrain Vehicles Safely?

ERIC Educational Resources Information Center

Grummon, A. H.; Heaney, C. A.; Dellinger, W. A.; Wilkins, J. R., III

2014-01-01

The operation of all-terrain vehicles (ATVs) by youth has contributed to the incidence of serious and fatal injuries among children. This study explored factors related to the frequency with which youth wore a helmet and refrained from engaging in three risky driving behaviors (driving at risky speeds, on paved roads and on unfamiliar terrain)…

Terrain Perception for DEMO III

NASA Technical Reports Server (NTRS)

Manduchi, R.; Bellutta, P.; Matthies, L.; Owens, K.; Rankin, A.

2000-01-01

The Demo III program has as its primary focus the development of autonomous mobility for a small rugged cross country vehicle. In this paper we report recent progress on both stereo-based obstacle detection and terrain cover color-based classification.

Analysing wind farm efficiency on complex terrains

NASA Astrophysics Data System (ADS)

Castellani, Francesco; Astolfi, Davide; Terzi, Ludovico; Schaldemose Hansen, Kurt; Sanz Rodrigo, Javier

2014-06-01

Actual performances of onshore wind farms are deeply affected both by wake interactions and terrain complexity: therefore monitoring how the efficiency varies with the wind direction is a crucial task. Polar efficiency plot is therefore a useful tool for monitoring wind farm performances. The approach deserves careful discussion for onshore wind farms, where orography and layout commonly affect performance assessment. The present work deals with three modern wind farms, owned by Sorgenia Green, located on hilly terrains with slopes from gentle to rough. Further, onshore wind farm of Nprrekffir Enge has been analysed as a reference case: its layout is similar to offshore wind farms and the efficiency is mainly driven by wakes. It is shown and justified that terrain complexity imposes a novel and more consistent way for defining polar efficiency. Dependency of efficiency on wind direction, farm layout and orography is analysed and discussed. Effects of atmospheric stability have been also investigated through MERRA reanalysis data from NASA satellites. Monin-Obukhov Length has been used to discriminate climate regimes.

Wavefront reversal technique for self-referencing collimation testing

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

Hii, King Ung; Kwek, Kuan Hiang

2010-02-01

We present a wavefront reversal technique to produce a dual-field fringe pattern for self-referencing collimation testing in wedge-plate lateral-shear interferometry. The method requires only a suitably placed cubic beam splitter to produce two replicas of the fringe field formed by the wedge-plate lateral-shear interferometer. One of the replicas has a fringe pattern that is the reverse of the other. With these two fringe fields, the collimation testing has a built-in reference, and the detection sensitivity is twice that of a single-wedge-plate technique.

Route 20, Autobahn 7, and Slime Mold: Approximating the Longest Roads in USA and Germany With Slime Mold on 3-D Terrains.

PubMed

Adamatzky, Andrew I

2014-01-01

A cellular slime mould Physarum polycephalum is a monstrously large single cell visible by an unaided eye. The slime mold explores space in parallel, is guided by gradients of chemoattractants, and propagates toward sources of nutrients along nearly shortest paths. The slime mold is a living prototype of amorphous biological computers and robotic devices capable of solving a range of tasks of graph optimization and computational geometry. When presented with a distribution of nutrients, the slime mold spans the sources of nutrients with a network of protoplasmic tubes. This protoplasmic network matches a network of major transport routes of a country when configuration of major urban areas is represented by nutrients. A transport route connecting two cities should ideally be a shortest path, and this is usually the case in computer simulations and laboratory experiments with flat substrates. What searching strategies does the slime mold adopt when exploring 3-D terrains? How are optimal and transport routes approximated by protoplasmic tubes? Do the routes built by the slime mold on 3-D terrain match real-world transport routes? To answer these questions, we conducted pioneer laboratory experiments with Nylon terrains of USA and Germany. We used the slime mold to approximate route 20, the longest road in USA, and autobahn 7, the longest national motorway in Europe. We found that slime mold builds longer transport routes on 3-D terrains, compared to flat substrates yet sufficiently approximates man-made transport routes studied. We demonstrate that nutrients placed in destination sites affect performance of slime mold, and show how the mold navigates around elevations. In cellular automaton models of the slime mold, we have shown variability of the protoplasmic routes might depends on physiological states of the slime mold. Results presented will contribute toward development of novel algorithms for sensorial fusion, information processing, and decision making, and

Effect of load carriage and natural terrain conditions on cognitive performance in desert environments.

PubMed

Bhattacharyya, Debojyoti; Pal, Madhusudan; Chatterjee, Tirthankar; Majumdar, Dhurjati

2017-10-01

Correct decision making is a critical component of cognitive performance of a soldier, which may be influenced by the load carriage and terrain conditions during their deployment in desert environment. The present study was aimed to investigate the effects of loads and terrain conditions on the cognitive performance in a group of twelve healthy heat acclimatized infantry soldiers under natural desert environment. The soldiers participated in a 10min walking trial during carrying no load and also carrying 10.7, 21.4 and 30kg at two terrain conditions viz., sandy and hard. We studied attention, memory and executive function, which are having immense functional importance in military operations. Standardized cognitive test battery was applied to the participants after carrying each magnitude of load at each terrain. Baseline cognitive performance was recorded on a separate day and was compared with the performances recorded after the load carriage trials. An attempt was made to reveal the relationship between physiological workload (relative workload) and cognitive performance at the point of completion of load carriage trials. Load, terrains and load×terrain interaction did not produce any significant effect (p>0.05) on the cognitive performance. Attention and relative workload were found significantly correlated at hard terrain under no load, 21.4kg and 30kg. Significant correlation was found between executive function and relative workload at hard terrain under no load. Carrying upto 30kg load for 10min at 3.5-4kmph walking speed resulted in improvement in attention at sandy terrain, decrement in memory at both sandy and hard terrains and improvement in executive function at sandy terrain. Copyright © 2017 Elsevier Inc. All rights reserved.

Platform for Testing Robotic Vehicles on Simulated Terrain

NASA Technical Reports Server (NTRS)

Lindemann, Randel

2006-01-01

The variable terrain tilt platform (VTTP) is a means of providing simulated terrain for mobility testing of engineering models of the Mars Exploration Rovers. The VTTP could also be used for testing the ability of other robotic land vehicles (and small vehicles in general) to move across terrain under diverse conditions of slope and surface texture, and in the presence of obstacles of various sizes and shapes. The VTTP consists mostly of a 16-ft-(4.88-m)-square tilt table. The tilt can be adjusted to any angle between 0 (horizontal) and 25 . The test surface of the table can be left bare; can be covered with hard, high-friction material; or can be covered with sand, gravel, and/or other ground-simulating material or combination of materials to a thickness of as much as 6 in. (approx. 15 cm). Models of rocks, trenches, and other obstacles can be placed on the simulated terrain. For example, for one of the Mars- Rover tests, a high-friction mat was attached to the platform, then a 6-in.- ( 15 cm) deep layer of dry, loose beach sand was deposited on the mat. The choice of these two driving surface materials was meant to bound the range of variability of terrain that the rover was expected to encounter on the Martian surface. At each of the different angles at which tests were performed, for some of the tests, rocklike concrete obstacles ranging in height from 10 to 25 cm were placed in the path of the rover (see figure). The development of the VTTP was accompanied by development of a methodology of testing to characterize the performance and modes of failure of a vehicle under test. In addition to variations in slope, ground material, and obstacles, testing typically includes driving up-slope, down-slope, cross-slope, and at intermediate angles relative to slope. Testing includes recording of drive-motor currents, wheel speeds, articulation of suspension mechanisms, and the actual path of the vehicle over the simulated terrain. The collected data can be used to

Global terrain classification using Multiple-Error-Removed Improved-Terrain (MERIT) to address susceptibility of landslides and other geohazards

NASA Astrophysics Data System (ADS)

Iwahashi, J.; Yamazaki, D.; Matsuoka, M.; Thamarux, P.; Herrick, J.; Yong, A.; Mital, U.

2017-12-01

A seamless model of landform classifications with regional accuracy will be a powerful platform for geophysical studies that forecast geologic hazards. Spatial variability as a function of landform on a global scale was captured in the automated classifications of Iwahashi and Pike (2007) and additional developments are presented here that incorporate more accurate depictions using higher-resolution elevation data than the original 1-km scale Shuttle Radar Topography Mission digital elevation model (DEM). We create polygon-based terrain classifications globally by using the 280-m DEM interpolated from the Multi-Error-Removed Improved-Terrain DEM (MERIT; Yamazaki et al., 2017). The multi-scale pixel-image analysis method, known as Multi-resolution Segmentation (Baatz and Schäpe, 2000), is first used to classify the terrains based on geometric signatures (slope and local convexity) calculated from the 280-m DEM. Next, we apply the machine learning method of "k-means clustering" to prepare the polygon-based classification at the globe-scale using slope, local convexity and surface texture. We then group the divisions with similar properties by hierarchical clustering and other statistical analyses using geological and geomorphological data of the area where landslides and earthquakes are frequent (e.g. Japan and California). We find the 280-m DEM resolution is only partially sufficient for classifying plains. We nevertheless observe that the categories correspond to reported landslide and liquefaction features at the global scale, suggesting that our model is an appropriate platform to forecast ground failure. To predict seismic amplification, we estimate site conditions using the time-averaged shear-wave velocity in the upper 30-m (VS30) measurements compiled by Yong et al. (2016) and the terrain model developed by Yong (2016; Y16). We plan to test our method on finer resolution DEMs and report our findings to obtain a more globally consistent terrain model as there

Food and Nutrition (Intermediate). Performance Objectives and Criterion-Referenced Test Items.

ERIC Educational Resources Information Center

Missouri Univ., Columbia. Instructional Materials Lab.

This document contains competencies and criterion-referenced test items for the Intermediate Food and Nutrition semester course in Missouri that were derived from the duties and tasks of the Missouri homemaker and identified and validated by home economics teachers and subject matter specialists. The guide is designed to assist home economics…

Validation of a Criterion Referenced Test for Young Handicapped Children: PIPER.

ERIC Educational Resources Information Center

Strum, Irene; Shapiro, Madelaine

The purpose of this study was to validate the Prescriptive Instructional Program for Educational Readiness (PIPER) for utilization as a criterion referenced test (CRT) among learning disabled children. The program consisted of behavioral objectives and diagnostic and/or mastery tasks and activities for each objective in the area of gross motor…

Stably stratified canopy flow in complex terrain

NASA Astrophysics Data System (ADS)

Xu, X.; Yi, C.; Kutter, E.

2015-07-01

Stably stratified canopy flow in complex terrain has been considered a difficult condition for measuring net ecosystem-atmosphere exchanges of carbon, water vapor, and energy. A long-standing advection error in eddy-flux measurements is caused by stably stratified canopy flow. Such a condition with strong thermal gradient and less turbulent air is also difficult for modeling. To understand the challenging atmospheric condition for eddy-flux measurements, we use the renormalized group (RNG) k-ϵ turbulence model to investigate the main characteristics of stably stratified canopy flows in complex terrain. In this two-dimensional simulation, we imposed persistent constant heat flux at ground surface and linearly increasing cooling rate in the upper-canopy layer, vertically varying dissipative force from canopy drag elements, buoyancy forcing induced from thermal stratification and the hill terrain. These strong boundary effects keep nonlinearity in the two-dimensional Navier-Stokes equations high enough to generate turbulent behavior. The fundamental characteristics of nighttime canopy flow over complex terrain measured by the small number of available multi-tower advection experiments can be reproduced by this numerical simulation, such as (1) unstable layer in the canopy and super-stable layers associated with flow decoupling in deep canopy and near the top of canopy; (2) sub-canopy drainage flow and drainage flow near the top of canopy in calm night; (3) upward momentum transfer in canopy, downward heat transfer in upper canopy and upward heat transfer in deep canopy; and (4) large buoyancy suppression and weak shear production in strong stability.

Using game engine for 3D terrain visualisation of GIS data: A review

NASA Astrophysics Data System (ADS)

Che Mat, Ruzinoor; Shariff, Abdul Rashid Mohammed; Nasir Zulkifli, Abdul; Shafry Mohd Rahim, Mohd; Hafiz Mahayudin, Mohd

2014-06-01

This paper reviews on the 3D terrain visualisation of GIS data using game engines that are available in the market as well as open source. 3D terrain visualisation is a technique used to visualise terrain information from GIS data such as a digital elevation model (DEM), triangular irregular network (TIN) and contour. Much research has been conducted to transform the 2D view of map to 3D. There are several terrain visualisation softwares that are available for free, which include Cesium, Hftool and Landserf. This review paper will help interested users to better understand the current state of art in 3D terrain visualisation of GIS data using game engines.

Terrain Type for Phoenix Landing

NASA Image and Video Library

2007-07-09

This view shows the texture of the ground in the area that was favored as a landing site for NASA Phoenix Mars Lander mission. The pattern resembles permafrost terrain on Earth, where cycles of thawing and freezing cause cracking into polygon shapes.

Introduction Wind farms in complex terrains: an introduction.

PubMed

Alfredsson, P H; Segalini, A

2017-04-13

Wind energy is one of the fastest growing sources of sustainable energy production. As more wind turbines are coming into operation, the best locations are already becoming occupied by turbines, and wind-farm developers have to look for new and still available areas-locations that may not be ideal such as complex terrain landscapes. In these locations, turbulence and wind shear are higher, and in general wind conditions are harder to predict. Also, the modelling of the wakes behind the turbines is more complicated, which makes energy-yield estimates more uncertain than under ideal conditions. This theme issue includes 10 research papers devoted to various fluid-mechanics aspects of using wind energy in complex terrains and illustrates recent progress and future developments in this important field.This article is part of the themed issue 'Wind energy in complex terrains'. © 2017 The Author(s).

Musculoskeletal Symptoms among Drivers of All-Terrain Vehicles

NASA Astrophysics Data System (ADS)

REHN, B.; BERGDAHL, I. A.; AHLGREN, C.; FROM, C.; JÄRVHOLM, B.; LUNDSTRÖM, R.; NILSSON, T.; SUNDELIN, G.

2002-05-01

The aim of this cross-sectional study was to characterize the risk of experiencing musculoskeletal symptoms in the region of the neck, shoulders and upper and lower back for professional drivers of various categories of all-terrain vehicles and to assess the association between symptoms and duration of exposure to whole-body vibration (WBV) and shock from driving all-terrain vehicles. The study group consisted of 215 drivers of forest machines, 137 drivers of snowmobiles and 79 drivers of snowgroomers and a control group of 167 men randomly selected from the general population. The subjects were all from one of the four most northern counties in Sweden and they were all men. Musculoskeletal symptoms were assessed by use of a standardized questionnaire. In addition, the questionnaire held items about the driving time with all-terrain vehicles and a subjective estimation of exposure to unpleasant movements (shock, jolt, irregular sway). The job strain was measured according to Karasek's demands/control model. The prevalence ratios were adjusted for age, smoking and job strain. Among drivers, significantly increased prevalence ratios within the range of 1∂5-2·9 were revealed for symptoms from the neck-shoulder and thoracic regions during the previous year. None of the driver categories had a statistically significantly increased risk of low back pain. Forest vehicles were those most reported to cause unpleasant movements. In conclusion, drivers of all-terrain vehicles exhibit an increased risk of symptoms of musculoskeletal disorders in the neck-shoulder and thoracic regions. The increased risk is suggested to be related to physical factors such as exposure to whole-body vibration (WBV) and shock, static overload or extreme body postures. However, since symptoms of low back pain were not significantly increased, it appears that factors other than WBV would explain the occurrence of symptoms in the group of all-terrain drivers.

Large Terrain Modeling and Visualization for Planets

NASA Technical Reports Server (NTRS)

Myint, Steven; Jain, Abhinandan; Cameron, Jonathan; Lim, Christopher

2011-01-01

Physics-based simulations are actively used in the design, testing, and operations phases of surface and near-surface planetary space missions. One of the challenges in realtime simulations is the ability to handle large multi-resolution terrain data sets within models as well as for visualization. In this paper, we describe special techniques that we have developed for visualization, paging, and data storage for dealing with these large data sets. The visualization technique uses a real-time GPU-based continuous level-of-detail technique that delivers multiple frames a second performance even for planetary scale terrain model sizes.

Discrepancy Between ASTER- and MODIS- Derived Land Surface Temperatures: Terrain Effects

PubMed Central

Liu, Yuanbo; Noumi, Yousuke; Yamaguchi, Yasushi

2009-01-01

The MODerate resolution Imaging Spectroradiometer (MODIS) and the Advanced Spaceborne Thermal Emission Reflection Radiometer (ASTER) are onboard the same satellite platform NASA TERRA. Both MODIS and ASTER offer routine retrieval of land surface temperatures (LSTs), and the ASTER- and MODIS-retrieved LST products have been used worldwide. Because a large fraction of the earth surface consists of mountainous areas, variations in elevation, terrain slope and aspect angles can cause biases in the retrieved LSTs. However, terrain-induced effects are generally neglected in most satellite retrievals, which may generate discrepancy between ASTER and MODIS LSTs. In this paper, we reported the terrain effects on the LST discrepancy with a case examination over a relief area at the Loess Plateau of China. Results showed that the terrain-induced effects were not major, but nevertheless important for the total LST discrepancy. A large local slope did not necessarily lead to a large LST discrepancy. The angle of emitted radiance was more important than the angle of local slope in generating the LST discrepancy. Specifically, the conventional terrain correction may be unsuitable for densely vegetated areas. The distribution of ASTER-to-MODIS emissivity suggested that the terrain correction was included in the generalized split window (GSW) based approach used to rectify MODIS LSTs. Further study should include the classification-induced uncertainty in emissivity for reliable use of satellite-retrieved LSTs over relief areas. PMID:22399955

Target cuing in visual search: the effects of conformality and display location on the allocation of visual attention.

PubMed

Yeh, M; Wickens, C D; Seagull, F J

1999-12-01

Two experiments were performed to examine how frame of reference (world-referenced vs. screen-referenced) and target expectancy can modulate the effects of target cuing in directing attention for see-through helmet-mounted displays (HMDs). In the first experiment, the degree of world referencing was varied by the spatial accuracy of the cue; in the second, the degree of world referencing was varied more radically between a world-referenced HMD and a hand-held display. Participants were asked to detect, identify, and give azimuth information for targets hidden in terrain presented in the far domain (i.e., the world) while performing a monitoring task in the near domain (i.e., the display). The results of both experiments revealed a cost-benefit trade-off for cuing such that the presence of cuing aided the target detection task for expected targets but drew attention away from the presence of unexpected targets in the environment. Analyses support the observation that this effect can be mediated by the display: The world-referenced display reduced the cost of cognitive tunneling relative to the screen-referenced display in Experiment 1; this cost was further reduced in Experiment 2 when participants were using a hand-held display. Potential applications of this research include important design guidelines and specifications for automated target recognition systems as well as any terrain-and-targeting display system in which superimposed symbology is included, specifically in assessing the costs and benefits of attentional cuing and the means by which this information is displayed.

Space shuttle navigation analysis. Volume 1: GPS aided navigation

NASA Technical Reports Server (NTRS)

Matchett, G. A.; Vogel, M. A.; Macdonald, T. J.

1980-01-01

Analytical studies related to space shuttle navigation are presented. Studies related to the addition of NAVSTAR Global Positioning System user equipment to the shuttle avionics suite are presented. The GPS studies center about navigation accuracy covariance analyses for both developmental and operational phases of GPS, as well as for various orbiter mission phases.

PLUME-FEATHER, Referencing and Finding Software for Research and Education

NASA Astrophysics Data System (ADS)

Bénassy, O.; Caron, C.; Ferret-Canape, C.; Cheylus, A.; Courcelle, E.; Dantec, C.; Dayre, P.; Dostes, T.; Durand, A.; Facq, A.; Gambini, G.; Geahchan, E.; Helft, C.; Hoffmann, D.; Ingarao, M.; Joly, P.; Kieffer, J.; Larré, J.-M.; Libes, M.; Morris, F.; Parmentier, H.; Pérochon, L.; Porte, O.; Romier, G.; Rousse, D.; Tournoy, R.; Valeins, H.

2014-06-01

PLUME-FEATHER is a non-profit project created to Promote economicaL, Useful and Maintained softwarEFor theHigher Education And THE Research communities. The site references software, mainly Free/Libre Open Source Software (FLOSS) from French universities and national research organisations, (CNRS, INRA...), laboratories or departments as well as other FLOSS software used and evaluated by users within these institutions. Each software is represented by a reference card, which describes origin, aim, installation, cost (if applicable) and user experience from the point of view of an academic user for academic users. Presently over 1000 programs are referenced on PLUME by more than 900 contributors. Although the server is maintained by a French institution, it is open to international contributions in the academic domain. All contained and validated contents are visible to anonymous public, whereas (presently more than 2000) registered users can contribute, starting with comments on single software reference cards up to help with the organisation and presentation of the referenced software products. The project has been presented to the HEP community in 2012 for the first time [1]. This is an update of the status and a call for (further) contributions.

An All Sky Instantaneous Shortwave Solar Radiation Model for Mountainous Terrain

NASA Astrophysics Data System (ADS)

Zhang, S.; Li, X.; She, J.

2017-12-01

In mountainous terrain, solar radiation shows high heterogeneity in space and time because of strong terrain shading effects and significant variability of cloud cover. While existing GIS-based solar radiation models simulate terrain shading effects with relatively high accuracy and models based on satellite datasets consider fine scale cloud attenuation processes, none of these models have considered the geometrical relationships between sun, cloud, and terrain, which are important over mountainous terrain. In this research we propose sky cloud maps to represent cloud distribution in a hemispherical sky using MODIS cloud products. By overlaying skyshed (visible area in the hemispherical sky derived from DEM), sky map, and sky cloud maps, we are able to consider both terrain shading effects and anisotropic cloud attenuation in modeling instantaneous direct and diffuse solar radiation in mountainous terrain. The model is evaluated with field observations from three automatic weather stations in the Tizinafu watershed in the Kunlun Mountains of northwestern China. Overall, under all sky conditions, the model overestimates instantaneous global solar radiation with a mean absolute relative difference (MARD) of 22%. The model is also evaluated under clear sky (clearness index of more than 0.75) and partly cloudy sky (clearness index between 0.35 and 0.75) conditions with MARDs of 5.98% and 23.65% respectively. The MARD for very cloudy sky (clearness index less than 0.35) is relatively high. But these days occur less than 1% of the time. The model is sensitive to DEM data error, algorithms used in delineating skyshed, and errors in MODIS atmosphere and cloud products. Our model provides a novel approach for solar radiation modeling in mountainous areas.

Coordinating sensing and local navigation

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1991-01-01

Based on Navigation Templates (or NaTs), this work presents a new paradigm for local navigation which addresses the noisy and uncertain nature of sensor data. Rather than creating a new navigation plan each time the robot's perception of the world changes, the technique incorporates perceptual changes directly into the existing navigation plan. In this way, the robot's navigation plan is quickly and continuously modified, resulting in actions that remain coordinated with its changing perception of the world.