Archive of single-beam bathymetry data collected from select areas in Weeks Bay and Weeks Bayou, southwest Louisiana, January 2013

USGS Publications Warehouse

DeWitt, Nancy T.; Reich, Christopher D.; Smith, Christopher G.; Reynolds, Billy J.

2014-01-01

A team of scientists from the U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center, collected 92 line-kilometers of dual-frequency single-beam bathymetry data in the tidal creeks, bayous, and coastal areas near Weeks Bay, southwest Louisiana. Limited bathymetry data exist for these tidally and meteorologically influenced shallow-water estuarine environments. In order to reduce the present knowledge gap, the objectives of this study were to (1) develop methods for regional inland bathymetry mapping and monitoring, (2) test inland bathymetry mapping system in pilot locations for integrating multiple elevation (aerial and terrestrial lidar) and bathymetry datasets, (3) implement inland bathymetry mapping and monitoring in highly focused sites, and (4) evaluate changes in bathymetry and channel-fill sediment storage using these methods. This report contains single-beam bathymetric data collected between January 14 and 18, 2013. Data were collected from the RV Mako (5-meter vessel) in water depths that ranged from This report serves as an archive of processed bathymetry data. Geographic information system data provided in this document include a 10-meter cell-size interpolated gridded bathymetry surface, and trackline maps. Additional files include error analysis maps, Field Activity Collection System logs, and formal Federal Geographic Data Committee metadata. Do not use these data for navigational purposes.

Marine Magnetic Data Holdings of World Data Center-a for Marine Geology and Geophysics

NASA Technical Reports Server (NTRS)

Sharman, George F.; Metzger, Dan

1992-01-01

The World Data Center-A for Marine Geology and Geophysics is co-located with the Marine Geology & Geophysical Data Center, Boulder, CO. Fifteen million digital marine magnetic trackline measurements are managed within the GEOphysical DAta System (GEODAS). The bulk of these data were collected with proton precision magnetometers under Transit Satellite navigational control. Along-track sampling averages about 1 sample per kilometer, while spatial density, a function of ship's track and survey pattern, range from 4 to 0.02 data points/sq. km. In the near future, the entire geophysical data set will be available on CD-ROM. The Marine Geology and Geophysics Division (World Data Center-A for MGG), of the National Geophysical Data Center, handles a broad spectrum of marine geophysical data, including measurements of bathymetry, magnetics, gravity, seismic reflection subbottom profiles, and side-scan images acquired by ships throughout the world's oceans. Digital data encompass the first three, while the latter two are in analog form, recorded on 35mm microfilm. The marine geophysical digital trackline data are contained in the GEODAS data base which includes 11.6 million nautical miles of cruise trackline coverage contributed by more than 70 organizations worldwide. The inventory includes data from 3206 cruises with 33 million digital records and indexing to 5.3 million track miles of analog data on microfilm.

Archive of digital Chirp subbottom profile data collected during USGS cruise 08CCT01, Mississippi Gulf Islands, July 2008

USGS Publications Warehouse

Forde, Arnell S.; Dadisman, Shawn V.; Flocks, James G.; Worley, Charles R.

2011-01-01

In July of 2008, the U.S. Geological Survey (USGS) conducted geophysical surveys to investigate the geologic controls on island framework from Ship Island to Horn Island, Mississippi, for the Northern Gulf of Mexico (NGOM) Ecosystem Change and Hazard Susceptibility project. Funding was provided through the Geologic Framework and Holocene Coastal Evolution of the Mississippi-Alabama Region Subtask (http://ngom.er.usgs.gov/task2_2/index.php); this project is also part of a broader USGS study on Coastal Change and Transport (CCT). This report serves as an archive of unprocessed digital Chirp seismic reflection data, trackline maps, navigation files, Geographic Information System (GIS) files, Field Activity Collection System (FACS) logs, observer's logbook, and formal Federal Geographic Data Committee (FGDC) metadata. Gained (a relative increase in signal amplitude) digital images of the seismic profiles are also provided. Refer to the Acronyms page for expansion of acronyms and abbreviations used in this report.

Archive of Digitized Analog Boomer Seismic Reflection Data Collected from the Mississippi-Alabama-Florida Shelf During Cruises Onboard the R/V Kit Jones, June 1990 and July 1991

USGS Publications Warehouse

Sanford, Jordan M.; Harrison, Arnell S.; Wiese, Dana S.; Flocks, James G.

2009-01-01

In June of 1990 and July of 1991, the U.S. Geological Survey (USGS) conducted geophysical surveys to investigate the shallow geologic framework of the Mississippi-Alabama-Florida shelf in the northern Gulf of Mexico, from Mississippi Sound to the Florida Panhandle. Work was done onboard the Mississippi Mineral Resources Institute R/V Kit Jones as part of a project to study coastal erosion and offshore sand resources. This report is part of a series to digitally archive the legacy analog data collected from the Mississippi-Alabama SHelf (MASH). The MASH data rescue project is a cooperative effort by the USGS and the Minerals Management Service (MMS). This report serves as an archive of high-resolution scanned Tagged Image File Format (TIFF) and Graphics Interchange Format (GIF) images of the original boomer paper records, navigation files, trackline maps, Geographic Information System (GIS) files, cruise logs, and formal Federal Geographic Data Committee (FGDC) metadata.

Single-channel seismic-reflection profiles and sidescan sonar records collected during May 15-20, 1978, on the southern New England continental shelf

USGS Publications Warehouse

Twichell, David C.

1980-01-01

The U.S. Geological Survey completed a cruise aboard the R/V CAPE HENLOPEN during May 15-20, 1978, to map the surface character, thickness and extent of the fine-grained.sediment deposit that covers an area 100 x 200 km on the southern New England Continental Shelf. The study area lies between Great South Channel to the east and Black Channel to the west, and extends from the 50-m isobath to the shelf edge.Single-channel high-resolution seismic-reflection profiles and echo-sounding profiles were collected along 941 km of trackline, sidescan sonar records were collected along 673 km of trackline. The subbottom profiles were collected by using a Huntec*system that was towed at midwater depths. Filters were set at 1 to 7 kHz. Echo-sounding records were collected by using a 60 kHz EDO Western system. A Klein stdescan sonar, set to scan 100 m to either side of the towed fish, was used to collect the sonographs.Navigation during the survey was done by the scientific staff using Loran-C equipment. Fixes were recorded and logged at least every 15 minutes; after the cruise, they were digitized and stored on magnetic tape.The original records can be seen and studied at the U.S. Geological Survey Data Library at Woods Hole, MA 02543. Microfilm copies of the subbottom, echo­sounding, and sidescan sonar records collected during the cruise can be purchased from the National Geophysical and Solar-Terrestrial Data Center, NOAA (National Oceanic ancl Atmosphere Administration), Boulder, CO 80302.

Archive of digital boomer seismic reflection data collected during USGS field activities 95LCA03 and 96LCA02 in the Peace River of West-Central Florida, 1995 and 1996

USGS Publications Warehouse

Calderon, Karynna; Dadisman, Shawn V.; Tihansky, Ann B.; Lewelling, Bill R.; Flocks, James G.; Wiese, Dana S.; Kindinger, Jack G.; Harrison, Arnell S.

2006-01-01

In October and November of 1995 and February of 1996, the U.S. Geological Survey, in cooperation with the Southwest Florida Water Management District, conducted geophysical surveys of the Peace River in west-central Florida from east of Bartow to west of Arcadia. This report serves as an archive of unprocessed digital boomer seismic reflection data, trackline maps, navigation files, GIS files, Field Activity Collection System (FACS) logs, observers' logbooks, and formal FGDC metadata. Filtered and gained digital images of the seismic profiles are also provided. Refer to the Acronyms page for expansion of acronyms and abbreviations used in this report. The archived trace data are in standard Society of Exploration Geophysicists (SEG) SEG-Y format (Barry and others, 1975) and may be downloaded and processed with commercial or public domain software such as Seismic Unix (SU). Example SU processing scripts and USGS software for viewing the SEG-Y files (Zihlman, 1992) are also provided.

Archive of digital chirp subbottom profile data collected during USGS cruises 13BIM02 and 13BIM07 offshore of the Chandeleur Islands, Louisiana, 2013

USGS Publications Warehouse

Forde, Arnell S.; Miselis, Jennifer L.; Flocks, James G.; Bernier, Julie C.; Wiese, Dana S.

2014-01-01

On July 5–19 (cruise 13BIM02) and August 22–September 1 (cruise 13BIM07), 2013, the U.S. Geological Survey (USGS) conducted geophysical surveys to investigate the geologic controls on barrier island evolution and medium-term and interannual sediment transport along the oil spill mitigation sand berm constructed at the north end and offshore of the Chandeleur Islands, Louisiana. This investigation is part of a broader USGS study, which seeks to understand barrier island evolution better over medium time scales (months to years). This report serves as an archive of unprocessed digital chirp subbottom data, trackline maps, navigation files, Geographic Information System (GIS) files, Field Activity Collection System (FACS) logs, and formal Federal Geographic Data Committee (FGDC) metadata. Gained–showing a relative increase in signal amplitude–digital images of the seismic profiles are provided. Refer to the Abbreviations page for explanations of acronyms and abbreviations used in this report.

Archive of digital Chirp subbottom profile data collected during USGS cruises 09CCT03 and 09CCT04, Mississippi and Alabama Gulf Islands, June and July 2009

USGS Publications Warehouse

Forde, Arnell S.; Dadisman, Shawn V.; Flocks, James G.; Wiese, Dana S.

2011-01-01

In June and July of 2009, the U.S. Geological Survey (USGS) conducted geophysical surveys to investigate the geologic controls on island framework from Cat Island, Mississippi, to Dauphin Island, Alabama, as part of a broader USGS study on Coastal Change and Transport (CCT). The surveys were funded through the Northern Gulf of Mexico Ecosystem Change and Hazard Susceptibility Project as part of the Holocene Evolution of the Mississippi-Alabama Region Subtask (http://ngom.er.usgs.gov/task2_2/index.php). This report serves as an archive of unprocessed digital Chirp seismic profile data, trackline maps, navigation files, Geographic Information System (GIS) files, Field Activity Collection System (FACS) logs, and formal Federal Geographic Data Committee (FGDC) metadata. Single-beam and Swath bathymetry data were also collected during these cruises and will be published as a separate archive. Gained (a relative increase in signal amplitude) digital images of the seismic profiles are also provided. Refer to the Acronyms page for expansion of acronyms and abbreviations used in this report.

Automated mapping of the ocean floor using the theory of intrinsic random functions of order k

USGS Publications Warehouse

David, M.; Crozel, D.; Robb, James M.

1986-01-01

High-quality contour maps can be computer drawn from single track echo-sounding data by combining Universal Kriging and the theory of intrinsic random function of order K (IRFK). These methods interpolate values among the closely spaced points that lie along relatively widely spaced lines. The technique provides a variance which can be contoured as a quantitative measure of map precision. The technique can be used to evaluate alternative survey trackline configurations and data collection intervals, and can be applied to other types of oceanographic data. ?? 1986 D. Reidel Publishing Company.

Archive of Boomer and Chirp Seismic Reflection Data Collected During USGS Cruise 01RCE02, Southern Louisiana, April and May 2001

USGS Publications Warehouse

Calderon, Karynna; Dadisman, Shawn V.; Flocks, James G.; Wiese, Dana S.

2003-01-01

In April and May of 2001, the U.S. Geological Survey conducted a geophysical study of the Mississippi River Delta, Atchafalaya River Delta, and Shell Island Pass in southern Louisiana. This study was part of a larger USGS River Contaminant Evaluation (RCE) Project. This disc serves as an archive of unprocessed digital seismic reflection data, trackline navigation files, shotpoint navigation maps, observers' logbooks, GIS information, and formal Federal Geographic Data Committee (FGDC) metadata. In addition, a filtered and gained digital GIF-formatted image of each seismic profile is provided. For your convenience, a list of acronyms and abbreviations frequently used in this report has also been provided. This DVD (Digital Versatile Disc) document is readable on any computing platform that has standard DVD driver software installed. Documentation on this DVD was produced using Hyper Text Markup Language (HTML) utilized by the World Wide Web (WWW) and allows the user to access the information by using a web browser (i.e. Netscape or Internet Explorer). To access the information contained on this disc, open the file 'index.htm' located at the top level of the disc using your web browser. This report also contains WWW links to USGS collaborators and other agencies. These links are only accessible if access to the internet is available while viewing the DVD. The archived boomer and chirp seismic reflection data are in standard Society of Exploration Geophysicists (SEG) SEG-Y format (Barry et al., 1975) and may be downloaded for processing with public domain software such as Seismic Unix (SU), currently located at http://www.cwp.mines.edu/cwpcodes. Examples of SU processing scripts are provided in the boom.tar and chirp.tar files located in the SU subfolder of the SOFTWARE folder located at the top level of this DVD. In-house (USGS) DOS and Microsoft Windows compatible software for viewing SEG-Y headers - DUMPSEGY.EXE (Zilhman, 1992) - is provided in the USGS subfolder of the SOFTWARE folder. Processed profile images, shotpoint navigation maps, logbooks, and formal metadata may be viewed with your web browser.

Archive of digital chirp subbottom profile data collected during USGS cruise 10BIM04 offshore Cat Island, Mississippi, September 2010

USGS Publications Warehouse

Forde, Arnell S.; Dadisman, Shawn V.; Kindinger, Jack G.; Miselis, Jennifer L.; Wiese, Dana S.; Buster, Noreen A.

2012-01-01

In September of 2010, the U.S. Geological Survey (USGS), in cooperation with the U.S. Army Corps of Engineers (USACE), conducted a geophysical survey to investigate the geologic controls on barrier island framework of Cat Island, Miss., as part of a broader USGS study on Barrier Island Mapping (BIM). These surveys were funded through the Mississippi Coastal Improvements Program (MsCIP) and the Northern Gulf of Mexico (NGOM) Ecosystem Change and Hazard Susceptibility Project as part of the Holocene Coastal Evolution of the Mississippi-Alabama Region Subtask. This report serves as an archive of unprocessed digital chirp subbottom data, trackline maps, navigation files, GIS files, Field Activity Collection System (FACS) logs, and formal FGDC metadata. Gained (showing a relative increase in signal amplitude) digital images of the seismic profiles are also provided. Refer to the Acronyms page for expansions of acronyms and abbreviations used in this report. The USGS Saint Petersburg Coastal and Marine Science Center (SPCMSC) assigns a unique identifier to each cruise or field activity. For example, 10BIM04 tells us the data were collected in 2010 during the fourth field activity for that project in that calendar year. Refer to http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html for a detailed description of the method used to assign the field activity identification (ID). All chirp systems use a signal of continuously varying frequency; the EdgeTech SB-512i system used during this survey produces high-resolution, shallow-penetration (typically less than 50 milliseconds (ms)) profile images of sub-seafloor stratigraphy. The towfish contains a transducer that transmits and receives acoustic energy; it was housed within a float system (built at the SPCMSC), which allows the towfish to be towed at a constant depth of 1.07 meters (m) below the sea surface. As transmitted acoustic energy intersects density boundaries, such as the seafloor or sub-surface sediment layers, some energy is reflected back toward the transducer, received, and recorded by a Personal Computer (PC)-based seismic acquisition system. This process is repeated at regular time intervals (for example, 0.125 seconds (s)), and returned energy is recorded for a specific duration (for example, 50 ms). In this way, a two-dimensional (2-D) vertical image of the shallow geologic structure beneath the ship track is produced. Figure 1 displays the acquisition geometry. Refer to table 1 for a summary of acquisition parameters and table 2 for trackline statistics. The archived trace data are in standard Society of Exploration Geophysicists (SEG) SEG Y rev. 0 format (Barry and others, 1975); the first 3,200 bytes of the card image header are in American Standard Code for Information Interchange (ASCII) format instead of Extended Binary Coded Decimal Interchange Code (EBCDIC) format. The SEG Y files may be downloaded and processed with commercial or public domain software such as Seismic Unix (SU) (Cohen and Stockwell, 2010). See the How To Download SEG Y Data page for download instructions. The printable profiles provided here are GIF images that were processed and gained using SU software, and they can be viewed from the Profiles page or from links located on the trackline maps; refer to the Software page for links to example SU processing scripts. The SEG Y files are available on the DVD version of this report or on the Web, downloadable via the USGS Coastal and Marine Geoscience Data System (http://cmgds.marine.usgs.gov). The data are also available for viewing using GeoMapApp (http://www.geomapapp.org) and Virtual Ocean (http://www.virtualocean.org) multi-platform open source software.

Chirp subbottom profile data collected in 2015 from the northern Chandeleur Islands, Louisiana

USGS Publications Warehouse

Forde, Arnell S.; DeWitt, Nancy T.; Fredericks, Jake J.; Miselis, Jennifer L.

2018-01-30

As part of the Barrier Island Evolution Research project, scientists from the U.S. Geological Survey (USGS) St. Petersburg Coastal and Marine Science Center conducted a nearshore geophysical survey around the northern Chandeleur Islands, Louisiana, in September 2015. The objective of the project is to improve the understanding of barrier island geomorphic evolution, particularly storm-related depositional and erosional processes that shape the islands over annual to interannual time scales (1–5 years). Collecting geophysical data can help researchers identify relations between the geologic history of the islands and their present day morphology and sediment distribution. High-resolution geophysical data collected along this rapidly changing barrier island system can provide a unique time-series dataset to further the analyses and geomorphological interpretations of this and other coastal systems, improving our understanding of coastal response and evolution over medium-term time scales (months to years). Subbottom profile data were collected in September 2015 offshore of the northern Chandeleur Islands, during USGS Field Activity Number 2015-331-FA. Data products, including raw digital chirp subbottom data, processed subbottom profile images, survey trackline map, navigation files, geographic information system data files and formal Federal Geographic Data Committee metadata, and Field Activity Collection System and operation logs are available for download.

Archive of Digital boomer subbottom data collected during USGS cruises 99FGS01 and 99FGS02 offshore southeast and southwest Florida, July and November, 1999

USGS Publications Warehouse

Forde, Arnell S.; Dadisman, Shawn V.; Wiese, Dana S.; Phelps, Daniel C.

2013-01-01

In July (19 - 26) and November (17 - 18) of 1999, the USGS, in cooperation with the Florida Geological Survey (FGS), conducted two geophysical surveys in: (1) the Atlantic Ocean offshore of Florida's east coast from Orchid to Jupiter, FL, and (2) the Gulf of Mexico offshore of Venice, FL. This report serves as an archive of unprocessed digital boomer subbottom data, trackline maps, navigation files, GIS files, Field Activity Collection System (FACS) logs, and formal Federal Geographic Data Committee (FGDC) metadata. Filtered and gained (showing a relative increase in signal amplitude) digital images of the subbottom profiles are also provided. The USGS St. Petersburg Coastal and Marine Science Center (SPCMSC) assigns a unique identifier to each cruise or field activity. For example, identifiers 99FGS01 and 99FGS02 refer to field data collected in 1999 for cooperative work with the FGS. The numbers 01 and 02 indicate the data were collected during the first and second field activities for that project in that calendar year. Refer to http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html for a detailed description of the method used to assign the field activity identification (ID).

Improving NGDC Track-line Data Quality Control

NASA Astrophysics Data System (ADS)

Chandler, M. T.; Wessel, P.

2004-12-01

Ship-board gravity, magnetic and bathymetry data archived at the National Geophysical Data Center (NGDC) represent decades of seagoing research, containing over 4,500 cruises. Cruise data remain relevent despite the prominence of satellite altimetry-derived global grids because many geologic processes remain resolvable by oceanographic research alone. Due to the tremendous investment put forth by scientists and taxpayers to compile this vast archive and the significant errors found within it, additional quality assessment and corrections are warranted. These can best be accomplished by adding to existing quality control measures at NGDC. We are currently developing open source software to provide additional quality control. Along with NGDC's current sanity checking, new data at NGDC will also be subjected to an along-track ``sniffer'' which will detect and flag suspicious data for later graphical inspection using a visual editor. If new data pass these tests, they will undergo further scrutinization using a crossover error (COE) calculator which will compare new data values to existing values at points of intersection within the archive. Data passing these tests will be deemed ``quality data`` and suitable for permanent addition to the archive, while data that fail will be returned to the source institution for correction. Crossover errors will be stored and an online COE database will be available. The COE database will allow users to apply corrections to the NGDC track-line database to produce corrected data files. At no time will the archived data itself be modified. An attempt will also be made to reduce navigational errors for pre-GPS navigated cruises. Upon completion these programs will be used to explore and model systematic errors within the archive, generate correction tables for all cruises, and to quantify the error budget in marine geophysical observations. Software will be released and these procedures will be implemented in cooperation with NGDC staff.

Multichannel seismic-reflection data collected in 1980 in the eastern Chukchi Sea

USGS Publications Warehouse

Grantz, Arthur; Mann, Dennis M.; May, Steven D.

1986-01-01

The U.S. Geological Survey (USGS) collected approximately 2,652 km of 24-channel seismic-reflection data in early September, 1980, over the continental shelf in the eastern Chukchi Sea (Fig. 1). The profiles were collected on the USGS Research Vessel S.P. Lee. The seismic energy source consisted of a tuned array of five airguns with a total volume of 1213 cubic inches of air compressed to approximately 1900 psi. The recording system consisted of a 24-channel, 2400 meter long streamer with a group interval of 100 m, and a GUS (Global Universal Science) model 4200 digital recording instrument. Shots were fired every 50 meters. Navigational control for the survey was provided by a Magnavox integrated navigation system using transit satellites and doppler-sonar augmented by Loran C (Rho-Rho). A 2-millisecond sampling rate was used in the field; the data were later desampled to 4-milliseconds during the demultiplexing process. 8 seconds data length was recorded. Processing was done at the USGS Pacific Marine Geology Multichannel Processing Center in Menlo Park, California, in the sequence: editing-demultiplexing, velocity analysis, CDP stacking, deconvolution-filtering, and plotting on an electrostatic plotter. Plate 1 is a trackline chart showing shotpoint navigation.

Next-Generation Bioacoustic Analysis Software

DTIC Science & Technology

2015-09-30

estimated to miss 38% of sperm whales that are on a ship’s trackline ( Barlow and Rankin 2004), and more at greater distances from the trackline. Other...scanning (J. Barlow , pers. comm). Acoustic methods, in contrast to visual ones, function well in darkness, fog, high sea states, and other inclement

Coverage by land, sea, and airplane surveys, 1900-1967.

NASA Technical Reports Server (NTRS)

Fabiano, E.; Cain, S. J.

1971-01-01

The worldwide coverage of the earth by land, sea, and aircraft magnetic surveys since the beginning of the 20th century is shown on three world maps for surface surveys spanning the periods of 1900-1930, 1930-1955, and 1955-1967, respectively, on a fourth map for ship-towed magnetometer surveys performed after 1956, and on a fifth map for 1953-1966 airborne survey data. The technique used, involving a position plotting of each measurement with a microfilm plotter, results in the appearance of heavily surveyed regions as completely darkened areas. The coverage includes measurements at about 100,000 land stations, airborne measurements at over 90,000 points, and marine measurements at over 25,000 points. The marine measurements cover over 1,000,000 km of trackline.

Seals map bathymetry of the Antarctic continental shelf

NASA Astrophysics Data System (ADS)

Padman, Laurie; Costa, Daniel P.; Bolmer, S. Thompson; Goebel, Michael E.; Huckstadt, Luis A.; Jenkins, Adrian; McDonald, Birgitte I.; Shoosmith, Deborah R.

2010-11-01

We demonstrate the first use of marine mammal dive-depth data to improve maps of bathymetry in poorly sampled regions of the continental shelf. A group of 57 instrumented elephant seals made on the order of 2 × 105 dives over and near the continental shelf on the western side of the Antarctic Peninsula during five seasons, 2005-2009. Maximum dive depth exceeded 2000 m. For dives made near existing ship tracks with measured water depths H<700 m, ˜30% of dive depths were to the seabed, consistent with expected benthic foraging behavior. By identifying the deepest of multiple dives within small areas as a dive to the seabed, we have developed a map of seal-derived bathymetry. Our map fills in several regions for which trackline data are sparse, significantly improving delineation of troughs crossing the continental shelf of the southern Bellingshausen Sea.

Archive of Digitized Analog Boomer and Minisparker Seismic Reflection Data Collected from the Alabama-Mississippi-Louisiana Shelf During Cruises Onboard the R/V Carancahua and R/V Gyre, April and July, 1981

USGS Publications Warehouse

Sanford, Jordan M.; Harrison, Arnell S.; Wiese, Dana S.; Flocks, James G.

2009-01-01

In April and July of 1981, the U.S. Geological Survey (USGS) conducted geophysical surveys to investigate the shallow geologic framework of the Alabama-Mississippi-Louisiana Shelf in the northern Gulf of Mexico. Work was conducted onboard the Texas A&M University R/V Carancahua and the R/V Gyre to develop a geologic understanding of the study area and to locate potential hazards related to offshore oil and gas production. While the R/V Carancahua only collected boomer data, the R/V Gyre used a 400-Joule minisparker, 3.5-kilohertz (kHz) subbottom profiler, 12-kHz precision depth recorder, and two air guns. The authors selected the minisparker data set because, unlike with the boomer data, it provided the most complete record. This report is part of a series to digitally archive the legacy analog data collected from the Mississippi-Alabama SHelf (MASH). The MASH data rescue project is a cooperative effort by the USGS and the Minerals Management Service (MMS). This report serves as an archive of high-resolution scanned Tagged Image File Format (TIFF) and Graphics Interchange Format (GIF) images of the original boomer and minisparker paper records, navigation files, trackline maps, Geographic Information System (GIS) files, cruise logs, and formal Federal Geographic Data Committee (FGDC) metadata.

Archive of Side Scan Sonar and Swath Bathymetry Data collected during USGS Cruise 10CCT02 Offshore of Petit Bois Island Including Petit Bois Pass, Gulf Islands National Seashore, Mississippi, March 2010

USGS Publications Warehouse

Pfeiffer, William R.; Flocks, James G.; DeWitt, Nancy T.; Forde, Arnell S.; Kelso, Kyle; Thompson, Phillip R.; Wiese, Dana S.

2011-01-01

In March of 2010, the U.S. Geological Survey (USGS) conducted geophysical surveys offshore of Petit Bois Island, Mississippi, and Dauphin Island, Alabama (fig. 1). These efforts were part of the USGS Gulf of Mexico Science Coordination partnership with the U.S. Army Corps of Engineers (USACE) to assist the Mississippi Coastal Improvements Program (MsCIP) and the Northern Gulf of Mexico (NGOM) Ecosystem Change and Hazards Susceptibility Project by mapping the shallow geologic stratigraphic framework of the Mississippi Barrier Island Complex. These geophysical surveys will provide the data necessary for scientists to define, interpret, and provide baseline bathymetry and seafloor habitat for this area and to aid scientists in predicting future geomorphological changes of the islands with respect to climate change, storm impact, and sea-level rise. Furthermore, these data will provide information for barrier island restoration, particularly in Camille Cut, and protection for the historical Fort Massachusetts on Ship Island, Mississippi. For more information please refer to http://ngom.usgs.gov/gomsc/mscip/index.html. This report serves as an archive of the processed swath bathymetry and side scan sonar data (SSS). Data products herein include gridded and interpolated surfaces, seabed backscatter images, and ASCII x,y,z data products for both swath bathymetry and side scan sonar imagery. Additional files include trackline maps, navigation files, GIS files, Field Activity Collection System (FACS) logs, and formal FGDC metadata. Scanned images of the handwritten and digital FACS logs are also provided as PDF files. Refer to the Acronyms page for expansion of acronyms and abbreviations used in this report.

Archive of Digital Boomer Seismic Reflection Data Collected During USGS Field Activities 93LCA01 and 94LCA01 in Kingsley, Orange, and Lowry Lakes, Northeast Florida, 1993 and 1994

USGS Publications Warehouse

Calderon, Karynna; Dadisman, Shawn V.; Kindinger, Jack G.; Davis, Jeffrey B.; Flocks, James G.; Wiese, Dana S.

2004-01-01

In August and September of 1993 and January of 1994, the U.S. Geological Survey, under a cooperative agreement with the St. Johns River Water Management District (SJRWMD), conducted geophysical surveys of Kingsley Lake, Orange Lake, and Lowry Lake in northeast Florida. This report serves as an archive of unprocessed digital boomer seismic reflection data, trackline maps, navigation files, GIS information, observer's logbook, Field Activity Collection System (FACS) logs, and formal FGDC metadata. A filtered and gained GIF image of each seismic profile is also provided. Refer to the Acronyms page for expansion of acronyms and abbreviations used in this report. The archived trace data are in standard Society of Exploration Geophysicists (SEG) SEG-Y format (Barry and others, 1975) and may be downloaded and processed with commercial or public domain software such as Seismic Unix (SU). Examples of SU processing scripts and in-house (USGS) software for viewing SEG-Y files (Zihlman, 1992) are also provided. The data archived here were collected under a cooperative agreement with the St. Johns River Water Management District as part of the USGS Lakes and Coastal Aquifers (LCA) Project. For further information about this study, refer to http://coastal.er.usgs.gov/stjohns, Kindinger and others (1994), and Kindinger and others (2000). The USGS Florida Integrated Science Center (FISC) - Coastal and Watershed Studies in St. Petersburg, Florida, assigns a unique identifier to each cruise or field activity. For example, 93LCA01 tells us the data were collected in 1993 for the Lakes and Coastal Aquifers (LCA) Project and the data were collected during the first field activity for that project in that calendar year. For a detailed description of the method used to assign the field activity ID, see http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html. The boomer is an acoustic energy source that consists of capacitors charged to a high voltage and discharged through a transducer in the water. The transducer is towed on a sled at the sea surface and when discharged emits a short acoustic pulse, or shot, that propagates through the water and sediment column. The acoustic energy is reflected at density boundaries (such as the seafloor or sediment layers beneath the seafloor), detected by the receiver, and recorded by a PC-based seismic acquisition system. This process is repeated at timed intervals (e.g., 0.5 s) and recorded for specific intervals of time (e.g., 100 ms). In this way, a two-dimensional vertical image of the shallow geologic structure beneath the ship track is produced. Acquisition geometery for 94LCA01 is recorded in the operations logbook. No logbook exists for 93LCA01. Table 1 displays acquisition parameters for both field activities. For more information about the acquisition equipment used, refer to the FACS equipment logs. The unprocessed seismic data are stored in SEG-Y format (Barry and others, 1975). For a detailed description of the data format, refer to the SEG-Y Format page. See the How To Download SEG-Y Data page for more information about these files. Processed profiles can be viewed as GIF images from the Profiles page. Refer to the Software page for details about the processing and examples of the processing scripts. Detailed information about the navigation systems used for each field activity can be found in Table 1 and the FACS equipment logs. To view the trackline maps and navigation files, and for more information about these items, see the Navigation page. The original trace files were recorded in nonstandard ELICS format and later converted to standard SEG-Y format. The original trace files for 94LCA01 lines ORJ127_1, ORJ127_3, and ORJ131_1 were divided into two or more trace files (e.g., ORJ127_1 became ORJ127_1a and ORJ127_1b) because the original total number of traces exceeded the maximum allowed by the processing system. Digital data were not recoverable for 93LCA

Coastal bathymetry and backscatter data collected in 2012 from the Chandeleur Islands, Louisiana

USGS Publications Warehouse

DeWitt, Nancy T.; Bernier, Julie C.; Pfeiffer, William R.; Miselis, Jennifer L.; Reynolds, B.J.; Wiese, Dana S.; Kelso, Kyle W.

2014-01-01

As part of the Barrier Island Evolution Research Project, scientists from the U.S. Geological Survey St. Petersburg Coastal and Marine Science Center conducted nearshore geophysical surveys off the northern Chandeleur Islands, Louisiana, in July and August of 2012. The objective of the study is to better understand barrier island geomorphic evolution, particularly storm-related depositional and erosional processes that shape the islands over annual to interannual timescales (1-5 years). Collecting geophysical data will allow us to identify relationships between the geologic history of the island and its present day morphology and sediment distribution. This mapping effort was the second in a series of three planned surveys in this area. High resolution geophysical data collected in each of 3 consecutive years along this rapidly changing barrier island system will provide a unique time-series dataset that will significantly further the analyses and geomorphological interpretations of this and other coastal systems, improving our understanding of coastal response and evolution over short time scales (1-5 years). This Data Series report includes the geophysical data that were collected during two cruises (USGS Field Activity Numbers 12BIM03 and 12BIM04) aboard the RV Survey Cat and the RV Twin Vee along the northern portion of the Chandeleur Islands, Breton National Wildlife Refuge, Louisiana. Data were acquired with the following equipment: a Systems Engineering and Assessment, Ltd., SWATHplus interferometric sonar (468 kilohertz (kHz)), an EdgeTech 424 (4-24 kHz) chirp sub-bottom profiling system, and a Knudsen 320BP (210 kHz) echosounder. This report serves as an archive of processed interferometric swath and single-beam bathymetry data. Geographic information system data products include an interpolated digital elevation model, an acoustic backscatter mosaic, trackline maps, and point data files. Additional files include error analysis maps, Field Activity Collection System logs, and formal Federal Geographic Data Committee metadata. NOTE: These data are scientific in nature and are not to be used for navigation.

Single-channel seismic-reflection profiles and sidescan-sonar records collected by the R/V Neecho, cruise NE 79-06, on the inner shelf east of Cape Cod, Massachusetts

USGS Publications Warehouse

Twichell, David C.

1981-01-01

Cruise NE 79-06 of the R/V NEECHO was conducted by the U.S. Geological Survey during September 27-0ctober 3, 1979, in the nearshore zone (3-30 m water depth) seaward of Coast Guard Beach and the northern part of Orleans Beach, east of Cape Cod, Massachusetts. The purpose of the study was to map the types and extent of nearshore bed forms and to define the late Pleistocene and Holocene history of the area.The equipment used on this cruise consisted of an EG&G Uniboom, Raytheon echo sounder, and Edo Western sidescan-sonar system. The Uniboom data were mostly filtered to 400-4000 Hz and were recorded at a 1/4-s sweep rate. The 60-kHz echo-sounding data were recorded on a 6-in strip chart on which the depth was calibrated in feet. The sidescan sonar had an operating frequency of 100 kHz and was set to scan 50 m or 100 m to each side of the towed fish. All three data types were collected along 153 km of trackline.Navigation during the survey was by Loran-C and Motorola miniranger systems. Two shore stations were set up for the miniranger system and fixes were collected at either 1- or 2-min intervals. This system malfunctioned during parts of the survey, and during these times navigation was by Loran-C using a Northstar system.The original records can be seen and studied at the U.S. Geological Survey Data Library at Woods Hole, MA 02543. Microfilm copies of the subbottom, echo-sounding, and sidescan-sonar records can be purchased only from the National Geophysical and Solar-Terrestrial Data Center, NOAA/EDIS/NGSDC, Code D621, 325 Broadway, Boulder, CO 80303, (303-497-6338).

Beaked whales demonstrate a marked acoustic response to the use of shipboard echosounders

PubMed Central

DeAngelis, Annamaria I.; Palka, Debra; Corkeron, Peter J.; Van Parijs, Sofie M.

2017-01-01

The use of commercial echosounders for scientific and industrial purposes is steadily increasing. In addition to traditional navigational and fisheries uses, commercial sonars are used extensively for oceanographic research, benthic habitat mapping, geophysical exploration, and ecosystem studies. Little is known about the effects of these acoustic sources on marine animals, though several studies have already demonstrated behavioural responses of cetaceans to shipboard echosounders. Some species of cetaceans are known to be particularly sensitive to acoustic disturbance, including beaked whales. In 2011 and 2013, we conducted cetacean assessment surveys in the western North Atlantic in which a suite of Simrad EK60 echosounders was used to characterize the distribution of prey along survey tracklines. Echosounders were alternated daily between active and passive mode, to determine whether their use affected visual and acoustic detection rates of beaked whales. A total of 256 groups of beaked whales were sighted, and 118 definitive acoustic detections were recorded. Regression analyses using generalized linear models (GLM) found that sea state and region were primary factors in determining visual sighting rates, while echosounder state was the primary driver for acoustic detections, with significantly fewer detections (only 3%) occurring when echosounders were active. These results indicate that beaked whales both detect and change their behaviour in response to commercial echosounders. The mechanism of this response is unknown, but could indicate interruption of foraging activity or vessel avoidance, with potential implications for management and mitigation of anthropogenic impacts. PMID:29308236

Hippocampal participation in navigational map learning in young homing pigeons is dependent on training experience.

PubMed

Ioalè, P; Gagliardo, A; Bingman, V P

2000-02-01

The homing pigeon navigational map is perhaps one of the most striking examples of a naturally occurring spatial representation of the environment used to guide navigation. In a previous study, it was found that hippocampal lesions thoroughly disrupt the ability of young homing pigeons held in an outdoor aviary to learn a navigational map. However, since that study an accumulation of anecdotal data has hinted that hippocampal-lesioned young pigeons allowed to fly during their first summer could learn a navigational map. In the present study, young control and hippocampal-lesioned homing pigeons were either held in an outdoor aviary or allowed to fly during the time of navigational map learning. At the end of their first summer, the birds were experimentally released to test for navigational map learning. Independent of training experience, control pigeons oriented homeward during the experimental releases demonstrating that they learned a navigational map. Surprisingly, while the aviary-held hippocampal-lesioned pigeons failed to learn a navigational map as reported previously, hippocampal-lesioned birds allowed flight experience learned a navigational map indistinguishable from the two control groups. A subsequent experiment revealed that the navigational map learned by the three groups was based on atmospheric odours. The results demonstrate that hippocampal participation in navigational map learning depends on the type of experience a young bird pigeon has, and presumably, the type of navigational map learned.

33 CFR 164.72 - Navigational-safety equipment, charts or maps, and publications required on towing vessels.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 2 2012-07-01 2012-07-01 false Navigational-safety equipment, charts or maps, and publications required on towing vessels. 164.72 Section 164.72 Navigation and... NAVIGATION SAFETY REGULATIONS § 164.72 Navigational-safety equipment, charts or maps, and publications...

Maps Showing Geology and Shallow Structure of Western Rhode Island Sound, Rhode Island

USGS Publications Warehouse

Needell, Sally W.; O'Hara, Charles J.; Knebel, Harley J.

1983-01-01

This report presents the results of a high-resolution, seismic-reflection, and sidescan-sonar survey conducted in western Rhode Island Sound south of Narragansett Bay (fig. 1 inset) by the U.S. Geological Survey in 1980. The study defines the geologic framework of the Atlantic Inner Continental Shelf between lat. 41 deg 09' and 41 deg 32'N and long. 71 deg 07' and 71 deg 37'W. A total of 580 kilometers (km) of seismic-reflection profiles and 580 km of sidescan sonographs was collected aboard the RV Neecho. Trackline spacing was 1 to 2 km at the mouth of Narragansett Bay, and dip lines were 2 km apart with widely spaced strike lines in Rhode Island Sound (fig. 1). The maps in this report adjoin those for eastern Rhode Island Sound and Vineyard Sound, Massachusetts, of O'Hara and Oldale (1980).

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

PubMed

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

2017-09-01

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

Digital single-channel seismic-reflection data from western Santa Monica basin

USGS Publications Warehouse

Normark, William R.; Piper, David J.W.; Sliter, Ray W.; Triezenberg, Peter; Gutmacher, Christina E.

2006-01-01

During a collaborative project in 1992, Geological Survey of Canada and United States Geological Survey scientists obtained about 850 line-km of high-quality single-channel boomer and sleeve-gun seismic-reflection profiles across Hueneme, Mugu and Dume submarine fans, Santa Monica Basin, off southern California. The goals of this work were to better understand the processes that lead to the formation of sandy submarine fans and the role of sea-level changes in controlling fan development. This report includes a trackline map of the area surveyed, as well as images of the sleeve-gun profiles and the opportunity to download both images and digital data files (SEG-Y) of all the sleeve-gun profiles.

Microbialite Morphologies and Distributions-Geoacoustic Survey with an AUV of Pavilion Lake, British Columbia, Canada

NASA Astrophysics Data System (ADS)

Gutsche, J. R.; Trembanis, A. C.

2010-12-01

With advances in lake bottom mapping it has been observed that modern microbialites, much like the ancient stromatolites, thrive in freshwater lake environments. Previously collected data shows that a diverse community of living stromatolites are present within Pavilion Lake (Laval et al., 2000, Lim et al., 2009). An additional comprehensive data set was collected in June-July 2010. By building on the previous dataset it is possible to compare two high-resolution geoacoustic datasets. Using Autonomous Underwater Vehicles (AUVs) as exploration platforms to conduct surveys of the lake bottom, very high-resolution sonar data has been collected. The data collected in June-July 2010 is composed of 125 km of AUV trackline. This length of trackline allowed for survey coverage of nearly the entire lake bottom. The Gavia AUV used for this survey collected bathymetry data collocated with backscatter information. The data has been processed and gridded to 1m, with specific high value areas gridded to a finer 0.5m. The bathymetric data was compiled to create a base map of the floor of Pavilion Lake. Backscatter data was also collected and processed using the same 1m grid resolution. After the backscatter data was processed, it was draped over the bathymetry map of Pavilion Lake. The tools offered within the Fledermaus software package allow for the bathymetry data to be analyzed with respect to slope and rugosity. By analyzing this dense phase measuring bathymetric sonar of the lake bottom, with respect to slope and rugosity, it is possible to map the morphological trends of the stromatolites. Additionally, the ability to compare two datasets allows for erosional changes in the lake bottom to be identified. The bathymetry data allows for the quantitative analysis of bed forms within Pavilion Lake, allowing for a better understanding of microbialite morphologies. The backscatter data is increasingly important to the Pavilion Lake project because of the location and general surroundings of the lake. The lake itself is located in a limestone canyon, which frequently sustains erosional episodes. The backscatter data allows for the differentiation between erosional deposits and microbial mounds. The combination of backscatter and bathymetry allows for a further understanding of bedforms and microbialite growth patterns.

Rolling Deck to Repository (R2R): Linking and Integrating Data for Oceanographic Research

NASA Astrophysics Data System (ADS)

Arko, R. A.; Chandler, C. L.; Clark, P. D.; Shepherd, A.; Moore, C.

2012-12-01

The Rolling Deck to Repository (R2R) program is developing infrastructure to ensure the underway sensor data from NSF-supported oceanographic research vessels are routinely and consistently documented, preserved in long-term archives, and disseminated to the science community. We have published the entire R2R Catalog as a Linked Data collection, making it easily accessible to encourage linking and integration with data at other repositories. We are developing the R2R Linked Data collection with specific goals in mind: 1.) We facilitate data access and reuse by providing the richest possible collection of resources to describe vessels, cruises, instruments, and datasets from the U.S. academic fleet, including data quality assessment results and clean trackline navigation. We are leveraging or adopting existing community-standard concepts and vocabularies, particularly concepts from the Biological and Chemical Oceanography Data Management Office (BCO-DMO) ontology and terms from the pan-European SeaDataNet vocabularies, and continually re-publish resources as new concepts and terms are mapped. 2.) We facilitate data citation through the entire data lifecycle from field acquisition to shoreside archiving to (ultimately) global syntheses and journal articles. We are implementing globally unique and persistent identifiers at the collection, dataset, and granule levels, and encoding these citable identifiers directly into the Linked Data resources. 3.) We facilitate linking and integration with other repositories that publish Linked Data collections for the U.S. academic fleet, such as BCO-DMO and the Index to Marine and Lacustrine Geological Samples (IMLGS). We are initially mapping datasets at the resource level, and plan to eventually implement rule-based mapping at the concept level. We work collaboratively with partner repositories to develop best practices for URI patterns and consensus on shared vocabularies. The R2R Linked Data collection is implemented as a lightweight "virtual RDF graph" generated on-the-fly from our SQL database using the D2RQ (http://d2rq.org) package. In addition to the default SPARQL endpoint for programmatic access, we are developing a Web-based interface from open-source software components that offers user-friendly browse and search.

Hippocampal lesions do not disrupt navigational map retention in homing pigeons under conditions when map acquisition is hippocampal dependent.

PubMed

Gagliardo, Anna; Ioalè, Paolo; Odetti, Francesca; Kahn, Meghan C; Bingman, Verner P

2004-08-12

In contrast to map-like navigation by familiar landmarks, understanding the relationship between the avian hippocampal formation (HF) and the homing pigeon navigational map has remained a challenge. With the goal of filling an empirical gap, we performed an experiment in which young homing pigeons learned a navigational map while being held in an outdoor aviary, and then half the birds were subjected to HF ablation. The question was whether HF lesion would impair retention of a navigational map learned under conditions known to require participation of HF. The pigeons, which had never flown from the aviary before, together with an additional control group that learned a navigational map with free-flight experience, were then released from two distant release sites. Contrary to expectation, the HF-lesioned birds oriented in a homeward direction in manner indistinguishable from the intact control pigeons raised in the same outdoor aviary. HF lesion did not result in a navigational map retention deficit. Together with previous results, it is now clear that regardless of the learning environment present during acquisition, HF plays no necessary role in the subsequent retention or operation of the homing pigeon navigational map.

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...

Biooptical variability in the Greenland Sea observed with the Multispectral Airborne Radiometer System (MARS)

NASA Technical Reports Server (NTRS)

Mueller, James L.; Trees, Charles C.

1989-01-01

A site-specific ocean color remote sensing algorithm was developed and used to convert Multispectral Airborne Radiometer System (MARS) spectral radiance measurements to chlorophyll-a concentration profiles along aircraft tracklines in the Greenland Sea. The analysis is described and the results given in graphical or tabular form. Section 2 describes the salient characteristics and history of development of the MARS instrument. Section 3 describes the analyses of MARS flight segments over consolidated sea ice, resulting in a set of altitude dependent ratios used (over water) to estimate radiance reflected by the surface and atmosphere from total radiance measured. Section 4 presents optically weighted pigment concentrations calculated from profile data, and spectral reflectances measured in situ from the top meter of the water column; this data was analyzed to develop an algorithm relating chlorophyll-a concentrations to the ratio of radiance reflectances at 441 and 550 nm (with a selection of coefficients dependent upon whether significant gelvin presence is implied by a low ratio of reflectances at 410 and 550 nm). Section 5 describes the scaling adjustments which were derived to reconcile the MARS upwelled radiance ratios at 410:550 nm and 441:550 nm to in situ reflectance ratios measured simultaneously on the surface. Section 6 graphically presents the locations of MARS data tracklines and positions of the surface monitoring R/V. Section 7 presents stick-plots of MARS tracklines selected to illustrate two-dimensional spatial variability within the box covered by each day's flight. Section 8 presents curves of chlorophyll-a concentration profiles derived from MARS data along survey tracklines. Significant results are summarized in Section 1.

Archive of side scan sonar and swath bathymetry data collected during USGS cruise 10CCT01 offshore of Cat Island, Gulf Islands National Seashore, Mississippi, March 2010

USGS Publications Warehouse

DeWitt, Nancy T.; Flocks, James G.; Pfeiffer, William R.; Wiese, Dana S.

2010-01-01

In March of 2010, the U.S. Geological Survey (USGS) conducted geophysical surveys east of Cat Island, Mississippi (fig. 1). The efforts were part of the USGS Gulf of Mexico Science Coordination partnership with the U.S. Army Corps of Engineers (USACE) to assist the Mississippi Coastal Improvements Program (MsCIP) and the Northern Gulf of Mexico (NGOM) Ecosystem Change and Hazards Susceptibility Project by mapping the shallow geological stratigraphic framework of the Mississippi Barrier Island Complex. These geophysical surveys will provide the data necessary for scientists to define, interpret, and provide baseline bathymetry and seafloor habitat for this area and to aid scientists in predicting future geomorpholocial changes of the islands with respect to climate change, storm impact, and sea-level rise. Furthermore, these data will provide information for barrier island restoration, particularly in Camille Cut, and provide protection for the historical Fort Massachusetts. For more information refer to http://ngom.usgs.gov/gomsc/mscip/index.html. This report serves as an archive of the processed swath bathymetry and side scan sonar data (SSS). Data products herein include gridded and interpolated surfaces, surface images, and x,y,z data products for both swath bathymetry and side scan sonar imagery. Additional files include trackline maps, navigation files, GIS files, Field Activity Collection System (FACS) logs, and formal FGDC metadata. Scanned images of the handwritten FACS logs and digital FACS logs are also provided as PDF files. Refer to the Acronyms page for expansion of acronyms and abbreviations used in this report or hold the cursor over an acronym for a pop-up explanation. The USGS St. Petersburg Coastal and Marine Science Center assigns a unique identifier to each cruise or field activity. For example, 10CCT01 tells us the data were collected in 2010 for the Coastal Change and Transport (CCT) study and the data were collected during the first field activity for that project in that calendar year. Refer to http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html for a detailed description of the method used to assign the field activity ID. Data were collected using a 26-foot (ft) Glacier Bay Catamaran. Side scan sonar and interferometric swath bathymetry data were collected simultaneously along the tracklines. The side scan sonar towfish was towed off the port side just slightly behind the vessel, close to the seafloor. The interferometric swath transducer was sled-mounted on a rail attached between the catamaran hulls. During the survey the sled is secured into position. Navigation was acquired with a CodaOctopus Octopus F190 Precision Attitude and Positioning System and differentially corrected with OmniSTAR. See the digital FACS equipment log for details about the acquisition equipment used. Both raw datasets were stored digitally and processed using CARIS HIPS and SIPS software at the USGS St. Petersburg Coastal and Marine Science Center. For more information on processing refer to the Equipment and Processing page. Post-processing of the swath dataset revealed a motion artifact that is attributed to movement of the pole that the swath transducers are attached to in relation to the boat. The survey took place in the winter months, in which strong winds and rough waves contributed to a reduction in data quality. The rough seas contributed to both the movement of the pole and the very high noise base seen in the raw amplitude data of the side scan sonar. Chirp data were also collected during this survey and are archived separately.

Remote magnetic navigation to map and ablate left coronary cusp ventricular tachycardia.

PubMed

Burkhardt, J David; Saliba, Walid I; Schweikert, Robert A; Cummings, Jennifer; Natale, Andrea

2006-10-01

Premature ventricular contractions (PVCs) and ventricular tachycardia may arise from the coronary cusps. Navigation, mapping, and ablation in the coronary cusps can be challenging. Remote magnetic navigation may offer an alternative to conventional manually operated catheters. We report a case of left coronary cusp ventricular tachycardia ablation using remote magnetic navigation. Right ventricular outflow tract and coronary cusp mapping, and ablation of the left coronary cusp using a remote magnetic navigation and three-dimensional (3-D) mapping system was performed in a 28-year-old male with frequent, symptomatic PVCs and ventricular tachycardia. Successful ablation of left coronary cusp ventricular tachycardia was performed using remote magnetic navigation. Remote magnetic navigation may be used to map and ablate PVCs and ventricular tachycardia originating from the coronary cusps.

Gravity Gradiometry and Map Matching: An Aid to Aircraft Inertial Navigation Systems

DTIC Science & Technology

2010-03-01

improve its performance. In all of these cases, because information from two or more different navigation systems feeds into a navigation solution...GRAVITY GRADIOMETRY AND MAP MATCHING: AN AID TO AIRCRAFT INERTIAL NAVIGATION SYSTEMS THESIS...M06 GRAVITY GRADIOMETRY AND MAP MATCHING: AN AID TO AIRCRAFT INERTIAL NAVIGATION SYSTEMS THESIS Presented to the Faculty Department of

Cognitive Navigation: Toward a Biological Basis for Instructional Design.

ERIC Educational Resources Information Center

Tripp, Steven

2001-01-01

Discusses cognitive navigation, cognitive maps and online learning, and the role of the hippocampus in navigation. Topics include brain research in animal and human studies; types of memory; human navigation, including land navigation and information navigation; instructional strategies; tree maps of curriculum structure; cognitive complexity; and…

Remote magnetic navigation for mapping and ablating right ventricular outflow tract tachycardia.

PubMed

Thornton, Andrew S; Jordaens, Luc J

2006-06-01

Navigation, mapping, and ablation in the right ventricular outflow tract (RVOT) can be difficult. Catheter navigation using external magnetic fields may allow more accurate mapping and ablation. The purpose of this study was to assess the feasibility of RVOT tachycardia ablation using remote magnetic navigation. Mapping and ablation were performed in eight patients with outflow tract ventricular arrhythmias. Tachycardia mapping was undertaken with a 64-polar basket catheter, followed by remote activation and pace-mapping using a magnetically enabled catheter. The area of interest was localized on the basket catheter in seven patients in whom an RVOT arrhythmia was identified. Remote navigation of the magnetic catheter to this area was followed by pace-mapping. Ablation was performed at the site of perfect pace-mapping, with earliest activation if possible. Acute success was achieved in all patients (median four applications). Median procedural time was 144 minutes, with 13.4 minutes of patient fluoroscopy time and 3.8 minutes of physician fluoroscopy time. No complications occurred. One recurrence occurred during follow-up (mean 366 days). RVOT tachycardias can be mapped and ablated using remote magnetic navigation, initially guided by a basket catheter. Precise activation and pace-mapping are possible. Remote magnetic navigation permitted low fluoroscopy exposure for the physician. Long-term results are promising.

The role of the hippocampus in navigation is memory

PubMed Central

2017-01-01

There is considerable research on the neurobiological mechanisms within the hippocampal system that support spatial navigation. In this article I review the literature on navigational strategies in humans and animals, observations on hippocampal function in navigation, and studies of hippocampal neural activity in animals and humans performing different navigational tasks and tests of memory. Whereas the hippocampus is essential to spatial navigation via a cognitive map, its role derives from the relational organization and flexibility of cognitive maps and not from a selective role in the spatial domain. Correspondingly, hippocampal networks map multiple navigational strategies, as well as other spatial and nonspatial memories and knowledge domains that share an emphasis on relational organization. These observations suggest that the hippocampal system is not dedicated to spatial cognition and navigation, but organizes experiences in memory, for which spatial mapping and navigation are both a metaphor for and a prominent application of relational memory organization. PMID:28148640

Minimum distribution of subsea ice-bearing permafrost on the US Beaufort Sea continental shelf

USGS Publications Warehouse

Brothers, Laura L.; Hart, Patrick E.; Ruppel, Carolyn D.

2012-01-01

Starting in Late Pleistocene time (~19 ka), sea level rise inundated coastal zones worldwide. On some parts of the present-day circum-Arctic continental shelf, this led to flooding and thawing of formerly subaerial permafrost and probable dissociation of associated gas hydrates. Relict permafrost has never been systematically mapped along the 700-km-long U.S. Beaufort Sea continental shelf and is often assumed to extend to ~120 m water depth, the approximate amount of sea level rise since the Late Pleistocene. Here, 5,000 km of multichannel seismic (MCS) data acquired between 1977 and 1992 were examined for high-velocity (>2.3 km s−1) refractions consistent with ice-bearing, coarse-grained sediments. Permafrost refractions were identified along <5% of the tracklines at depths of ~5 to 470 m below the seafloor. The resulting map reveals the minimum extent of subsea ice-bearing permafrost, which does not extend seaward of 30 km offshore or beyond the 20 m isobath.

Indoor Positioning System Using Magnetic Field Map Navigation and an Encoder System

PubMed Central

Kim, Han-Sol; Seo, Woojin; Baek, Kwang-Ryul

2017-01-01

In the indoor environment, variation of the magnetic field is caused by building structures, and magnetic field map navigation is based on this feature. In order to estimate position using this navigation, a three-axis magnetic field must be measured at every point to build a magnetic field map. After the magnetic field map is obtained, the position of the mobile robot can be estimated with a likelihood function whereby the measured magnetic field data and the magnetic field map are used. However, if only magnetic field map navigation is used, the estimated position can have large errors. In order to improve performance, we propose a particle filter system that integrates magnetic field map navigation and an encoder system. In this paper, multiple magnetic sensors and three magnetic field maps (a horizontal intensity map, a vertical intensity map, and a direction information map) are used to update the weights of particles. As a result, the proposed system estimates the position and orientation of a mobile robot more accurately than previous systems. Also, when the number of magnetic sensors increases, this paper shows that system performance improves. Finally, experiment results are shown from the proposed system that was implemented and evaluated. PMID:28327513

Indoor Positioning System Using Magnetic Field Map Navigation and an Encoder System.

PubMed

Kim, Han-Sol; Seo, Woojin; Baek, Kwang-Ryul

2017-03-22

In the indoor environment, variation of the magnetic field is caused by building structures, and magnetic field map navigation is based on this feature. In order to estimate position using this navigation, a three-axis magnetic field must be measured at every point to build a magnetic field map. After the magnetic field map is obtained, the position of the mobile robot can be estimated with a likelihood function whereby the measured magnetic field data and the magnetic field map are used. However, if only magnetic field map navigation is used, the estimated position can have large errors. In order to improve performance, we propose a particle filter system that integrates magnetic field map navigation and an encoder system. In this paper, multiple magnetic sensors and three magnetic field maps (a horizontal intensity map, a vertical intensity map, and a direction information map) are used to update the weights of particles. As a result, the proposed system estimates the position and orientation of a mobile robot more accurately than previous systems. Also, when the number of magnetic sensors increases, this paper shows that system performance improves. Finally, experiment results are shown from the proposed system that was implemented and evaluated.

Eye Tracking to Explore the Impacts of Photorealistic 3d Representations in Pedstrian Navigation Performance

NASA Astrophysics Data System (ADS)

Dong, Weihua; Liao, Hua

2016-06-01

Despite the now-ubiquitous two-dimensional (2D) maps, photorealistic three-dimensional (3D) representations of cities (e.g., Google Earth) have gained much attention by scientists and public users as another option. However, there is no consistent evidence on the influences of 3D photorealism on pedestrian navigation. Whether 3D photorealism can communicate cartographic information for navigation with higher effectiveness and efficiency and lower cognitive workload compared to the traditional symbolic 2D maps remains unknown. This study aims to explore whether the photorealistic 3D representation can facilitate processes of map reading and navigation in digital environments using a lab-based eye tracking approach. Here we show the differences of symbolic 2D maps versus photorealistic 3D representations depending on users' eye-movement and navigation behaviour data. We found that the participants using the 3D representation were less effective, less efficient and were required higher cognitive workload than using the 2D map for map reading. However, participants using the 3D representation performed more efficiently in self-localization and orientation at the complex decision points. The empirical results can be helpful to improve the usability of pedestrian navigation maps in future designs.

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

PubMed

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

2018-03-01

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

Archive of side scan sonar and swath bathymetry data collected during USGS cruise 10CCT03 offshore of the Gulf Islands National Seashore, Mississippi, from East Ship Island, Mississippi, to Dauphin Island, Alabama, April 2010

USGS Publications Warehouse

DeWitt, Nancy T.; Flocks, James G.; Pfeiffer, William R.; Gibson, James N.; Wiese, Dana S.

2012-01-01

Data were collected aboard the U.S. Army Corps of Engineers (USACE) SV Irvington, a 56-foot (ft) Kvichak Marine Industries, Inc., catamaran (fig. 2). Side scan sonar and multibeam bathymetry data were collected simultaneously along the tracklines. The side scan sonar towfish was towed off the starboard side just slightly behind the vessel, close to the seafloor. The multibeam transducer was attached to a retractable strut-arm lowered between the catamaran hulls. Navigation was acquired with an Applanix POS MV and differentially corrected using the broadcast signal from a local National Geodetic Survey (NGS) Continuously Operating Reference Station (CORS) beacon. See the digital FACS equipment log for details about the acquisition equipment used. Raw datasets were stored digitally and processed using HYPACK Inc., HYSWEEP software at the USACE Mobile, Ala., District office. For more information on processing refer to the Equipment and Processing page. Chirp seismic data were also collected during this survey and are archived separately.

Performance Characteristic Mems-Based IMUs for UAVs Navigation

NASA Astrophysics Data System (ADS)

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

2015-08-01

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

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

NASA Astrophysics Data System (ADS)

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

2005-10-01

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

A navigation system for the visually impaired using colored navigation lines and RFID tags.

PubMed

Seto, First Tatsuya

2009-01-01

In this paper, we describe about a developed navigation system that supports the independent walking of the visually impaired in the indoor space. Our developed instrument consists of a navigation system and a map information system. These systems are installed on a white cane. Our navigation system can follow a colored navigation line that is set on the floor. In this system, a color sensor installed on the tip of a white cane senses the colored navigation line, and the system informs the visually impaired that he/she is walking along the navigation line by vibration. The color recognition system is controlled by a one-chip microprocessor and this system can discriminate 6 colored navigation lines. RFID tags and a receiver for these tags are used in the map information system. The RFID tags and the RFID tag receiver are also installed on a white cane. The receiver receives tag information and notifies map information to the user by mp3 formatted pre-recorded voice. Three normal subjects who were blindfolded with an eye mask were tested with this system. All of them were able to walk along the navigation line. The performance of the map information system was good. Therefore, our system will be extremely valuable in supporting the activities of the visually impaired.

Seismic-reflection data from R/V FARNELLA cruises FRNL82-7, FRNL85-1, FRNL85-2, and FRNL85-3A in the U.S. Gulf of Mexico EEZ

USGS Publications Warehouse

Twichell, D.C.; McGregor, B.A.; Lubinski, D.J.

1989-01-01

During the winter of 1982 and the summer and early fall of 1985, the U.S. Geological Survey (USGS) in cooperation with the Institute of Oceanographic Sciences of the United Kingdom collected approximately 30,508 line kilometers of seismic-reflection data in the U.S. Gulf of Mexico Exclusive Economic Zone (EEZ) as part of a USGS program to map the EEZ. In water depths exceeding 3,000 m, survey line spacing was about 25 km and gradually decreased to about 5 km in 250 m water depths. No areas were surveyed with depths shallower than 250 m. Orientation of the tracklines was in general parallel to the trend of the bathymetric contours (Figs. 1, 2, 3, and 4).

Maps and navigation methods

NASA Technical Reports Server (NTRS)

Duval, A

1922-01-01

Different maps and scales are discussed with particular emphasis on their use in aviation. The author makes the observation that current navigation methods are slow and dangerous and should be replaced by scientific methods of navigation based on loxodromy and the use of the compass.

Using E-Maps to Organize and Navigate Online Content

ERIC Educational Resources Information Center

Ruffini, Michael F.

2008-01-01

Computer-generated mind maps, or e-maps, provide an outstanding e-learning tool for organizing and navigating web-based content and files. Considerable research indicates the effectiveness of using graphic organizers such as mind maps to facilitate meaningful learning. Tony Buzan and Barry Buzan argue that mind maps better harness the way the…

Runway Detection From Map, Video and Aircraft Navigational Data

DTIC Science & Technology

2016-03-01

FROM MAP, VIDEO AND AIRCRAFT NAVIGATIONAL DATA by Jose R. Espinosa Gloria March 2016 Thesis Advisor: Roberto Cristi Co-Advisor: Oleg...COVERED Master’s thesis 4. TITLE AND SUBTITLE RUNWAY DETECTION FROM MAP, VIDEO AND AIRCRAFT NAVIGATIONAL DATA 5. FUNDING NUMBERS 6. AUTHOR...Mexican Navy, unmanned aerial vehicles (UAV) have been equipped with daylight and infrared cameras. Processing the video information obtained from these

Seismic-reflection and sidescan-sonar data collected on the Potomac River, Maryland and Virginia, during May 1979

USGS Publications Warehouse

Knebel, Harley J.

1981-01-01

The U.S. Geological Survey collected 2,170 line kilometers of single-channel seismic-reflection profiles and sidescan sonar records on the Potomac River during R/V NEECHO cruise NE-3-79 in May 1979. The purposes of the survey were to define: (1) areas of sediment accumulation and erosion; (2) the thickness of Holocene sediments; (3) the internal structure of the near-surface sediments; (4) the types of bottom topography; and (5) the general geologic framework of the tidal river and estuary.The survey utilized a variety of acoustic systems. Bottom data were obtained by using a Raytheon _1/ model DE-719 fathometer (200 kHz) and an EDO Western model 606 sidescan-sonar system (100 kHz). Subbottom data were collected with a 7-kHz Raytheon model PTR-106 system and a small airgun system (170-645 Hz band pass; l in3 chamber). An EDO Western sidescan fish (model 604-150) coupled with a 2.5-kHz seismic-reflection system also was used during the longitudinal run up the river. The totals for the ,various kinds of data collected were 481 line kilometers each of fathometer, sidescan sonar, 7-kHz, and airgun records, and 246 line kilometers of 2.5-kHz records. Positional control for all tracklines was provided by frequent radar fixes, by dead reckoning, and by sightings on buoys, landmarks, and other navigational aids.The quality of the acoustic records varied with location in the river. Good fathometer and sidescan-sonar records were collected along all tracklines. However, because of the nature of the sediments within some sections of the river, the degree of subbottom penetration in many places was limited. In general, the subbottom penetration and resolution were poor in the upper and middle reaches of the river, whereas the subbottom records from the lower reach usually were quite good.The original records may be examined at the U.S. Geological Survey, Woods Hole, MA 02543. Microfilm copies of the data are available for purchase from the National Geophysical and Solar-Terrestrial Data Center (NGSDC), Boulder, CO 80303.

Integrating Terrain Maps Into a Reactive Navigation Strategy

NASA Technical Reports Server (NTRS)

Howard, Ayanna; Werger, Barry; Seraji, Homayoun

2006-01-01

An improved method of processing information for autonomous navigation of a robotic vehicle across rough terrain involves the integration of terrain maps into a reactive navigation strategy. Somewhat more precisely, the method involves the incorporation, into navigation logic, of data equivalent to regional traversability maps. The terrain characteristic is mapped using a fuzzy-logic representation of the difficulty of traversing the terrain. The method is robust in that it integrates a global path-planning strategy with sensor-based regional and local navigation strategies to ensure a high probability of success in reaching a destination and avoiding obstacles along the way. The sensor-based strategies use cameras aboard the vehicle to observe the regional terrain, defined as the area of the terrain that covers the immediate vicinity near the vehicle to a specified distance a few meters away.

The use of interactive graphical maps for browsing medical/health Internet information resources

PubMed Central

Boulos, Maged N Kamel

2003-01-01

As online information portals accumulate metadata descriptions of Web resources, it becomes necessary to develop effective ways for visualising and navigating the resultant huge metadata repositories as well as the different semantic relationships and attributes of described Web resources. Graphical maps provide a good method to visualise, understand and navigate a world that is too large and complex to be seen directly like the Web. Several examples of maps designed as a navigational aid for Web resources are presented in this review with an emphasis on maps of medical and health-related resources. The latter include HealthCyberMap maps , which can be classified as conceptual information space maps, and the very abstract and geometric Visual Net maps of PubMed (for demos). Information resources can be also organised and navigated based on their geographic attributes. Some of the maps presented in this review use a Kohonen Self-Organising Map algorithm, and only HealthCyberMap uses a Geographic Information System to classify Web resource data and render the maps. Maps based on familiar metaphors taken from users' everyday life are much easier to understand. Associative and pictorial map icons that enable instant recognition and comprehension are preferred to geometric ones and are key to successful maps for browsing medical/health Internet information resources. PMID:12556244

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.

Air Navigation. Aerospace Education II.

ERIC Educational Resources Information Center

Cox, Rodney V., Jr.

This revised textbook, published for the Air Force ROTC program, contains a discussion of basic and essential understandings about air navigation. The first part of the book describes maps, air navigation charts, flight planning, and pilotage preflight. Basic differences between ground maps and air charts are described and the methods of…

Usability analysis of indoor map application in a shopping centre

NASA Astrophysics Data System (ADS)

Dewi, R. S.; Hadi, R. K.

2018-04-01

Although indoor navigation is still new in Indonesia, its future development is very promising. Similar to the outdoor one, the indoor navigation technology provides several important functions to support route and landmark findings. Furthermore, there is also a need that indoor navigation can support the public safety especially during disaster evacuation process in a building. It is a common that the indoor navigation technologies are built as applications where users can access this technology using their smartphones, tablets, or personal computers. Therefore, a usability analysis is important to ensure the indoor navigation applications can be operated by users with highest functionality. Among several indoor map applications which were available in the market, this study chose to analyse indoor Google Maps due to its availability and popularity in Indonesia. The experiments to test indoor Google Maps was conducted in one of the biggest shopping centre building in Surabaya, Indonesia. The usability was measured by employing System Usability Scale (SUS) questionnaire. The result showed that the SUS score of indoor Google Maps was below the average score of other cellular applications to indicate the users still had high difficulty in operating and learning the features of indoor Google Maps.

DIY-style GIS service in mobile navigation system integrated with web and wireless GIS

NASA Astrophysics Data System (ADS)

Yan, Yongbin; Wu, Jianping; Fan, Caiyou; Wang, Minqi; Dai, Sheng

2007-06-01

Mobile navigation system based on handheld device can not only provide basic GIS services, but also enable these GIS services to be provided without location limit, to be more instantly interacted between users and devices. However, we still see that most navigation systems have common defects on user experience like limited map format, few map resources, and unable location share. To overcome the above defects, we propose DIY-style GIS service which provide users a more free software environment and allow uses to customize their GIS services. These services include defining geographical coordinate system of maps which helps to hugely enlarge the map source, editing vector feature, related property information and hotlink images, customizing covered area of download map via General Packet Radio Service (GPRS), and sharing users' location information via SMS (Short Message Service) which establishes the communication between users who needs GIS services. The paper introduces the integration of web and wireless GIS service in a mobile navigation system and presents an implementation sample of a DIY-Style GIS service in a mobile navigation system.

Construction of Cognitive Maps to Improve E-Book Reading and Navigation

ERIC Educational Resources Information Center

Li, Liang-Yi; Chen, Gwo-Dong; Yang, Sheng-Jie

2013-01-01

People have greater difficulty reading academic textbooks on screen than on paper. One notable problem is that they cannot construct an effective cognitive map because of the lack of contextual information cues and ineffective navigational mechanisms in e-books. To support the construction of cognitive maps, this paper proposes the visual cue map,…

Environment exploration and SLAM experiment research based on ROS

NASA Astrophysics Data System (ADS)

Li, Zhize; Zheng, Wei

2017-11-01

Robots need to get the information of surrounding environment by means of map learning. SLAM or navigation based on mobile robots is developing rapidly. ROS (Robot Operating System) is widely used in the field of robots because of the convenient code reuse and open source. Numerous excellent algorithms of SLAM or navigation are ported to ROS package. hector_slam is one of them that can set up occupancy grid maps on-line fast with low computation resources requiring. Its characters above make the embedded handheld mapping system possible. Similarly, hector_navigation also does well in the navigation field. It can finish path planning and environment exploration by itself using only an environmental sensor. Combining hector_navigation with hector_slam can realize low cost environment exploration, path planning and slam at the same time

Magnetic navigation and catheter ablation of right atrial ectopic tachycardia in the presence of a hemi-azygos continuation: a magnetic navigation case using 3D electroanatomical mapping.

PubMed

Ernst, Sabine; Chun, Julian K R; Koektuerk, Buelent; Kuck, Karl-Heinz

2009-01-01

We report on a 63-year-old female patient in whom an electrophysiologic study discovered a hemi-azygos continuation. Using the magnetic navigation system, remote-controlled ablation was performed in conjunction with the 3D electroanatomical mapping system. Failing the attempt to advance a diagnostic catheter from the femoral vein, a diagnostic catheter was advanced via the left subclavian vein into the coronary sinus. The soft magnetic catheter was positioned in the right atrium via the hemi-azygos vein, and 3D mapping demonstrated an ectopic atrial tachycardia. Successful ablation was performed entirely remote controlled. Fluoroscopy time was only 7.1 minutes, of which 45 seconds were required during remote navigation. Remote-controlled catheter ablation using magnetic navigation in conjunction with the electroanatomical mapping system proved to be a valuable tool to perform successful ablation in the presence of a hemi-azygos continuation.

In campus location finder using mobile application services

NASA Astrophysics Data System (ADS)

Fai, Low Weng; Audah, Lukman

2017-09-01

Navigation services become very common in this era, the application include Google Map, Waze and etc. Although navigation application contains the main routing service in open area but not all of the buildings are recorded in the database. In this project, an application is made for the indoor and outdoor navigation in Universiti Tun Hussein Onn Malaysia (UTHM). It is used to help outsider and new incoming students by navigating them from their current location to destination using mobile application name "U Finder". Thunkable website has been used to build the application for outdoor and indoor navigation. Outdoor navigation is linked to the Google Map and indoor navigation is using the QR code for positioning and routing picture for navigation. The outdoor navigation can route user to the main faculties in UTHM and indoor navigation is only done for the G1 building in UTHM.

Characteristics of Marine Gravity Anomaly Reference Maps and Accuracy Analysis of Gravity Matching-Aided Navigation.

PubMed

Wang, Hubiao; Wu, Lin; Chai, Hua; Xiao, Yaofei; Hsu, Houtse; Wang, Yong

2017-08-10

The variation of a marine gravity anomaly reference map is one of the important factors that affect the location accuracy of INS/Gravity integrated navigation systems in underwater navigation. In this study, based on marine gravity anomaly reference maps, new characteristic parameters of the gravity anomaly were constructed. Those characteristic values were calculated for 13 zones (105°-145° E, 0°-40° N) in the Western Pacific area, and simulation experiments of gravity matching-aided navigation were run. The influence of gravity variations on the accuracy of gravity matching-aided navigation was analyzed, and location accuracy of gravity matching in different zones was determined. Studies indicate that the new parameters may better characterize the marine gravity anomaly. Given the precision of current gravimeters and the resolution and accuracy of reference maps, the location accuracy of gravity matching in China's Western Pacific area is ~1.0-4.0 nautical miles (n miles). In particular, accuracy in regions around the South China Sea and Sulu Sea was the highest, better than 1.5 n miles. The gravity characteristic parameters identified herein and characteristic values calculated in various zones provide a reference for the selection of navigation area and planning of sailing routes under conditions requiring certain navigational accuracy.

Characteristics of Marine Gravity Anomaly Reference Maps and Accuracy Analysis of Gravity Matching-Aided Navigation

PubMed Central

Wang, Hubiao; Chai, Hua; Xiao, Yaofei; Hsu, Houtse; Wang, Yong

2017-01-01

The variation of a marine gravity anomaly reference map is one of the important factors that affect the location accuracy of INS/Gravity integrated navigation systems in underwater navigation. In this study, based on marine gravity anomaly reference maps, new characteristic parameters of the gravity anomaly were constructed. Those characteristic values were calculated for 13 zones (105°–145° E, 0°–40° N) in the Western Pacific area, and simulation experiments of gravity matching-aided navigation were run. The influence of gravity variations on the accuracy of gravity matching-aided navigation was analyzed, and location accuracy of gravity matching in different zones was determined. Studies indicate that the new parameters may better characterize the marine gravity anomaly. Given the precision of current gravimeters and the resolution and accuracy of reference maps, the location accuracy of gravity matching in China’s Western Pacific area is ~1.0–4.0 nautical miles (n miles). In particular, accuracy in regions around the South China Sea and Sulu Sea was the highest, better than 1.5 n miles. The gravity characteristic parameters identified herein and characteristic values calculated in various zones provide a reference for the selection of navigation area and planning of sailing routes under conditions requiring certain navigational accuracy. PMID:28796158

Augmented Reality as a Navigation Tool to Employment Opportunities for Postsecondary Education Students with Intellectual Disabilities and Autism

ERIC Educational Resources Information Center

McMahon, Don; Cihak, David F.; Wright, Rachel

2015-01-01

The purpose of this study was to examine the effects of location-based augmented reality navigation compared to Google Maps and paper maps as navigation aids for students with disabilities. The participants in this single subject study were three college students with intellectual disability and one college student with autism spectrum disorder.…

Core areas of practice and associated competencies for nurses working as professional cancer navigators.

PubMed

Cook, Sandra; Fillion, Lise; Fitch, Margaret; Veillette, Anne-Marie; Matheson, Tanya; Aubin, Michèle; de Serres, Marie; Doll, Richard; Rainville, François

2013-01-01

Fillion et al. (2012) recently designed a conceptual framework for professional cancer navigators describing key functions of professional cancer navigation. Building on this framework, this study defines the core areas of practice and associated competencies for professional cancer navigators. The methods used in this study included: literature review, mapping of navigation functions against practice standards and competencies, and validation of this mapping process with professional navigators, their managers and nursing experts and comparison of roles in similar navigation programs. Associated competencies were linked to the three identified core areas of practice, which are: 1) providing information and education, 2) providing emotional and supportive care, and 3) facilitating coordination and continuity of care. Cancer navigators are in a key position to improve patient and family empowerment and continuity of care. This is an important step for advancing the role of oncology nurses in navigator positions and identifying areas for further research.

How Do (Some) People Make a Cognitive Map? Routes, Places, and Working Memory

ERIC Educational Resources Information Center

Weisberg, Steven M.; Newcombe, Nora S.

2016-01-01

Research on the existence of cognitive maps and on the cognitive processes that support effective navigation has often focused on functioning across individuals. However, there are pronounced individual differences in navigation proficiency, which need to be explained and which can illuminate our understanding of cognitive maps and effective…

Navigation Maps in a Computer-Networked Hypertext Learning System.

ERIC Educational Resources Information Center

Chou, Chien; Lin, Hua

A study of first-year college students (n=121) in Taiwan investigated the effects of navigation maps and learner cognitive styles on performance in searches for information, estimation of course scope, and the development of cognitive maps within a hypertext learning course. Students were tested to determine level of perceptual field dependence…

BatSLAM: Simultaneous localization and mapping using biomimetic sonar.

PubMed

Steckel, Jan; Peremans, Herbert

2013-01-01

We propose to combine a biomimetic navigation model which solves a simultaneous localization and mapping task with a biomimetic sonar mounted on a mobile robot to address two related questions. First, can robotic sonar sensing lead to intelligent interactions with complex environments? Second, can we model sonar based spatial orientation and the construction of spatial maps by bats? To address these questions we adapt the mapping module of RatSLAM, a previously published navigation system based on computational models of the rodent hippocampus. We analyze the performance of the proposed robotic implementation operating in the real world. We conclude that the biomimetic navigation model operating on the information from the biomimetic sonar allows an autonomous agent to map unmodified (office) environments efficiently and consistently. Furthermore, these results also show that successful navigation does not require the readings of the biomimetic sonar to be interpreted in terms of individual objects/landmarks in the environment. We argue that the system has applications in robotics as well as in the field of biology as a simple, first order, model for sonar based spatial orientation and map building.

BatSLAM: Simultaneous Localization and Mapping Using Biomimetic Sonar

PubMed Central

Steckel, Jan; Peremans, Herbert

2013-01-01

We propose to combine a biomimetic navigation model which solves a simultaneous localization and mapping task with a biomimetic sonar mounted on a mobile robot to address two related questions. First, can robotic sonar sensing lead to intelligent interactions with complex environments? Second, can we model sonar based spatial orientation and the construction of spatial maps by bats? To address these questions we adapt the mapping module of RatSLAM, a previously published navigation system based on computational models of the rodent hippocampus. We analyze the performance of the proposed robotic implementation operating in the real world. We conclude that the biomimetic navigation model operating on the information from the biomimetic sonar allows an autonomous agent to map unmodified (office) environments efficiently and consistently. Furthermore, these results also show that successful navigation does not require the readings of the biomimetic sonar to be interpreted in terms of individual objects/landmarks in the environment. We argue that the system has applications in robotics as well as in the field of biology as a simple, first order, model for sonar based spatial orientation and map building. PMID:23365647

Motor transfer from map ocular exploration to locomotion during spatial navigation from memory.

PubMed

Demichelis, Alixia; Olivier, Gérard; Berthoz, Alain

2013-02-01

Spatial navigation from memory can rely on two different strategies: a mental simulation of a kinesthetic spatial navigation (egocentric route strategy) or visual-spatial memory using a mental map (allocentric survey strategy). We hypothesized that a previously performed "oculomotor navigation" on a map could be used by the brain to perform a locomotor memory task. Participants were instructed to (1) learn a path on a map through a sequence of vertical and horizontal eyes movements and (2) walk on the slabs of a "magic carpet" to recall this path. The main results showed that the anisotropy of ocular movements (horizontal ones being more efficient than vertical ones) influenced performances of participants when they change direction on the central slab of the magic carpet. These data suggest that, to find their way through locomotor space, subjects mentally repeated their past ocular exploration of the map, and this visuo-motor memory was used as a template for the locomotor performance.

Archive of Digital Boomer and CHIRP Seismic Reflection Data Collected During USGS Field Activity 08LCA03 in Lake Panasoffkee, Florida, May 2008

USGS Publications Warehouse

Harrison, Arnell S.; Dadisman, Shawn V.; McBride, W. Scott; Flocks, James G.; Wiese, Dana S.

2009-01-01

In May of 2008, the U.S. Geological Survey (USGS) conducted geophysical surveys in Lake Panasoffkee, located in central Florida, as part of the USGS Lakes and Coastal Aquifers (LCA) study. This report serves as an archive of unprocessed digital boomer and Compressed High Intensity Radar Pulse (CHIRP)* seismic reflection data, trackline maps, navigation files, Field Activity Collection System (FACS) logs, Geographic Information System (GIS) files, and formal Federal Geographic Data Committee (FGDC) metadata. Filtered and gained (a relative increase in signal amplitude) digital images of the seismic profiles and geospatially corrected interactive profiles are also provided. Refer to the Acronyms page for expansions of acronyms and abbreviations used in this report. *Due to poor data acquisition conditions associated with the lake bottom sediments, only two CHIRP tracklines were collected during this field activity. The archived trace data are in standard Society of Exploration Geophysicists (SEG) SEG-Y format (Barry and others, 1975) and may be downloaded and processed with commercial or public domain software such as Seismic Unix (SU). Example SU processing scripts and USGS software for viewing the SEG-Y files (Zihlman, 1992) are provided. The USGS Florida Integrated Science Center (FISC) - St. Petersburg assigns a unique identifier to each cruise or field activity. For example, 08LCA03 tells us the data were collected in 2008 for the Lakes and Coastal Aquifers (LCA) study and the data were collected during the third field activity for that study in that calendar year. Refer to http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html for a detailed description of the method used to assign the field activity ID. The naming convention used for each seismic line is as follows: yye##a, where 'yy' are the last two digits of the year in which the data were collected, 'e' is a 1-letter abbreviation for the equipment type (for example, b for boomer and c for CHIRP), '##' is a 2-digit number representing a specific track, and 'a' is a letter representing the section of a line if recording was prematurely terminated or rerun for quality or acquisition problems. The boomer plate is an acoustic energy source that consists of capacitors charged to a high voltage and discharged through a transducer in the water. The transducer is towed on a sled floating on the water surface and, when discharged, emits a short acoustic pulse, or shot, which propagates through the water, sediment column, or rock beneath. The acoustic energy is reflected at density boundaries (such as the seafloor, sediment, or rock layers beneath the seafloor), detected by the receiver, and recorded by a PC-based seismic acquisition system. This process is repeated at timed intervals (for example, 0.5 s) and recorded for specific intervals of time (for example, 100 ms). In this way, a two-dimensional (2-D) vertical profile of the shallow geologic structure beneath the ship track is produced. Figure 1 displays the boomer acquisition geometry. The EdgeTech SB-424 CHIRP system used for this survey has a vertical resolution of 4 - 8 cm, a penetration depth that is usually less than 2 m beneath the seafloor, and uses a signal of continuously varying frequency. The towfish is a sound source and receiver, which is typically towed 2 - 5 m above the seafloor. The acoustic energy is reflected at density boundaries (such as the seafloor or sediment layers beneath the seafloor), detected by a receiver, and recorded by a PC-based seismic acquisition system. This process is repeated at timed intervals (for example, 0.125 s) and recorded for specific intervals of time (for example, 50 ms); the resulting profile is a two-dimensional vertical image of the shallow geologic structure beneath the ship track. Figure 2 displays the acquisition geometry for the CHIRP system. Refer to table 1 for a summary of acquisition parameters and table 2 for trackline statistics.

The "Set Map" Method of Navigation.

ERIC Educational Resources Information Center

Tippett, Julian

1998-01-01

Explains the "set map" method of using the baseplate compass to solve walkers' navigational needs as opposed to the 1-2-3 method for taking a bearing. The map, with the compass permanently clipped to it, is rotated to the position in which its features have the same orientation as their counterparts on the ground. Includes directions and…

AIS Indexer Development Report

DTIC Science & Technology

2014-03-01

Rev. 8-98) Prescribed by ANSI Std Z39-18 Approved by Approved for release by c© Her Majesty the Queen in Right of Canada as represented by the...same panel and have been tailored for ease of use. 3.2 Map Navigation New map navigation tools allow the user to zoom in and out of a map and drag the

Archive of bathymetry and backscatter data collected in 2014 nearshore Breton and Gosier Islands, Breton National Wildlife Refuge, Louisiana

USGS Publications Warehouse

DeWitt, Nancy T.; Fredericks, Jake J.; Flocks, James G.; Miselis, Jennifer L.; Locker, Stanley D.; Kindinger, Jack G.; Bernier, Julie C.; Kelso, Kyle W.; Reynolds, Billy J.; Wiese, Dana S.; Browning, Trevor

2016-08-01

As part of the Barrier Island Monitoring Project, scientists from the U.S. Geological Survey (USGS) St. Petersburg Coastal and Marine Science Center conducted nearshore geophysical surveys off Breton and Gosier Islands, Louisiana, in July and August of 2014. To assist the United States Fish and Wildlife Service (USFWS) with restoration planning efforts, the USGS was tasked with answering fundamental questions about the physical environment of the southern Chandeleur Islands, including the geology, morphology, and oceanography. Baseline data needed to answer these questions were either insufficient or missing. The USGS conducted a comprehensive geologic investigation in the summer of 2014, collecting geophysical and sedimentological data.Breton Island, located at the southern end of the Chandeleur Island chain in southeastern Louisiana, was recognized as a natural, globally significant nesting sanctuary for several bird species and was established as the Breton National Wildlife Refuge (NWR) in 1904. The areal extent of Breton Island has diminished 90 percent since 1920. Land loss is attributed to ongoing relative sea-level rise, diminished sediment supply, and storm impacts. The bird population on Breton Island has also declined over the years, most notably after Hurricane George in 1998 and after Hurricane Katrina in 2015; the latter completely submerged the island. Despite decreasing habitable acreage, migratory seabirds continue to return and nest on Breton Island. To prevent the island from being submerged in the future, and to protect, stabilize, and provide more nesting and foraging areas for the bird population, the USFWS proposed a restoration effort to rebuild Breton Island to its pre-Katrina footprint.This data series serves as an archive of processed interferometric swath and single-beam bathymetry data, and side-scan sonar data, collected in the nearshore of Breton and Gosier Islands, NWR, Louisiana. The data were collected during two USGS cruises (USGS Field Activity Numbers 2014-314-FA and 2014-317-FA) in July and August 2014. Geographic information system data products include a 100-meter-cell-size interpolated bathymetry grid, trackline maps, and point data files. Additional files include error analysis maps, Field Activity Collection System logs, and formal Federal Geographic Data Committee metadata.NOTE: These data are scientific in nature and are not to be used for navigation. Any use of trade names is for descriptive purposes only and does not imply endorsement by the U.S. Government.

The ontogeny of the homing pigeon navigational map: evidence for a sensitive learning period.

PubMed Central

Gagliardo, A; Ioalè, P; Odetti, F; Bingman, V P

2001-01-01

Homing pigeons can learn a navigational map by relying on the heterogeneous distribution of atmospheric odours in the environment. To test whether there might be a sensitive period for learning an olfactory-based navigational map, we maintained a group of young pigeons in an aviary screened from the winds until the age of three to four months post-fledging. Subsequently, the screens were removed and the pigeons were exposed to the winds and the environmental odours they carry for three months. One control group of pigeons was held in a similar aviary but exposed to the winds immediately upon Hedging, while another control group of pigeons was allowed free-flight. When the pigeons from the three groups were released from two distant release sites at about six months of age post-fledging, the two control groups were found to be equally good at orientating and returning home, while the experimental pigeons held in the shielded aviary for the first three months post-fledging were unable to orientate homeward and they were generally unsuccessful in returning home. This result supports the hypothesis that environmental experience during the first three months post-fledging is critical for some aspect of navigational map learning and that navigational map learning displays sensitive period-like properties. PMID:11209891

The ontogeny of the homing pigeon navigational map: evidence for a sensitive learning period.

PubMed

Gagliardo, A; Ioalè, P; Odetti, F; Bingman, V P

2001-01-22

Homing pigeons can learn a navigational map by relying on the heterogeneous distribution of atmospheric odours in the environment. To test whether there might be a sensitive period for learning an olfactory-based navigational map, we maintained a group of young pigeons in an aviary screened from the winds until the age of three to four months post-fledging. Subsequently, the screens were removed and the pigeons were exposed to the winds and the environmental odours they carry for three months. One control group of pigeons was held in a similar aviary but exposed to the winds immediately upon Hedging, while another control group of pigeons was allowed free-flight. When the pigeons from the three groups were released from two distant release sites at about six months of age post-fledging, the two control groups were found to be equally good at orientating and returning home, while the experimental pigeons held in the shielded aviary for the first three months post-fledging were unable to orientate homeward and they were generally unsuccessful in returning home. This result supports the hypothesis that environmental experience during the first three months post-fledging is critical for some aspect of navigational map learning and that navigational map learning displays sensitive period-like properties.

Navigation of robotic system using cricket motes

NASA Astrophysics Data System (ADS)

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

2011-06-01

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

Building the Traffic, Navigation, and Situation Awareness System (T-NASA) for Surface Operations

NASA Technical Reports Server (NTRS)

McCann, Robert S.

1996-01-01

We report the results of a part-task simulation evaluating the separate and combined effects of an electronic moving map display and newly developed HUD symbology on ground taxi performance, under moderate- and low-visibility conditions. Twenty-four commercial airline pilots carried out a series of 28 gate-to-runway taxi trials at Chicago O'Hare. Half of the trials were conducted under moderate visibility (RVR 1400 ft), and half under low visibility (RVR 700 ft). In the baseline condition, where navigation support was limited to surface features and a Jeppesen paper map, navigation errors were committed on almost half of the trials. These errors were virtually abolished when the electronic moving map or the HUD symbology was available; in addition, compare, the baseline condition, both forms of navigation aid yielded an increase in forward taxi speed. The speed increase was greater for HUD than the electronic moving map, and greater under low visibility than under moderate visibility. These results suggest that combination of electronic moving map and HUD symbology has the potential to greatly increase the efficiency of ground operations, particularly under low-visibility conditions.

Lymphatic mapping with fluorescence navigation using indocyanine green and axillary surgery in patients with primary breast cancer.

PubMed

Takeuchi, Megumi; Sugie, Tomoharu; Abdelazeem, Kassim; Kato, Hironori; Shinkura, Nobuhiko; Takada, Masahiro; Yamashiro, Hiroyasu; Ueno, Takayuki; Toi, Masakazu

2012-01-01

The indocyanine green fluorescence (ICGf) navigation method provides real-time lymphatic mapping and sentinel lymph node (SLN) visualization, which enables the removal of SLNs and their associated lymphatic networks. In this study, we investigated the features of the drainage pathways detected with the ICGf navigation system and the order of metastasis in axillary nodes. From April 2008 to February 2010, 145 patients with clinically node-negative breast cancer underwent SLN surgery with ICGf navigation. The video-recorded data from 79 patients were used for lymphatic mapping analysis. We analyzed 145 patients with clinically node-negative breast cancer who underwent SLN surgery with the ICGf navigation system. Fluorescence-positive SLNs were identified in 144 (99%) of 145 patients. Both single and multiple routes to the axilla were identified in 47% of cases using video-recorded lymphatic mapping data. An internal mammary route was detected in 6% of the cases. Skip metastasis to the second or third SLNs was observed in 6 of the 28 node-positive patients. We also examined the strategy of axillary surgery using the ICGf navigation system. We found that, based on the features of nodal involvement, 4-node resection could provide precise information on the nodal status. The ICGf navigation system may provide a different lymphatic mapping result than computed tomography lymphography in clinically node-negative breast cancer patients. Furthermore, it enables the identification of lymph nodes that do not accumulate indocyanine green or dye adjacent to the SLNs in the sequence of drainage. Knowledge of the order of nodal metastasis as revealed by the ICGf system may help to personalize the surgical treatment of axilla in SLN-positive cases, although additional studies are required. © 2012 Wiley Periodicals, Inc.

A methodology for the generation of the 2-D map from unknown navigation environment by traveling a short distance

NASA Technical Reports Server (NTRS)

Bourbakis, N.; Sarkar, D.

1994-01-01

A technique for generation of a 2-D space map by traveling a short distance is described. The space to be mapped can be classified as: (1) space without obstacles, (2) space with stationary obstacles, and (3) space with moving obstacles. This paper presents the methodology used to generate a 2-D map of an unknown navigation space. The ability to minimize the redundancy during traveling and maximize the confidence function for generation of the map are advantages of this technique.

Mapping and navigational control for a “smart” wheelchair.

PubMed

Schultz, Dana L; Shea, Kathleen M; Barrett, Steven F

2012-01-01

A “smart” wheelchair is in development to provide mobility to those unable to control a traditional wheelchair. A “smart” wheelchair is an autonomous machine with the ability to navigate a mapped environment while avoiding obstacles. The flexibility and complex design of “smart” wheelchairs have made those currently available expensive. Ongoing research at the University of Wyoming has been aimed at designing a cheaper, alternative control system that could be interfaced with a typical powered wheelchair. The goal of this project is to determine methods for mapping and navigational control for the wheelchair. The control system acquires data from eighteen sensors and uses the data to navigate around a pre-programmed map which is stored on a micro SD card. The control system also provides a user interface in the form of a touchscreen LCD. The designed system will be an easy-to-use and cost effective alternative to current “smart” wheelchair technology.

Grid cell hexagonal patterns formed by fast self-organized learning within entorhinal cortex.

PubMed

Mhatre, Himanshu; Gorchetchnikov, Anatoli; Grossberg, Stephen

2012-02-01

Grid cells in the dorsal segment of the medial entorhinal cortex (dMEC) show remarkable hexagonal activity patterns, at multiple spatial scales, during spatial navigation. It has previously been shown how a self-organizing map can convert firing patterns across entorhinal grid cells into hippocampal place cells that are capable of representing much larger spatial scales. Can grid cell firing fields also arise during navigation through learning within a self-organizing map? This article describes a simple and general mathematical property of the trigonometry of spatial navigation which favors hexagonal patterns. The article also develops a neural model that can learn to exploit this trigonometric relationship. This GRIDSmap self-organizing map model converts path integration signals into hexagonal grid cell patterns of multiple scales. GRIDSmap creates only grid cell firing patterns with the observed hexagonal structure, predicts how these hexagonal patterns can be learned from experience, and can process biologically plausible neural input and output signals during navigation. These results support an emerging unified computational framework based on a hierarchy of self-organizing maps for explaining how entorhinal-hippocampal interactions support spatial navigation. Copyright © 2010 Wiley Periodicals, Inc.

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.

The Performance Analysis of the Map-Aided Fuzzy Decision Tree Based on the Pedestrian Dead Reckoning Algorithm in an Indoor Environment

PubMed Central

Chiang, Kai-Wei; Liao, Jhen-Kai; Tsai, Guang-Je; Chang, Hsiu-Wen

2015-01-01

Hardware sensors embedded in a smartphone allow the device to become an excellent mobile navigator. A smartphone is ideal for this task because its great international popularity has led to increased phone power and since most of the necessary infrastructure is already in place. However, using a smartphone for indoor pedestrian navigation can be problematic due to the low accuracy of sensors, imprecise predictability of pedestrian motion, and inaccessibility of the Global Navigation Satellite System (GNSS) in some indoor environments. Pedestrian Dead Reckoning (PDR) is one of the most common technologies used for pedestrian navigation, but in its present form, various errors tend to accumulate. This study introduces a fuzzy decision tree (FDT) aided by map information to improve the accuracy and stability of PDR with less dependency on infrastructure. First, the map is quickly surveyed by the Indoor Mobile Mapping System (IMMS). Next, Bluetooth beacons are implemented to enable the initializing of any position. Finally, map-aided FDT can estimate navigation solutions in real time. The experiments were conducted in different fields using a variety of smartphones and users in order to verify stability. The contrast PDR system demonstrates low stability for each case without pre-calibration and post-processing, but the proposed low-complexity FDT algorithm shows good stability and accuracy under the same conditions. PMID:26729114

Spatial cognition and navigation

NASA Technical Reports Server (NTRS)

Aretz, Anthony J.

1989-01-01

An experiment that provides data for the development of a cognitive model of pilot flight navigation is described. The experiment characterizes navigational awareness as the mental alignment of two frames of reference: (1) the ego centered reference frame that is established by the forward view out of the cockpit and (2) the world centered reference frame that is established by the aircraft's location on a map. The data support a model involving at least two components: (1) the perceptual encoding of the navigational landmarks and (2) the mental rotation of the map's world reference frame into alignment with the ego centered reference frame. The quantitative relationships of these two factors are provided as possible inputs for a computational model of spatial cognition during flight navigation.

Air Navigation. Flying Training. AFM 51-40. NAVAIR 00-80V-49.

ERIC Educational Resources Information Center

Air Training Command, Randolph AFB, TX.

This manual provides information on all phases of air navigation for navigators and student navigators in training. It develops the art of navigation from the simplest concepts to the most advanced procedures and techniques. The text contains explanations on how to measure, map, and chart the earth; how to use basic instruments to obtain…

A navigation system for the visually impaired an intelligent white cane.

PubMed

Fukasawa, A Jin; Magatani, Kazusihge

2012-01-01

In this paper, we describe about a developed navigation system that supports the independent walking of the visually impaired in the indoor space. Our developed instrument consists of a navigation system and a map information system. These systems are installed on a white cane. Our navigation system can follow a colored navigation line that is set on the floor. In this system, a color sensor installed on the tip of a white cane, this sensor senses a color of navigation line and the system informs the visually impaired that he/she is walking along the navigation line by vibration. This color recognition system is controlled by a one-chip microprocessor. RFID tags and a receiver for these tags are used in the map information system. RFID tags are set on the colored navigation line. An antenna for RFID tags and a tag receiver are also installed on a white cane. The receiver receives the area information as a tag-number and notifies map information to the user by mp3 formatted pre-recorded voice. And now, we developed the direction identification technique. Using this technique, we can detect a user's walking direction. A triaxiality acceleration sensor is used in this system. Three normal subjects who were blindfolded with an eye mask were tested with our developed navigation system. All of them were able to walk along the navigation line perfectly. We think that the performance of the system is good. Therefore, our system will be extremely valuable in supporting the activities of the visually impaired.

Navigation Patterns and Scent Marking: Underappreciated Contributors to Hippocampal and Entorhinal Spatial Representations?

PubMed

Lebedev, Mikhail A; Pimashkin, Alexey; Ossadtchi, Alexei

2018-01-01

According to the currently prevailing theory, hippocampal formation constructs and maintains cognitive spatial maps. Most of the experimental evidence for this theory comes from the studies on navigation in laboratory rats and mice, typically male animals. While these animals exhibit a rich repertoire of behaviors associated with navigation, including locomotion, head movements, whisking, sniffing, raring and scent marking, the contribution of these behavioral patterns to the hippocampal spatially-selective activity has not been sufficiently studied. Instead, many publications have considered animal position in space as the major variable that affects the firing of hippocampal place cells and entorhinal grid cells. Here we argue that future work should focus on a more detailed examination of different behaviors exhibited during navigation to better understand the mechanism of spatial tuning in hippocampal neurons. As an inquiry in this direction, we have analyzed data from two datasets, shared online, containing recordings from rats navigating in square and round arenas. Our analyses revealed patchy navigation patterns, evident from the spatial maps of animal position, velocity and acceleration. Moreover, grid cells available in the datasets exhibited similar periodicity as the navigation parameters. These findings indicate that activity of grid cells could affect navigation parameters and/or vice versa. Additionally, we speculate that scent marks left by navigating animals could contribute to neuronal responses while rats and mice sniff their environment; the act of sniffing could modulate neuronal discharges even in virtual visual environments. Accordingly, we propose that future experiments should contain additional controls for navigation patterns, whisking, sniffing and maps composed of scent marks.

Analysis of key technologies in geomagnetic navigation

NASA Astrophysics Data System (ADS)

Zhang, Xiaoming; Zhao, Yan

2008-10-01

Because of the costly price and the error accumulation of high precise Inertial Navigation Systems (INS) and the vulnerability of Global Navigation Satellite Systems (GNSS), the geomagnetic navigation technology, a passive autonomous navigation method, is paid attention again. Geomagnetic field is a natural spatial physical field, and is a function of position and time in near earth space. The navigation technology based on geomagnetic field is researched in a wide range of commercial and military applications. This paper presents the main features and the state-of-the-art of Geomagnetic Navigation System (GMNS). Geomagnetic field models and reference maps are described. Obtaining, modeling and updating accurate Anomaly Magnetic Field information is an important step for high precision geomagnetic navigation. In addition, the errors of geomagnetic measurement using strapdown magnetometers are analyzed. The precise geomagnetic data is obtained by means of magnetometer calibration and vehicle magnetic field compensation. According to the measurement data and reference map or model of geomagnetic field, the vehicle's position and attitude can be obtained using matching algorithm or state-estimating method. The tendency of geomagnetic navigation in near future is introduced at the end of this paper.

Near-bottom Multibeam Survey Capabilities in the US National Deep Submergence Facility (Invited)

NASA Astrophysics Data System (ADS)

Yoerger, D. R.; McCue, S. J.; Jason; Sentry Operations Groups

2010-12-01

The US National Deep Submergence Facility (NDSF) provides near-bottom multibeam mapping capabilities from the autonomous underwater vehicle Sentry and the remotely operated vehicle Jason. These vehicles can be used to depths of 4500 and 6500m respectively. Both vehicles are equipped with Reson 7125 400khz multibeam sonars as well as compatible navigation equipment (inertial navigation systems, doppler velocity logs, and acoustic navigation systems). These vehicles have produced maps of rugged Mid-Ocean Ridge terrain in the Galapagos Rift, natural oil and gas seeps off the coast of Southern California, deep coral sites in the Gulf of Mexico, and sites for the Ocean Observing Initiative off the coast of Oregon. Multibeam surveys are conducted from heights between 20 and 80 meters, allowing the scientific user to select the tradeoff between resolution and coverage rate. In addition to conventional bathymetric mapping, the systems have used to image methane bubble plumes from natural seeps. This talk will provide summaries of these mapping efforts and describe the data processing pipeline used to produce maps shortly after each dive. Development efforts to reduce navigational errors and reconcile discrepancies between adjacent swaths will also be described.

Coastal single-beam bathymetry data collected in 2015 from Raccoon Point to Point Au Fer Island, Louisiana

USGS Publications Warehouse

Stalk, Chelsea A.; DeWitt, Nancy T.; Kindinger, Jack L.; Flocks, James G.; Reynolds, Billy J.; Kelso, Kyle W.; Fredericks, Joseph J.; Tuten, Thomas M.

2017-03-10

As part of the Barrier Island Comprehensive Monitoring Program (BICM), scientists from the U.S. Geological Survey (USGS) St. Petersburg Coastal and Marine Science Center conducted a nearshore single-beam bathymetry survey along the south-central coast of Louisiana, from Raccoon Point to Point Au Fer Island, in July 2015. The goal of the BICM program is to provide long-term data on Louisiana’s coastline and use this data to plan, design, evaluate, and maintain current and future barrier island restoration projects. The data described in this report will provide baseline bathymetric information for future research investigating island evolution, sediment transport, and recent and long-term geomorphic change, and will support modeling of future changes in response to restoration and storm impacts. The survey area encompasses more than 300 square kilometers of nearshore environment from Raccoon Point to Point Au Fer Island. This data series serves as an archive of processed single-beam bathymetry data, collected from July 22–29, 2015, under USGS Field Activity Number 2015-320-FA. Geographic information system data products include a 200-meter-cell-size interpolated bathymetry grid, trackline maps, and point data files. Additional files include error analysis maps, Field Activity Collection System logs, and formal Federal Geographic Data Committee metadata.

Novel robotic catheter manipulation system integrated with remote magnetic navigation for fully remote ablation of atrial tachyarrhythmias: a two-centre evaluation.

PubMed

Nölker, Georg; Gutleben, Klaus-Jürgen; Muntean, Bogdan; Vogt, Jürgen; Horstkotte, Dieter; Dabiri Abkenari, Lara; Akca, Ferdi; Szili-Torok, Tamas

2012-12-01

Studies have shown that remote magnetic navigation is safe and effective for ablation of atrial arrhythmias, although optimal outcomes often require frequent manual manipulation of a circular mapping catheter. The Vdrive robotic system ('Vdrive') was designed for remote navigation of circular mapping catheters to enable a fully remote procedure. This study details the first human clinical experience with remote circular catheter manipulation in the left atrium. This was a prospective, multi-centre, non-randomized consecutive case series that included patients presenting for catheter ablation of left atrial arrhythmias. Remote systems were used exclusively to manipulate both the circular mapping catheter and the ablation catheter. Patients were followed through hospital discharge. Ninety-four patients were included in the study, including 23 with paroxysmal atrial fibrillation (AF), 48 with persistent AF, and 15 suffering from atrial tachycardias. The population was predominately male (77%) with a mean age of 60.5 ± 11.7 years. The Vdrive was used for remote navigation between veins, creation of chamber maps, and gap identification with segmental isolation. The intended acute clinical endpoints were achieved in 100% of patients. Mean case time was 225.9 ± 70.5 min. Three patients (3.2%) crossed over to manual circular mapping catheter navigation. There were no adverse events related to the use of the remote manipulation system. The results of this study demonstrate that remote manipulation of a circular mapping catheter in the ablation of atrial arrhythmias is feasible and safe. Prospective randomized studies are needed to prove efficiency improvements over manual techniques.

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

NASA Astrophysics Data System (ADS)

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

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

A Knowledge Navigation Method for the Domain of Customers' Services of Mobile Communication Corporations in China

NASA Astrophysics Data System (ADS)

Wu, Jiangning; Wang, Xiaohuan

Rapidly increasing amount of mobile phone users and types of services leads to a great accumulation of complaining information. How to use this information to enhance the quality of customers' services is a big issue at present. To handle this kind of problem, the paper presents an approach to construct a domain knowledge map for navigating the explicit and tacit knowledge in two ways: building the Topic Map-based explicit knowledge navigation model, which includes domain TM construction, a semantic topic expansion algorithm and VSM-based similarity calculation; building Social Network Analysis-based tacit knowledge navigation model, which includes a multi-relational expert navigation algorithm and the criterions to evaluate the performance of expert networks. In doing so, both the customer managers and operators in call centers can find the appropriate knowledge and experts quickly and exactly. The experimental results show that the above method is very powerful for knowledge navigation.

Enabling Autonomous Navigation for Affordable Scooters.

PubMed

Liu, Kaikai; Mulky, Rajathswaroop

2018-06-05

Despite the technical success of existing assistive technologies, for example, electric wheelchairs and scooters, they are still far from effective enough in helping those in need navigate to their destinations in a hassle-free manner. In this paper, we propose to improve the safety and autonomy of navigation by designing a cutting-edge autonomous scooter, thus allowing people with mobility challenges to ambulate independently and safely in possibly unfamiliar surroundings. We focus on indoor navigation scenarios for the autonomous scooter where the current location, maps, and nearby obstacles are unknown. To achieve semi-LiDAR functionality, we leverage the gyros-based pose data to compensate the laser motion in real time and create synthetic mapping of simple environments with regular shapes and deep hallways. Laser range finders are suitable for long ranges with limited resolution. Stereo vision, on the other hand, provides 3D structural data of nearby complex objects. To achieve simultaneous fine-grained resolution and long range coverage in the mapping of cluttered and complex environments, we dynamically fuse the measurements from the stereo vision camera system, the synthetic laser scanner, and the LiDAR. We propose solutions to self-correct errors in data fusion and create a hybrid map to assist the scooter in achieving collision-free navigation in an indoor environment.

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.

Alternative transitions between existing representations in multi-scale maps

NASA Astrophysics Data System (ADS)

Dumont, Marion; Touya, Guillaume; Duchêne, Cécile

2018-05-01

Map users may have issues to achieve multi-scale navigation tasks, as cartographic objects may have various representations across scales. We assume that adding intermediate representations could be one way to reduce the differences between existing representations, and to ease the transitions across scales. We consider an existing multiscale map on the scale range from 1 : 25k to 1 : 100k scales. Based on hypotheses about intermediate representations design, we build custom multi-scale maps with alternative transitions. We will conduct in a next future a user evaluation to compare the efficiency of these alternative maps for multi-scale navigation. This paper discusses the hypotheses and production process of these alternative maps.

Vision-based mapping with cooperative robots

NASA Astrophysics Data System (ADS)

Little, James J.; Jennings, Cullen; Murray, Don

1998-10-01

Two stereo-vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. The robots maintain position estimates within a global coordinate frame using landmark recognition. This allows them to build a common map by sharing position information and stereo data. Stereo vision processing and map updates are done at 3 Hz and the robots move at speeds of 200 cm/s. Cooperative mapping is achieved through autonomous exploration of unstructured and dynamic environments. The map is constructed conservatively, so as to be useful for collision-free path planning. Each robot maintains a separate copy of a shared map, and then posts updates to the common map when it returns to observe a landmark at home base. Issues include synchronization, mutual localization, navigation, exploration, registration of maps, merging repeated views (fusion), centralized vs decentralized maps.

Localization and Mapping Using a Non-Central Catadioptric Camera System

NASA Astrophysics Data System (ADS)

Khurana, M.; Armenakis, C.

2018-05-01

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

Navigation errors encountered using weather-mapping radar for helicopter IFR guidance to oil rigs

NASA Technical Reports Server (NTRS)

Phillips, J. D.; Bull, J. S.; Hegarty, D. M.; Dugan, D. C.

1980-01-01

In 1978 a joint NASA-FAA helicopter flight test was conducted to examine the use of weather-mapping radar for IFR guidance during landing approaches to oil rig helipads. The following navigation errors were measured: total system error, radar-range error, radar-bearing error, and flight technical error. Three problem areas were identified: (1) operational problems leading to pilot blunders, (2) poor navigation to the downwind final approach point, and (3) pure homing on final approach. Analysis of these problem areas suggests improvement in the radar equipment, approach procedure, and pilot training, and gives valuable insight into the development of future navigation aids to serve the off-shore oil industry.

Improving Operational Effectiveness of Tactical Long Endurance Unmanned Aerial Systems (TALEUAS) by Utilizing Solar Power

DTIC Science & Technology

2014-06-01

Speed xiii TEK Total Energy Compensated TSP traveling salesman problem UAV unmanned aerial vehicle UDP user datagram protocol UKF unscented...discretized map, and use the map to optimally solve the navigation task. The optimal navigation solution utilizes the well-known “ travelling salesman problem ...2 C. FORMULATION OF THE PROBLEM .................................................. 3 D

A Backpack-Mounted Omnidirectional Camera with Off-the-Shelf Navigation Sensors for Mobile Terrestrial Mapping: Development and Forest Application

PubMed Central

Prol, Fabricio dos Santos; El Issaoui, Aimad; Hakala, Teemu

2018-01-01

The use of Personal Mobile Terrestrial System (PMTS) has increased considerably for mobile mapping applications because these systems offer dynamic data acquisition with ground perspective in places where the use of wheeled platforms is unfeasible, such as forests and indoor buildings. PMTS has become more popular with emerging technologies, such as miniaturized navigation sensors and off-the-shelf omnidirectional cameras, which enable low-cost mobile mapping approaches. However, most of these sensors have not been developed for high-accuracy metric purposes and therefore require rigorous methods of data acquisition and data processing to obtain satisfactory results for some mapping applications. To contribute to the development of light, low-cost PMTS and potential applications of these off-the-shelf sensors for forest mapping, this paper presents a low-cost PMTS approach comprising an omnidirectional camera with off-the-shelf navigation systems and its evaluation in a forest environment. Experimental assessments showed that the integrated sensor orientation approach using navigation data as the initial information can increase the trajectory accuracy, especially in covered areas. The point cloud generated with the PMTS data had accuracy consistent with the Ground Sample Distance (GSD) range of omnidirectional images (3.5–7 cm). These results are consistent with those obtained for other PMTS approaches. PMID:29522467

Magnetic maps in animals: nature's GPS.

PubMed

Lohmann, Kenneth J; Lohmann, Catherine M F; Putman, Nathan F

2007-11-01

Diverse animals detect the Earth's magnetic field and use it as a cue in orientation and navigation. Most research on magnetoreception has focused on the directional or ;compass' information that can be extracted from the Earth's field. Because the field varies predictably across the surface of the globe, however, it also provides a potential source of positional or 'map' information, which some animals use to steer themselves along migratory pathways or to navigate toward specific target areas. The use of magnetic positional information has been demonstrated in several diverse animals including sea turtles, spiny lobsters, newts and birds, suggesting that such systems are phylogenetically widespread and can function over a wide range of spatial scales. These ;magnetic maps' have not yet been fully characterized. They may be organized in several fundamentally different ways, some of which bear little resemblance to human maps, and they may also be used in conjunction with unconventional navigational strategies.

Archive of Digital Boomer Seismic Reflection Data Collected During USGS Field Activity 02LCA02 in Lakes Ada, Crystal, Jennie, Mary, Rice, and Sylvan, Central Florida, July 2002

USGS Publications Warehouse

Harrison, Arnell S.; Dadisman, Shawn V.; Davis, Jeffrey B.; Wiese, Dana S.

2008-01-01

In July of 2002, the U.S. Geological Survey and St. Johns River Water Management District (SJRWMD) conducted geophysical surveys in Lakes Ada, Crystal, Jennie, Mary, Rice, and Sylvan, central Florida, as part of the USGS Lakes and Coastal Aquifers (LCA) study. This report serves as an archive of unprocessed digital boomer seismic reflection data, trackline maps, navigation files, Geographic Information System (GIS) files, and formal Federal Geographic Data Committee (FGDC) metadata. Filtered and gained (a relative increase in signal amplitude) digital images of the seismic profiles are also provided. Refer to the Acronyms page for expansions of acronyms and abbreviations used in this report. The archived trace data are in standard Society of Exploration Geophysicists (SEG) SEG-Y format (Barry and others, 1975) and may be downloaded and processed with commercial or public domain software such as Seismic Unix (SU). Example SU processing scripts and USGS software for viewing the SEG-Y files (Zihlman, 1992) are also provided. The USGS Florida Integrated Science Center (FISC) - St. Petersburg assigns a unique identifier to each cruise or field activity. For example, 02LCA02 tells us the data were collected in 2002 for the Lakes and Coastal Aquifers (LCA) study and the data were collected during the second field activity for that study in that calendar year. Refer to http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html for a detailed description of the method used to assign the field activity ID. The boomer plate is an acoustic energy source that consists of capacitors charged to a high voltage and discharged through a transducer in the water. The transducer is towed on a sled floating on the water surface and when discharged emits a short acoustic pulse, or shot, which propagates through the water, sediment column, or rock beneath. The acoustic energy is reflected at density boundaries (such as the seafloor, sediment, or rock layers beneath the seafloor), detected by the receiver, and recorded by a PC-based seismic acquisition system. This process is repeated at timed intervals (for example, 0.5 s) and recorded for specific intervals of time (for example, 100 ms). In this way, a two-dimensional (2-D) vertical profile of the shallow geologic structure beneath the ship track is produced. Figure 1 displays the acquisition geometry. Refer to table 1 for a summary of acquisition parameters. Table 2 lists trackline statistics. The unprocessed seismic data are stored in SEG-Y format (Barry and others, 1975). For a detailed description of the data format, refer to the SEG-Y Format page. See the How To Download SEG-Y Data page for download instructions. The printable profiles provided here are GIF images that were filtered and gained using Seismic Unix software. Refer to the Software page for details about the processing and examples of the processing scripts. The processed SEG-Y data were exported to Chesapeake Technology, Inc. (CTI) SonarWeb software to produce an interactive Web page of the profile, which allows the user to obtain a geographic location and depth from the profile for a curser position. This information is displayed in the status bar of the browser.

Archive of digital boomer subbottom data collected during USGS cruise 05FGS01 offshore east-central Florida, July 17-29, 2005

USGS Publications Warehouse

Forde, Arnell S.; Dadisman, Shawn V.; Wiese, Dana S.; Phelps, Daniel C.

2012-01-01

In July of 2005, the U.S. Geological Survey (USGS), in cooperation with the Florida Geological Survey (FGS), conducted a geophysical survey of the Atlantic Ocean offshore of Florida's east coast from Flagler Beach to Daytona Beach. This report serves as an archive of unprocessed digital boomer subbottom data, trackline maps, navigation files, Geographic Information System (GIS) files, Field Activity Collection System (FACS) logs and formal Federal Geographic Data Committee (FGDC) metadata. Filtered and gained (showing a relative increase in signal amplitude) digital images of the seismic profiles are also provided. Refer to the Acronyms page for expansions of acronyms and abbreviations used in this report. The USGS Saint Petersburg Coastal and Marine Science Center (SPCMSC) assigns a unique identifier to each cruise or field activity. For example, 05FGS01 tells us the data were collected in 2005 for cooperative work with the FGS and the data were collected during the first field activity for that project in that calendar year. Refer to http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html for a detailed description of the method used to assign the field activity ID. The boomer subbottom processing system consists of an acoustic energy source that is made up of capacitors charged to a high voltage and discharged through a transducer in the water. The transducer is towed on a sled floating on the water surface and when discharged emits a short acoustic pulse, or shot, which propagates through the water column and shallow stratrigraphy below. The acoustic energy is reflected at density boundaries (such as the seafloor or sediment layers beneath the seafloor), detected by the receiver (a hydrophone streamer), and recorded by a PC-based seismic acquisition system. This process is repeated at timed intervals (for example, 0.5 s) and recorded for specific intervals of time (for example, 100 ms). In this way, a two-dimensional (2-D) vertical image of the shallow geologic structure beneath the ship track is produced. Figure 1 displays the acquisition geometry. Refer to table 1 for a summary of acquisition parameters and table 2 for trackline statistics. The archived trace data are in standard Society of Exploration Geophysicists (SEG) SEG Y format (Barry and others, 1975), except an ASCII format is used for the first 3,200 bytes of the card image header instead of the standard EBCDIC format. For a detailed description about the recorded trace headers, refer to the SEG Y Format page. The SEG Y files may be downloaded and processed with commercial or public domain software such as Seismic Unix (Cohen and Stockwell, 2005). See the How To Download SEG Y Data page for download instructions. The printable profiles provided here are GIF images that were processed and gained using SU software; refer to the Software page for links to example SU processing scripts. The processed SEG Y data were also exported to Chesapeake Technology, Inc. (CTI) SonarWeb software to produce a geospatially interactive version of the profile that allows the user to obtain a geographic location and depth from the profile for a given cursor position; this information is displayed in the status bar of the browser. Please note that clicking on the profile image switches it to "Expanded View" (a compressed image of the entire line) and cursor tracking is not available in this mode.

46 CFR 131.910 - Notices to mariners and aids to navigation.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 46 Shipping 4 2012-10-01 2012-10-01 false Notices to mariners and aids to navigation. 131.910... OPERATIONS Miscellaneous § 131.910 Notices to mariners and aids to navigation. Each master and mate shall... Imagery and Mapping Agency regarding aids to navigation in the area in which the vessel operates. [CGD 82...

46 CFR 131.910 - Notices to mariners and aids to navigation.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 4 2011-10-01 2011-10-01 false Notices to mariners and aids to navigation. 131.910... OPERATIONS Miscellaneous § 131.910 Notices to mariners and aids to navigation. Each master and mate shall... Imagery and Mapping Agency regarding aids to navigation in the area in which the vessel operates. [CGD 82...

46 CFR 131.910 - Notices to mariners and aids to navigation.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 46 Shipping 4 2013-10-01 2013-10-01 false Notices to mariners and aids to navigation. 131.910... OPERATIONS Miscellaneous § 131.910 Notices to mariners and aids to navigation. Each master and mate shall... Imagery and Mapping Agency regarding aids to navigation in the area in which the vessel operates. [CGD 82...

46 CFR 131.910 - Notices to mariners and aids to navigation.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Notices to mariners and aids to navigation. 131.910... OPERATIONS Miscellaneous § 131.910 Notices to mariners and aids to navigation. Each master and mate shall... Imagery and Mapping Agency regarding aids to navigation in the area in which the vessel operates. [CGD 82...

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

Animal behaviour: geomagnetic map used in sea-turtle navigation.

PubMed

Lohmann, Kenneth J; Lohmann, Catherine M F; Ehrhart, Llewellyn M; Bagley, Dean A; Swing, Timothy

2004-04-29

Migratory animals capable of navigating to a specific destination, and of compensating for an artificial displacement into unfamiliar territory, are thought to have a compass for maintaining their direction of travel and a map sense that enables them to know their location relative to their destination. Compasses are based on environmental cues such as the stars, the Sun, skylight polarization and magnetism, but little is known about the sensory mechanism responsible for the map sense. Here we show that the green sea-turtle (Chelonia mydas) has a map that is at least partly based on geomagnetic cues.

Pilot performance: assessing how scan patterns & navigational assessments vary by flight expertise.

PubMed

Yang, Ji Hyun; Kennedy, Quinn; Sullivan, Joseph; Fricker, Ronald D

2013-02-01

Helicopter overland navigation is a cognitively complex task that requires continuous monitoring of system and environmental parameters and many hours of training to master. This study investigated the effect of expertise on pilots' gaze measurements, navigation accuracy, and subjective assessment of their navigation accuracy in overland navigation on easy and difficult routes. A simulated overland task was completed by 12 military officers who ranged in flight experience as measured by total flight hours (TFH). They first studied a map of a route that included both easy and difficult route sections, and then had to 'fly' this simulated route in a fixed-base helicopter simulator. They also completed pre-task estimations and post-task assessments of the navigational difficulty of the transit to each waypoint in the route. Their scan pattern was tracked via eye tracking systems, which captured both the subject's out-the-window (OTW) and topographical map scan data. TFH was not associated with navigation accuracy or root mean square (RMS) error for any route section. For the easy routes, experts spent less time scanning out the window (p = 0.61) and had shorter OTW dwell (p = -0.66). For the difficult routes, experts appeared to slow down their scan by spending as much time scanning out the window as the novices while also having fewer Map fixations (p = -0.65) and shorter OTW dwell (p = -0.69). However, TFH was not significantly correlated with more accurate estimates of route difficulty. This study found that TFH did not predict navigation accuracy or subjective assessment, but was correlated with some gaze parameters.

Stereotaxy, navigation and the temporal concatenation.

PubMed

Apuzzo, M L; Chen, J C

1999-01-01

Nautical and cerebral navigation share similar elements of functional need and similar developmental pathways. The need for orientation necessitates the development of appropriate concepts, and such concepts are dependent on technology for practical realization. Occasionally, a concept precedes technology in time and requires periods of delay for appropriate development. A temporal concatenation exists where time allows the additive as need, concept and technology ultimately provide an endpoint of elegant solution. Nautical navigation has proceeded through periods of dead reckoning and celestial navigation to satellite orientation with associated refinements of instrumentation and charts for guidance. Cerebral navigation has progressed from craniometric orientation and burr hole mounted guidance systems to simple rectolinear and arc-centered devices based on radiographs to guidance by complex anatomical and functional maps provided as an amalgam of modern imaging modes. These maps are now augmented by complex frame and frameless systems which allow not only precise orientation, but also point and volumetric action. These complex technical modalities required and developed in part from elements of maritime navigation that have been translated to cerebral navigation in a temporal concatenation. Copyright 2000 S. Karger AG, Basel

Effectiveness of Adaptive Concept Maps for Promoting Conceptual Understanding: Findings from a Design-Based Case Study of a Learner-Centered Tool

ERIC Educational Resources Information Center

Moore, Jacob; Williams, Christopher B.; North, Christopher; Johri, Aditya; Paretti, Marie

2015-01-01

Traditional instructional materials such as textbooks contain significant educational content, but the navigational mechanisms to access that content are limited and, more importantly, not designed with learning in mind. To address this gap, we present the Adaptive Map, a novel organization and navigation tool designed to help students better…

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…

Do Humans Integrate Routes Into a Cognitive Map? Map- Versus Landmark-Based Navigation of Novel Shortcuts

ERIC Educational Resources Information Center

Foo, Patrick; Warren, William H.; Duchon, Andrew; Tarr, Michael J.

2005-01-01

Do humans integrate experience on specific routes into metric survey knowledge of the environment, or do they depend on a simpler strategy of landmark navigation? The authors tested this question using a novel shortcut paradigm during walking in a virtual environment. The authors find that participants could not take successful shortcuts in a…

Pelagic seabird flight patterns are consistent with a reliance on olfactory maps for oceanic navigation

PubMed Central

Reynolds, Andrew M.; Cecere, Jacopo G.; Paiva, Vitor H.; Ramos, Jaime A.; Focardi, Stefano

2015-01-01

Homing studies have provided tantalizing evidence that the remarkable ability of shearwaters (Procellariiformes) to pinpoint their breeding colony after crossing vast expanses of featureless open ocean can be attributed to their assembling cognitive maps of wind-borne odours but crucially, it has not been tested whether olfactory cues are actually used as a system for navigation. Obtaining statistically important samples of wild birds for use in experimental approaches is, however, impossible because of invasive sensory manipulation. Using an innovative non-invasive approach, we provide strong evidence that shearwaters rely on olfactory cues for oceanic navigation. We tested for compliance with olfactory-cued navigation in the flight patterns of 210 shearwaters of three species (Cory's shearwaters, Calonectris borealis, North Atlantic Ocean, Scopoli's shearwaters, C. diomedea Mediterranean Sea, and Cape Verde shearwaters, C. edwardsii, Central Atlantic Ocean) tagged with high-resolution GPS loggers during both incubation and chick rearing. We found that most (69%) birds displayed exponentially truncated scale-free (Lévy-flight like) displacements, which we show are consistent with olfactory-cued navigation in the presence of atmospheric turbulence. Our analysis provides the strongest evidence yet for cognitive odour map navigation in wild birds. Thus, we may reconcile two highly disputed questions in movement ecology, by mechanistically connecting Lévy displacements and olfactory navigation. Our approach can be applied to any species which can be tracked at sufficient spatial resolution, using a GPS logger. PMID:26136443

Signalling maps in cancer research: construction and data analysis

PubMed Central

Kondratova, Maria; Sompairac, Nicolas; Barillot, Emmanuel; Zinovyev, Andrei

2018-01-01

Abstract Generation and usage of high-quality molecular signalling network maps can be augmented by standardizing notations, establishing curation workflows and application of computational biology methods to exploit the knowledge contained in the maps. In this manuscript, we summarize the major aims and challenges of assembling information in the form of comprehensive maps of molecular interactions. Mainly, we share our experience gained while creating the Atlas of Cancer Signalling Network. In the step-by-step procedure, we describe the map construction process and suggest solutions for map complexity management by introducing a hierarchical modular map structure. In addition, we describe the NaviCell platform, a computational technology using Google Maps API to explore comprehensive molecular maps similar to geographical maps and explain the advantages of semantic zooming principles for map navigation. We also provide the outline to prepare signalling network maps for navigation using the NaviCell platform. Finally, several examples of cancer high-throughput data analysis and visualization in the context of comprehensive signalling maps are presented. PMID:29688383

A Spatial Cognitive Map and a Human-Like Memory Model Dedicated to Pedestrian Navigation in Virtual Urban Environments

NASA Astrophysics Data System (ADS)

Thomas, Romain; Donikian, Stéphane

Many articles dealing with agent navigation in an urban environment involve the use of various heuristics. Among them, one is prevalent: the search of the shortest path between two points. This strategy impairs the realism of the resulting behaviour. Indeed, psychological studies state that such a navigation behaviour is conditioned by the knowledge the subject has of its environment. Furthermore, the path a city dweller can follow may be influenced by many factors like his daily habits, or the path simplicity in term of minimum of direction changes. It appeared interesting to us to investigate how to mimic human navigation behavior with an autonomous agent. The solution we propose relies on an architecture based on a generic model of informed environment, a spatial cognitive map model merged with a human-like memory model, representing the agent's temporal knowledge of the environment, it gained along its experiences of navigation.

Neural Network-Based Landmark Recognition and Navigation with IAMRs. Understanding the Principles of Thought and Behavior.

ERIC Educational Resources Information Center

Doty, Keith L.

1999-01-01

Research on neural networks and hippocampal function demonstrating how mammals construct mental maps and develop navigation strategies is being used to create Intelligent Autonomous Mobile Robots (IAMRs). Such robots are able to recognize landmarks and navigate without "vision." (SK)

AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation

PubMed Central

Yuan, Xin; Martínez-Ortega, José-Fernán; Fernández, José Antonio Sánchez; Eckert, Martina

2017-01-01

In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM) applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented. The main goal of this paper is the enhancement of the accuracy and robustness of the SLAM-based navigation problem for underwater robotics with low computational costs. Therefore, we present a new method called AEKF-SLAM that employs an Augmented Extended Kalman Filter (AEKF)-based SLAM algorithm. The AEKF-based SLAM approach stores the robot poses and map landmarks in a single state vector, while estimating the state parameters via a recursive and iterative estimation-update process. Hereby, the prediction and update state (which exist as well in the conventional EKF) are complemented by a newly proposed augmentation stage. Applied to underwater robot navigation, the AEKF-SLAM has been compared with the classic and popular FastSLAM 2.0 algorithm. Concerning the dense loop mapping and line mapping experiments, it shows much better performances in map management with respect to landmark addition and removal, which avoid the long-term accumulation of errors and clutters in the created map. Additionally, the underwater robot achieves more precise and efficient self-localization and a mapping of the surrounding landmarks with much lower processing times. Altogether, the presented AEKF-SLAM method achieves reliably map revisiting, and consistent map upgrading on loop closure. PMID:28531135

Hippocampus and Retrosplenial Cortex Combine Path Integration Signals for Successful Navigation

PubMed Central

Erdem, Uğur M.; Ross, Robert S.; Brown, Thackery I.; Hasselmo, Michael E.; Stern, Chantal E.

2013-01-01

The current study used fMRI in humans to examine goal-directed navigation in an open field environment. We designed a task that required participants to encode survey-level spatial information and subsequently navigate to a goal location in either first person, third person, or survey perspectives. Critically, no distinguishing landmarks or goal location markers were present in the environment, thereby requiring participants to rely on path integration mechanisms for successful navigation. We focused our analysis on mechanisms related to navigation and mechanisms tracking linear distance to the goal location. Successful navigation required translation of encoded survey-level map information for orientation and implementation of a planned route to the goal. Our results demonstrate that successful first and third person navigation trials recruited the anterior hippocampus more than trials when the goal location was not successfully reached. When examining only successful trials, the retrosplenial and posterior parietal cortices were recruited for goal-directed navigation in both first person and third person perspectives. Unique to first person perspective navigation, the hippocampus was recruited to path integrate self-motion cues with location computations toward the goal location. Last, our results demonstrate that the hippocampus supports goal-directed navigation by actively tracking proximity to the goal throughout navigation. When using path integration mechanisms in first person and third person perspective navigation, the posterior hippocampus was more strongly recruited as participants approach the goal. These findings provide critical insight into the neural mechanisms by which we are able to use map-level representations of our environment to reach our navigational goals. PMID:24305826

Bathymetry and acoustic backscatter data collected in 2010 from Cat Island, Mississippi

USGS Publications Warehouse

Buster, Noreen A.; Pfeiffer, William R.; Miselis, Jennifer L.; Kindinger, Jack G.; Wiese, Dana S.; Reynolds, B.J.

2012-01-01

Scientists from the U.S. Geological Survey (USGS), St. Petersburg Coastal and Marine Science Center (SPCMSC), in collaboration with the U.S. Army Corps of Engineers (USACE), conducted geophysical and sedimentological surveys around Cat Island, the westernmost island in the Mississippi-Alabama barrier island chain (fig. 1). The objectives of the study were to understand the geologic evolution of Cat Island relative to other barrier islands in the northern Gulf of Mexico and to identify relationships between the geologic history, present day morphology, and sediment distribution. This report contains data from the bathymetry and side-scan sonar portion of the study collected during two geophysical cruises. Interferometric swath bathymetry and side-scan sonar data were collected aboard the RV G.K. Gilbert September 7-15, 2010. Single-beam bathymetry was collected in shallow water around the island (< 2 meter (m)) from the RV Streeterville from September 28 to October 2, 2010, to cover the data gap between the landward limit of the previous cruise and the shoreline. This report serves as an archive of processed interferometric swath and single-beam bathymetry and side scan sonar data. GIS data products include a 50-m cell size interpolated gridded bathymetry surface, trackline maps, and an acoustic side-scan sonar image. Additional files include error analysis maps, Field Activity Collection System (FACS) logs, and formal Federal Geographic Data Committee (FDGC) metadata.

Views of the Sea Floor in Northern Monterey Bay, California

USGS Publications Warehouse

Storlazzi, Curt D.; Golden, Nadine E.; Finlayson, David P.

2008-01-01

A sonar survey that produced unprecedented high-resolution images of the sea floor in northern Monterey Bay was conducted in 2005 and 2006. The survey, performed over 14 days by the U.S. Geological Survey (USGS), consisted of 172 tracklines and over 300 million soundings and covered an area of 12.2 km2 (4.7 mi2). The goals of this survey were to collect high-resolution bathymetry (depth to the sea floor) and acoustic backscatter data (amount of sound energy bounced back from the sea floor, which provides information on sea-floor hardness and texture) from the inner continental shelf. These data will provide a baseline for future change analyses, geologic mapping, sediment- and contaminant-transport studies, benthic-habitat delineation, and numerical modeling efforts. The survey shows that the inner shelf in this area is extremely varied in nature, encompassing flat sandy areas, faults, boulder fields, and complex bedrock ridges that support rich marine ecosystems. Furthermore, many of these complex bedrock ridges form the ?reefs? that result in a number of California?s classic surf breaks.

Do humans integrate routes into a cognitive map? Map- versus landmark-based navigation of novel shortcuts.

PubMed

Foo, Patrick; Warren, William H; Duchon, Andrew; Tarr, Michael J

2005-03-01

Do humans integrate experience on specific routes into metric survey knowledge of the environment, or do they depend on a simpler strategy of landmark navigation? The authors tested this question using a novel shortcut paradigm during walking in a virtual environment. The authors find that participants could not take successful shortcuts in a desert world but could do so with dispersed landmarks in a forest. On catch trials, participants were drawn toward the displaced landmarks whether the landmarks were clustered near the target location or along the shortcut route. However, when landmarks appeared unreliable, participants fell back on coarse survey knowledge. Like honeybees (F. C. Dyer, 1991), humans do not appear to derive accurate cognitive maps from path integration to guide navigation but, instead, depend on landmarks when they are available.

One's own country and familiar places in the mind's eye: different topological representations for navigational and non-navigational contents.

PubMed

Boccia, M; Piccardi, L; Palermo, L; Nemmi, F; Sulpizio, V; Galati, G; Guariglia, C

2014-09-05

Visual mental imagery is a process that draws on different cognitive abilities and is affected by the contents of mental images. Several studies have demonstrated that different brain areas subtend the mental imagery of navigational and non-navigational contents. Here, we set out to determine whether there are distinct representations for navigational and geographical images. Specifically, we used a Spatial Compatibility Task (SCT) to assess the mental representation of a familiar navigational space (the campus), a familiar geographical space (the map of Italy) and familiar objects (the clock). Twenty-one participants judged whether the vertical or the horizontal arrangement of items was correct. We found that distinct representational strategies were preferred to solve different categories on the SCT, namely, the horizontal perspective for the campus and the vertical perspective for the clock and the map of Italy. Furthermore, we found significant effects due to individual differences in the vividness of mental images and in preferences for verbal versus visual strategies, which selectively affect the contents of mental images. Our results suggest that imagining a familiar navigational space is somewhat different from imagining a familiar geographical space. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

Navigable Waters Web Map Disclaimer

Science.gov Websites

/ Department of Law Reports & Letters Recordable Disclaimers of Interest Fact Sheet (PDF) State's Recordable Disclaimers of Interest for Navigable Waters BLM's website for Recordable Disclaimers of Interest

Frame of reference for electronic maps - The relevance of spatial cognition, mental rotation, and componential task analysis

NASA Technical Reports Server (NTRS)

Wickens, Christopher D.; Aretz, Anthony; Harwood, Kelly

1989-01-01

Three experiments are reported that examine the difference between north-up and track-up maps for airborne navigation. The results of the first two experiments, conducted in a basic laboratory setting, identified the cost associated with mental rotation, when a north-up map is used. However, the data suggest that these costs are neither large nor consistent. The third experiment examined a range of tasks in a higher fidelity helicopter flight simulation, and associated the costs of north-up maps with a cognitive component related to orientation, and the costs of track-up maps with a cognitive component related to inconsistent landmark location. Different tasks are associated with different dependence on these components. The results are discussed in terms of their implications for map design, and for cognitive models of navigational processes.

Mapping the 2017 Eclipse: Education, Navigation, Inspiration

NASA Astrophysics Data System (ADS)

Zeiler, M.

2015-12-01

Eclipse maps are a unique vessel of knowledge. At a glance, they communicate the essential knowledge of where and when to successfully view a total eclipse of the sun. An eclipse map also provides detailed knowledge of eclipse circumstances superimposed on the highway system for optimal navigation, especially in the event that weather forces relocation. Eclipse maps are also a vital planning tool for solar physicists and astrophotographers capturing high-resolution imagery of the solar corona. Michael Zeiler will speak to the role of eclipse maps in educating the American public and inspiring people to make the effort to reach the path of totality for the sight of a lifetime. Michael will review the role of eclipse maps in astronomical research and discuss a project under development, the 2017 Eclipse Atlas for smartphones, tablets, and desktop computers.

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.

Interactive knowledge networks for interdisciplinary course navigation within Moodle.

PubMed

Scherl, Andre; Dethleffsen, Kathrin; Meyer, Michael

2012-12-01

Web-based hypermedia learning environments are widely used in modern education and seem particularly well suited for interdisciplinary learning. Previous work has identified guidance through these complex environments as a crucial problem of their acceptance and efficiency. We reasoned that map-based navigation might provide straightforward and effortless orientation. To achieve this, we developed a clickable and user-oriented concept map-based navigation plugin. This tool is implemented as an extension of Moodle, a widely used learning management system. It visualizes inner and interdisciplinary relations between learning objects and is generated dynamically depending on user set parameters and interactions. This plugin leaves the choice of navigation type to the user and supports direct guidance. Previously developed and evaluated face-to-face interdisciplinary learning materials bridging physiology and physics courses of a medical curriculum were integrated as learning objects, the relations of which were defined by metadata. Learning objects included text pages, self-assessments, videos, animations, and simulations. In a field study, we analyzed the effects of this learning environment on physiology and physics knowledge as well as the transfer ability of third-term medical students. Data were generated from pre- and posttest questionnaires and from tracking student navigation. Use of the hypermedia environment resulted in a significant increase of knowledge and transfer capability. Furthermore, the efficiency of learning was enhanced. We conclude that hypermedia environments based on Moodle and enriched by concept map-based navigation tools can significantly support interdisciplinary learning. Implementation of adaptivity may further strengthen this approach.

Autonomous navigation and control of a Mars rover

NASA Technical Reports Server (NTRS)

Miller, D. P.; Atkinson, D. J.; Wilcox, B. H.; Mishkin, A. H.

1990-01-01

A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

New Radar Altimeter Missions are Providing a Dramatically Sharper Image of Global Marine Tectonics

NASA Astrophysics Data System (ADS)

Sandwell, D. T.; Müller, D.; Garcia, E.; Matthews, K. J.; Smith, W. H. F.; Zaron, E.; Zhang, S.; Bassett, D.; Francis, R.

2015-12-01

Marine gravity, derived from satellite radar altimetry, is a powerful tool for mapping tectonic structures, especially in the deep ocean basins where the topography remains unmapped by ships or is buried by thick sediment. The ability to infer seafloor tectonics from space was first demonstrated in 1978 using Seasat altimeter data but the spatial coverage was incomplete because of the short three-month lifetime of the satellite. Most ocean altimeters have repeat ground tracks with spacings of hundreds of kilometers so they do not resolve tectonic structures. Adequate altimeter coverage became available in 1995 when the United States Navy declassified the Geosat radar altimeter data and the ERS-1 altimeter completed a 1-year mapping phase. These mid-1990's altimeter-derived images of the ocean basins remained static for 15 years because there were no new non-repeat altimeter missions. This situation changed dramatically in 2010 when CryoSat-2, with its advanced radar altimeter, was launched into a non-repeat orbit and continues to collect data until perhaps 2020. In addition the Jason-1 altimeter was placed into a 14-month geodetic phase at the end of its lifetime. More recently the 1.5 times higher precision measurements from the AltiKa altimeter aboard the SARAL spacecraft began to drift away from its 35-day repeat trackline. The Chinese HY-2 altimeter is scheduled to begin a dense mapping phase in early 2016. Moreover in 2020 we may enjoy significantly higher resolution maps of the ocean basins from the planned SWOT altimeter mission with its advanced swath mapping ability. All of this new data will provide a much sharper image of the tectonics of the deep ocean basins and continental margins. During this talk we will tour of the new tectonic structures revealed by CryoSat-2 and Jason-1 and speculate on the tectonic views of the ocean basins in 2020 and beyond.

The Stability of Geometric Inference in Location Determination

DTIC Science & Technology

1994-07-08

environment, but not have a complete map of the surrounding terrain. Gallistel [ Gallistel , 1990] claims that the popular belief that the cognitive maps of...considering that an error of in the sun’s azimuth will put a navigator off by 100 km. Gallistel believes that animals obtain direction from the...constellations used for navigation are learned by these birds as nestlings [ Gallistel , 1990]. Birds in different areas of the world learn different

Institute of Navigation, Annual Meeting, 47th, Williamsburg, VA, June 10-12, 1991, Proceedings

NASA Astrophysics Data System (ADS)

1991-11-01

The present volume of navigation and exploration discusses space exploration, mapping and geodesy, aircraft navigation, undersea navigation, land and vehicular location, international and legal aspects of navigation, the history of navigation technology and applications, Loran development and implementation, GPS and GLONASS developments, and search and rescue. Topics addressed include stabilization of low orbiting spacecraft using GPS, the employment of laser navigation for automatic rendezvous and docking systems, enhanced pseudostatic processing, and the expanding role of sensor fusion. Attention is given to a gravity-aided inertial navigation system, recent developments in aviation products liability and navigation, the ICAO future air navigation system, and Loran's implementation in NAS. Also discussed are Inmarsat integrated navigation/communication activities, the GPS program status, the evolution of military GPS technology into the Navcore V receiver engine, and Sarsat location algorithms.

33 CFR 164.72 - Navigational-safety equipment, charts or maps, and publications required on towing vessels.

Code of Federal Regulations, 2010 CFR

2010-07-01

..., either a LORAN-C receiver or a satellite navigational system such as the Global Positioning System (GPS... the following navigational-safety equipment: (1) Marine radar. By August 2, 1997, a marine radar that meets the following applicable requirements: (i) For a vessel of less than 300 tons gross tonnage that...

MBARI Mapping AUV: A High-Resolution Deep Ocean Seafloor Mapping Capability

NASA Astrophysics Data System (ADS)

Caress, D. W.; Kirkwood, W. J.; Thomas, H.; McEwen, R.; Henthorn, R.; McGill, P.; Thompson, D.; Sibenac, M.; Jensen, S.; Shane, F.; Hamilton, A.

2005-05-01

The Monterey Bay Aquarium Research Institute (MBARI) is developing an autonomous seafloor mapping capability for deep ocean science applications. The MBARI Mapping AUV is a 0.53 m (21 in) diameter, 5.1 m (16.7 ft) long, Dorado-class vehicle designed to carry four mapping sonars. The primary sensor is a 200 kHz multibeam sonar producing swath bathymetry and sidescan. In addition, the vehicle carries 100 kHz and 410 kHz chirp sidescan sonars, and a 2-16 kHz sweep chirp subbottom profiler. Navigation and attitude data are obtained from an inertial navigation system (INS) incorporating a ring laser gyro and a 300 kHz Doppler velocity log (DVL). The vehicle also includes acoustic modem, ultra-short baseline navigation, and long-baseline navigation systems. The Mapping AUV is powered by 6 kWhr of Li-polymer batteries, providing expected mission duration of 12 hours at a typical speed of 1.5 m/s. All components of the vehicle are rated to 6000 m depth, allowing MBARI to conduct high-resolution mapping of the deep-ocean seafloor. The sonar package is also be mountable on ROV Ventana, allowing surveys at altitudes less than 20 m at topographically challenging sites. The vehicle was assembled and extensively tested during 2004; this year we are commencing operations for MBARI science projects while continuing the process of testing and integrating the complete suite of sensors and systems. MBARI is beginning to use this capability to observe the changing morphology of dynamic systems such as submarine canyons and active slumps, to map deep-water benthic habitats at resolutions comparable to ROV and submersible observations, to provide basemaps for ROV dives, and to provide high resolution bathymetry and subbottom profiles as part of a variety of projects requiring knowledge of the seafloor. We will present initial results from surveys in and around Monterey Canyon, including high resolution repeat surveys of four sites along the canyon axis.

An Improved Map-Matching Technique Based on the Fréchet Distance Approach for Pedestrian Navigation Services

PubMed Central

Bang, Yoonsik; Kim, Jiyoung; Yu, Kiyun

2016-01-01

Wearable and smartphone technology innovations have propelled the growth of Pedestrian Navigation Services (PNS). PNS need a map-matching process to project a user’s locations onto maps. Many map-matching techniques have been developed for vehicle navigation services. These techniques are inappropriate for PNS because pedestrians move, stop, and turn in different ways compared to vehicles. In addition, the base map data for pedestrians are more complicated than for vehicles. This article proposes a new map-matching method for locating Global Positioning System (GPS) trajectories of pedestrians onto road network datasets. The theory underlying this approach is based on the Fréchet distance, one of the measures of geometric similarity between two curves. The Fréchet distance approach can provide reasonable matching results because two linear trajectories are parameterized with the time variable. Then we improved the method to be adaptive to the positional error of the GPS signal. We used an adaptation coefficient to adjust the search range for every input signal, based on the assumption of auto-correlation between consecutive GPS points. To reduce errors in matching, the reliability index was evaluated in real time for each match. To test the proposed map-matching method, we applied it to GPS trajectories of pedestrians and the road network data. We then assessed the performance by comparing the results with reference datasets. Our proposed method performed better with test data when compared to a conventional map-matching technique for vehicles. PMID:27782091

Atrial Fibrillation Ablation Guided by a Novel Nonfluoroscopic Navigation System.

PubMed

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

2017-09-01

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

Reference frames in virtual spatial navigation are viewpoint dependent

PubMed Central

Török, Ágoston; Nguyen, T. Peter; Kolozsvári, Orsolya; Buchanan, Robert J.; Nadasdy, Zoltan

2014-01-01

Spatial navigation in the mammalian brain relies on a cognitive map of the environment. Such cognitive maps enable us, for example, to take the optimal route from a given location to a known target. The formation of these maps is naturally influenced by our perception of the environment, meaning it is dependent on factors such as our viewpoint and choice of reference frame. Yet, it is unknown how these factors influence the construction of cognitive maps. Here, we evaluated how various combinations of viewpoints and reference frames affect subjects' performance when they navigated in a bounded virtual environment without landmarks. We measured both their path length and time efficiency and found that (1) ground perspective was associated with egocentric frame of reference, (2) aerial perspective was associated with allocentric frame of reference, (3) there was no appreciable performance difference between first and third person egocentric viewing positions and (4) while none of these effects were dependent on gender, males tended to perform better in general. Our study provides evidence that there are inherent associations between visual perspectives and cognitive reference frames. This result has implications about the mechanisms of path integration in the human brain and may also inspire designs of virtual reality applications. Lastly, we demonstrated the effective use of a tablet PC and spatial navigation tasks for studying spatial and cognitive aspects of human memory. PMID:25249956

Reference frames in virtual spatial navigation are viewpoint dependent.

PubMed

Török, Agoston; Nguyen, T Peter; Kolozsvári, Orsolya; Buchanan, Robert J; Nadasdy, Zoltan

2014-01-01

Spatial navigation in the mammalian brain relies on a cognitive map of the environment. Such cognitive maps enable us, for example, to take the optimal route from a given location to a known target. The formation of these maps is naturally influenced by our perception of the environment, meaning it is dependent on factors such as our viewpoint and choice of reference frame. Yet, it is unknown how these factors influence the construction of cognitive maps. Here, we evaluated how various combinations of viewpoints and reference frames affect subjects' performance when they navigated in a bounded virtual environment without landmarks. We measured both their path length and time efficiency and found that (1) ground perspective was associated with egocentric frame of reference, (2) aerial perspective was associated with allocentric frame of reference, (3) there was no appreciable performance difference between first and third person egocentric viewing positions and (4) while none of these effects were dependent on gender, males tended to perform better in general. Our study provides evidence that there are inherent associations between visual perspectives and cognitive reference frames. This result has implications about the mechanisms of path integration in the human brain and may also inspire designs of virtual reality applications. Lastly, we demonstrated the effective use of a tablet PC and spatial navigation tasks for studying spatial and cognitive aspects of human memory.

46 CFR 35.20-1 - Notice to mariners; aids to navigation-T/OCLB.

Code of Federal Regulations, 2011 CFR

2011-10-01

... that vessels navigating oceans and coastwise and Great Lakes water shall have available in the... prepared jointly by the National Imagery and Mapping Agency, National Ocean Service, and the U.S. Coast...

46 CFR 35.20-1 - Notice to mariners; aids to navigation-T/OCLB.

Code of Federal Regulations, 2013 CFR

2013-10-01

... that vessels navigating oceans and coastwise and Great Lakes water shall have available in the... prepared jointly by the National Imagery and Mapping Agency, National Ocean Service, and the U.S. Coast...

46 CFR 35.20-1 - Notice to mariners; aids to navigation-T/OCLB.

Code of Federal Regulations, 2012 CFR

2012-10-01

... that vessels navigating oceans and coastwise and Great Lakes water shall have available in the... prepared jointly by the National Imagery and Mapping Agency, National Ocean Service, and the U.S. Coast...

33 CFR 164.72 - Navigational-safety equipment, charts or maps, and publications required on towing vessels.

Code of Federal Regulations, 2014 CFR

2014-07-01

... magnetic steering compass readable from the vessel's main steering station, if the vessel engages in towing... engages in towing on navigable waters of the U.S., including Western Rivers, the radar must meet— (A) The... than 300 tons gross tonnage that engages in towing seaward of navigable waters of the U.S. or more than...

33 CFR 164.72 - Navigational-safety equipment, charts or maps, and publications required on towing vessels.

Code of Federal Regulations, 2013 CFR

2013-07-01

... magnetic steering compass readable from the vessel's main steering station, if the vessel engages in towing... engages in towing on navigable waters of the U.S., including Western Rivers, the radar must meet— (A) The... than 300 tons gross tonnage that engages in towing seaward of navigable waters of the U.S. or more than...

33 CFR 164.72 - Navigational-safety equipment, charts or maps, and publications required on towing vessels.

Code of Federal Regulations, 2011 CFR

2011-07-01

... the following navigational-safety equipment: (1) Marine radar. By August 2, 1997, a marine radar that... engages in towing on navigable waters of the U.S., including Western Rivers, the radar must meet— (A) The... for Marine Radar Equipment Installed on Ships of Less Than 300 Tons Gross Tonnage, RTCM Paper 71-95...

Learning and Navigation Assistance in a Hypermedia

ERIC Educational Resources Information Center

Khentout, Chabane; Harous, Saad; Douidi, Lamri; Djoudi, Mahieddine

2006-01-01

Navigating through hypermedia the user faces problems of locating oneself with respect to space and time. That is why there is a need to develop tools that can help the user locate himself to see where he has been browsing through the net during a particular navigation session through hypermedia. It is needed to offer the user a map of the visited…

High resolution hybrid optical and acoustic sea floor maps (Invited)

NASA Astrophysics Data System (ADS)

Roman, C.; Inglis, G.

2013-12-01

This abstract presents a method for creating hybrid optical and acoustic sea floor reconstructions at centimeter scale grid resolutions with robotic vehicles. Multibeam sonar and stereo vision are two common sensing modalities with complementary strengths that are well suited for data fusion. We have recently developed an automated two stage pipeline to create such maps. The steps can be broken down as navigation refinement and map construction. During navigation refinement a graph-based optimization algorithm is used to align 3D point clouds created with both the multibeam sonar and stereo cameras. The process combats the typical growth in navigation error that has a detrimental affect on map fidelity and typically introduces artifacts at small grid sizes. During this process we are able to automatically register local point clouds created by each sensor to themselves and to each other where they overlap in a survey pattern. The process also estimates the sensor offsets, such as heading, pitch and roll, that describe how each sensor is mounted to the vehicle. The end results of the navigation step is a refined vehicle trajectory that ensures the points clouds from each sensor are consistently aligned, and the individual sensor offsets. In the mapping step, grid cells in the map are selectively populated by choosing data points from each sensor in an automated manner. The selection process is designed to pick points that preserve the best characteristics of each sensor and honor some specific map quality criteria to reduce outliers and ghosting. In general, the algorithm selects dense 3D stereo points in areas of high texture and point density. In areas where the stereo vision is poor, such as in a scene with low contrast or texture, multibeam sonar points are inserted in the map. This process is automated and results in a hybrid map populated with data from both sensors. Additional cross modality checks are made to reject outliers in a robust manner. The final hybrid map retains the strengths of both sensors and shows improvement over the single modality maps and a naively assembled multi-modal map where all the data points are included and averaged. Results will be presented from marine geological and archaeological applications using a 1350 kHz BlueView multibeam sonar and 1.3 megapixel digital still cameras.

Self-contained image mapping of placental vasculature in 3D ultrasound-guided fetoscopy.

PubMed

Yang, Liangjing; Wang, Junchen; Ando, Takehiro; Kubota, Akihiro; Yamashita, Hiromasa; Sakuma, Ichiro; Chiba, Toshio; Kobayashi, Etsuko

2016-09-01

Surgical navigation technology directed at fetoscopic procedures is relatively underdeveloped compared with other forms of endoscopy. The narrow fetoscopic field of views and the vast vascular network on the placenta make examination and photocoagulation treatment of twin-to-twin transfusion syndrome challenging. Though ultrasonography is used for intraoperative guidance, its navigational ability is not fully exploited. This work aims to integrate 3D ultrasound imaging and endoscopic vision seamlessly for placental vasculature mapping through a self-contained framework without external navigational devices. This is achieved through development, integration, and experimentation of novel navigational modules. Firstly, a framework design that addresses the current limitations based on identified gaps is conceptualized. Secondly, integration of navigational modules including (1) ultrasound-based localization, (2) image alignment, and (3) vision-based tracking to update the scene texture map is implemented. This updated texture map is projected to an ultrasound-constructed 3D model for photorealistic texturing of the 3D scene creating a panoramic view of the moving fetoscope. In addition, a collaborative scheme for the integration of the modular workflow system is proposed to schedule updates in a systematic fashion. Finally, experiments are carried out to evaluate each modular variation and an integrated collaborative scheme of the framework. The modules and the collaborative scheme are evaluated through a series of phantom experiments with controlled trajectories for repeatability. The collaborative framework demonstrated the best accuracy (5.2 % RMS error) compared with all the three single-module variations during the experiment. Validation on an ex vivo monkey placenta shows visual continuity of the freehand fetoscopic panorama. The proposed developed collaborative framework and the evaluation study of the framework variations provide analytical insights for effective integration of ultrasonography and endoscopy. This contributes to the development of navigation techniques in fetoscopic procedures and can potentially be extended to other applications in intraoperative imaging.

Use of Assisted Photogrammetry for Indoor and Outdoor Navigation Purposes

NASA Astrophysics Data System (ADS)

Pagliari, D.; Cazzaniga, N. E.; Pinto, L.

2015-05-01

Nowadays, devices and applications that require navigation solutions are continuously growing. For instance, consider the increasing demand of mapping information or the development of applications based on users' location. In some case it could be sufficient an approximate solution (e.g. at room level), but in the large amount of cases a better solution is required. The navigation problem has been solved from a long time using Global Navigation Satellite System (GNSS). However, it can be unless in obstructed areas, such as in urban areas or inside buildings. An interesting low cost solution is photogrammetry, assisted using additional information to scale the photogrammetric problem and recovering a solution also in critical situation for image-based methods (e.g. poor textured surfaces). In this paper, the use of assisted photogrammetry has been tested for both outdoor and indoor scenarios. Outdoor navigation problem has been faced developing a positioning system with Ground Control Points extracted from urban maps as constrain and tie points automatically extracted from the images acquired during the survey. The proposed approach has been tested under different scenarios, recovering the followed trajectory with an accuracy of 0.20 m. For indoor navigation a solution has been thought to integrate the data delivered by Microsoft Kinect, by identifying interesting features on the RGB images and re-projecting them on the point clouds generated from the delivered depth maps. Then, these points have been used to estimate the rotation matrix between subsequent point clouds and, consequently, to recover the trajectory with few centimeters of error.

46 CFR 167.65-45 - Notice to mariners; aids to navigation.

Code of Federal Regulations, 2011 CFR

2011-10-01

... so is evidence of neglect of duty. It is desirable that nautical school ships navigating oceans and... and Mapping Agency, National Ocean Service, and the U.S. Coast Guard. They include changes in aids to...

46 CFR 167.65-45 - Notice to mariners; aids to navigation.

Code of Federal Regulations, 2013 CFR

2013-10-01

... so is evidence of neglect of duty. It is desirable that nautical school ships navigating oceans and... and Mapping Agency, National Ocean Service, and the U.S. Coast Guard. They include changes in aids to...

46 CFR 167.65-45 - Notice to mariners; aids to navigation.

Code of Federal Regulations, 2012 CFR

2012-10-01

... so is evidence of neglect of duty. It is desirable that nautical school ships navigating oceans and... and Mapping Agency, National Ocean Service, and the U.S. Coast Guard. They include changes in aids to...

SLAM algorithm applied to robotics assistance for navigation in unknown environments.

PubMed

Cheein, Fernando A Auat; Lopez, Natalia; Soria, Carlos M; di Sciascio, Fernando A; Pereira, Fernando Lobo; Carelli, Ricardo

2010-02-17

The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation.

Unraveling navigational strategies in migratory insects

PubMed Central

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

2011-01-01

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

Navigation and Elctro-Optic Sensor Integration Technology for Fusion of Imagery and Digital Mapping Products

DTIC Science & Technology

1999-08-01

Electro - Optic Sensor Integration Technology (NEOSIT) software application. The design is highly modular and based on COTS tools to facilitate integration with sensors, navigation and digital data sources already installed on different host

Archive of Digital Chirp Subbottom Profile Data Collected During USGS Cruise 14BIM05 Offshore of Breton Island, Louisiana, August 2014

USGS Publications Warehouse

Forde, Arnell S.; Flocks, James G.; Wiese, Dana S.; Fredericks, Jake J.

2016-03-29

The archived trace data are in standard SEG Y rev. 0 format (Barry and others, 1975); the first 3,200 bytes of the card image header are in American Standard Code for Information Interchange (ASCII) format instead of Extended Binary Coded Decimal Interchange Code (EBCDIC) format. The SEG Y files are available on the DVD version of this report or online, downloadable via the USGS Coastal and Marine Geoscience Data System (http://cmgds.marine.usgs.gov). The data are also available for viewing using GeoMapApp (http://www.geomapapp.org) and Virtual Ocean (http://www.virtualocean.org) multi-platform open source software. The Web version of this archive does not contain the SEG Y trace files. To obtain the complete DVD archive, contact USGS Information Services at 1-888-ASK-USGS or infoservices@usgs.gov. The SEG Y files may be downloaded and processed with commercial or public domain software such as Seismic Unix (SU) (Cohen and Stockwell, 2010). See the How To Download SEG Y Data page for download instructions. The printable profiles are provided as Graphics Interchange Format (GIF) images processed and gained using SU software and can be viewed from theProfiles page or by using the links located on the trackline maps; refer to the Software page for links to example SU processing scripts.

a Fast and Flexible Method for Meta-Map Building for Icp Based Slam

NASA Astrophysics Data System (ADS)

Kurian, A.; Morin, K. W.

2016-06-01

Recent developments in LiDAR sensors make mobile mapping fast and cost effective. These sensors generate a large amount of data which in turn improves the coverage and details of the map. Due to the limited range of the sensor, one has to collect a series of scans to build the entire map of the environment. If we have good GNSS coverage, building a map is a well addressed problem. But in an indoor environment, we have limited GNSS reception and an inertial solution, if available, can quickly diverge. In such situations, simultaneous localization and mapping (SLAM) is used to generate a navigation solution and map concurrently. SLAM using point clouds possesses a number of computational challenges even with modern hardware due to the shear amount of data. In this paper, we propose two strategies for minimizing the cost of computation and storage when a 3D point cloud is used for navigation and real-time map building. We have used the 3D point cloud generated by Leica Geosystems's Pegasus Backpack which is equipped with Velodyne VLP-16 LiDARs scanners. To improve the speed of the conventional iterative closest point (ICP) algorithm, we propose a point cloud sub-sampling strategy which does not throw away any key features and yet significantly reduces the number of points that needs to be processed and stored. In order to speed up the correspondence finding step, a dual kd-tree and circular buffer architecture is proposed. We have shown that the proposed method can run in real time and has excellent navigation accuracy characteristics.

Study on Mobile Object Positioning and Alarming System Based on the “Map World” in the Core Area of the Silk Road Economic Belt

NASA Astrophysics Data System (ADS)

Mu, Kai

2017-02-01

The established “Map World” on the National Geographic Information Public Service Platform offers free access to many geographic information in the Core Area of the Silk Road Economic Belt. Considering the special security situation and severe splittism and anti-splittism struggles in the Core Area of the Silk Road Economic Belt, a set of moving target positioning and alarming platform based on J2EE platform and B/S structure was designed and realized by combining the “Map World” data and global navigation satellite system. This platform solves various problems, such as effective combination of Global Navigation Satellite System (GNSS) and “Map World” resources, moving target alarming setting, inquiry of historical routes, system management, etc.

Infrasound and the avian navigational map

USGS Publications Warehouse

Hagstrum, J.T.

2001-01-01

Birds can accurately navigate over hundreds to thousands of kilometres, and use celestial and magnetic compass senses to orient their flight. How birds determine their location in order to select the correct homeward bearing (map sense) remains controversial, and has been attributed to their olfactory or magnetic senses. Pigeons can hear infrasound down to 0??05 Hz, and an acoustic avian map is proposed consisting of infrasonic cues radiated from steep-sided topographic features. The source of these infrasonic signals is microseisms continuously generated by interfering oceanic waves. Atmospheric processes affecting the infrasonic map cues can explain perplexing experimental results from pigeon releases. Moreover, four recent disrupted pigeon races in Europe and the north-eastern USA intersected infrasonic shock waves from the Concorde supersonic transport. Having an acoustic map might also allow clock-shifted birds to test their homeward progress and select between their magnetic and solar compasses.

Reading Angles in Maps

ERIC Educational Resources Information Center

Izard, Véronique; O'Donnell, Evan; Spelke, Elizabeth S.

2014-01-01

Preschool children can navigate by simple geometric maps of the environment, but the nature of the geometric relations they use in map reading remains unclear. Here, children were tested specifically on their sensitivity to angle. Forty-eight children (age 47:15-53:30 months) were presented with fragments of geometric maps, in which angle sections…

Time-resolved 3D MR velocity mapping at 3T: improved navigator-gated assessment of vascular anatomy and blood flow.

PubMed

Markl, Michael; Harloff, Andreas; Bley, Thorsten A; Zaitsev, Maxim; Jung, Bernd; Weigang, Ernst; Langer, Mathias; Hennig, Jürgen; Frydrychowicz, Alex

2007-04-01

To evaluate an improved image acquisition and data-processing strategy for assessing aortic vascular geometry and 3D blood flow at 3T. In a study with five normal volunteers and seven patients with known aortic pathology, prospectively ECG-gated cine three-dimensional (3D) MR velocity mapping with improved navigator gating, real-time adaptive k-space ordering and dynamic adjustment of the navigator acceptance criteria was performed. In addition to morphological information and three-directional blood flow velocities, phase-contrast (PC)-MRA images were derived from the same data set, which permitted 3D isosurface rendering of vascular boundaries in combination with visualization of blood-flow patterns. Analysis of navigator performance and image quality revealed improved scan efficiencies of 63.6%+/-10.5% and temporal resolution (<50 msec) compared to previous implementations. Semiquantitative evaluation of image quality by three independent observers demonstrated excellent general image appearance with moderate blurring and minor ghosting artifacts. Results from volunteer and patient examinations illustrate the potential of the improved image acquisition and data-processing strategy for identifying normal and pathological blood-flow characteristics. Navigator-gated time-resolved 3D MR velocity mapping at 3T in combination with advanced data processing is a powerful tool for performing detailed assessments of global and local blood-flow characteristics in the aorta to describe or exclude vascular alterations. Copyright (c) 2007 Wiley-Liss, Inc.

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

PubMed

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

2002-12-01

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

McIDAS-eXplorer: A version of McIDAS for planetary applications

NASA Technical Reports Server (NTRS)

Limaye, Sanjay S.; Saunders, R. Stephen; Sromovsky, Lawrence A.; Martin, Michael

1994-01-01

McIDAS-eXplorer is a set of software tools developed for analysis of planetary data published by the Planetary Data System on CD-ROM's. It is built upon McIDAS-X, an environment which has been in use nearly two decades now for earth weather satellite data applications in research and routine operations. The environment allows convenient access, navigation, analysis, display, and animation of planetary data by utilizing the full calibration data accompanying the planetary data. Support currently exists for Voyager images of the giant planets and their satellites; Magellan radar images (F-MIDR and C-MIDR's, global map products (GxDR's), and altimetry data (ARCDR's)); Galileo SSI images of the earth, moon, and Venus; Viking Mars images and MDIM's as well as most earth based telescopic images of solar system objects (FITS). The NAIF/JPL SPICE kernels are used for image navigation when available. For data without the SPICE kernels (such as the bulk of the Voyager Jupiter and Saturn imagery and Pioneer Orbiter images of Venus), tools based on NAIF toolkit allow the user to navigate the images interactively. Multiple navigation types can be attached to a given image (e.g., for ring navigation and planet navigation in the same image). Tools are available to perform common image processing tasks such as digital filtering, cartographic mapping, map overlays, and data extraction. It is also possible to have different planetary radii for an object such as Venus which requires a different radius for the surface and for the cloud level. A graphical user interface based on Tel-Tk scripting language is provided (UNIX only at present) for using the environment and also to provide on-line help. It is possible for end users to add applications of their own to the environment at any time.

The Performance of a Tight Ins/gnss/photogrammetric Integration Scheme for Land Based MMS Applications in Gnss Denied Environments

NASA Astrophysics Data System (ADS)

Chu, Chien-Hsun; Chiang, Kai-Wei

2016-06-01

The early development of mobile mapping system (MMS) was restricted to applications that permitted the determination of the elements of exterior orientation from existing ground control. Mobile mapping refers to a means of collecting geospatial data using mapping sensors that are mounted on a mobile platform. Research works concerning mobile mapping dates back to the late 1980s. This process is mainly driven by the need for highway infrastructure mapping and transportation corridor inventories. In the early nineties, advances in satellite and inertial technology made it possible to think about mobile mapping in a different way. Instead of using ground control points as references for orienting the images in space, the trajectory and attitude of the imager platform could now be determined directly. Cameras, along with navigation and positioning sensors are integrated and mounted on a land vehicle for mapping purposes. Objects of interest can be directly measured and mapped from images that have been georeferenced using navigation and positioning sensors. Direct georeferencing (DG) is the determination of time-variable position and orientation parameters for a mobile digital imager. The most common technologies used for this purpose today are satellite positioning using the Global Navigation Satellite System (GNSS) and inertial navigation using an Inertial Measuring Unit (IMU). Although either technology used along could in principle determine both position and orientation, they are usually integrated in such a way that the IMU is the main orientation sensor, while the GNSS receiver is the main position sensor. However, GNSS signals are obstructed due to limited number of visible satellites in GNSS denied environments such as urban canyon, foliage, tunnel and indoor that cause the GNSS gap or interfered by reflected signals that cause abnormal measurement residuals thus deteriorates the positioning accuracy in GNSS denied environments. This study aims at developing a novel method that uses ground control points to maintain the positioning accuracy of the MMS in GNSS denied environments. At last, this study analyses the performance of proposed method using about 20 check-points through DG process.

Light Detection and Ranging-Based Terrain Navigation: A Concept Exploration

NASA Technical Reports Server (NTRS)

Campbell, Jacob; UijtdeHaag, Maarten; vanGraas, Frank; Young, Steve

2003-01-01

This paper discusses the use of Airborne Light Detection And Ranging (LiDAR) equipment for terrain navigation. Airborne LiDAR is a relatively new technology used primarily by the geo-spatial mapping community to produce highly accurate and dense terrain elevation maps. In this paper, the term LiDAR refers to a scanning laser ranger rigidly mounted to an aircraft, as opposed to an integrated sensor system that consists of a scanning laser ranger integrated with Global Positioning System (GPS) and Inertial Measurement Unit (IMU) data. Data from the laser range scanner and IMU will be integrated with a terrain database to estimate the aircraft position and data from the laser range scanner will be integrated with GPS to estimate the aircraft attitude. LiDAR data was collected using NASA Dryden's DC-8 flying laboratory in Reno, NV and was used to test the proposed terrain navigation system. The results of LiDAR-based terrain navigation shown in this paper indicate that airborne LiDAR is a viable technology enabler for fully autonomous aircraft navigation. The navigation performance is highly dependent on the quality of the terrain databases used for positioning and therefore high-resolution (2 m post-spacing) data was used as the terrain reference.

Lidar-Based Navigation Algorithm for Safe Lunar Landing

NASA Technical Reports Server (NTRS)

Myers, David M.; Johnson, Andrew E.; Werner, Robert A.

2011-01-01

The purpose of Hazard Relative Navigation (HRN) is to provide measurements to the Navigation Filter so that it can limit errors on the position estimate after hazards have been detected. The hazards are detected by processing a hazard digital elevation map (HDEM). The HRN process takes lidar images as the spacecraft descends to the surface and matches these to the HDEM to compute relative position measurements. Since the HDEM has the hazards embedded in it, the position measurements are relative to the hazards, hence the name Hazard Relative Navigation.

Enhancing the care navigation model: potential roles for health sciences librarians

PubMed Central

Huber, Jeffrey T.; Shapiro, Robert M.; Burke, Heather J.; Palmer, Aaron

2014-01-01

This study analyzed the overlap between roles and activities that health care navigators perform and competencies identified by the Medical Library Association's (MLA's) educational policy statement. Roles and activities that health care navigators perform were gleaned from published literature. Once common roles and activities that health care navigators perform were identified, MLA competencies were mapped against those roles and activities to identify areas of overlap. The greatest extent of correspondence occurred in patient empowerment and support. Further research is warranted to determine the extent to which health sciences librarians might assume responsibility for roles and activities that health care navigators perform. PMID:24415921

From chemotaxis to the cognitive map: The function of olfaction

PubMed Central

Jacobs, Lucia F.

2012-01-01

A paradox of vertebrate brain evolution is the unexplained variability in the size of the olfactory bulb (OB), in contrast to other brain regions, which scale predictably with brain size. Such variability appears to be the result of selection for olfactory function, yet there is no obvious concordance that would predict the causal relationship between OB size and behavior. This discordance may derive from assuming the primary function of olfaction is odorant discrimination and acuity. If instead the primary function of olfaction is navigation, i.e., predicting odorant distributions in time and space, variability in absolute OB size could be ascribed and explained by variability in navigational demand. This olfactory spatial hypothesis offers a single functional explanation to account for patterns of olfactory system scaling in vertebrates, the primacy of olfaction in spatial navigation, even in visual specialists, and proposes an evolutionary scenario to account for the convergence in olfactory structure and function across protostomes and deuterostomes. In addition, the unique percepts of olfaction may organize odorant information in a parallel map structure. This could have served as a scaffold for the evolution of the parallel map structure of the mammalian hippocampus, and possibly the arthropod mushroom body, and offers an explanation for similar flexible spatial navigation strategies in arthropods and vertebrates. PMID:22723365

Navigation based on a sensorimotor representation: a virtual reality study

NASA Astrophysics Data System (ADS)

Zetzsche, Christoph; Galbraith, Christopher; Wolter, Johannes; Schill, Kerstin

2007-02-01

We investigate the hypothesis that the basic representation of space which underlies human navigation does not resemble an image-like map and is not restricted by the laws of Euclidean geometry. For this we developed a new experimental technique in which we use the properties of a virtual environment (VE) to directly influence the development of the representation. We compared the navigation performance of human observers under two conditions. Either the VE is consistent with the geometrical properties of physical space and could hence be represented in a map-like fashion, or it contains severe violations of Euclidean metric and planar topology, and would thus pose difficulties for the correct development of such a representation. Performance is not influenced by this difference, suggesting that a map-like representation is not the major basis of human navigation. Rather, the results are consistent with a representation which is similar to a non-planar graph augmented with path length information, or with a sensorimotor representation which combines sensory properties and motor actions. The latter may be seen as part of a revised view of perceptual processes due to recent results in psychology and neurobiology, which indicate that the traditional strict separation of sensory and motor systems is no longer tenable.

Preliminary bathymetry; Ester Passage to Eaglek Island, Alaska

USGS Publications Warehouse

Post, Austin

1980-01-01

A map, scale 1:20,000, shows water depths, rocks, and hazards to navigation. These data are noted on track lines run by the Research Vessel Growler in Alaskan waters, where data on navigation shown on published charts are nonexistant, preliminary, or out dated. (USGS)

Preliminary bathymetry; approaches to Unakwik Inlet, Alaska

USGS Publications Warehouse

Post, Austin

1980-01-01

A map, scale 1:20,000, shows water depths, rocks, and hazards to navigation. These data are noted on track lines run by the Research Vessel Growler in Alaskan waters, where data on navigation shown on published charts are nonexistant, preliminary, or out dated. (USGS)

14 CFR 63.53 - Knowledge requirements.

Code of Federal Regulations, 2012 CFR

2012-01-01

..., including flight planning and cruise control; (3) Practical meteorology, including analysis of weather maps... CERTIFICATION: FLIGHT CREWMEMBERS OTHER THAN PILOTS Flight Navigators § 63.53 Knowledge requirements. (a) An applicant for a flight navigator certificate must pass a written test on— (1) The regulations of this...

14 CFR 63.53 - Knowledge requirements.

Code of Federal Regulations, 2014 CFR

2014-01-01

..., including flight planning and cruise control; (3) Practical meteorology, including analysis of weather maps... CERTIFICATION: FLIGHT CREWMEMBERS OTHER THAN PILOTS Flight Navigators § 63.53 Knowledge requirements. (a) An applicant for a flight navigator certificate must pass a written test on— (1) The regulations of this...

14 CFR 63.53 - Knowledge requirements.

Code of Federal Regulations, 2013 CFR

2013-01-01

..., including flight planning and cruise control; (3) Practical meteorology, including analysis of weather maps... CERTIFICATION: FLIGHT CREWMEMBERS OTHER THAN PILOTS Flight Navigators § 63.53 Knowledge requirements. (a) An applicant for a flight navigator certificate must pass a written test on— (1) The regulations of this...

Vertical navigation displays : pilot performance and workload during simulated constant-angle-of-descent GPS approaches

DOT National Transportation Integrated Search

2000-03-26

This study compared the effect of alternative graphic or : numeric cockpit display formats on the tactical aspects of : vertical navigation (VNAV). Display formats included: : a) a moving map with altitude range arc, b) the same : format, supplemente...

Astronomical Methods in Aerial Navigation

NASA Technical Reports Server (NTRS)

Beij, K Hilding

1925-01-01

The astronomical method of determining position is universally used in marine navigation and may also be of service in aerial navigation. The practical application of the method, however, must be modified and adapted to conform to the requirements of aviation. Much of this work of adaptation has already been accomplished, but being scattered through various technical journals in a number of languages, is not readily available. This report is for the purpose of collecting under one cover such previous work as appears to be of value to the aerial navigator, comparing instruments and methods, indicating the best practice, and suggesting future developments. The various methods of determining position and their application and value are outlined, and a brief resume of the theory of the astronomical method is given. Observation instruments are described in detail. A complete discussion of the reduction of observations follows, including a rapid method of finding position from the altitudes of two stars. Maps and map cases are briefly considered. A bibliography of the subject is appended.

Unraveling navigational strategies in migratory insects.

PubMed

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

2012-04-01

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

Towards high-speed autonomous navigation of unknown environments

NASA Astrophysics Data System (ADS)

Richter, Charles; Roy, Nicholas

2015-05-01

In this paper, we summarize recent research enabling high-speed navigation in unknown environments for dynamic robots that perceive the world through onboard sensors. Many existing solutions to this problem guarantee safety by making the conservative assumption that any unknown portion of the map may contain an obstacle, and therefore constrain planned motions to lie entirely within known free space. In this work, we observe that safety constraints may significantly limit performance and that faster navigation is possible if the planner reasons about collision with unobserved obstacles probabilistically. Our overall approach is to use machine learning to approximate the expected costs of collision using the current state of the map and the planned trajectory. Our contribution is to demonstrate fast but safe planning using a learned function to predict future collision probabilities.

A Hybrid Indoor Localization and Navigation System with Map Matching for Pedestrians Using Smartphones.

PubMed

Tian, Qinglin; Salcic, Zoran; Wang, Kevin I-Kai; Pan, Yun

2015-12-05

Pedestrian dead reckoning is a common technique applied in indoor inertial navigation systems that is able to provide accurate tracking performance within short distances. Sensor drift is the main bottleneck in extending the system to long-distance and long-term tracking. In this paper, a hybrid system integrating traditional pedestrian dead reckoning based on the use of inertial measurement units, short-range radio frequency systems and particle filter map matching is proposed. The system is a drift-free pedestrian navigation system where position error and sensor drift is regularly corrected and is able to provide long-term accurate and reliable tracking. Moreover, the whole system is implemented on a commercial off-the-shelf smartphone and achieves real-time positioning and tracking performance with satisfactory accuracy.

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.

Topic Maps e-Learning Portal Development

ERIC Educational Resources Information Center

Olsevicova, Kamila

2006-01-01

Topic Maps, ISO/IEC 13250 standard, are designed to facilitate the organization and navigation of large collections of information objects by creating meta-level perspectives of their underlying concepts and relationships. The underlying structure of concepts and relations is expressed by domain ontologies. The Topics Maps technology can become…

Infrasound and the avian navigational map.

PubMed

Hagstrum, J T

2000-04-01

Birds can navigate accurately over hundreds to thousands of kilometres, and this ability of homing pigeons is the basis for a worldwide sport. Compass senses orient avian flight, but how birds determine their location in order to select the correct homeward bearing (map sense) remains a mystery. Also mysterious are rare disruptions of pigeon races in which most birds are substantially delayed and large numbers are lost. Here, it is shown that in four recent pigeon races in Europe and the northeastern USA the birds encountered infrasonic (low-frequency acoustic) shock waves from the Concorde supersonic transport. An acoustic avian map is proposed that consists of infrasonic cues radiated from steep-sided topographic features; the source of these signals is microseisms continuously generated by interfering oceanic waves. Atmospheric processes affecting these infrasonic map cues can explain perplexing experimental results from pigeon releases.

The case for infrasound as the long-range map cue in avian navigation

USGS Publications Warehouse

Hagstrum, J.T.

2007-01-01

Of the various 'map' and 'compass' components of Kramer's avian navigational model, the long-range map component is the least well understood. In this paper atmospheric infrasounds are proposed as the elusive longrange cues constituting the avian navigational map. Although infrasounds were considered a viable candidate for the avian map in the 1970s, and pigeons in the laboratory were found to detect sounds at surprisingly low frequencies (0.05 Hz), other tests appeared to support either of the currently favored olfactory or magnetic maps. Neither of these hypotheses, however, is able to explain the full set of observations, and the field has been at an impasse for several decades. To begin, brief descriptions of infrasonic waves and their passage through the atmosphere are given, followed by accounts of previously unexplained release results. These examples include 'release-site biases' which are deviations of departing pigeons from the homeward bearing, an annual variation in homing performance observed only in Europe, difficulties orienting over lakes and above temperature inversions, and the mysterious disruption of several pigeon races. All of these irregularities can be consistently explained by the deflection or masking of infrasonic cues by atmospheric conditions or by other infrasonic sources (microbaroms, sonic booms), respectively. A source of continuous geographic infrasound generated by atmosphere-coupled microseisms is also proposed. In conclusion, several suggestions are made toward resolving some of the conflicting experimental data with the pigeons' possible use of infrasonic cues.

Image Maps in the World-Wide Web: The Uses and Limitations.

ERIC Educational Resources Information Center

Cochenour, John J.; And Others

A study of nine different image maps from World Wide Web home pages was conducted to evaluate their effectiveness in information display and access, relative to visual, navigational, and practical characteristics. Nine independent viewers completed 20-question surveys on the image maps, in which they evaluated the characteristics of the maps on a…

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

NASA Astrophysics Data System (ADS)

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

2016-01-01

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

33 CFR 137.50 - Reviews of historical sources of information.

Code of Federal Regulations, 2013 CFR

2013-07-01

... information. 137.50 Section 137.50 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND...: STANDARDS FOR CONDUCTING ALL APPROPRIATE INQUIRIES UNDER THE INNOCENT LAND-OWNER DEFENSE Standards and... insurance maps, building department records, chain of title documents, and land use records. (b) Historical...

33 CFR 137.50 - Reviews of historical sources of information.

Code of Federal Regulations, 2014 CFR

2014-07-01

... information. 137.50 Section 137.50 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND...: STANDARDS FOR CONDUCTING ALL APPROPRIATE INQUIRIES UNDER THE INNOCENT LAND-OWNER DEFENSE Standards and... insurance maps, building department records, chain of title documents, and land use records. (b) Historical...

33 CFR 137.50 - Reviews of historical sources of information.

Code of Federal Regulations, 2011 CFR

2011-07-01

... information. 137.50 Section 137.50 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND...: STANDARDS FOR CONDUCTING ALL APPROPRIATE INQUIRIES UNDER THE INNOCENT LAND-OWNER DEFENSE Standards and... insurance maps, building department records, chain of title documents, and land use records. (b) Historical...

33 CFR 137.50 - Reviews of historical sources of information.

Code of Federal Regulations, 2012 CFR

2012-07-01

... information. 137.50 Section 137.50 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND...: STANDARDS FOR CONDUCTING ALL APPROPRIATE INQUIRIES UNDER THE INNOCENT LAND-OWNER DEFENSE Standards and... insurance maps, building department records, chain of title documents, and land use records. (b) Historical...

33 CFR 137.50 - Reviews of historical sources of information.

Code of Federal Regulations, 2010 CFR

2010-07-01

... information. 137.50 Section 137.50 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND...: STANDARDS FOR CONDUCTING ALL APPROPRIATE INQUIRIES UNDER THE INNOCENT LAND-OWNER DEFENSE Standards and... insurance maps, building department records, chain of title documents, and land use records. (b) Historical...

SLAM algorithm applied to robotics assistance for navigation in unknown environments

PubMed Central

2010-01-01

Background The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). Methods In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. Results The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. Conclusions The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation. PMID:20163735

Low computation vision-based navigation for a Martian rover

NASA Technical Reports Server (NTRS)

Gavin, Andrew S.; Brooks, Rodney A.

1994-01-01

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

Finding the Fortunate Islands and Other Astrolabe Tricks of Early Astronomical Navigation

NASA Astrophysics Data System (ADS)

Lattis, James

2007-12-01

Explorers of the late 16th and early 17th centuries had at their disposal a very limited set of tools and techniques useful for astronomical navigation. At least one author, Christoph Clavius, saw the traditional planispheric astrolabe as an important adjunct for mapping, navigation, and other tasks useful in an age of exploration. This paper will explain some of the applications Clavius recommends and evaluate some of their important limitations.

Absolute Positioning Using The Earth’s Magnetic Anomaly Field

DTIC Science & Technology

2016-09-15

many of these limitations. We present a navigation filter which uses the Earth’s magnetic anomaly field as a navigation signal to aid an inertial...navigation system (INS) in an aircraft. The filter utilizes highly-accurate optically pumped cesium (OPC) magnetometers to make scalar intensity...measurements of the Earth’s magnetic field and compare them to a map using a marginalized particle filter approach. The accuracy of these mea- surements allows

Design of a laser navigation system for the inspection robot used in substation

NASA Astrophysics Data System (ADS)

Zhu, Jing; Sun, Yanhe; Sun, Deli

2017-01-01

Aimed at the deficiency of the magnetic guide and RFID parking system used by substation inspection robot now, a laser navigation system is designed, and the system structure, the method of map building and positioning are all introduced. The system performance is tested in a 500kV substation, and the result show that the repetitive precision of navigation system is precise enough to help the robot fulfill inspection tasks.

Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

PubMed Central

He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

2011-01-01

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM. PMID:22346682

Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

PubMed

He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

2011-01-01

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

Interactions of spatial strategies producing generalization gradient and blocking: A computational approach

PubMed Central

Dollé, Laurent; Chavarriaga, Ricardo

2018-01-01

We present a computational model of spatial navigation comprising different learning mechanisms in mammals, i.e., associative, cognitive mapping and parallel systems. This model is able to reproduce a large number of experimental results in different variants of the Morris water maze task, including standard associative phenomena (spatial generalization gradient and blocking), as well as navigation based on cognitive mapping. Furthermore, we show that competitive and cooperative patterns between different navigation strategies in the model allow to explain previous apparently contradictory results supporting either associative or cognitive mechanisms for spatial learning. The key computational mechanism to reconcile experimental results showing different influences of distal and proximal cues on the behavior, different learning times, and different abilities of individuals to alternatively perform spatial and response strategies, relies in the dynamic coordination of navigation strategies, whose performance is evaluated online with a common currency through a modular approach. We provide a set of concrete experimental predictions to further test the computational model. Overall, this computational work sheds new light on inter-individual differences in navigation learning, and provides a formal and mechanistic approach to test various theories of spatial cognition in mammals. PMID:29630600

An Inertial Dual-State State Estimator for Precision Planetary Landing with Hazard Detection and Avoidance

NASA Technical Reports Server (NTRS)

Bishop, Robert H.; DeMars, Kyle; Trawny, Nikolas; Crain, Tim; Hanak, Chad; Carson, John M.; Christian, John

2016-01-01

The navigation filter architecture successfully deployed on the Morpheus flight vehicle is presented. The filter was developed as a key element of the NASA Autonomous Landing and Hazard Avoidance Technology (ALHAT) project and over the course of 15 free fights was integrated into the Morpheus vehicle, operations, and flight control loop. Flight testing completed by demonstrating autonomous hazard detection and avoidance, integration of an altimeter, surface relative velocity (velocimeter) and hazard relative navigation (HRN) measurements into the onboard dual-state inertial estimator Kalman flter software, and landing within 2 meters of the vertical testbed GPS-based navigation solution at the safe landing site target. Morpheus followed a trajectory that included an ascent phase followed by a partial descent-to-landing, although the proposed filter architecture is applicable to more general planetary precision entry, descent, and landings. The main new contribution is the incorporation of a sophisticated hazard relative navigation sensor-originally intended to locate safe landing sites-into the navigation system and employed as a navigation sensor. The formulation of a dual-state inertial extended Kalman filter was designed to address the precision planetary landing problem when viewed as a rendezvous problem with an intended landing site. For the required precision navigation system that is capable of navigating along a descent-to-landing trajectory to a precise landing, the impact of attitude errors on the translational state estimation are included in a fully integrated navigation structure in which translation state estimation is combined with attitude state estimation. The map tie errors are estimated as part of the process, thereby creating a dual-state filter implementation. Also, the filter is implemented using inertial states rather than states relative to the target. External measurements include altimeter, velocimeter, star camera, terrain relative navigation sensor, and a hazard relative navigation sensor providing information regarding hazards on a map generated on-the-fly.

Sensory bases of navigation.

PubMed

Gould, J L

1998-10-08

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

ICCE/ICCAI 2000 Full & Short Papers (Knowledge Construction and Navigation).

ERIC Educational Resources Information Center

2000

This document contains the following full and short papers on knowledge construction and navigation from ICCE/ICCAI 2000 (International Conference on Computers in Education/International Conference on Computer-Assisted Instruction): (1) "An XML-Based Tool for Building and Using Conceptual Maps in Education and Training Environments"…

Taxonomies, Folksonomies, and Semantics: Establishing Functional Meaning in Navigational Structures

ERIC Educational Resources Information Center

Bacha, Jeffrey A.

2012-01-01

This article argues for the establishment of a usability process that incorporates the study of "words" and "word phrases." It demonstrates how semantically mapping a navigational taxonomy can help the developers of digital environments establish a more focused sense of functional meaning for the users of their digital designs.

Development and Validation of a Controlled Virtual Environment for Guidance, Navigation and Control of Quadrotor UAV

DTIC Science & Technology

2013-09-01

Width Modulation QuarC Quanser Real-time Control RC Remote Controlled RPV Remotely Piloted Vehicles SLAM Simultaneous Localization and Mapping UAV...development of the following systems: 1. Navigation (GPS, Lidar , etc.) 2. Communication (Datalink) 3. Ground Control Station (GUI, software programming

High-Resolution Geologic Mapping in the Eastern Manus Basin

NASA Astrophysics Data System (ADS)

Thal, J.; Bach, W.; Tivey, M.; Yoerger, D. R.

2011-12-01

AUV-based microbathymetry combined with ROV video data was used to create the first high-resolution geologic maps of two hydrothermal active areas in the eastern Manus Basin: North Su volcano and PACManus hydrothermal field on Pual Ridge. The data were recorded in 2006 and 2011 during the research cruises Magellan-06 operated by the Woods Hole Oceanographic Institution and BAMBUS (SO-216) operated by MARUM / University Bremen. High accuracy underwater navigation transponder-based and Posidonia systems allowed us to combine video data with bathymetry. The navigation on both cruises was very precise (m-scale) and navigation offsets were less than 10 m. We conducted detailed geologic mapping and sampling to identify the seafloor volcanic and hydrothermal features and created highly detailed maps that provide a comprehensive picture of the seafloor and vent distribution in the eastern Manus Basin. Several different types of dacite lava morphology were mapped, including pillow lava, lobate flows and massive block lava. We have compiled all available information on rock chemistry, fluid and temperature measurements, video data, bathymetry and navigation data into a GIS database. We find that, in contrast to the tectonic control on vent distribution at slow spreading mid-ocean ridges, the pathways of upwelling hydrothermal vent fluids at PACManus are dominated by volcanic features, such as lava domes and thick, massive block lava flows. Vent fields are developed preferentially along the margins of major flow units, probably because the cores of these units are impermeable to fluid flow, while the autobrecciated outer parts of the flows are not. In the North Su area, a comparison of seafloor maps from 2006 and 2011 reveals recent volcanic activity, which has strongly modified the bathymetry and hydrothermal vent distribution on the southern flank of the volcano. An ash cone with multiple small craters on the SW flank of the North-Su volcano that didn't exist in 2006 was mapped in 2011. Also, magmatic degassing was much more vigorous in 2011, with large accumulations of liquid sulfur (from disproportionation of magmatic SO2) as well as extensive bubbling of supercritical and liquid CO2.

GPS/Optical/Inertial Integration for 3D Navigation Using Multi-Copter Platforms

NASA Technical Reports Server (NTRS)

Dill, Evan T.; Young, Steven D.; Uijt De Haag, Maarten

2017-01-01

In concert with the continued advancement of a UAS traffic management system (UTM), the proposed uses of autonomous unmanned aerial systems (UAS) have become more prevalent in both the public and private sectors. To facilitate this anticipated growth, a reliable three-dimensional (3D) positioning, navigation, and mapping (PNM) capability will be required to enable operation of these platforms in challenging environments where global navigation satellite systems (GNSS) may not be available continuously. Especially, when the platform's mission requires maneuvering through different and difficult environments like outdoor opensky, outdoor under foliage, outdoor-urban and indoor, and may include transitions between these environments. There may not be a single method to solve the PNM problem for all environments. The research presented in this paper is a subset of a broader research effort, described in [1]. The research is focused on combining data from dissimilar sensor technologies to create an integrated navigation and mapping method that can enable reliable operation in both an outdoor and structured indoor environment. The integrated navigation and mapping design is utilizes a Global Positioning System (GPS) receiver, an Inertial Measurement Unit (IMU), a monocular digital camera, and three short to medium range laser scanners. This paper describes specifically the techniques necessary to effectively integrate the monocular camera data within the established mechanization. To evaluate the developed algorithms a hexacopter was built, equipped with the discussed sensors, and both hand-carried and flown through representative environments. This paper highlights the effect that the monocular camera has on the aforementioned sensor integration scheme's reliability, accuracy and availability.

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.

Songlines and navigation in Wardaman and other Australian Aboriginal cultures

NASA Astrophysics Data System (ADS)

Norris, Ray P.; Harney, Bill Yidumdum

2014-07-01

We discuss the songlines and navigation of the Wardaman people, and place them in context by comparing them with corresponding practices in other Aboriginal Australian language groups, using previously-unpublished information and also information drawn from the literature. Songlines are effectively oral maps of the landscape, enabling the transmission of oral navigational skills in cultures that do not have a written language. In many cases, songlines on the Earth are mirrored by songlines in the sky, enabling the sky to be used as a navigational tool, both by using it as a compass and by using it as a mnemonic.

Autonomous Wheeled Robot Platform Testbed for Navigation and Mapping Using Low-Cost Sensors

NASA Astrophysics Data System (ADS)

Calero, D.; Fernandez, E.; Parés, M. E.

2017-11-01

This paper presents the concept of an architecture for a wheeled robot system that helps researchers in the field of geomatics to speed up their daily research on kinematic geodesy, indoor navigation and indoor positioning fields. The presented ideas corresponds to an extensible and modular hardware and software system aimed at the development of new low-cost mapping algorithms as well as at the evaluation of the performance of sensors. The concept, already implemented in the CTTC's system ARAS (Autonomous Rover for Automatic Surveying) is generic and extensible. This means that it is possible to incorporate new navigation algorithms or sensors at no maintenance cost. Only the effort related to the development tasks required to either create such algorithms needs to be taken into account. As a consequence, change poses a much small problem for research activities in this specific area. This system includes several standalone sensors that may be combined in different ways to accomplish several goals; that is, this system may be used to perform a variety of tasks, as, for instance evaluates positioning algorithms performance or mapping algorithms performance.

Collective navigation of complex networks: Participatory greedy routing.

PubMed

Kleineberg, Kaj-Kolja; Helbing, Dirk

2017-06-06

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

Cruise report for a seismic investigation of gas hydrates in the Mississippi Canyon region, northern Gulf of Mexico; cruise M1-98-GM

USGS Publications Warehouse

Cooper, Alan K.; Hart, Patrick E.; Pecher, Ingo

1998-01-01

During the cruise about 850 km of multichannel and single-channel seismic data were recorded. Seismic measurements at nine ocean-bottom seismometer (OBS) stations were recorded for several of the multichannel tracklines (see Fig. 3 in report). The following report describes the field operations and equipment systems employed, gives two examples of ship-board seismic records, and outlines a few preliminary results.

Trackline and Point Detection Probabilities for Acoustic Surveys of Cuvier’s and Blainville’s Beaked Whales

DTIC Science & Technology

2013-09-01

of sperm whales. Although the methods developed in those papers demonstrate feasibility, they are not applicable to a)Author to whom correspondence...information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and...location clicks (Marques et al., 2009) instead of detecting individual animals or groups of animals; these cue- counting methods will not be specifically

Lost in transportation: Information measures and cognitive limits in multilayer navigation.

PubMed

Gallotti, Riccardo; Porter, Mason A; Barthelemy, Marc

2016-02-01

Cities and their transportation systems become increasingly complex and multimodal as they grow, and it is natural to wonder whether it is possible to quantitatively characterize our difficulty navigating in them and whether such navigation exceeds our cognitive limits. A transition between different search strategies for navigating in metropolitan maps has been observed for large, complex metropolitan networks. This evidence suggests the existence of a limit associated with cognitive overload and caused by a large amount of information that needs to be processed. In this light, we analyzed the world's 15 largest metropolitan networks and estimated the information limit for determining a trip in a transportation system to be on the order of 8 bits. Similar to the "Dunbar number," which represents a limit to the size of an individual's friendship circle, our cognitive limit suggests that maps should not consist of more than 250 connection points to be easily readable. We also show that including connections with other transportation modes dramatically increases the information needed to navigate in multilayer transportation networks. In large cities such as New York, Paris, and Tokyo, more than 80% of the trips are above the 8-bit limit. Multimodal transportation systems in large cities have thus already exceeded human cognitive limits and, consequently, the traditional view of navigation in cities has to be revised substantially.

Lost in transportation: Information measures and cognitive limits in multilayer navigation

PubMed Central

Gallotti, Riccardo; Porter, Mason A.; Barthelemy, Marc

2016-01-01

Cities and their transportation systems become increasingly complex and multimodal as they grow, and it is natural to wonder whether it is possible to quantitatively characterize our difficulty navigating in them and whether such navigation exceeds our cognitive limits. A transition between different search strategies for navigating in metropolitan maps has been observed for large, complex metropolitan networks. This evidence suggests the existence of a limit associated with cognitive overload and caused by a large amount of information that needs to be processed. In this light, we analyzed the world’s 15 largest metropolitan networks and estimated the information limit for determining a trip in a transportation system to be on the order of 8 bits. Similar to the “Dunbar number,” which represents a limit to the size of an individual’s friendship circle, our cognitive limit suggests that maps should not consist of more than 250 connection points to be easily readable. We also show that including connections with other transportation modes dramatically increases the information needed to navigate in multilayer transportation networks. In large cities such as New York, Paris, and Tokyo, more than 80% of the trips are above the 8-bit limit. Multimodal transportation systems in large cities have thus already exceeded human cognitive limits and, consequently, the traditional view of navigation in cities has to be revised substantially. PMID:26989769

Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing

PubMed Central

Ravankar, Abhijeet; Ravankar, Ankit A.; Kobayashi, Yukinori; Emaru, Takanori

2017-01-01

Large scale operational areas often require multiple service robots for coverage and task parallelism. In such scenarios, each robot keeps its individual map of the environment and serves specific areas of the map at different times. We propose a knowledge sharing mechanism for multiple robots in which one robot can inform other robots about the changes in map, like path blockage, or new static obstacles, encountered at specific areas of the map. This symbiotic information sharing allows the robots to update remote areas of the map without having to explicitly navigate those areas, and plan efficient paths. A node representation of paths is presented for seamless sharing of blocked path information. The transience of obstacles is modeled to track obstacles which might have been removed. A lazy information update scheme is presented in which only relevant information affecting the current task is updated for efficiency. The advantages of the proposed method for path planning are discussed against traditional method with experimental results in both simulation and real environments. PMID:28678193

Archive of Digitized Analog Boomer Seismic Reflection Data Collected from Lake Pontchartrain, Louisiana, to Mobile Bay, Alabama, During Cruises Onboard the R/V ERDA-1, June and August 1992

USGS Publications Warehouse

Sanford, Jordan M.; Harrison, Arnell S.; Wiese, Dana S.; Flocks, James G.

2008-01-01

In June and August of 1992, the U.S. Geological Survey (USGS) conducted geophysical surveys to investigate the shallow geologic framework from Lake Pontchartrain, Louisiana, to Mobile Bay, Alabama. This work was conducted onboard the Argonne National Laboratory's R/V ERDA-1 as part of the Mississippi/Alabama Pollution Project. This report is part of a series to digitally archive the legacy analog data collected from the Mississippi-Alabama SHelf (MASH). The MASH data rescue project is a cooperative effort by the USGS and the Minerals Management Service (MMS). A standardized naming convention was established to allow for better management of scanned trackline images within the MASH data rescue project. Each cruise received a unique field activity ID based on the year the data were collected, the first two digits of the survey vessel name, and the number of cruises made (to date) by that vessel that year (i.e. 92ER2 represents the second cruise made by the R/V ERDA-1 in 1992.) The new field activity IDs 92ER2 and 92ER4 presented in this report were originally referred to as ERDA 92-2 and ERDA 92-4 at the USGS in St. Petersburg, FL, and 92010 and 92037 at the USGS in Woods Hole, MA. A table showing the naming convention lineage for cruise IDs in the MASH data rescue series is included as a PDF. This report serves as an archive of high resolution scanned Tagged Image File Format (TIFF) and Graphics Interchange Format (GIF) images of the original boomer paper records, navigation files, trackline maps, Geographic Information System (GIS) files, cruise logs, and formal Federal Geographic Data Committee (FGDC) metadata for cruises 92ER2 and 92ER4. The boomer system uses an acoustic energy source called a plate, which consists of capacitors charged to a high voltage and discharged through a transducer in the water. The source is towed on a sled, at sea level, and when discharged emits a short acoustic pulse, or shot, which propagates through the water and sediment column. The acoustic energy is reflected at density boundaries (such as the seafloor or sediment layers beneath the seafloor), detected by the hydrophone receiver, and the amplitude of the reflected energy is recorded by an Edward P. Curley Lab (EPC) thermal plotter. This process is repeated at timed intervals (for example, 0.5 s) and recorded for specific intervals of time (for example, 100 ms). The timed intervals are also referred to as the shot interval or fire rate. On analog records, the recorded interval is referred to as the sweep, which is the amount of time the recorder stylus takes to sweep from the top of the record to the bottom of the record, thereby recording the amplitude of the reflected energy of one shot. In this way, consecutive recorded shots produce a two-dimensional (2-D) vertical image of the shallow geologic structure beneath the ship track. Many of the geophysical data collected by the USGS prior to the late 1990s were recorded in analog format and stored as paper copies. Scientists onboard made hand-written annotations onto these records to note latitude and longitude, time, line number, course heading, and geographic points of reference. Each paper roll typically contained numerous survey lines and could reach more than 90 ft in length. All rolls are stored at the USGS FISC-St. Petersburg, FL. To preserve the integrity of these records and improve accessibility, analog holdings were converted to digital files.

Archive of Digital Boomer Seismic Reflection Data Collected During USGS Field Activity 96LCA04 in Lakes Mabel and Starr, Central Florida, August 1996

USGS Publications Warehouse

Harrison, Arnell S.; Dadisman, Shawn V.; Swancar, Amy; Tihansky, Ann B.; Flocks, James G.; Wiese, Dana S.

2008-01-01

In August of 1996, the U.S. Geological Survey conducted geophysical surveys of Lakes Mabel and Starr, central Florida, as part of the Central Highlands Lakes project, which is part of a larger USGS Lakes and Coastal Aquifers (LCA) study. This report serves as an archive of unprocessed digital boomer seismic reflection data, trackline maps, navigation files, Geographic Information System (GIS) files, observer's logbook; and formal Federal Geographic Data Committee (FGDC) metadata. Filtered and gained (a relative increase in signal amplitude) digital images of the seismic profiles are also provided. Refer to the Acronyms page for expansions of acronyms and abbreviations used in this report. For detailed information about the hydrologic setting of Lake Starr and the interpretation of some of these seismic reflection data, see Swancar and others (2000) at http://fl.water.usgs.gov/publications/Abstracts/wri00_4030_swancar.html. The archived trace data are in standard Society of Exploration Geophysicists (SEG) SEG-Y format (Barry and others, 1975) and may be downloaded and processed with commercial or public domain software such as Seismic Unix (SU). Example SU processing scripts and USGS software for viewing the SEG-Y files (Zihlman, 1992) are also provided. The USGS Florida Integrated Science Center (FISC) - St. Petersburg assigns a unique identifier to each cruise or field activity. For example, 96LCA04 tells us the data were collected in 1996 for the Lakes and Coastal Aquifers (LCA) study and the data were collected during the fourth field activity for that project in that calendar year. Refer to http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html for a detailed description of the method used to assign the field activity ID. The boomer plate is an acoustic energy source that consists of capacitors charged to a high voltage and discharged through a transducer in the water. The transducer is towed on a sled floating on the water surface and when discharged emits a short acoustic pulse, or shot, which propagates through the water and sediment column. The acoustic energy is reflected at density boundaries (such as the seafloor or sediment layers beneath the lake bottom), detected by the receiver (a hydrophone streamer), and recorded by a PC-based seismic acquisition system. This process is repeated at timed intervals (for example, 0.5 s) and recorded for specific intervals of time (for example, 100 ms). In this way, a two-dimensional (2-D) vertical image of the shallow geologic structure beneath the ship track is produced. Figure 1 displays the acquisition geometry. Refer to table 1 for a summary of acquisition parameters. Table 2 lists trackline statistics. Scanned images of the handwritten cruise logbook (1,020-KB PDF) is also provided as a PDF file. The unprocessed seismic data are stored in SEG-Y format (Barry and others, 1975). For a detailed description of the data format, refer to the SEG-Y Format page. See the How To Download SEG-Y Data page for download instructions. The printable profiles provided here are GIF images that were filtered and gained using Seismic Unix software. Refer to the Software page for details about the processing and examples of the processing scripts. The processed SEG-Y data were exported to Chesapeake Technology, Inc. (CTI) SonarWeb software to produce an interactive version of the seismic profile that allows the user to obtain a geographic location and depth from the profile for a curser position. This information is displayed in the status bar of the browser.

Map based navigation for autonomous underwater vehicles

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

Tuohy, S.T.; Leonard, J.J.; Bellingham, J.G.

1995-12-31

In this work, a map based navigation algorithm is developed wherein measured geophysical properties are matched to a priori maps. The objectives is a complete algorithm applicable to a small, power-limited AUV which performs in real time to a required resolution with bounded position error. Interval B-Splines are introduced for the non-linear representation of two-dimensional geophysical parameters that have measurement uncertainty. Fine-scale position determination involves the solution of a system of nonlinear polynomial equations with interval coefficients. This system represents the complete set of possible vehicle locations and is formulated as the intersection of contours established on each map frommore » the simultaneous measurement of associated geophysical parameters. A standard filter mechanisms, based on a bounded interval error model, predicts the position of the vehicle and, therefore, screens extraneous solutions. When multiple solutions are found, a tracking mechanisms is applied until a unique vehicle location is determined.« less

Charting Our Path with a Web Literacy Map

ERIC Educational Resources Information Center

Dalton, Bridget

2015-01-01

Being a literacy teacher today means being a teacher of Web literacies. This article features the "Web Literacy Map", an open source tool from Mozilla's Webmaker project. The map focuses on Exploring (Navigating the Web); Building (creating for the Web), and Connecting (Participating on the Web). Readers are invited to use resources,…

Words and Maps: Developmental Changes in Mental Models of Spatial Information Acquired from Descriptions and Depictions

ERIC Educational Resources Information Center

Uttal, David H.; Fisher, Joan A.; Taylor, Holly A.

2006-01-01

People acquire spatial information from many sources, including maps, verbal descriptions, and navigating in the environment. The different sources present spatial information in different ways. For example, maps can show many spatial relations simultaneously, but in a description, each spatial relation must be presented sequentially. The present…

See what we say: using concept mapping to visualize Latino immigrant's strategies for health interventions.

PubMed

Vaughn, Lisa M; Jacquez, Farrah; Marschner, Daniel; McLinden, Daniel

2016-09-01

Researchers need specific tools to engage community members in health intervention development to ensure that efforts are contextually appropriate for immigrant populations. The purpose of the study was to generate and prioritize strategies to address obesity, stress and coping, and healthcare navigation that are contextually appropriate and applicable to the Latino immigrant community in Cincinnati, Ohio, and then use the results to develop specific interventions to improve Latino health in our area. A community-academic research team used concept mapping methodology with over 200 Latino immigrants and Latino-serving providers. A community intervention planning session was held to share the final concept maps and vote on strategies. The concept maps and results from the intervention planning session emphasized a community lay health worker model to connect the Latino immigrant community with resources to address obesity, stress and coping, and healthcare navigation. Concept maps allowed for the visualization of health intervention strategies prioritized by the larger Latino immigrant community. Concept maps revealed the appropriate content for health interventions as well as the process community members preferred for intervention delivery.

How to design a cartographic continuum to help users to navigate between two topographic styles?

NASA Astrophysics Data System (ADS)

Ory, Jérémie; Touya, Guillaume; Hoarau, Charlotte; Christophe, Sidonie

2018-05-01

Geoportals and geovisualization tools provide to users various cartographic abstractions that describe differently a geographical space. Our purpose is to be able to design cartographic continuums, i.e. a set of in-between maps allowing users to navigate between two topographic styles. This paper addresses the problem of the interpolation between two topographic abstractions with different styles. We detail our approach in two steps. Firstly, we setup a comparison in order to identify which structural elements of a cartographic abstraction should be interpolated. Secondly, we propose an approach based on two design methods for maps interpolation.

Accelerometer-based automatic voice onset detection in speech mapping with navigated repetitive transcranial magnetic stimulation.

PubMed

Vitikainen, Anne-Mari; Mäkelä, Elina; Lioumis, Pantelis; Jousmäki, Veikko; Mäkelä, Jyrki P

2015-09-30

The use of navigated repetitive transcranial magnetic stimulation (rTMS) in mapping of speech-related brain areas has recently shown to be useful in preoperative workflow of epilepsy and tumor patients. However, substantial inter- and intraobserver variability and non-optimal replicability of the rTMS results have been reported, and a need for additional development of the methodology is recognized. In TMS motor cortex mappings the evoked responses can be quantitatively monitored by electromyographic recordings; however, no such easily available setup exists for speech mappings. We present an accelerometer-based setup for detection of vocalization-related larynx vibrations combined with an automatic routine for voice onset detection for rTMS speech mapping applying naming. The results produced by the automatic routine were compared with the manually reviewed video-recordings. The new method was applied in the routine navigated rTMS speech mapping for 12 consecutive patients during preoperative workup for epilepsy or tumor surgery. The automatic routine correctly detected 96% of the voice onsets, resulting in 96% sensitivity and 71% specificity. Majority (63%) of the misdetections were related to visible throat movements, extra voices before the response, or delayed naming of the previous stimuli. The no-response errors were correctly detected in 88% of events. The proposed setup for automatic detection of voice onsets provides quantitative additional data for analysis of the rTMS-induced speech response modifications. The objectively defined speech response latencies increase the repeatability, reliability and stratification of the rTMS results. Copyright © 2015 Elsevier B.V. All rights reserved.

Not all anxious individuals get lost: Trait anxiety and mental rotation ability interact to explain performance in map-based route learning in men.

PubMed

Thoresen, John C; Francelet, Rebecca; Coltekin, Arzu; Richter, Kai-Florian; Fabrikant, Sara I; Sandi, Carmen

2016-07-01

Navigation through an environment is a fundamental human activity. Although group differences in navigational ability are documented (e.g., gender), little is known about traits that predict these abilities. Apart from a well-established link between mental rotational abilities and navigational learning abilities, recent studies point to an influence of trait anxiety on the formation of internal cognitive spatial representations. However, it is unknown whether trait anxiety affects the processing of information obtained through externalized representations such as maps. Here, we addressed this question by taking into account emerging evidence indicating impaired performance in executive tasks by high trait anxiety specifically in individuals with lower executive capacities. For this purpose, we tested 104 male participants, previously characterised on trait anxiety and mental rotation ability, on a newly-designed map-based route learning task, where participants matched routes presented dynamically on a city map to one presented immediately before (same/different judgments). We predicted an interaction between trait anxiety and mental rotation ability, specifically that performance in the route learning task would be negatively affected by anxiety in participants with low mental rotation ability. Importantly, and as predicted, an interaction between anxiety and mental rotation ability was observed: trait anxiety negatively affected participants with low-but not high-mental rotation ability. Our study reveals a detrimental role of trait anxiety in map-based route learning and specifies a disadvantage in the processing of map representations for high-anxious individuals with low mental rotation abilities. Copyright © 2016 Elsevier Inc. All rights reserved.

Indoor navigation by image recognition

NASA Astrophysics Data System (ADS)

Choi, Io Teng; Leong, Chi Chong; Hong, Ka Wo; Pun, Chi-Man

2017-07-01

With the progress of smartphones hardware, it is simple on smartphone using image recognition technique such as face detection. In addition, indoor navigation system development is much slower than outdoor navigation system. Hence, this research proves a usage of image recognition technique for navigation in indoor environment. In this paper, we introduced an indoor navigation application that uses the indoor environment features to locate user's location and a route calculating algorithm to generate an appropriate path for user. The application is implemented on Android smartphone rather than iPhone. Yet, the application design can also be applied on iOS because the design is implemented without using special features only for Android. We found that digital navigation system provides better and clearer location information than paper map. Also, the indoor environment is ideal for Image recognition processing. Hence, the results motivate us to design an indoor navigation system using image recognition.

Moon Trek: NASA's New Online Portal for Lunar Mapping and Modeling

NASA Astrophysics Data System (ADS)

Day, B. H.; Law, E. S.

2016-11-01

This presentation introduces Moon Trek, a new name for a major new release of NASA's Lunar Mapping and Modeling Portal (LMMP). The new Trek interface provides greatly improved navigation, 3D visualization, performance, and reliability.

14 CFR Appendix B to Part 63 - Flight Navigator Training Course Requirements

Code of Federal Regulations, 2011 CFR

2011-01-01

.... Hazards. Air masses. Front weather. Fog. Thunderstorms. Icing. World weather and climate. Weather maps and... required standards, but the period between inspections shall not exceed 12 months. (j) Change of ownership, name, or location—(1) Change of ownership. Approval of a flight navigator course shall not be continued...

14 CFR Appendix B to Part 63 - Flight Navigator Training Course Requirements

Code of Federal Regulations, 2012 CFR

2012-01-01

.... Hazards. Air masses. Front weather. Fog. Thunderstorms. Icing. World weather and climate. Weather maps and... required standards, but the period between inspections shall not exceed 12 months. (j) Change of ownership, name, or location—(1) Change of ownership. Approval of a flight navigator course shall not be continued...

14 CFR Appendix B to Part 63 - Flight Navigator Training Course Requirements

Code of Federal Regulations, 2014 CFR

2014-01-01

.... Hazards. Air masses. Front weather. Fog. Thunderstorms. Icing. World weather and climate. Weather maps and... required standards, but the period between inspections shall not exceed 12 months. (j) Change of ownership, name, or location—(1) Change of ownership. Approval of a flight navigator course shall not be continued...

14 CFR Appendix B to Part 63 - Flight Navigator Training Course Requirements

Code of Federal Regulations, 2013 CFR

2013-01-01

.... Hazards. Air masses. Front weather. Fog. Thunderstorms. Icing. World weather and climate. Weather maps and... required standards, but the period between inspections shall not exceed 12 months. (j) Change of ownership, name, or location—(1) Change of ownership. Approval of a flight navigator course shall not be continued...

Innovative Navigation Systems to Support Digital Geophysical Mapping, ESTCP #200129, Phase II Demonstrations

DTIC Science & Technology

2004-09-25

7 Figure 2-3 Blackhawk/ Applanix GPS/INS System...electro-mechanical system ms millisecond NP navigation processor OE ordnance and explosive POSLV Applanix Positioning and Orientation...demonstration GPS/INS positioning system. In Phase II, a man-portable modified version called the POSLV 310 UXO of the Applanix Positioning and

14 CFR Appendix A to Part 63 - Test Requirements for Flight Navigator Certificate

Code of Federal Regulations, 2011 CFR

2011-01-01

... data evaluate the accuracy of the prognostic weather map used for flight planning and apply this... 14 Aeronautics and Space 2 2011-01-01 2011-01-01 false Test Requirements for Flight Navigator... TRANSPORTATION (CONTINUED) AIRMEN CERTIFICATION: FLIGHT CREWMEMBERS OTHER THAN PILOTS Pt. 63, App. A Appendix A...

14 CFR Appendix A to Part 63 - Test Requirements for Flight Navigator Certificate

Code of Federal Regulations, 2013 CFR

2013-01-01

... data evaluate the accuracy of the prognostic weather map used for flight planning and apply this... 14 Aeronautics and Space 2 2013-01-01 2013-01-01 false Test Requirements for Flight Navigator... TRANSPORTATION (CONTINUED) AIRMEN CERTIFICATION: FLIGHT CREWMEMBERS OTHER THAN PILOTS Pt. 63, App. A Appendix A...

14 CFR Appendix A to Part 63 - Test Requirements for Flight Navigator Certificate

Code of Federal Regulations, 2014 CFR

2014-01-01

... data evaluate the accuracy of the prognostic weather map used for flight planning and apply this... 14 Aeronautics and Space 2 2014-01-01 2014-01-01 false Test Requirements for Flight Navigator... TRANSPORTATION (CONTINUED) AIRMEN CERTIFICATION: FLIGHT CREWMEMBERS OTHER THAN PILOTS Pt. 63, App. A Appendix A...

14 CFR Appendix A to Part 63 - Test Requirements for Flight Navigator Certificate

Code of Federal Regulations, 2012 CFR

2012-01-01

... data evaluate the accuracy of the prognostic weather map used for flight planning and apply this... 14 Aeronautics and Space 2 2012-01-01 2012-01-01 false Test Requirements for Flight Navigator... TRANSPORTATION (CONTINUED) AIRMEN CERTIFICATION: FLIGHT CREWMEMBERS OTHER THAN PILOTS Pt. 63, App. A Appendix A...

Mapping Intersectionality and Latina/o and Chicana/o Students along Educational Frameworks of Power

ERIC Educational Resources Information Center

Alemán, Sonya M.

2018-01-01

This chapter reviews scholarship using intersectional analyses to assess how Latina/o and Chicana/o youth navigate imbricated systems of privilege and oppression in their educational trajectories. Scholars have explored the navigational tactics Latina/o and Chicana/o students use to negotiate their intersectional identities and the institutional…

Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments

PubMed Central

Ravankar, Abhijeet; Ravankar, Ankit A.; Kobayashi, Yukinori; Emaru, Takanori

2017-01-01

Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from ‘driver-lost’ scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results. PMID:28809803

Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments.

PubMed

Ravankar, Abhijeet; Ravankar, Ankit A; Kobayashi, Yukinori; Emaru, Takanori

2017-08-15

Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from `driver-lost' scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results.

Coastal single-beam bathymetry data collected in 2015 from the Chandeleur Islands, Louisiana

USGS Publications Warehouse

Stalk, Chelsea A.; DeWitt, Nancy T.; Bernier, Julie C.; Kindinger, Jack G.; Flocks, James G.; Miselis, Jennifer L.; Locker, Stanley D.; Kelso, Kyle W.; Tuten, Thomas M.

2017-02-23

As part of the Louisiana Coastal Protection and Restoration Authority (CPRA) Barrier Island Comprehensive Monitoring Program, scientists from the U.S. Geological Survey (USGS) St. Petersburg Coastal and Marine Science Center conducted a single-beam bathymetry survey around the Chandeleur Islands, Louisiana, in June 2015. The goal of the program is to provide long-term data on Louisiana’s barrier islands and use this data to plan, design, evaluate, and maintain current and future barrier island restoration projects. The data described in this report, along with (1) USGS bathymetry data collected in 2013 as a part of the Barrier Island Evolution Research project covering the northern Chandeleur Islands, and (2) data collected in 2014 in collaboration with the Louisiana CPRA Barrier Island Comprehensive Monitoring Program around Breton Island, will be used to assess bathymetric change since 2006‒2007 as well as serve as a bathymetric control in supporting modeling of future changes in response to restoration and storm impacts. The survey area encompasses approximately 435 square kilometers of nearshore and back-barrier environments around Hewes Point, the Chandeleur Islands, and Curlew and Grand Gosier Shoals. This Data Series serves as an archive of processed single-beam bathymetry data, collected in the nearshore of the Chandeleur Islands, Louisiana, from June 17‒24, 2015, during USGS Field Activity Number 2015-317-FA. Geographic information system data products include a 200-meter-cell-size interpolated bathymetry grid, trackline maps, and xyz point data files. Additional files include error analysis maps, Field Activity Collection System logs, and formal Federal Geographic Data Committee metadata.

Avoiding Stair-Step Artifacts in Image Registration for GOES-R Navigation and Registration Assessment

NASA Technical Reports Server (NTRS)

Grycewicz, Thomas J.; Tan, Bin; Isaacson, Peter J.; De Luccia, Frank J.; Dellomo, John

2016-01-01

In developing software for independent verification and validation (IVV) of the Image Navigation and Registration (INR) capability for the Geostationary Operational Environmental Satellite R Series (GOES-R) Advanced Baseline Imager (ABI), we have encountered an image registration artifact which limits the accuracy of image offset estimation at the subpixel scale using image correlation. Where the two images to be registered have the same pixel size, subpixel image registration preferentially selects registration values where the image pixel boundaries are close to lined up. Because of the shape of a curve plotting input displacement to estimated offset, we call this a stair-step artifact. When one image is at a higher resolution than the other, the stair-step artifact is minimized by correlating at the higher resolution. For validating ABI image navigation, GOES-R images are correlated with Landsat-based ground truth maps. To create the ground truth map, the Landsat image is first transformed to the perspective seen from the GOES-R satellite, and then is scaled to an appropriate pixel size. Minimizing processing time motivates choosing the map pixels to be the same size as the GOES-R pixels. At this pixel size image processing of the shift estimate is efficient, but the stair-step artifact is present. If the map pixel is very small, stair-step is not a problem, but image correlation is computation-intensive. This paper describes simulation-based selection of the scale for truth maps for registering GOES-R ABI images.

Are visual cues helpful for virtual spatial navigation and spatial memory in patients with mild cognitive impairment or Alzheimer's disease?

PubMed

Cogné, Mélanie; Auriacombe, Sophie; Vasa, Louise; Tison, François; Klinger, Evelyne; Sauzéon, Hélène; Joseph, Pierre-Alain; N Kaoua, Bernard

2018-05-01

To evaluate whether visual cues are helpful for virtual spatial navigation and memory in Alzheimer's disease (AD) and patients with mild cognitive impairment (MCI). 20 patients with AD, 18 patients with MCI and 20 age-matched healthy controls (HC) were included. Participants had to actively reproduce a path that included 5 intersections with one landmark at each intersection that they had seen previously during a learning phase. Three cueing conditions for navigation were offered: salient landmarks, directional arrows and a map. A path without additional visual stimuli served as control condition. Navigation time and number of trajectory mistakes were recorded. With the presence of directional arrows, no significant difference was found between groups concerning the number of trajectory mistakes and navigation time. The number of trajectory mistakes did not differ significantly between patients with AD and patients with MCI on the path with arrows, the path with salient landmarks and the path with a map. There were significant correlations between the number of trajectory mistakes under the arrow condition and executive tests, and between the number of trajectory mistakes under the salient landmark condition and memory tests. Visual cueing such as directional arrows and salient landmarks appears helpful for spatial navigation and memory tasks in patients with AD and patients with MCI. This study opens new research avenues for neuro-rehabilitation, such as the use of augmented reality in real-life settings to support the navigational capabilities of patients with MCI and patients with AD. (PsycINFO Database Record (c) 2018 APA, all rights reserved).

True navigation and magnetic maps in spiny lobsters.

PubMed

Boles, Larry C; Lohmann, Kenneth J

2003-01-02

Animals are capable of true navigation if, after displacement to a location where they have never been, they can determine their position relative to a goal without relying on familiar surroundings, cues that emanate from the destination, or information collected during the outward journey. So far, only a few animals, all vertebrates, have been shown to possess true navigation. Those few invertebrates that have been carefully studied return to target areas using path integration, landmark recognition, compass orientation and other mechanisms that cannot compensate for displacements into unfamiliar territory. Here we report, however, that the spiny lobster Panulirus argus oriented reliably towards a capture site when displaced 12-37 km to unfamiliar locations, even when deprived of all known orientation cues en route. Little is known about how lobsters and other animals determine position during true navigation. To test the hypothesis that lobsters derive positional information from the Earth's magnetic field, lobsters were exposed to fields replicating those that exist at specific locations in their environment. Lobsters tested in a field north of the capture site oriented themselves southwards, whereas those tested in a field south of the capture site oriented themselves northwards. These results imply that true navigation in spiny lobsters, and perhaps in other animals, is based on a magnetic map sense.

Lunar Navigation Architecture Design Considerations

NASA Technical Reports Server (NTRS)

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

2009-01-01

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

Maintaining a Cognitive Map in Darkness: The Need to Fuse Boundary Knowledge with Path Integration

PubMed Central

Cheung, Allen; Ball, David; Milford, Michael; Wyeth, Gordon; Wiles, Janet

2012-01-01

Spatial navigation requires the processing of complex, disparate and often ambiguous sensory data. The neurocomputations underpinning this vital ability remain poorly understood. Controversy remains as to whether multimodal sensory information must be combined into a unified representation, consistent with Tolman's “cognitive map”, or whether differential activation of independent navigation modules suffice to explain observed navigation behaviour. Here we demonstrate that key neural correlates of spatial navigation in darkness cannot be explained if the path integration system acted independently of boundary (landmark) information. In vivo recordings demonstrate that the rodent head direction (HD) system becomes unstable within three minutes without vision. In contrast, rodents maintain stable place fields and grid fields for over half an hour without vision. Using a simple HD error model, we show analytically that idiothetic path integration (iPI) alone cannot be used to maintain any stable place representation beyond two to three minutes. We then use a measure of place stability based on information theoretic principles to prove that featureless boundaries alone cannot be used to improve localization above chance level. Having shown that neither iPI nor boundaries alone are sufficient, we then address the question of whether their combination is sufficient and – we conjecture – necessary to maintain place stability for prolonged periods without vision. We addressed this question in simulations and robot experiments using a navigation model comprising of a particle filter and boundary map. The model replicates published experimental results on place field and grid field stability without vision, and makes testable predictions including place field splitting and grid field rescaling if the true arena geometry differs from the acquired boundary map. We discuss our findings in light of current theories of animal navigation and neuronal computation, and elaborate on their implications and significance for the design, analysis and interpretation of experiments. PMID:22916006

The real-world navigator

NASA Technical Reports Server (NTRS)

Balabanovic, Marko; Becker, Craig; Morse, Sarah K.; Nourbakhsh, Illah R.

1994-01-01

The success of every mobile robot application hinges on the ability to navigate robustly in the real world. The problem of robust navigation is separable from the challenges faced by any particular robot application. We offer the Real-World Navigator as a solution architecture that includes a path planner, a map-based localizer, and a motion control loop that combines reactive avoidance modules with deliberate goal-based motion. Our architecture achieves a high degree of reliability by maintaining and reasoning about an explicit description of positional uncertainty. We provide two implementations of real-world robot systems that incorporate the Real-World Navigator. The Vagabond Project culminated in a robot that successfully navigated a portion of the Stanford University campus. The Scimmer project developed successful entries for the AIAA 1993 Robotics Competition, placing first in one of the two contests entered.

Autonomous Deep-Space Optical Navigation Project

NASA Technical Reports Server (NTRS)

D'Souza, Christopher

2014-01-01

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

SU-E-T-478: Sliding Window Multi-Criteria IMRT Optimization

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

Craft, D; Papp, D; Unkelbach, J

2014-06-01

Purpose: To demonstrate a method for what-you-see-is-what-you-get multi-criteria Pareto surface navigation for step and shoot IMRT treatment planning. Methods: We show mathematically how multiple sliding window treatment plans can be averaged to yield a single plan whose dose distribution is the dosimetric average of the averaged plans. This is incorporated into the Pareto surface navigation based approach to treatment planning in such a way that as the user navigates the surface, the plans he/she is viewing are ready to be delivered (i.e. there is no extra ‘segment the plans’ step that often leads to unacceptable plan degradation in step andmore » shoot Pareto surface navigation). We also describe how the technique can be applied to VMAT. Briefly, sliding window VMAT plans are created such that MLC leaves paint out fluence maps every 15 degrees or so. These fluence map leaf trajectories are averaged in the same way the static beam IMRT ones are. Results: We show mathematically that fluence maps are exactly averaged using our leaf sweep averaging algorithm. Leaf transmission and output factor corrections effects, which are ignored in this work, can lead to small errors in terms of the dose distributions not being exactly averaged even though the fluence maps are. However, our demonstrations show that the dose distributions are almost exactly averaged as well. We demonstrate the technique both for IMRT and VMAT. Conclusions: By turning to sliding window delivery, we show that the problem of losing plan fidelity during the conversion of an idealized fluence map plan into a deliverable plan is remedied. This will allow for multicriteria optimization that avoids the pitfall that the planning has to be redone after the conversion into MLC segments due to plan quality decline. David Craft partially funded by RaySearch Laboratories.« less

Navigation performance in virtual environments varies with fractal dimension of landscape.

PubMed

Juliani, Arthur W; Bies, Alexander J; Boydston, Cooper R; Taylor, Richard P; Sereno, Margaret E

2016-09-01

Fractal geometry has been used to describe natural and built environments, but has yet to be studied in navigational research. In order to establish a relationship between the fractal dimension (D) of a natural environment and humans' ability to navigate such spaces, we conducted two experiments using virtual environments that simulate the fractal properties of nature. In Experiment 1, participants completed a goal-driven search task either with or without a map in landscapes that varied in D. In Experiment 2, participants completed a map-reading and location-judgment task in separate sets of fractal landscapes. In both experiments, task performance was highest at the low-to-mid range of D, which was previously reported as most preferred and discriminable in studies of fractal aesthetics and discrimination, respectively, supporting a theory of visual fluency. The applicability of these findings to architecture, urban planning, and the general design of constructed spaces is discussed.

Frames of reference for helicopter electronic maps - The relevance of spatial cognition and componential analysis

NASA Technical Reports Server (NTRS)

Harwood, Kelly; Wickens, Christopher D.

1991-01-01

Computer-generated map displays for NOE and low-level helicopter flight were formed according to prior research on maps, navigational problem solving, and spatial cognition in large-scale environments. The north-up map emphasized consistency of object location, wheareas, the track-up map emphasized map-terrain congruency. A component analysis indicates that different cognitive components, e.g., orienting and absolute object location, are supported to varying degrees by properties of different frames of reference.

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

Impacts of Colville River dynamics on river navigability near Nuiqsut, Alaska: 1955-present

NASA Astrophysics Data System (ADS)

Whitley, M. A.; Panda, S. K.; Prakash, A.; Brinkman, T. J.

2016-12-01

Climate-driven changes in river systems are challenging access to ecosystem services such as access to traditional hunting grounds and other subsistence food sources on the North Slope of Alaska. This work studies the dynamics of the Colville River and assesses the impacts on traditional harvest practices and subsistence travel of the Native community of Nuiqsut. Recent reports from Nuiqsut residents indicate accelerated changes in the environment, limiting river travel and their ability to harvest subsistence food. This study explores how channel migration, gravel bars, and bank erosion have evolved since the 1950s, and their impact on water depth and navigability. In an area of ice-rich permafrost, warmer summer temperatures exacerbate lateral bank erosion, resulting in river siltation. The study focuses on selected key areas south of Nuiqsut that have shown significant change in river geomorphology. Since 1955, some areas proximate to ice wedge exposures show channel migration in excess of 1 km. Panchromatic aerial photography acquired by US Geological Surveys in the mid 1950s, color infrared aerial photography from 1979 and 1982 acquired by the Alaska High Altitude Photography (AHAP) mission, and high resolution satellite images from Digital Globe, Inc. were used in this study. We mapped water, vegetation, and gravel/non-vegetated classes to identify risk areas for river navigability. River bathymetry was also mapped using a multispectral ratio-based water depth retrieval algorithm to identify problem sites for boat travel. Remote sensing products and analyses were validated with field data for mapping risk areas along the river. This study has the potential to be implemented on a larger scale for predictive mapping to aid river navigation. Findings from this study will provide insight whether recent changes are anomalies, or if they are part of a directional trend that will require local adaptation.

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

36 CFR 1194.22 - Web-based intranet and internet information and applications.

Code of Federal Regulations, 2012 CFR

2012-07-01

... active region of a server-side image map. (f) Client-side image maps shall be provided instead of server-side image maps except where the regions cannot be defined with an available geometric shape. (g) Row...) Frames shall be titled with text that facilitates frame identification and navigation. (j) Pages shall be...

36 CFR 1194.22 - Web-based intranet and internet information and applications.

Code of Federal Regulations, 2014 CFR

2014-07-01

... active region of a server-side image map. (f) Client-side image maps shall be provided instead of server-side image maps except where the regions cannot be defined with an available geometric shape. (g) Row...) Frames shall be titled with text that facilitates frame identification and navigation. (j) Pages shall be...

36 CFR § 1194.22 - Web-based intranet and internet information and applications.

Code of Federal Regulations, 2013 CFR

2013-07-01

... active region of a server-side image map. (f) Client-side image maps shall be provided instead of server-side image maps except where the regions cannot be defined with an available geometric shape. (g) Row...) Frames shall be titled with text that facilitates frame identification and navigation. (j) Pages shall be...

The attribution of success when using navigation aids.

PubMed

Brown, Michael; Houghton, Robert; Sharples, Sarah; Morley, Jeremy

2015-01-01

Attitudes towards geographic information technology is a seldom explored research area that can be explained with reference to established theories of attribution. This article reports on a study of how the attribution of success and failure in pedestrian navigation varies with level of automation, degree of success and locus of control. A total of 113 participants took part in a survey exploring reflections on personal experiences and vignettes describing fictional navigation experiences. A complex relationship was discovered in which success tends to be attributed to skill and failure to the navigation aid when participants describe their own experiences. A reversed pattern of results was found when discussing the navigation of others. It was also found that navigation success and failure are associated with personal skill to a greater extent when using paper maps, as compared with web-based routing engines or satellite navigation systems. This article explores the influences on the attribution of success and failure when using navigation aids. A survey was performed exploring interpretations of navigation experiences. Level of success, self or other as navigator and type of navigation aid used are all found to influence the attribution of outcomes to internal or external factors.

The attribution of success when using navigation aids

PubMed Central

Brown, Michael; Houghton, Robert; Sharples, Sarah; Morley, Jeremy

2015-01-01

Attitudes towards geographic information technology is a seldom explored research area that can be explained with reference to established theories of attribution. This article reports on a study of how the attribution of success and failure in pedestrian navigation varies with level of automation, degree of success and locus of control. A total of 113 participants took part in a survey exploring reflections on personal experiences and vignettes describing fictional navigation experiences. A complex relationship was discovered in which success tends to be attributed to skill and failure to the navigation aid when participants describe their own experiences. A reversed pattern of results was found when discussing the navigation of others. It was also found that navigation success and failure are associated with personal skill to a greater extent when using paper maps, as compared with web-based routing engines or satellite navigation systems. Practitioner Summary: This article explores the influences on the attribution of success and failure when using navigation aids. A survey was performed exploring interpretations of navigation experiences. Level of success, self or other as navigator and type of navigation aid used are all found to influence the attribution of outcomes to internal or external factors. PMID:25384842

Passive mapping and intermittent exploration for mobile robots

NASA Technical Reports Server (NTRS)

Engleson, Sean P.

1994-01-01

An adaptive state space architecture is combined with diktiometric representation to provide the framework for designing a robot mapping system with flexible navigation planning tasks. This involves indexing waypoints described as expectations, geometric indexing, and perceptual indexing. Matching and updating the robot's projected position and sensory inputs with indexing waypoints involves matchers, dynamic priorities, transients, and waypoint restructuring. The robot's map learning can be opganized around the principles of passive mapping.

Lunar rover navigation concepts

NASA Astrophysics Data System (ADS)

Burke, James D.

1993-01-01

With regard to the navigation of mobile lunar vehicles on the surface, candidate techniques are reviewed and progress of simulations and experiments made up to now are described. Progress that can be made through precursor investigations on Earth is considered. In the early seventies the problem was examined in a series of relevant tests made in the California desert. Meanwhile, Apollo rovers made short exploratory sorties and robotic Lunokhods traveled over modest distances on the Moon. In these early missions some of the required methods were demonstrated. The navigation problem for a lunar traverse can be viewed in three parts: to determine the starting point with enough accuracy to enable the desired mission; to determine the event sequence required to reach the site of each traverse objective; and to redetermine actual positions enroute. The navigator's first tool is a map made from overhead imagery. The Moon was almost completely photographed at moderate resolution by spacecraft launched in the sixties, but that data set provides imprecise topographic and selenodetic information. Therefore, more advanced orbital missions are now proposed as part of a resumed lunar exploration program. With the mapping coverage expected from such orbiters, it will be possible to use a combination of visual landmark navigation and external radio and optical references (Earth and Sun) to achieve accurate surface navigation almost everywhere on the near side of the Moon. On the far side and in permanently dark polar areas, there are interesting exploration targets where additional techniques will have to be used.

UAV Inspection of Electrical Transmission Infrastructure with Path Conformance Autonomy and Lidar-Based Geofences NASA Report on UTM Reference Mission Flights at Southern Company Flights November 2016

NASA Technical Reports Server (NTRS)

Moore, Andrew J.; Schubert, Matthew; Rymer, Nicholas; Balachandran, Swee; Consiglio, Maria; Munoz, Cesar; Smith, Joshua; Lewis, Dexter; Schneider, Paul

2017-01-01

Flights at low altitudes in close proximity to electrical transmission infrastructure present serious navigational challenges: GPS and radio communication quality is variable and yet tight position control is needed to measure defects while avoiding collisions with ground structures. To advance unmanned aerial vehicle (UAV) navigation technology while accomplishing a task with economic and societal benefit, a high voltage electrical infrastructure inspection reference mission was designed. An integrated air-ground platform was developed for this mission and tested in two days of experimental flights to determine whether navigational augmentation was needed to successfully conduct a controlled inspection experiment. The airborne component of the platform was a multirotor UAV built from commercial off-the-shelf hardware and software, and the ground component was a commercial laptop running open source software. A compact ultraviolet sensor mounted on the UAV can locate 'hot spots' (potential failure points in the electric grid), so long as the UAV flight path adequately samples the airspace near the power grid structures. To improve navigation, the platform was supplemented with two navigation technologies: lidar-to-polyhedron preflight processing for obstacle demarcation and inspection distance planning, and trajectory management software to enforce inspection standoff distance. Both navigation technologies were essential to obtaining useful results from the hot spot sensor in this obstacle-rich, low-altitude airspace. Because the electrical grid extends into crowded airspaces, the UAV position was tracked with NASA unmanned aerial system traffic management (UTM) technology. The following results were obtained: (1) Inspection of high-voltage electrical transmission infrastructure to locate 'hot spots' of ultraviolet emission requires navigation methods that are not broadly available and are not needed at higher altitude flights above ground structures. (2) The sensing capability of a novel airborne UV detector was verified with a standard ground-based instrument. Flights with this sensor showed that UAV measurement operations and recording methods are viable. With improved sensor range, UAVs equipped with compact UV sensors could serve as the detection elements in a self-diagnosing power grid. (3) Simplification of rich lidar maps to polyhedral obstacle maps reduces data volume by orders of magnitude, so that computation with the resultant maps in real time is possible. This enables real-time obstacle avoidance autonomy. Stable navigation may be feasible in the GPS-deprived environment near transmission lines by a UAV that senses ground structures and compares them to these simplified maps. (4) A new, formally verified path conformance software system that runs onboard a UAV was demonstrated in flight for the first time. It successfully maneuvered the aircraft after a sudden lateral perturbation that models a gust of wind, and processed lidar-derived polyhedral obstacle maps in real time. (5) Tracking of the UAV in the national airspace using the NASA UTM technology was a key safety component of this reference mission, since the flights were conducted beneath the landing approach to a heavily used runway. Comparison to autopilot tracking showed that UTM tracking accurately records the UAV position throughout the flight path.

Spatial abstraction for autonomous robot navigation.

PubMed

Epstein, Susan L; Aroor, Anoop; Evanusa, Matthew; Sklar, Elizabeth I; Parsons, Simon

2015-09-01

Optimal navigation for a simulated robot relies on a detailed map and explicit path planning, an approach problematic for real-world robots that are subject to noise and error. This paper reports on autonomous robots that rely on local spatial perception, learning, and commonsense rationales instead. Despite realistic actuator error, learned spatial abstractions form a model that supports effective travel.

Navigational Metalanguages for New Territory in English: The Potential of Grammatics

ERIC Educational Resources Information Center

Macken-Horarik, Mary

2009-01-01

This paper takes up the sea-faring metaphor at the centre of this special edition and asks what kinds of navigational tools (metalanguages) are necessary to steer English through the digital seas of contemporary communication. Much of this territory is yet to be mapped and the disciplinary "boat" is buffeted by contrary winds such as…

78 FR 39163 - Navigation and Navigable Waters; Technical, Organizational, and Conforming Amendments

Federal Register 2010, 2011, 2012, 2013, 2014

2013-07-01

... publication in the Federal Register. III. Background and Purpose Each year, the printed edition of Title 33 of... Mapping Agency changed its name to the National Geospatial- Intelligence Agency. This rule removes the references to printed versions of the LNM in Sec. 72.01-10(c). In place of paragraph (c) is an updated link...

Radar Based Navigation in Unknown Terrain

DTIC Science & Technology

2012-12-31

localization and mapping ( SLAM ) approach. The radar processing algorithms detect strong, persistent, and stationary reflectors embedded in the...Global System for Mobile Communications . . . . . . . . . 2 LIDAR Light Detection and Ranging . . . . . . . . . . . . . . . . 2 SAR Synthetic Aperture...22 SLAM Simultaneous Localization and Mapping . . . . . . . . . . 25 FDM Frequency Division Multiplexing

A Rule-Based Spatial Reasoning Approach for OpenStreetMap Data Quality Enrichment; Case Study of Routing and Navigation

PubMed Central

2017-01-01

Finding relevant geospatial information is increasingly critical because of the growing volume of geospatial data available within the emerging “Big Data” era. Users are expecting that the availability of massive datasets will create more opportunities to uncover hidden information and answer more complex queries. This is especially the case with routing and navigation services where the ability to retrieve points of interest and landmarks make the routing service personalized, precise, and relevant. In this paper, we propose a new geospatial information approach that enables the retrieval of implicit information, i.e., geospatial entities that do not exist explicitly in the available source. We present an information broker that uses a rule-based spatial reasoning algorithm to detect topological relations. The information broker is embedded into a framework where annotations and mappings between OpenStreetMap data attributes and external resources, such as taxonomies, support the enrichment of queries to improve the ability of the system to retrieve information. Our method is tested with two case studies that leads to enriching the completeness of OpenStreetMap data with footway crossing points-of-interests as well as building entrances for routing and navigation purposes. It is concluded that the proposed approach can uncover implicit entities and contribute to extract required information from the existing datasets. PMID:29088125

Route Repetition and Route Reversal: Effects of Age and Encoding Method

PubMed Central

Allison, Samantha; Head, Denise

2017-01-01

Previous research indicates age-related impairments in learning routes from a start location to a target destination. There is less research on age effects on the ability to reverse a learned path. The method used to learn routes may also influence performance. This study examined how encoding methods influence the ability of younger and older adults to recreate a route in a virtual reality environment in forward and reverse directions. Younger (n=50) and older (n=50) adults learned a route by either self-navigation through the virtual environment or through studying a map. At test, participants recreated the route in the forward and reverse directions. Older adults in the map study condition had greater difficulty learning the route in the forward direction compared to younger adults. Older adults who learned the route by self-navigation were less accurate in traversing the route in the reverse compared to forward direction after a delay. In contrast, for older adults who learned via map study there were no significant differences between forward and reverse directions. Results suggest that older adults may not as readily develop and retain a sufficiently flexible representation of the environment during self-navigation to support accurate route reversal. Thus, initially learning a route from a map may be more difficult for older adults, but may ultimately be beneficial in terms of better supporting the ability to return to a start location. PMID:28504535

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.

Automated detection of submerged navigational obstructions in freshwater impoundments with hull mounted sidescan sonar

NASA Astrophysics Data System (ADS)

Morris, Phillip A.

The prevalence of low-cost side scanning sonar systems mounted on small recreational vessels has created improved opportunities to identify and map submerged navigational hazards in freshwater impoundments. However, these economical sensors also present unique challenges for automated techniques. This research explores related literature in automated sonar imagery processing and mapping technology, proposes and implements a framework derived from these sources, and evaluates the approach with video collected from a recreational grade sonar system. Image analysis techniques including optical character recognition and an unsupervised computer automated detection (CAD) algorithm are employed to extract the transducer GPS coordinates and slant range distance of objects protruding from the lake bottom. The retrieved information is formatted for inclusion into a spatial mapping model. Specific attributes of the sonar sensors are modeled such that probability profiles may be projected onto a three dimensional gridded map. These profiles are computed from multiple points of view as sonar traces crisscross or come near each other. As lake levels fluctuate over time so do the elevation points of view. With each sonar record, the probability of a hazard existing at certain elevations at the respective grid points is updated with Bayesian mechanics. As reinforcing data is collected, the confidence of the map improves. Given a lake's current elevation and a vessel draft, a final generated map can identify areas of the lake that have a high probability of containing hazards that threaten navigation. The approach is implemented in C/C++ utilizing OpenCV, Tesseract OCR, and QGIS open source software and evaluated in a designated test area at Lake Lavon, Collin County, Texas.

GLORIA II Sonograph Mosaic of the Western U.S. Exclusive Economic Zone

NASA Astrophysics Data System (ADS)

Cacchione, D. A.; Drake, D. E.; Edwards, B.; Field, M.; Gardner, J.; Hampton, M.; Karl, H.; McCulloch, D.; Kenyon, N.; Masson, D.

In 1983 the United States declared sovereign rights and jurisdiction over living and nonliving resources in an area extending 200 nautical miles (370 km) seaward from its shores. In response to the establishment of this Exclusive Economic Zone (EEZ), the U.S. Geological Survey (USGS) has implemented a program, called EEZ-Scan, to systematically map the EEZ, using the Geological Long- Range Inclined ASDIC (GLORIA) II longrange side scan sonar system developed by the Institute of Oceanographic Sciences (IOS) of Great Britain [Somers et al, 1978]. The first part of the EEZ-Scan field program was completed in the summer of 1984, when USGS and IOS scientists surveyed the EEZ off the western conterminous United States aboard the British research vessel Farnella (Figure 1). The west coast survey, requiring 96 days of ship time and four separate legs, has resulted in virtually total sonograph coverage of the sea floor from the continental shelf break to the 200-nautical mile limit between the Mexican and Canadian borders, an area of about 850,000 km2 . Other data collected on the cruises included two-channel digital seismic reflection and 3.5-kHz highresolution and 10-kHz bathymetric profiles, as well as towed magnetometer data along approximately 20,000 km of trackline spaced nominally at 30-km intervals.

GPS-aided inertial technology and navigation-based photogrammetry for aerial mapping the San Andreas fault system

USGS Publications Warehouse

Sanchez, Richard D.; Hudnut, Kenneth W.

2004-01-01

Aerial mapping of the San Andreas Fault System can be realized more efficiently and rapidly without ground control and conventional aerotriangulation. This is achieved by the direct geopositioning of the exterior orientation of a digital imaging sensor by use of an integrated Global Positioning System (GPS) receiver and an Inertial Navigation System (INS). A crucial issue to this particular type of aerial mapping is the accuracy, scale, consistency, and speed achievable by such a system. To address these questions, an Applanix Digital Sensor System (DSS) was used to examine its potential for near real-time mapping. Large segments of vegetation along the San Andreas and Cucamonga faults near the foothills of the San Bernardino and San Gabriel Mountains were burned to the ground in the California wildfires of October-November 2003. A 175 km corridor through what once was a thickly vegetated and hidden fault surface was chosen for this study. Both faults pose a major hazard to the greater Los Angeles metropolitan area and a near real-time mapping system could provide information vital to a post-disaster response.

How do they make it look so easy? The expert orienteer's cognitive advantage.

PubMed

Eccles, David W; Arsal, Guler

2015-01-01

Expertise in sport can appear so extraordinary that it is difficult to imagine how "normal" individuals may achieve it. However, in this review, we show that experts in the sport of orienteering, which requires on-foot navigation using map and compass through wild terrain, can make the difficult look easy because they have developed a cognitive advantage. Specifically, they have acquired knowledge of cognitive and behavioural strategies that allow them to circumvent natural limitations on attention. Cognitive strategies include avoiding peaks of demand on attention by distributing the processing of map information over time and reducing the need to attend to the map by simplifying the navigation required to complete a race. Behavioural strategies include reducing the visual search required of the map by physically arranging and rearranging the map display during races. It is concluded that expertise in orienteering can be partly attributed to the circumvention of natural limitations on attention achieved via the employment of acquired cognitive and behavioural strategies. Thus, superior performance in sport may not be the possession of only a privileged few; it may be available to all aspiring athletes.

Insect navigation: do ants live in the now?

PubMed

Graham, Paul; Mangan, Michael

2015-03-01

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

A study of navigation in virtual space

NASA Technical Reports Server (NTRS)

Darken, Rudy; Sibert, John L.; Shumaker, Randy

1994-01-01

In the physical world, man has developed efficient methods for navigation and orientation. These methods are dependent on the high-fidelity stimuli presented by the environment. When placed in a virtual world which cannot offer stimuli of the same quality due to computing constraints and immature technology, tasks requiring the maintenance of position and orientation knowledge become laborious. In this paper, we present a representative set of techniques based on principles of navigation derived from real world analogs including human and avian navigation behavior and cartography. A preliminary classification of virtual worlds is presented based on the size of the world, the density of objects in the world, and the level of activity taking place in the world. We also summarize an informal study we performed to determine how the tools influenced the subjects' navigation strategies and behavior. We conclude that principles extracted from real world navigation aids such as maps can be seen to apply in virtual environments.

The Neural Basis of Long-Distance Navigation in Birds.

PubMed

Mouritsen, Henrik; Heyers, Dominik; Güntürkün, Onur

2016-01-01

Migratory birds can navigate over tens of thousands of kilometers with an accuracy unobtainable for human navigators. To do so, they use their brains. In this review, we address how birds sense navigation- and orientation-relevant cues and where in their brains each individual cue is processed. When little is currently known, we make educated predictions as to which brain regions could be involved. We ask where and how multisensory navigational information is integrated and suggest that the hippocampus could interact with structures that represent maps and compass information to compute and constantly control navigational goals and directions. We also suggest that the caudolateral nidopallium could be involved in weighing conflicting pieces of information against each other, making decisions, and helping the animal respond to unexpected situations. Considering the gaps in current knowledge, some of our suggestions may be wrong. However, our main aim is to stimulate further research in this fascinating field.

Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments.

PubMed

Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

2016-07-26

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

PubMed Central

Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

2016-01-01

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario. PMID:27472337

Bathymetry and acoustic backscatter: Elwha River Delta, Washington

USGS Publications Warehouse

Finlayson, David P.; Miller, Ian M.; Warrick, Jonathan A.

2011-01-01

The surveys were conducted using the R/V Parke Snavely outfitted with an interferometric sidescan sonar for swath mapping and real-time kinematic navigation equipment for accurate shallow water operations. This report provides these data in a number of different formats, as well as a summary of the mapping mission, maps of bathymetry and backscatter, and Federal Geographic Data Committee (FGDC) metadata.

The Art of Teaching Map and Compass: Instructional Techniques, Curricular Formats and Practical Field Exercises.

ERIC Educational Resources Information Center

Watters, Ron

This paper discusses the value of teaching map and compass skills in the classroom or an outdoor situation. Navigation is the most basic of all outdoor skills. A map and compass curriculum can be taught to anyone, is inexpensive, and is easily incorporated in a variety of educational situations. General teaching principles are outlined: (1) start…

Active Volcanoes of the Kurile Islands: A Reference Guide for Aviation Users

USGS Publications Warehouse

Neal, Christina A.; Rybin, Alexander; Chibisova, Marina; Miller, Edward

2008-01-01

Introduction: The many volcanoes of the remote and mostly uninhabited Kurile Island arc (fig. 1; table 1) pose a serious hazard for air traffic in the North Pacific. Ash clouds from Kurile eruptions can impact some of the busiest air travel routes in the world and drift quickly into airspace managed by three countries: Russia, Japan, and the United States. Prevailing westerly winds throughout the region will most commonly send ash from any Kurile eruption directly across the parallel North Pacific airways between North America and Asia (Kristine A. Nelson, National Weather Service, oral commun., 2006; fig. 1). This report presents maps showing locations of the 36 most active Kurile volcanoes plotted on Operational Navigational Charts published by the Defense Mapping Agency (map sheets ONC F-10, F-11, and E-10; figs. 1, 2, 3, 4). These maps are intended to assist aviation and other users in the identification of restless Kurile volcanoes. A regional map is followed by three subsections of the Kurile volcanic arc (North, Central, South). Volcanoes and selected primary geographic features are labeled. All maps contain schematic versions of the principal air routes and selected air navigational fixes in this region.

A map of abstract relational knowledge in the human hippocampal-entorhinal cortex.

PubMed

Garvert, Mona M; Dolan, Raymond J; Behrens, Timothy Ej

2017-04-27

The hippocampal-entorhinal system encodes a map of space that guides spatial navigation. Goal-directed behaviour outside of spatial navigation similarly requires a representation of abstract forms of relational knowledge. This information relies on the same neural system, but it is not known whether the organisational principles governing continuous maps may extend to the implicit encoding of discrete, non-spatial graphs. Here, we show that the human hippocampal-entorhinal system can represent relationships between objects using a metric that depends on associative strength. We reconstruct a map-like knowledge structure directly from a hippocampal-entorhinal functional magnetic resonance imaging adaptation signal in a situation where relationships are non-spatial rather than spatial, discrete rather than continuous, and unavailable to conscious awareness. Notably, the measure that best predicted a behavioural signature of implicit knowledge and blood oxygen level-dependent adaptation was a weighted sum of future states, akin to the successor representation that has been proposed to account for place and grid-cell firing patterns.

Comparable Rest-related Promotion of Spatial Memory Consolidation in Younger and Older Adults

PubMed Central

Craig, Michael; Wolbers, Thomas; Harris, Mathew A.; Hauff, Patrick; Della Sala, Sergio; Dewar, Michaela

2017-01-01

Flexible spatial navigation depends on cognitive mapping, a function that declines with increasing age. In young adults, a brief period of post-navigation rest promotes the consolidation/integration of spatial memories into accurate cognitive maps. We examined (1) whether rest promotes spatial memory consolidation/integration in older adults and (2) whether the magnitude of the rest benefit changes with increasing age. Young and older adults learned a route through a virtual environment, followed by a 10min delay comprising either wakeful rest or a perceptual task, and a subsequent cognitive mapping task, requiring the pointing to landmarks from different locations. Pointing accuracy was lower in the older than younger adults. However, there was a comparable rest-related enhancement in pointing accuracy in the two age groups. Together our findings suggest that (i) the age-related decline in cognitive mapping cannot be explained by increased consolidation interference in older adults, and (ii) as we grow older rest continues to support the consolidation/integration of spatial memories. PMID:27689512

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.

PNT Activities at NASA Glenn Research Center

NASA Technical Reports Server (NTRS)

Sands, Obed

2017-01-01

This presentation provides a review of Position Navigation and Timing activities at the Glenn Research Center. Topics include 1) contributions to simulation studies for the Space Service Volume of the Global Navigation Satellite System, 2) development and integration efforts for a Software Defined Radio (SDR) waveform for the Space Communications and Navigation (SCaN) testbed, currently onboard the International Space Station and 3) a GPS L5 testbed intended to explore terrain mapping capabilities with communications signals. Future directions are included and a brief discussion of NASA, GRC and the SCAN office.

Quantifying navigational information: The catchment volumes of panoramic snapshots in outdoor scenes.

PubMed

Murray, Trevor; Zeil, Jochen

2017-01-01

Panoramic views of natural environments provide visually navigating animals with two kinds of information: they define locations because image differences increase smoothly with distance from a reference location and they provide compass information, because image differences increase smoothly with rotation away from a reference orientation. The range over which a given reference image can provide navigational guidance (its 'catchment area') has to date been quantified from the perspective of walking animals by determining how image differences develop across the ground plane of natural habitats. However, to understand the information available to flying animals there is a need to characterize the 'catchment volumes' within which panoramic snapshots can provide navigational guidance. We used recently developed camera-based methods for constructing 3D models of natural environments and rendered panoramic views at defined locations within these models with the aim of mapping navigational information in three dimensions. We find that in relatively open woodland habitats, catchment volumes are surprisingly large extending for metres depending on the sensitivity of the viewer to image differences. The size and the shape of catchment volumes depend on the distance of visual features in the environment. Catchment volumes are smaller for reference images close to the ground and become larger for reference images at some distance from the ground and in more open environments. Interestingly, catchment volumes become smaller when only above horizon views are used and also when views include a 1 km distant panorama. We discuss the current limitations of mapping navigational information in natural environments and the relevance of our findings for our understanding of visual navigation in animals and autonomous robots.

Quantifying navigational information: The catchment volumes of panoramic snapshots in outdoor scenes

PubMed Central

Zeil, Jochen

2017-01-01

Panoramic views of natural environments provide visually navigating animals with two kinds of information: they define locations because image differences increase smoothly with distance from a reference location and they provide compass information, because image differences increase smoothly with rotation away from a reference orientation. The range over which a given reference image can provide navigational guidance (its ‘catchment area’) has to date been quantified from the perspective of walking animals by determining how image differences develop across the ground plane of natural habitats. However, to understand the information available to flying animals there is a need to characterize the ‘catchment volumes’ within which panoramic snapshots can provide navigational guidance. We used recently developed camera-based methods for constructing 3D models of natural environments and rendered panoramic views at defined locations within these models with the aim of mapping navigational information in three dimensions. We find that in relatively open woodland habitats, catchment volumes are surprisingly large extending for metres depending on the sensitivity of the viewer to image differences. The size and the shape of catchment volumes depend on the distance of visual features in the environment. Catchment volumes are smaller for reference images close to the ground and become larger for reference images at some distance from the ground and in more open environments. Interestingly, catchment volumes become smaller when only above horizon views are used and also when views include a 1 km distant panorama. We discuss the current limitations of mapping navigational information in natural environments and the relevance of our findings for our understanding of visual navigation in animals and autonomous robots. PMID:29088300

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

NASA Astrophysics Data System (ADS)

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

2013-11-01

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

Slow Pathway Radiofrequency Ablation Using Magnetic Navigation: A Description of Technique and Retrospective Case Analysis.

PubMed

Bhaskaran, Abhishek; Albarri, Maha; Ross, Neil; Al Raisi, Sara; Samanta, Rahul; Roode, Leonette; Nadri, Fazlur; Ng, Jeanette; Thomas, Stuart; Thiagalingam, Aravinda; Kovoor, Pramesh

2017-12-01

The Magnetic Navigation System (MNS) catheter was shown to be stable in the presence of significant cardiac wall motion and delivered more effective lesions compared to manual control. This stability could potentially make AV junctional re-entrant tachycardia (AVNRT) ablation safer. The aim of this study is to describe the method of mapping and ablation of AVNRT with MNS and 3-D electro-anatomical mapping system (CARTO, Biosense Webster, Diamond bar, CA, USA) anatomical mapping, with a view to improve the safety of ablation. The method of precise mapping and ablation with MNS is described. Consecutive AVNRT cases (n=30) from 2012 January to 2015 November, in which magnetic navigation was used, are analysed. Ablation was successful in 27 (90%) out of 30 patients. In three cases, ablation was abandoned due to the proximity of the three-dimensional His image to the potential ablation site. No complications, including AV nodal injury, occurred. The distance from the nearest His position to successful ablation site in both LAO and RAO projections of CARTO images was 26.4±8.8 and 27±7.7mm respectively. Only in two (9%) patients, ablation needed to be extended superior to the plane of coronary sinus ostium, towards the His bundle region, to achieve slow pathway modification. AVNRT ablation with MNS allows for accurate mapping of the AV node and stable ablation at a safe distance, which could help avoid AV nodal injury. We recommend this modality for younger patients with AVNRT. Copyright © 2017. Published by Elsevier B.V.

Navigational Style Influences Eye Movement Pattern during Exploration and Learning of an Environmental Map

PubMed Central

Piccardi, Laura; De Luca, Maria; Nori, Raffaella; Palermo, Liana; Iachini, Fabiana; Guariglia, Cecilia

2016-01-01

During navigation people may adopt three different spatial styles (i.e., Landmark, Route, and Survey). Landmark style (LS) people are able to recall familiar landmarks but cannot combine them with directional information; Route style (RS) people connect landmarks to each other using egocentric information about direction; Survey style (SS) people use a map-like representation of the environment. SS individuals generally navigate better than LS and RS people. Fifty-one college students (20 LS; 17 RS, and 14 SS) took part in the experiment. The spatial cognitive style (SCS) was assessed by means of the SCS test; participants then had to learn a schematic map of a city, and after 5 min had to recall the path depicted on it. During the learning and delayed recall phases, eye-movements were recorded. Our intent was to investigate whether there is a peculiar way to explore an environmental map related to the individual’s spatial style. Results support the presence of differences in the strategy used by the three spatial styles for learning the path and its delayed recall. Specifically, LS individuals produced a greater number of fixations of short duration, while the opposite eye movement pattern characterized SS individuals. Moreover, SS individuals showed a more spread and comprehensive explorative pattern of the map, while LS individuals focused their exploration on the path and related targets. RS individuals showed a pattern of exploration at a level of proficiency between LS and SS individuals. We discuss the clinical and anatomical implications of our data. PMID:27445735

Mobile Robot Designed with Autonomous Navigation System

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

Visual navigation in insects: coupling of egocentric and geocentric information

PubMed

Wehner; Michel; Antonsen

1996-01-01

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

AUV SLAM and Experiments Using a Mechanical Scanning Forward-Looking Sonar

PubMed Central

He, Bo; Liang, Yan; Feng, Xiao; Nian, Rui; Yan, Tianhong; Li, Minghui; Zhang, Shujing

2012-01-01

Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods. PMID:23012549

AUV SLAM and experiments using a mechanical scanning forward-looking sonar.

PubMed

He, Bo; Liang, Yan; Feng, Xiao; Nian, Rui; Yan, Tianhong; Li, Minghui; Zhang, Shujing

2012-01-01

Navigation technology is one of the most important challenges in the applications of autonomous underwater vehicles (AUVs) which navigate in the complex undersea environment. The ability of localizing a robot and accurately mapping its surroundings simultaneously, namely the simultaneous localization and mapping (SLAM) problem, is a key prerequisite of truly autonomous robots. In this paper, a modified-FastSLAM algorithm is proposed and used in the navigation for our C-Ranger research platform, an open-frame AUV. A mechanical scanning imaging sonar is chosen as the active sensor for the AUV. The modified-FastSLAM implements the update relying on the on-board sensors of C-Ranger. On the other hand, the algorithm employs the data association which combines the single particle maximum likelihood method with modified negative evidence method, and uses the rank-based resampling to overcome the particle depletion problem. In order to verify the feasibility of the proposed methods, both simulation experiments and sea trials for C-Ranger are conducted. The experimental results show the modified-FastSLAM employed for the navigation of the C-Ranger AUV is much more effective and accurate compared with the traditional methods.

Virtual/real transfer of spatial knowledge: benefit from visual fidelity provided in a virtual environment and impact of active navigation.

PubMed

Wallet, Grégory; Sauzéon, Hélène; Pala, Prashant Arvind; Larrue, Florian; Zheng, Xia; N'Kaoua, Bernard

2011-01-01

The purpose of this study was to evaluate the effect the visual fidelity of a virtual environment (VE) (undetailed vs. detailed) has on the transfer of spatial knowledge based on the navigation mode (passive vs. active) for three different spatial recall tasks (wayfinding, sketch mapping, and picture sorting). Sixty-four subjects (32 men and 32 women) participated in the experiment. Spatial learning was evaluated by these three tasks in the context of the Bordeaux district. In the wayfinding task, the results indicated that the detailed VE helped subjects to transfer their spatial knowledge from the VE to the real world, irrespective of the navigation mode. In the sketch-mapping task, the detailed VE increased performances compared to the undetailed VE condition, and allowed subjects to benefit from the active navigation. In the sorting task, performances were better in the detailed VE; however, in the undetailed version of the VE, active learning either did not help the subjects or it even deteriorated their performances. These results are discussed in terms of appropriate perceptive-motor and/or spatial representations for each spatial recall task.

Older persons' navigation through the service system towards home modification resources.

PubMed

Johansson, Karin; Borell, Lena; Lilja, Margareta

2009-01-01

Home modifications are part of the occupational therapy interventions provided to persons with functional limitations in the home environment. Home modification services often involve many different actors, and persons experiencing a need for home modifications have to navigate through a network of service organizations and professional actors. The aim of this study was to explore and describe how older adults in one Swedish municipality tried to find their way and navigate through the service system in order to receive home modification services that could meet their experienced needs. A case study design was used, including four older adults with different experiences and expectations of home modification services. The relationship between the participants' expectations, experiences, and their ways to navigate through the service system was described through the metaphor of a "geographical map". Satisfaction with the service process was found when there was a match in understandings of responsibilities and eligibility between what could be read from the older persons' map and the professionals' perspective. The findings have implications for client-centred occupational therapy practice, indicating that this match can be achieved when professionals translate clients' experienced problems in everyday life into a terminology that fits into the service system.

Mapping nuclear craters on Enewetak Atoll, Marshall Islands

USGS Publications Warehouse

Hampson, John C., Jr.

1986-01-01

In 1984, the U.S. Geological Survey conducted a detailed geologic analysis of two nuclear test craters at Enewetak Atoll, Marshall Islands, on behalf of the Defense Nuclear Agency. A multidisciplinary task force mapped the morphology, surface character, and subsurface structure of two craters, OAK and KOA. The field mapping techniques include echo sounding, sidescan sonar imaging, single-channel and multichannel seismic reflection profiling, a seismic refraction survey, and scuba and submersible operations. All operations had to be navigated precisely and correlatable with subsequent drilling and sampling operations. Mapping with a high degree of precision at scales as large as 1:1500 required corrections that often are not considered in marine mapping. Corrections were applied to the bathymetric data for location of the echo- sounding transducer relative to the navigation transponder on the ship and for transducer depth, speed of sound, and tidal variations. Sidescan sonar, single-channel seismic reflection, and scuba and submersible data were correlated in depth and map position with the bathymetric data to provide a precise, internally consistent data set. The multichannel and refraction surveys were conducted independently but compared well with bathymetry. Examples drawn from processing the bathymetric, sidescan sonar, and single- channel reflection data help illustrate problems and procedures in precision mapping.

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.

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.

A novel platform for electromagnetic navigated ultrasound bronchoscopy (EBUS).

PubMed

Sorger, Hanne; Hofstad, Erlend Fagertun; Amundsen, Tore; Langø, Thomas; Leira, Håkon Olav

2016-08-01

Endobronchial ultrasound transbronchial needle aspiration (EBUS-TBNA) of mediastinal lymph nodes is essential for lung cancer staging and distinction between curative and palliative treatment. Precise sampling is crucial. Navigation and multimodal imaging may improve the efficiency of EBUS-TBNA. We demonstrate a novel EBUS-TBNA navigation system in a dedicated airway phantom. Using a convex probe EBUS bronchoscope (CP-EBUS) with an integrated sensor for electromagnetic (EM) position tracking, we performed navigated CP-EBUS in a phantom. Preoperative computed tomography (CT) and real-time ultrasound (US) images were integrated into a navigation platform for EM navigated bronchoscopy. The coordinates of targets in CT and US volumes were registered in the navigation system, and the position deviation was calculated. The system visualized all tumor models and displayed their fused CT and US images in correct positions in the navigation system. Navigating the EBUS bronchoscope was fast and easy. Mean error observed between US and CT positions for 11 target lesions (37 measurements) was [Formula: see text] mm, maximum error was 5.9 mm. The feasibility of our novel navigated CP-EBUS system was successfully demonstrated. An EBUS navigation system is needed to meet future requirements of precise mediastinal lymph node mapping, and provides new opportunities for procedure documentation in EBUS-TBNA.

a Method for the Positioning and Orientation of Rail-Bound Vehicles in Gnss-Free Environments

NASA Astrophysics Data System (ADS)

Hung, R.; King, B. A.; Chen, W.

2016-06-01

Mobile Mapping System (MMS) are increasingly applied for spatial data collection to support different fields because of their efficiencies and the levels of detail they can provide. The Position and Orientation System (POS), which is conventionally employed for locating and orienting MMS, allows direct georeferencing of spatial data in real-time. Since the performance of a POS depends on both the Inertial Navigation System (INS) and the Global Navigation Satellite System (GNSS), poor GNSS conditions, such as in long tunnels and underground, introduce the necessity for post-processing. In above-ground railways, mobile mapping technology is employed with high performance sensors for finite usage, which has considerable potential for enhancing railway safety and management in real-time. In contrast, underground railways present a challenge for a conventional POS thus alternative configurations are necessary to maintain data accuracy and alleviate the need for post-processing. This paper introduces a method of rail-bound navigation to replace the role of GNSS for railway applications. The proposed method integrates INS and track alignment data for environment-independent navigation and reduces the demand of post-processing. The principle of rail-bound navigation is presented and its performance is verified by an experiment using a consumer-grade Inertial Measurement Unit (IMU) and a small-scale railway model. The method produced a substantial improvement in position and orientation for a poorly initialised system in centimetre positional accuracy. The potential improvements indicated by, and limitations of rail-bound navigation are also considered for further development in existing railway systems.

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

Navigated transcranial magnetic stimulation in preoperative planning for the treatment of motor area cavernous angiomas

PubMed Central

Paiva, Wellingson Silva; Fonoff, Erich Talamoni; Marcolin, Marco Antonio; Bor-Seng-Shu, Edson; Figueiredo, Eberval Gadelha; Teixeira, Manoel Jacobsen

2013-01-01

Since the introduction of microscopic techniques, radical surgery for cavernous angiomas has become a recommended treatment option. However, the treatment of motor area cavernous angioma represents a great challenge for the surgical team. Here, we describe an approach guided by frameless neuronavigation and preoperative functional mapping with transcranial magnetic stimulation (TMS), for surgical planning. We used TMS to map the motor cortex and its relationship with the angioma. We achieved complete resection of the lesions in the surgeries, while avoiding areas of motor response identified during the preoperative mapping. We verified the complete control of seizures (Engel class 1A) in the patients with previous refractory epilepsy. Postsurgery, one patient was seizure-free without medication, and two patients required only one medication for seizure control. Thus, navigated TMS appears to be a useful tool, in preoperative planning for cavernous angiomas of the motor area. PMID:24353424

Documenting AUTOGEN and APGEN Model Files

NASA Technical Reports Server (NTRS)

Gladden, Roy E.; Khanampompan, Teerapat; Fisher, Forest W.; DelGuericio, Chris c.

2008-01-01

A computer program called "autogen hypertext map generator" satisfies a need for documenting and assisting in visualization of, and navigation through, model files used in the AUTOGEN and APGEN software mentioned in the two immediately preceding articles. This program parses autogen script files, autogen model files, PERL scripts, and apgen activity-definition files and produces a hypertext map of the files to aid in the navigation of the model. This program also provides a facility for adding notes and descriptions, beyond what is in the source model represented by the hypertext map. Further, this program provides access to a summary of the model through variable, function, sub routine, activity and resource declarations as well as providing full access to the source model and source code. The use of the tool enables easy access to the declarations and the ability to traverse routines and calls while analyzing the model.

Ultra wide-band localization and SLAM: a comparative study for mobile robot navigation.

PubMed

Segura, Marcelo J; Auat Cheein, Fernando A; Toibero, Juan M; Mut, Vicente; Carelli, Ricardo

2011-01-01

In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work.

New gravity map of the western Galicia margin: The Spanish exclusive economic zone project

NASA Astrophysics Data System (ADS)

Carbó, A.; Muñoz, A.; Druet, M.; Llanes, P.; Álvarez, J.

2004-12-01

Since 1995, the most intensive mapping of the seafloor off the Spanish coast has been carried out in the framework of the Spanish Exclusive Economic Zone Project (ZEEE). The main objectives of this project are to obtain improved multibeam bathymetric cartography of the areas off Spanish coastlines, and to perform a geophysical survey, well-suited with a 10-knot navigation velocity (some techniques requires lower navigation velocity). The geophysical survey includes gravity, geomagnetism, and low-penetration seismic techniques in order to infer the geological structure of the seafloor. Other oceanographic variables such as current, surface salinity, and temperature profiles, can be recorded without compromising this systematic survey effort.

Influence of Role-Switching on Phonetic Convergence in Conversation

ERIC Educational Resources Information Center

Pardo, Jennifer S.; Jay, Isabel Cajori; Hoshino, Risa; Hasbun, Sara Maria; Sowemimo-Coker, Chantal; Krauss, Robert M.

2013-01-01

The current study examined phonetic convergence when talkers alternated roles during conversational interaction. The talkers completed a map navigation task in which they alternated instruction Giver and Receiver roles across multiple map pairs. Previous studies found robust effects of the role of a talker on phonetic convergence, and it was…

Don't Stop Believing: Mapping Distance Learners' Research Journeys

ERIC Educational Resources Information Center

Brahme, Maria E.; Gabriel, Lizette; Stenis, Paul V.

2016-01-01

Journey mapping, a method of collecting data that illustrates individuals' paths toward a specific goal, was originally developed for use in retail/customer service environments. Much of the literature describes its application in examining customer behavior when navigating merchants' Websites, allowing researchers to examine the effectiveness,…

Using Cognitive Maps to Promote Self-Managed Learning in Online Communities of Inquiry

ERIC Educational Resources Information Center

Peacock, Susi; Cowan, John

2016-01-01

As online learners become more diverse and less well-prepared individually, particular help is required when transitioning into new, online learning environments, requiring engagement in collaborative, community-based educational activities. Cognitive maps provide one tool for tutors to support individuals in navigating the unfamiliar maze of…

Variations in Cognitive Maps: Understanding Individual Differences in Navigation

ERIC Educational Resources Information Center

Weisberg, Steven M.; Schinazi, Victor R.; Newcombe, Nora S.; Shipley, Thomas F.; Epstein, Russell A.

2014-01-01

There are marked individual differences in the formation of cognitive maps both in the real world and in virtual environments (VE; e.g., Blajenkova, Motes, & Kozhevnikov, 2005; Chai & Jacobs, 2010; Ishikawa & Montello, 2006; Wen, Ishikawa, & Sato, 2011). These differences, however, are poorly understood and can be difficult to…

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;

Paediatric patient navigation models of care in Canada: An environmental scan.

PubMed

Luke, Alison; Doucet, Shelley; Azar, Rima

2018-05-01

(1) To provide other organizations with useful information when implementing paediatric navigation programs and (2) to inform the implementation of a navigation care centre in New Brunswick for children with complex health conditions. This environmental scan consisted of a literature review of published and grey literature for paediatric patient navigation programs across Canada. Additional programs were found following discussions with program coordinators and navigators. Interviews were conducted with key staff from each program and included questions related to patient condition; target population and location; method delivery; navigator background; and navigator roles. Data analysis included analysis of interviews and identification of common themes across the different programs. We interviewed staff from 19 paediatric navigation programs across Canada. Programs varied across a number of different themes, including: condition and disease type, program location (e.g., hospital or clinic), navigator background (e.g., registered nurse or peer/lay navigator) and method of delivery (e.g., phone or face-to-face). Overall, navigator roles are similar across all programs, including advocacy, education, support and assistance in accessing resources from both within and outside the health care system. This scan offers a road map of Canadian paediatric navigation programs. Knowledge learned from this scan will inform stakeholders who are either involved in the delivery of paediatric patient navigation programs or planning to implement such a program. Specifically, our scan informed the development of a navigation centre for children with complex health conditions in New Brunswick.

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.

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

Navigation assistance: a trade-off between wayfinding support and configural learning support.

PubMed

Münzer, Stefan; Zimmer, Hubert D; Baus, Jörg

2012-03-01

Current GPS-based mobile navigation assistance systems support wayfinding, but they do not support learning about the spatial configuration of an environment. The present study examined effects of visual presentation modes for navigation assistance on wayfinding accuracy, route learning, and configural learning. Participants (high-school students) visited a university campus for the first time and took a predefined assisted tour. In Experiment 1 (n = 84, 42 females), a presentation mode showing wayfinding information from eye-level was contrasted with presentation modes showing wayfinding information included in views that provided comprehensive configural information. In Experiment 2 (n = 48, 24 females), wayfinding information was included in map fragments. A presentation mode which always showed north on top of the device was compared with a mode which rotated according to the orientation of the user. Wayfinding accuracy (deviations from the route), route learning, and configural learning (direction estimates, sketch maps) were assessed. Results indicated a trade-off between wayfinding and configural learning: Presentation modes providing comprehensive configural information supported the acquisition of configural knowledge at the cost of accurate wayfinding. The route presentation mode supported wayfinding at the cost of configural knowledge acquisition. Both presentation modes based on map fragments supported wayfinding. Individual differences in visual-spatial working memory capacity explained a considerable portion of the variance in wayfinding accuracy, route learning, and configural learning. It is concluded that learning about an unknown environment during assisted navigation is based on the integration of spatial information from multiple sources and can be supported by appropriate visualization. PsycINFO Database Record (c) 2012 APA, all rights reserved.

Archive of single-beam bathymetry data collected during USGS cruise 07CCT01 nearshore of Fort Massachusetts and within Camille Cut, West and East Ship Islands, Gulf Islands National Seashore, Mississippi, July 2007

USGS Publications Warehouse

DeWitt, Nancy T.; Flocks, James G.; Reynolds, B.J.; Hansen, Mark

2012-01-01

The Gulf Islands National Seashore (GUIS) is composed of a series of barrier islands along the Mississippi - Alabama coastline. Historically these islands have undergone long-term shoreline change. The devastation of Hurricane Katrina in 2005 prompted questions about the stability of the barrier islands and their potential response to future storm impacts. Additionally, there was concern from the National Park Service (NPS) about the preservation of the historical Fort Massachusetts, located on West Ship Island. During the early 1900s, Ship Island was an individual island. In 1969 Hurricane Camille breached Ship Island, widening the cut and splitting it into what is now known as West Ship Island and East Ship Island. In July of 2007, the U.S. Geological Survey (USGS) was able to provide the NPS with a small bathymetric survey of Camille Cut using high-resolution single-beam bathymetry. This provided GUIS with a post-Katrina assessment of the bathymetry in Camille Cut and along the northern shoreline directly in front of Fort Massachusetts. Ultimately, this survey became an initial bathymetry dataset toward a larger USGS effort included in the Northern Gulf of Mexico (NGOM) Ecosystem Change and Hazard Susceptibility Project (http://ngom.usgs.gov/gomsc/mscip/). This report serves as an archive of the processed single-beam bathymetry. Data products herein include gridded and interpolated digital depth surfaces and x,y,z data products. Additional files include trackline maps, navigation files, geographic information system (GIS) files, Field Activity Collection System (FACS) logs, and formal Federal Geographic Data Committee (FGDC) metadata. Scanned images of the handwritten FACS logs and digital FACS logs are also provided as PDF files. Refer to the Acronyms page for description of acronyms and abbreviations used in this report or hold the cursor over an acronym for a pop-up explanation. The USGS St. Petersburg Coastal and Marine Science Center assigns a unique identifier to each cruise or field activity. For example, 07CCT01 tells us the data were collected in 2007 for the Coastal Change and Transport (CCT) study and the data were collected during the first (01) field activity for that project in that calendar year. Refer to http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html for a detailed description of the method used to assign the field activity ID. Data were collected using a 26-foot (ft) Glacier Bay catamaran. The single-beam transducers were sled mounted on a rail attached between the catamaran hulls. Navigation was acquired using HYPACK, Inc., Hypack version 4.3a.7.1 and differentially corrected using land-based GPS stations. See the digital FACS equipment log for details about the acquisition equipment used. Raw datasets were stored digitally and processed systematically using NovAtel's Waypoint GrafNav version 7.6, SANDS version 3.7, and ESRI ArcGIS version 9.3.1. For more information on processing refer to the Equipment and Processing page.

High-resolution boomer seismic-reflection profiles of the shelf off southern California from cruise A-1-00-SC: Santa Monica Bay to San Diego

USGS Publications Warehouse

Gutmacher, Christina E.; Ross, Stephanie L.; Triezenberg, Peter J.; Sliter, Ray W.; Normark, William R.; Edwards, Brian D.

2006-01-01

High-resolution boomer data were collected in the California Continental Borderland as part of the southern California Earthquake Hazards Task of the Southern California Coastal and Marine Geology Regional Investigations Project. During the period from 1997 to 2002, five data-acquisition cruises collected seismic-reflection data using several different systems from offshore Santa Barbara, California, south to the Exclusive Economic Zone boundary with Mexico. A key mission of this project was to map late Quaternary deformation in addition to improving our understanding of which offshore fault zones might have potential to damage highly populated areas of southern California. State regulations concerning the use of seismic-reflection equipment within three miles of the coastline precluded the routine gathering of high-resolution multichannel data in that swath adjacent to the coast. Boomer seismic-reflection data, however, can be obtained within the state 3-mile limit provided the operation receives authorization from the California State Lands Commission. The Geopulse boomer data accessible through this report were collected on the cruise A-1-00-SC, which was the only survey where we requested permission to work inside the 3-mile limit of the State of California. These data are critical to discovering connections between onshore and offshore faults, the overall lengths of which are related to the potential size of an earthquake that might be generated along them. The 2000 survey was designed to fill the gap between onshore data and reflection data obtained in deeper water on previous cruises as well as data anticipated from future surveys. This report includes trackline maps showing the location of the data, as well as both digital data files (SEG-Y) and images of all of the profiles.

A specific sexual orientation-related difference in navigation strategy.

PubMed

Rahman, Qazi; Andersson, Davinia; Govier, Ernest

2005-02-01

During spatial navigation, women typically navigate an environment using a landmark strategy, whereas men typically use an orientation strategy. To examine the as yet unknown effects of sexual orientation on these normative sex differences, this study required 80 healthy heterosexual and homosexual adult men and women to provide directions from experimental maps for 4 routes. The frequency and type of strategy used by each participant were computed. Expected sex differences were demonstrated, and a robust cross-sex shift was shown by homosexual men in using landmarks. This remained after controlling for differences in mental rotation, directional sense, and general intelligence. The findings may limit the number of putative neurodevelopmental pathways responsible for sex differences in navigation strategy utility. Copyright 2005 APA.

Behavioral Mapless Navigation Using Rings

NASA Technical Reports Server (NTRS)

Monroe, Randall P.; Miller, Samuel A.; Bradley, Arthur T.

2012-01-01

This paper presents work on the development and implementation of a novel approach to robotic navigation. In this system, map-building and localization for obstacle avoidance are discarded in favor of moment-by-moment behavioral processing of the sonar sensor data. To accomplish this, we developed a network of behaviors that communicate through the passing of rings, data structures that are similar in form to the sonar data itself and express the decisions of each behavior. Through the use of these rings, behaviors can moderate each other, conflicting impulses can be mediated, and designers can easily connect modules to create complex emergent navigational techniques. We discuss the development of a number of these modules and their successful use as a navigation system in the Trinity omnidirectional robot.

Repeated mapping of cortical language sites by preoperative navigated transcranial magnetic stimulation compared to repeated intraoperative DCS mapping in awake craniotomy

PubMed Central

2014-01-01

Background Repetitive navigated transcranial magnetic stimulation (rTMS) was recently described for mapping of human language areas. However, its capability of detecting language plasticity in brain tumor patients was not proven up to now. Thus, this study was designed to evaluate such data in order to compare rTMS language mapping to language mapping during repeated awake surgery during follow-up in patients suffering from language-eloquent gliomas. Methods Three right-handed patients with left-sided gliomas (2 opercular glioblastomas, 1 astrocytoma WHO grade III of the angular gyrus) underwent preoperative language mapping by rTMS as well as intraoperative language mapping provided via direct cortical stimulation (DCS) for initial as well as for repeated Resection 7, 10, and 15 months later. Results Overall, preoperative rTMS was able to elicit clear language errors in all mappings. A good correlation between initial rTMS and DCS results was observed. As a consequence of brain plasticity, initial DCS and rTMS findings only corresponded with the results obtained during the second examination in one out of three patients thus suggesting changes of language organization in two of our three patients. Conclusions This report points out the usefulness but also the limitations of preoperative rTMS language mapping to detect plastic changes in language function or for long-term follow-up prior to DCS even in recurrent gliomas. However, DCS still has to be regarded as gold standard. PMID:24479694

Map reading tools for map libraries.

USGS Publications Warehouse

Greenberg, G.L.

1982-01-01

Engineers, navigators and military strategists employ a broad array of mechanical devices to facilitate map use. A larger number of map users such as educators, students, tourists, journalists, historians, politicians, economists and librarians are unaware of the available variety of tools which can be used with maps to increase the speed and efficiency of their application and interpretation. This paper identifies map reading tools such as coordinate readers, protractors, dividers, planimeters, and symbol-templets according to a functional classification. Particularly, arrays of tools are suggested for use in determining position, direction, distance, area and form (perimeter-shape-pattern-relief). -from Author

LOD map--A visual interface for navigating multiresolution volume visualization.

PubMed

Wang, Chaoli; Shen, Han-Wei

2006-01-01

In multiresolution volume visualization, a visual representation of level-of-detail (LOD) quality is important for us to examine, compare, and validate different LOD selection algorithms. While traditional methods rely on ultimate images for quality measurement, we introduce the LOD map--an alternative representation of LOD quality and a visual interface for navigating multiresolution data exploration. Our measure for LOD quality is based on the formulation of entropy from information theory. The measure takes into account the distortion and contribution of multiresolution data blocks. A LOD map is generated through the mapping of key LOD ingredients to a treemap representation. The ordered treemap layout is used for relative stable update of the LOD map when the view or LOD changes. This visual interface not only indicates the quality of LODs in an intuitive way, but also provides immediate suggestions for possible LOD improvement through visually-striking features. It also allows us to compare different views and perform rendering budget control. A set of interactive techniques is proposed to make the LOD adjustment a simple and easy task. We demonstrate the effectiveness and efficiency of our approach on large scientific and medical data sets.

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.

Drift-Free Indoor Navigation Using Simultaneous Localization and Mapping of the Ambient Heterogeneous Magnetic Field

NASA Astrophysics Data System (ADS)

Chow, J. C. K.

2017-09-01

In the absence of external reference position information (e.g. surveyed targets or Global Navigation Satellite Systems) Simultaneous Localization and Mapping (SLAM) has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend, thus achieving a good balance between exploration and exploitation. Although vision-based systems like laser scanners are typically deployed for SLAM, these sensors are heavy, energy inefficient, and expensive, making them unattractive for wearables or smartphone applications. However, the concept of SLAM can be extended to non-optical systems such as magnetometers. Instead of matching features such as walls and furniture using some variation of the Iterative Closest Point algorithm, the local magnetic field can be matched to provide loop-closure and global trajectory updates in a Gaussian Process (GP) SLAM framework. With a MEMS-based inertial measurement unit providing a continuous trajectory, and the matching of locally distinct magnetic field maps, experimental results in this paper show that a drift-free navigation solution in an indoor environment with millimetre-level accuracy can be achieved. The GP-SLAM approach presented can be formulated as a maximum a posteriori estimation problem and it can naturally perform loop-detection, feature-to-feature distance minimization, global trajectory optimization, and magnetic field map estimation simultaneously. Spatially continuous features (i.e. smooth magnetic field signatures) are used instead of discrete feature correspondences (e.g. point-to-point) as in conventional vision-based SLAM. These position updates from the ambient magnetic field also provide enough information for calibrating the accelerometer bias and gyroscope bias in-use. The only restriction for this method is the need for magnetic disturbances (which is typically not an issue for indoor environments); however, no assumptions are required for the general motion of the sensor (e.g. static periods).

An Improved Otsu Threshold Segmentation Method for Underwater Simultaneous Localization and Mapping-Based Navigation

PubMed Central

Yuan, Xin; Martínez, José-Fernán; Eckert, Martina; López-Santidrián, Lourdes

2016-01-01

The main focus of this paper is on extracting features with SOund Navigation And Ranging (SONAR) sensing for further underwater landmark-based Simultaneous Localization and Mapping (SLAM). According to the characteristics of sonar images, in this paper, an improved Otsu threshold segmentation method (TSM) has been developed for feature detection. In combination with a contour detection algorithm, the foreground objects, although presenting different feature shapes, are separated much faster and more precisely than by other segmentation methods. Tests have been made with side-scan sonar (SSS) and forward-looking sonar (FLS) images in comparison with other four TSMs, namely the traditional Otsu method, the local TSM, the iterative TSM and the maximum entropy TSM. For all the sonar images presented in this work, the computational time of the improved Otsu TSM is much lower than that of the maximum entropy TSM, which achieves the highest segmentation precision among the four above mentioned TSMs. As a result of the segmentations, the centroids of the main extracted regions have been computed to represent point landmarks which can be used for navigation, e.g., with the help of an Augmented Extended Kalman Filter (AEKF)-based SLAM algorithm. The AEKF-SLAM approach is a recursive and iterative estimation-update process, which besides a prediction and an update stage (as in classical Extended Kalman Filter (EKF)), includes an augmentation stage. During navigation, the robot localizes the centroids of different segments of features in sonar images, which are detected by our improved Otsu TSM, as point landmarks. Using them with the AEKF achieves more accurate and robust estimations of the robot pose and the landmark positions, than with those detected by the maximum entropy TSM. Together with the landmarks identified by the proposed segmentation algorithm, the AEKF-SLAM has achieved reliable detection of cycles in the map and consistent map update on loop closure, which is shown in simulated experiments. PMID:27455279

An Improved Otsu Threshold Segmentation Method for Underwater Simultaneous Localization and Mapping-Based Navigation.

PubMed

Yuan, Xin; Martínez, José-Fernán; Eckert, Martina; López-Santidrián, Lourdes

2016-07-22

The main focus of this paper is on extracting features with SOund Navigation And Ranging (SONAR) sensing for further underwater landmark-based Simultaneous Localization and Mapping (SLAM). According to the characteristics of sonar images, in this paper, an improved Otsu threshold segmentation method (TSM) has been developed for feature detection. In combination with a contour detection algorithm, the foreground objects, although presenting different feature shapes, are separated much faster and more precisely than by other segmentation methods. Tests have been made with side-scan sonar (SSS) and forward-looking sonar (FLS) images in comparison with other four TSMs, namely the traditional Otsu method, the local TSM, the iterative TSM and the maximum entropy TSM. For all the sonar images presented in this work, the computational time of the improved Otsu TSM is much lower than that of the maximum entropy TSM, which achieves the highest segmentation precision among the four above mentioned TSMs. As a result of the segmentations, the centroids of the main extracted regions have been computed to represent point landmarks which can be used for navigation, e.g., with the help of an Augmented Extended Kalman Filter (AEKF)-based SLAM algorithm. The AEKF-SLAM approach is a recursive and iterative estimation-update process, which besides a prediction and an update stage (as in classical Extended Kalman Filter (EKF)), includes an augmentation stage. During navigation, the robot localizes the centroids of different segments of features in sonar images, which are detected by our improved Otsu TSM, as point landmarks. Using them with the AEKF achieves more accurate and robust estimations of the robot pose and the landmark positions, than with those detected by the maximum entropy TSM. Together with the landmarks identified by the proposed segmentation algorithm, the AEKF-SLAM has achieved reliable detection of cycles in the map and consistent map update on loop closure, which is shown in simulated experiments.

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.

Navigable points estimation for mobile robots using binary image skeletonization

NASA Astrophysics Data System (ADS)

Martinez S., Fernando; Jacinto G., Edwar; Montiel A., Holman

2017-02-01

This paper describes the use of image skeletonization for the estimation of all the navigable points, inside a scene of mobile robots navigation. Those points are used for computing a valid navigation path, using standard methods. The main idea is to find the middle and the extreme points of the obstacles in the scene, taking into account the robot size, and create a map of navigable points, in order to reduce the amount of information for the planning algorithm. Those points are located by means of the skeletonization of a binary image of the obstacles and the scene background, along with some other digital image processing algorithms. The proposed algorithm automatically gives a variable number of navigable points per obstacle, depending on the complexity of its shape. As well as, the way how the algorithm can change some of their parameters in order to change the final number of the resultant key points is shown. The results shown here were obtained applying different kinds of digital image processing algorithms on static scenes.

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.

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.

Mapped Landmark Algorithm for Precision Landing

NASA Technical Reports Server (NTRS)

Johnson, Andrew; Ansar, Adnan; Matthies, Larry

2007-01-01

A report discusses a computer vision algorithm for position estimation to enable precision landing during planetary descent. The Descent Image Motion Estimation System for the Mars Exploration Rovers has been used as a starting point for creating code for precision, terrain-relative navigation during planetary landing. The algorithm is designed to be general because it handles images taken at different scales and resolutions relative to the map, and can produce mapped landmark matches for any planetary terrain of sufficient texture. These matches provide a measurement of horizontal position relative to a known landing site specified on the surface map. Multiple mapped landmarks generated per image allow for automatic detection and elimination of bad matches. Attitude and position can be generated from each image; this image-based attitude measurement can be used by the onboard navigation filter to improve the attitude estimate, which will improve the position estimates. The algorithm uses normalized correlation of grayscale images, producing precise, sub-pixel images. The algorithm has been broken into two sub-algorithms: (1) FFT Map Matching (see figure), which matches a single large template by correlation in the frequency domain, and (2) Mapped Landmark Refinement, which matches many small templates by correlation in the spatial domain. Each relies on feature selection, the homography transform, and 3D image correlation. The algorithm is implemented in C++ and is rated at Technology Readiness Level (TRL) 4.

Promoting Conceptual Understanding via Adaptive Concept Maps

ERIC Educational Resources Information Center

Moore, Jacob P.

2013-01-01

The purpose of this study is to explore the feasibility and effectiveness of a scalable concept map based navigation system for a digital textbook. A literature review has been conducted to identify possible methods to promote conceptual understanding in the context of a digital textbook, and these hypothesized solutions will be evaluated through…

Navigating Maps to Support Comprehension: When Textbooks Don't Have GPS

ERIC Educational Resources Information Center

Roberts, Kathryn L.; Brugar, Kristy A.

2014-01-01

In this article, Kathryn Roberts & Kristy Brugar discuss their assessment of third-, fourth- and fifth-grade children's understandings of the types of maps commonly found in their social studies text and trade books, and the knowledge and misconceptions it revealed. They then discuss how teachers might begin to address those issues with…

Co-Thought Gestures: Supporting Students to Successfully Navigate Map Tasks

ERIC Educational Resources Information Center

Logan, Tracy; Lowrie, Tom; Diezmann, Carmel M.

2014-01-01

This study considers the role and nature of co-thought gestures when students process map-based mathematics tasks. These gestures are typically spontaneously produced silent gestures which do not accompany speech and are represented by small movements of the hands or arms often directed toward an artefact. The study analysed 43 students (aged…

A map of abstract relational knowledge in the human hippocampal–entorhinal cortex

PubMed Central

Garvert, Mona M; Dolan, Raymond J; Behrens, Timothy EJ

2017-01-01

The hippocampal–entorhinal system encodes a map of space that guides spatial navigation. Goal-directed behaviour outside of spatial navigation similarly requires a representation of abstract forms of relational knowledge. This information relies on the same neural system, but it is not known whether the organisational principles governing continuous maps may extend to the implicit encoding of discrete, non-spatial graphs. Here, we show that the human hippocampal–entorhinal system can represent relationships between objects using a metric that depends on associative strength. We reconstruct a map-like knowledge structure directly from a hippocampal–entorhinal functional magnetic resonance imaging adaptation signal in a situation where relationships are non-spatial rather than spatial, discrete rather than continuous, and unavailable to conscious awareness. Notably, the measure that best predicted a behavioural signature of implicit knowledge and blood oxygen level-dependent adaptation was a weighted sum of future states, akin to the successor representation that has been proposed to account for place and grid-cell firing patterns. DOI: http://dx.doi.org/10.7554/eLife.17086.001 PMID:28448253

Learning Probabilistic Features for Robotic Navigation Using Laser Sensors

PubMed Central

Aznar, Fidel; Pujol, Francisco A.; Pujol, Mar; Rizo, Ramón; Pujol, María-José

2014-01-01

SLAM is a popular task used by robots and autonomous vehicles to build a map of an unknown environment and, at the same time, to determine their location within the map. This paper describes a SLAM-based, probabilistic robotic system able to learn the essential features of different parts of its environment. Some previous SLAM implementations had computational complexities ranging from O(Nlog(N)) to O(N 2), where N is the number of map features. Unlike these methods, our approach reduces the computational complexity to O(N) by using a model to fuse the information from the sensors after applying the Bayesian paradigm. Once the training process is completed, the robot identifies and locates those areas that potentially match the sections that have been previously learned. After the training, the robot navigates and extracts a three-dimensional map of the environment using a single laser sensor. Thus, it perceives different sections of its world. In addition, in order to make our system able to be used in a low-cost robot, low-complexity algorithms that can be easily implemented on embedded processors or microcontrollers are used. PMID:25415377

Learning probabilistic features for robotic navigation using laser sensors.

PubMed

Aznar, Fidel; Pujol, Francisco A; Pujol, Mar; Rizo, Ramón; Pujol, María-José

2014-01-01

SLAM is a popular task used by robots and autonomous vehicles to build a map of an unknown environment and, at the same time, to determine their location within the map. This paper describes a SLAM-based, probabilistic robotic system able to learn the essential features of different parts of its environment. Some previous SLAM implementations had computational complexities ranging from O(Nlog(N)) to O(N(2)), where N is the number of map features. Unlike these methods, our approach reduces the computational complexity to O(N) by using a model to fuse the information from the sensors after applying the Bayesian paradigm. Once the training process is completed, the robot identifies and locates those areas that potentially match the sections that have been previously learned. After the training, the robot navigates and extracts a three-dimensional map of the environment using a single laser sensor. Thus, it perceives different sections of its world. In addition, in order to make our system able to be used in a low-cost robot, low-complexity algorithms that can be easily implemented on embedded processors or microcontrollers are used.

Rolling Deck to Repository (R2R): Collaborative Development of Linked Data for Oceanographic Research

NASA Astrophysics Data System (ADS)

Arko, Robert; Chandler, Cynthia; Stocks, Karen; Smith, Shawn; Clark, Paul; Shepherd, Adam; Moore, Carla; Beaulieu, Stace

2013-04-01

The Rolling Deck to Repository (R2R) program is developing infrastructure to ensure the underway sensor data from U.S. academic oceanographic research vessels are routinely and consistently documented, preserved in long-term archives, and disseminated to the science community. The entire R2R Catalog is published online as a Linked Data collection, making it easily accessible to encourage discovery and integration with data at other repositories. We are developing the R2R Linked Data collection with specific goals in mind: 1.) We facilitate data access and reuse by publishing the richest possible collection of resources to describe vessels, cruises, instruments, and datasets from the U.S. academic fleet, including data quality assessment results and clean trackline navigation; 2.) We facilitate data citation through the entire lifecycle from field acquisition to shoreside archiving to journal articles and global syntheses, by publishing Digital Object Identifiers (DOIs) for datasets and encoding them directly into our Linked Data resources; and 3.) We facilitate federation with other repositories such as the Biological and Chemical Oceanography Data Management Office (BCO-DMO), InterRidge Vents Database, and Index to Marine and Lacustrine Geological Samples (IMLGS), by reciprocal linking between RDF resources and supporting the RDF Query Language. R2R participates in the Ocean Data Interoperability Platform (ODIP), a joint European-U.S.-Australian partnership to facilitate the sharing of data and documentation across international borders. We publish our controlled vocabularies as a Simple Knowledge Organization System (SKOS) concept collection, and are working toward alignment with SeaDataNet and other community-standard terms using the NERC Vocabulary Server (NVS). http://rvdata.us/

Ultra Wide-Band Localization and SLAM: A Comparative Study for Mobile Robot Navigation

PubMed Central

Segura, Marcelo J.; Auat Cheein, Fernando A.; Toibero, Juan M.; Mut, Vicente; Carelli, Ricardo

2011-01-01

In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work. PMID:22319397

Processing, mosaicking and management of the Monterey Bay digital sidescan-sonar images

USGS Publications Warehouse

Chavez, P.S.; Isbrecht, J.; Galanis, P.; Gabel, G.L.; Sides, S.C.; Soltesz, D.L.; Ross, Stephanie L.; Velasco, M.G.

2002-01-01

Sidescan-sonar imaging systems with digital capabilities have now been available for approximately 20 years. In this paper we present several of the various digital image processing techniques developed by the U.S. Geological Survey (USGS) and used to apply intensity/radiometric and geometric corrections, as well as enhance and digitally mosaic, sidescan-sonar images of the Monterey Bay region. New software run by a WWW server was designed and implemented to allow very large image data sets, such as the digital mosaic, to be easily viewed interactively, including the ability to roam throughout the digital mosaic at the web site in either compressed or full 1-m resolution. The processing is separated into the two different stages: preprocessing and information extraction. In the preprocessing stage, sensor-specific algorithms are applied to correct for both geometric and intensity/radiometric distortions introduced by the sensor. This is followed by digital mosaicking of the track-line strips into quadrangle format which can be used as input to either visual or digital image analysis and interpretation. An automatic seam removal procedure was used in combination with an interactive digital feathering/stenciling procedure to help minimize tone or seam matching problems between image strips from adjacent track-lines. The sidescan-sonar image processing package is part of the USGS Mini Image Processing System (MIPS) and has been designed to process data collected by any 'generic' digital sidescan-sonar imaging system. The USGS MIPS software, developed over the last 20 years as a public domain package, is available on the WWW at: http://terraweb.wr.usgs.gov/trs/software.html.

KinMap: a web-based tool for interactive navigation through human kinome data.

PubMed

Eid, Sameh; Turk, Samo; Volkamer, Andrea; Rippmann, Friedrich; Fulle, Simone

2017-01-05

Annotations of the phylogenetic tree of the human kinome is an intuitive way to visualize compound profiling data, structural features of kinases or functional relationships within this important class of proteins. The increasing volume and complexity of kinase-related data underlines the need for a tool that enables complex queries pertaining to kinase disease involvement and potential therapeutic uses of kinase inhibitors. Here, we present KinMap, a user-friendly online tool that facilitates the interactive navigation through kinase knowledge by linking biochemical, structural, and disease association data to the human kinome tree. To this end, preprocessed data from freely-available sources, such as ChEMBL, the Protein Data Bank, and the Center for Therapeutic Target Validation platform are integrated into KinMap and can easily be complemented by proprietary data. The value of KinMap will be exemplarily demonstrated for uncovering new therapeutic indications of known kinase inhibitors and for prioritizing kinases for drug development efforts. KinMap represents a new generation of kinome tree viewers which facilitates interactive exploration of the human kinome. KinMap enables generation of high-quality annotated images of the human kinome tree as well as exchange of kinome-related data in scientific communications. Furthermore, KinMap supports multiple input and output formats and recognizes alternative kinase names and links them to a unified naming scheme, which makes it a useful tool across different disciplines and applications. A web-service of KinMap is freely available at http://www.kinhub.org/kinmap/ .

An Analysis of Navigation Algorithms for Smartphones Using J2ME

NASA Astrophysics Data System (ADS)

Santos, André C.; Tarrataca, Luís; Cardoso, João M. P.

Embedded systems are considered one of the most potential areas for future innovations. Two embedded fields that will most certainly take a primary role in future innovations are mobile robotics and mobile computing. Mobile robots and smartphones are growing in number and functionalities, becoming a presence in our daily life. In this paper, we study the current feasibility of a smartphone to execute navigation algorithms. As a test case, we use a smartphone to control an autonomous mobile robot. We tested three navigation problems: Mapping, Localization and Path Planning. For each of these problems, an algorithm has been chosen, developed in J2ME, and tested on the field. Results show the current mobile Java capacity for executing computationally demanding algorithms and reveal the real possibility of using smartphones for autonomous navigation.

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

PubMed

Kubie, John L; Fenton, André A

2009-05-01

Insect navigation is guided by heading vectors that are computed by path integration. Mammalian navigation models, on the other hand, are typically based on map-like place representations provided by hippocampal place cells. Such models compute optimal routes as a continuous series of locations that connect the current location to a goal. We propose a "heading-vector" model in which head-direction cells or their derivatives serve both as key elements in constructing the optimal route and as the straight-line guidance during route execution. The model is based on a memory structure termed the "shortcut matrix," which is constructed during the initial exploration of an environment when a set of shortcut vectors between sequential pairs of visited waypoint locations is stored. A mechanism is proposed for calculating and storing these vectors that relies on a hypothesized cell type termed an "accumulating head-direction cell." Following exploration, shortcut vectors connecting all pairs of waypoint locations are computed by vector arithmetic and stored in the shortcut matrix. On re-entry, when local view or place representations query the shortcut matrix with a current waypoint and goal, a shortcut trajectory is retrieved. Since the trajectory direction is in head-direction compass coordinates, navigation is accomplished by tracking the firing of head-direction cells that are tuned to the heading angle. Section 1 of the manuscript describes the properties of accumulating head-direction cells. It then shows how accumulating head-direction cells can store local vectors and perform vector arithmetic to perform path-integration-based homing. Section 2 describes the construction and use of the shortcut matrix for computing direct paths between any pair of locations that have been registered in the shortcut matrix. In the discussion, we analyze the advantages of heading-based navigation over map-based navigation. Finally, we survey behavioral evidence that nonhippocampal, heading-based navigation is used in small mammals and humans. Copyright 2008 Wiley-Liss, Inc.

TripAdvisor^{N-D}: A Tourism-Inspired High-Dimensional Space Exploration Framework with Overview and Detail.

PubMed

Nam, Julia EunJu; Mueller, Klaus

2013-02-01

Gaining a true appreciation of high-dimensional space remains difficult since all of the existing high-dimensional space exploration techniques serialize the space travel in some way. This is not so foreign to us since we, when traveling, also experience the world in a serial fashion. But we typically have access to a map to help with positioning, orientation, navigation, and trip planning. Here, we propose a multivariate data exploration tool that compares high-dimensional space navigation with a sightseeing trip. It decomposes this activity into five major tasks: 1) Identify the sights: use a map to identify the sights of interest and their location; 2) Plan the trip: connect the sights of interest along a specifyable path; 3) Go on the trip: travel along the route; 4) Hop off the bus: experience the location, look around, zoom into detail; and 5) Orient and localize: regain bearings in the map. We describe intuitive and interactive tools for all of these tasks, both global navigation within the map and local exploration of the data distributions. For the latter, we describe a polygonal touchpad interface which enables users to smoothly tilt the projection plane in high-dimensional space to produce multivariate scatterplots that best convey the data relationships under investigation. Motion parallax and illustrative motion trails aid in the perception of these transient patterns. We describe the use of our system within two applications: 1) the exploratory discovery of data configurations that best fit a personal preference in the presence of tradeoffs and 2) interactive cluster analysis via cluster sculpting in N-D.

A Two-Layers Based Approach of an Enhanced-Map for Urban Positioning Support

PubMed Central

Piñana-Díaz, Carolina; Toledo-Moreo, Rafael; Toledo-Moreo, F. Javier; Skarmeta, Antonio

2012-01-01

This paper presents a two-layer based enhanced map that can support navigation in urban environments. One layer is dedicated to describe the drivable road with a special focus on the accurate description of its bounds. This feature can support positioning and advanced map-matching when compared with standard polyline-based maps. The other layer depicts building heights and locations, thus enabling the detection of non-line-of-sight signals coming from GPS satellites not in direct view. Both the concept and the methodology for creating these enhanced maps are shown in the paper. PMID:23202172

Pushbroom Stereo for High-Speed Navigation in Cluttered Environments

DTIC Science & Technology

2014-09-01

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

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About | DOE Data Explorer

Science.gov Websites

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NaviCell: a web-based environment for navigation, curation and maintenance of large molecular interaction maps

PubMed Central

2013-01-01

Background Molecular biology knowledge can be formalized and systematically represented in a computer-readable form as a comprehensive map of molecular interactions. There exist an increasing number of maps of molecular interactions containing detailed and step-wise description of various cell mechanisms. It is difficult to explore these large maps, to organize discussion of their content and to maintain them. Several efforts were recently made to combine these capabilities together in one environment, and NaviCell is one of them. Results NaviCell is a web-based environment for exploiting large maps of molecular interactions, created in CellDesigner, allowing their easy exploration, curation and maintenance. It is characterized by a combination of three essential features: (1) efficient map browsing based on Google Maps; (2) semantic zooming for viewing different levels of details or of abstraction of the map and (3) integrated web-based blog for collecting community feedback. NaviCell can be easily used by experts in the field of molecular biology for studying molecular entities of interest in the context of signaling pathways and crosstalk between pathways within a global signaling network. NaviCell allows both exploration of detailed molecular mechanisms represented on the map and a more abstract view of the map up to a top-level modular representation. NaviCell greatly facilitates curation, maintenance and updating the comprehensive maps of molecular interactions in an interactive and user-friendly fashion due to an imbedded blogging system. Conclusions NaviCell provides user-friendly exploration of large-scale maps of molecular interactions, thanks to Google Maps and WordPress interfaces, with which many users are already familiar. Semantic zooming which is used for navigating geographical maps is adopted for molecular maps in NaviCell, making any level of visualization readable. In addition, NaviCell provides a framework for community-based curation of maps. PMID:24099179

NaviCell: a web-based environment for navigation, curation and maintenance of large molecular interaction maps.

PubMed

Kuperstein, Inna; Cohen, David P A; Pook, Stuart; Viara, Eric; Calzone, Laurence; Barillot, Emmanuel; Zinovyev, Andrei

2013-10-07

Molecular biology knowledge can be formalized and systematically represented in a computer-readable form as a comprehensive map of molecular interactions. There exist an increasing number of maps of molecular interactions containing detailed and step-wise description of various cell mechanisms. It is difficult to explore these large maps, to organize discussion of their content and to maintain them. Several efforts were recently made to combine these capabilities together in one environment, and NaviCell is one of them. NaviCell is a web-based environment for exploiting large maps of molecular interactions, created in CellDesigner, allowing their easy exploration, curation and maintenance. It is characterized by a combination of three essential features: (1) efficient map browsing based on Google Maps; (2) semantic zooming for viewing different levels of details or of abstraction of the map and (3) integrated web-based blog for collecting community feedback. NaviCell can be easily used by experts in the field of molecular biology for studying molecular entities of interest in the context of signaling pathways and crosstalk between pathways within a global signaling network. NaviCell allows both exploration of detailed molecular mechanisms represented on the map and a more abstract view of the map up to a top-level modular representation. NaviCell greatly facilitates curation, maintenance and updating the comprehensive maps of molecular interactions in an interactive and user-friendly fashion due to an imbedded blogging system. NaviCell provides user-friendly exploration of large-scale maps of molecular interactions, thanks to Google Maps and WordPress interfaces, with which many users are already familiar. Semantic zooming which is used for navigating geographical maps is adopted for molecular maps in NaviCell, making any level of visualization readable. In addition, NaviCell provides a framework for community-based curation of maps.

Hybrid optical acoustic seafloor mapping

NASA Astrophysics Data System (ADS)

Inglis, Gabrielle

The oceanographic research and industrial communities have a persistent demand for detailed three dimensional sea floor maps which convey both shape and texture. Such data products are used for archeology, geology, ship inspection, biology, and habitat classification. There are a variety of sensing modalities and processing techniques available to produce these maps and each have their own potential benefits and related challenges. Multibeam sonar and stereo vision are such two sensors with complementary strengths making them ideally suited for data fusion. Data fusion approaches however, have seen only limited application to underwater mapping and there are no established methods for creating hybrid, 3D reconstructions from two underwater sensing modalities. This thesis develops a processing pipeline to synthesize hybrid maps from multi-modal survey data. It is helpful to think of this processing pipeline as having two distinct phases: Navigation Refinement and Map Construction. This thesis extends existing work in underwater navigation refinement by incorporating methods which increase measurement consistency between both multibeam and camera. The result is a self consistent 3D point cloud comprised of camera and multibeam measurements. In map construction phase, a subset of the multi-modal point cloud retaining the best characteristics of each sensor is selected to be part of the final map. To quantify the desired traits of a map several characteristics of a useful map are distilled into specific criteria. The different ways that hybrid maps can address these criteria provides justification for producing them as an alternative to current methodologies. The processing pipeline implements multi-modal data fusion and outlier rejection with emphasis on different aspects of map fidelity. The resulting point cloud is evaluated in terms of how well it addresses the map criteria. The final hybrid maps retain the strengths of both sensors and show significant improvement over the single modality maps and naively assembled multi-modal maps.

Derivation and Error Analysis of the Earth Magnetic Anomaly Grid at 2 arc min Resolution Version 3 (EMAG2v3)

NASA Astrophysics Data System (ADS)

Meyer, B.; Chulliat, A.; Saltus, R.

2017-12-01

The Earth Magnetic Anomaly Grid at 2 arc min resolution version 3, EMAG2v3, combines marine and airborne trackline observations, satellite data, and magnetic observatory data to map the location, intensity, and extent of lithospheric magnetic anomalies. EMAG2v3 includes over 50 million new data points added to NCEI's Geophysical Database System (GEODAS) in recent years. The new grid relies only on observed data, and does not utilize a priori geologic structure or ocean-age information. Comparing this grid to other global magnetic anomaly compilations (e.g., EMAG2 and WDMAM), we can see that the inclusion of a priori ocean-age patterns forces an artificial linear pattern to the grid; the data-only approach allows for greater complexity in representing the evolution along oceanic spreading ridges and continental margins. EMAG2v3 also makes use of the satellite-derived lithospheric field model MF7 in order to accurately represent anomalies with wavelengths greater than 300 km and to create smooth grid merging boundaries. The heterogeneous distribution of errors in the observations used in compiling the EMAG2v3 was explored, and is reported in the final distributed grid. This grid is delivered at both 4 km continuous altitude above WGS84, as well as at sea level for all oceanic and coastal regions.

Primate-inspired vehicle navigation using optic flow and mental rotations

NASA Astrophysics Data System (ADS)

Arkin, Ronald C.; Dellaert, Frank; Srinivasan, Natesh; Kerwin, Ryan

2013-05-01

Robot navigation already has many relatively efficient solutions: reactive control, simultaneous localization and mapping (SLAM), Rapidly-Exploring Random Trees (RRTs), etc. But many primates possess an additional inherent spatial reasoning capability: mental rotation. Our research addresses the question of what role, if any, mental rotations can play in enhancing existing robot navigational capabilities. To answer this question we explore the use of optical flow as a basis for extracting abstract representations of the world, comparing these representations with a goal state of similar format and then iteratively providing a control signal to a robot to allow it to move in a direction consistent with achieving that goal state. We study a range of transformation methods to implement the mental rotation component of the architecture, including correlation and matching based on cognitive studies. We also include a discussion of how mental rotations may play a key role in understanding spatial advice giving, particularly from other members of the species, whether in map-based format, gestures, or other means of communication. Results to date are presented on our robotic platform.

Automated Point Cloud Correspondence Detection for Underwater Mapping Using AUVs

NASA Technical Reports Server (NTRS)

Hammond, Marcus; Clark, Ashley; Mahajan, Aditya; Sharma, Sumant; Rock, Stephen

2015-01-01

An algorithm for automating correspondence detection between point clouds composed of multibeam sonar data is presented. This allows accurate initialization for point cloud alignment techniques even in cases where accurate inertial navigation is not available, such as iceberg profiling or vehicles with low-grade inertial navigation systems. Techniques from computer vision literature are used to extract, label, and match keypoints between "pseudo-images" generated from these point clouds. Image matches are refined using RANSAC and information about the vehicle trajectory. The resulting correspondences can be used to initialize an iterative closest point (ICP) registration algorithm to estimate accumulated navigation error and aid in the creation of accurate, self-consistent maps. The results presented use multibeam sonar data obtained from multiple overlapping passes of an underwater canyon in Monterey Bay, California. Using strict matching criteria, the method detects 23 between-swath correspondence events in a set of 155 pseudo-images with zero false positives. Using less conservative matching criteria doubles the number of matches but introduces several false positive matches as well. Heuristics based on known vehicle trajectory information are used to eliminate these.

Navigation and Self-Semantic Location of Drones in Indoor Environments by Combining the Visual Bug Algorithm and Entropy-Based Vision.

PubMed

Maravall, Darío; de Lope, Javier; Fuentes, Juan P

2017-01-01

We introduce a hybrid algorithm for the self-semantic location and autonomous navigation of robots using entropy-based vision and visual topological maps. In visual topological maps the visual landmarks are considered as leave points for guiding the robot to reach a target point (robot homing) in indoor environments. These visual landmarks are defined from images of relevant objects or characteristic scenes in the environment. The entropy of an image is directly related to the presence of a unique object or the presence of several different objects inside it: the lower the entropy the higher the probability of containing a single object inside it and, conversely, the higher the entropy the higher the probability of containing several objects inside it. Consequently, we propose the use of the entropy of images captured by the robot not only for the landmark searching and detection but also for obstacle avoidance. If the detected object corresponds to a landmark, the robot uses the suggestions stored in the visual topological map to reach the next landmark or to finish the mission. Otherwise, the robot considers the object as an obstacle and starts a collision avoidance maneuver. In order to validate the proposal we have defined an experimental framework in which the visual bug algorithm is used by an Unmanned Aerial Vehicle (UAV) in typical indoor navigation tasks.

Navigation and Self-Semantic Location of Drones in Indoor Environments by Combining the Visual Bug Algorithm and Entropy-Based Vision

PubMed Central

Maravall, Darío; de Lope, Javier; Fuentes, Juan P.

2017-01-01

We introduce a hybrid algorithm for the self-semantic location and autonomous navigation of robots using entropy-based vision and visual topological maps. In visual topological maps the visual landmarks are considered as leave points for guiding the robot to reach a target point (robot homing) in indoor environments. These visual landmarks are defined from images of relevant objects or characteristic scenes in the environment. The entropy of an image is directly related to the presence of a unique object or the presence of several different objects inside it: the lower the entropy the higher the probability of containing a single object inside it and, conversely, the higher the entropy the higher the probability of containing several objects inside it. Consequently, we propose the use of the entropy of images captured by the robot not only for the landmark searching and detection but also for obstacle avoidance. If the detected object corresponds to a landmark, the robot uses the suggestions stored in the visual topological map to reach the next landmark or to finish the mission. Otherwise, the robot considers the object as an obstacle and starts a collision avoidance maneuver. In order to validate the proposal we have defined an experimental framework in which the visual bug algorithm is used by an Unmanned Aerial Vehicle (UAV) in typical indoor navigation tasks. PMID:28900394

Beck Exportation: London and Sydney

NASA Astrophysics Data System (ADS)

Cartwright, William; Field, Kenneth

2018-05-01

Henry (Harry) Beck's schematic map of the London Underground is the foundation for most `modern' representations of metropolitan rail systems. From its introduction in the 1930s, it has been the image of the London underground rail transportation system, and, indeed, the image of London itself. Following the launch of the schematic map in 1933 Londoners adopted his representation of the underground as the favoured transportation navigation tool, but also as a physical affirmation that they were citizens of a modern city, a city of electricity and the avant-garde. The London Underground map, as well as being the physical image of the underground rail system, became the signature of the modern city itself. It projected order, systematic transportation and commuter convenience. The map reinforced the general belief that a modern transportation system was at the very heart of what made a city a city. Building upon the success of the map, Beck, and the London Passenger Transport Board, explored how this `take' on the representation of an urban transportation system might be exported to other European, and Antipodean rail networks. This paper provides a dialogue on how Beck's concept for the `metromap' was offered as an alternative navigational diagram to the, then new, Sydney underground system. It then outlines the results of an investigation about how this `Exportation' of Beck's design resulted in the 1939 Sydney metromap that was a clone of the London Underground map.

Image processing and applications based on visualizing navigation service

NASA Astrophysics Data System (ADS)

Hwang, Chyi-Wen

2015-07-01

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

Control-display mapping in brain-computer interfaces.

PubMed

Thurlings, Marieke E; van Erp, Jan B F; Brouwer, Anne-Marie; Blankertz, Benjamin; Werkhoven, Peter

2012-01-01

Event-related potential (ERP) based brain-computer interfaces (BCIs) employ differences in brain responses to attended and ignored stimuli. When using a tactile ERP-BCI for navigation, mapping is required between navigation directions on a visual display and unambiguously corresponding tactile stimuli (tactors) from a tactile control device: control-display mapping (CDM). We investigated the effect of congruent (both display and control horizontal or both vertical) and incongruent (vertical display, horizontal control) CDMs on task performance, the ERP and potential BCI performance. Ten participants attended to a target (determined via CDM), in a stream of sequentially vibrating tactors. We show that congruent CDM yields best task performance, enhanced the P300 and results in increased estimated BCI performance. This suggests a reduced availability of attentional resources when operating an ERP-BCI with incongruent CDM. Additionally, we found an enhanced N2 for incongruent CDM, which indicates a conflict between visual display and tactile control orientations. Incongruency in control-display mapping reduces task performance. In this study, brain responses, task and system performance are related to (in)congruent mapping of command options and the corresponding stimuli in a brain-computer interface (BCI). Directional congruency reduces task errors, increases available attentional resources, improves BCI performance and thus facilitates human-computer interaction.

A Map/INS/Wi-Fi Integrated System for Indoor Location-Based Service Applications

PubMed Central

Yu, Chunyang; Lan, Haiyu; Gu, Fuqiang; Yu, Fei; El-Sheimy, Naser

2017-01-01

In this research, a new Map/INS/Wi-Fi integrated system for indoor location-based service (LBS) applications based on a cascaded Particle/Kalman filter framework structure is proposed. Two-dimension indoor map information, together with measurements from an inertial measurement unit (IMU) and Received Signal Strength Indicator (RSSI) value, are integrated for estimating positioning information. The main challenge of this research is how to make effective use of various measurements that complement each other in order to obtain an accurate, continuous, and low-cost position solution without increasing the computational burden of the system. Therefore, to eliminate the cumulative drift caused by low-cost IMU sensor errors, the ubiquitous Wi-Fi signal and non-holonomic constraints are rationally used to correct the IMU-derived navigation solution through the extended Kalman Filter (EKF). Moreover, the map-aiding method and map-matching method are innovatively combined to constrain the primary Wi-Fi/IMU-derived position through an Auxiliary Value Particle Filter (AVPF). Different sources of information are incorporated through a cascaded structure EKF/AVPF filter algorithm. Indoor tests show that the proposed method can effectively reduce the accumulation of positioning errors of a stand-alone Inertial Navigation System (INS), and provide a stable, continuous and reliable indoor location service. PMID:28574471

A Map/INS/Wi-Fi Integrated System for Indoor Location-Based Service Applications.

PubMed

Yu, Chunyang; Lan, Haiyu; Gu, Fuqiang; Yu, Fei; El-Sheimy, Naser

2017-06-02

In this research, a new Map/INS/Wi-Fi integrated system for indoor location-based service (LBS) applications based on a cascaded Particle/Kalman filter framework structure is proposed. Two-dimension indoor map information, together with measurements from an inertial measurement unit (IMU) and Received Signal Strength Indicator (RSSI) value, are integrated for estimating positioning information. The main challenge of this research is how to make effective use of various measurements that complement each other in order to obtain an accurate, continuous, and low-cost position solution without increasing the computational burden of the system. Therefore, to eliminate the cumulative drift caused by low-cost IMU sensor errors, the ubiquitous Wi-Fi signal and non-holonomic constraints are rationally used to correct the IMU-derived navigation solution through the extended Kalman Filter (EKF). Moreover, the map-aiding method and map-matching method are innovatively combined to constrain the primary Wi-Fi/IMU-derived position through an Auxiliary Value Particle Filter (AVPF). Different sources of information are incorporated through a cascaded structure EKF/AVPF filter algorithm. Indoor tests show that the proposed method can effectively reduce the accumulation of positioning errors of a stand-alone Inertial Navigation System (INS), and provide a stable, continuous and reliable indoor location service.

Precision Time Protocol-Based Trilateration for Planetary Navigation

NASA Technical Reports Server (NTRS)

Murdock, Ron

2015-01-01

Progeny Systems Corporation has developed a high-fidelity, field-scalable, non-Global Positioning System (GPS) navigation system that offers precision localization over communications channels. The system is bidirectional, providing position information to both base and mobile units. It is the first-ever wireless use of the Institute of Electrical and Electronics Engineers (IEEE) Precision Time Protocol (PTP) in a bidirectional trilateration navigation system. The innovation provides a precise and reliable navigation capability to support traverse-path planning systems and other mapping applications, and it establishes a core infrastructure for long-term lunar and planetary occupation. Mature technologies are integrated to provide navigation capability and to support data and voice communications on the same network. On Earth, the innovation is particularly well suited for use in unmanned aerial vehicles (UAVs), as it offers a non-GPS precision navigation and location service for use in GPS-denied environments. Its bidirectional capability provides real-time location data to the UAV operator and to the UAV. This approach optimizes assisted GPS techniques and can be used to determine the presence of GPS degradation, spoofing, or jamming.

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

PubMed

Tani, Tohru; Sonoda, Hiromichi; Tani, Masaji

2016-03-14

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

Sea-Floor Images and Data from Multibeam Surveys in San Francisco Bay, Southern California, Hawaii, the Gulf of Mexico, and Lake Tahoe, California-Nevada

USGS Publications Warehouse

Dartnell, Peter; Gardiner, James V.

1999-01-01

Accurate base maps are a prerequisite for any geologic study, regardless of the objectives. Land-based studies commonly utilize aerial photographs, USGS 7.5-minute quadrangle maps, and satellite images as base maps. Until now, studies that involve the ocean floor have been at a disadvantage due to an almost complete lack of accurate marine base maps. Many base maps of the sea floor have been constructed over the past century but with a wide range in navigational and depth accuracies. Only in the past few years has marine surveying technology advanced far enough to produce navigational accuracy of 1 meter and depth resolutions of 50 centimeters. The Pacific Seafloor Mapping Project of the U.S. Geological Survey's, Western Coastal and Marine Geology Program, Menlo Park, California, U.S.A., in cooperation with the Ocean Mapping Group, University of New Brunswick, Fredericton, Canada, is using this new technology to systematically map the ocean floor and lakes. This type of marine surveying, called multibeam surveying, collects high-resolution bathymetric and backscatter data that can be used for various base maps, GIS coverages, and scientific visualization methods. This is an interactive CD-ROM that contains images, movies, and data of all the surveys the Pacific Seafloor Mapping Project has completed up to January 1999. The images and movies on this CD-ROM, such as shaded relief of the bathymetry, backscatter, oblique views, 3-D views, and QuickTime movies help the viewer to visualize the multibeam data. This CD-ROM also contains ARC/INFO export (.e00) files and full-resolution TIFF images of all the survey sites that can be downloaded and used in many GIS packages.

Single-site access robot-assisted epicardial mapping with a snake robot: preparation and first clinical experience.

PubMed

Neuzil, Petr; Cerny, Stepan; Kralovec, Stepan; Svanidze, Oleg; Bohuslavek, Jan; Plasil, Petr; Jehlicka, Pavel; Holy, Frantisek; Petru, Jan; Kuenzler, Richard; Sediva, Lucie

2013-06-01

CardioARM, a highly flexible "snakelike" medical robotic system (Medrobotics, Raynham, MA), has been developed to allow physicians to view, access, and perform complex procedures intrapericardially on the beating heart through a single-access port. Transthoracic epicardial catheter mapping and ablation has emerged as a strategy to treat arrhythmias, particularly ventricular arrhythmias, originating from the epicardial surface. The aim of our investigation was to determine whether the CardioARM could be used to diagnose and treat ventricular tachycardia (VT) of epicardial origin. Animal and clinical studies of the CardioARM flexible robot were performed in hybrid surgical-electrophysiology settings. In a porcine model study, single-port pericardial access, navigation, mapping, and ablation were performed in nine animals. The device was then used in a small, single-center feasibility clinical study. Three patients, all with drug-refractory VT and multiple failed endocardial ablation attempts, underwent epicardial mapping with the flexible robot. In all nine animals, navigation, mapping, and ablation were successful without hemodynamic compromise. In the human study, all three patients demonstrated a favorable safety profile, with no major adverse events through a 30-day follow-up. Two cases achieved technical success, in which an electroanatomic map of the epicardial ventricle surface was created; in the third case, blood obscured visualization. These results, although based on a limited number of experimental animals and patients, show promise and suggest that further clinical investigation on the use of the flexible robot in patients requiring epicardial mapping of VT is warranted.

Cognitive mapping in mental time travel and mental space navigation.

PubMed

Gauthier, Baptiste; van Wassenhove, Virginie

2016-09-01

The ability to imagine ourselves in the past, in the future or in different spatial locations suggests that the brain can generate cognitive maps that are independent of the experiential self in the here and now. Using three experiments, we asked to which extent Mental Time Travel (MTT; imagining the self in time) and Mental Space Navigation (MSN; imagining the self in space) shared similar cognitive operations. For this, participants judged the ordinality of real historical events in time and in space with respect to different mental perspectives: for instance, participants mentally projected themselves in Paris in nine years, and judged whether an event occurred before or after, or, east or west, of where they mentally stood. In all three experiments, symbolic distance effects in time and space dimensions were quantified using Reaction Times (RT) and Error Rates (ER). When self-projected, participants were slower and were less accurate (absolute distance effects); participants were also faster and more accurate when the spatial and temporal distances were further away from their mental viewpoint (relative distance effects). These effects show that MTT and MSN require egocentric mapping and that self-projection requires map transformations. Additionally, participants' performance was affected when self-projection was made in one dimension but judgements in another, revealing a competition between temporal and spatial mapping (Experiment 2 & 3). Altogether, our findings suggest that MTT and MSN are separately mapped although they require comparable allo- to ego-centric map conversion. Copyright © 2016 Elsevier B.V. All rights reserved.

Language mapping with navigated transcranial magnetic stimulation in pediatric and adult patients undergoing epilepsy surgery: Comparison with extraoperative direct cortical stimulation.

PubMed

Lehtinen, Henri; Mäkelä, Jyrki P; Mäkelä, Teemu; Lioumis, Pantelis; Metsähonkala, Liisa; Hokkanen, Laura; Wilenius, Juha; Gaily, Eija

2018-06-01

Navigated transcranial magnetic stimulation (nTMS) is becoming increasingly popular in noninvasive preoperative language mapping, as its results correlate well enough with those obtained by direct cortical stimulation (DCS) during awake surgery in adult patients with tumor. Reports in the context of epilepsy surgery or extraoperative DCS in adults are, however, sparse, and validation of nTMS with DCS in children is lacking. Furthermore, little is known about the risk of inducing epileptic seizures with nTMS in pediatric epilepsy patients. We provide the largest validation study to date in an epilepsy surgery population. We compared language mapping with nTMS and extraoperative DCS in 20 epilepsy surgery patients (age range 9-32 years; 14 children and adolescents). In comparison with DCS, sensitivity of nTMS was 68%, specificity 76%, positive predictive value 27%, and negative predictive value 95%. Age, location of ictal-onset zone near or within DCS-mapped language areas or severity of cognitive deficits had no significant effect on these values. None of our patients had seizures during nTMS. Our study suggests that nTMS language mapping is clinically useful and safe in epilepsy surgery patients, including school-aged children and patients with extensive cognitive dysfunction. Similar to in tumor surgery, mapping results in the frontal region are most reliable. False negative findings may be slightly more likely in epilepsy than in tumor surgery patients. Mapping results should always be verified by other methods in individual patients.

Mapping of Arithmetic Processing by Navigated Repetitive Transcranial Magnetic Stimulation in Patients with Parietal Brain Tumors and Correlation with Postoperative Outcome.

PubMed

Ille, Sebastian; Drummer, Katharina; Giglhuber, Katrin; Conway, Neal; Maurer, Stefanie; Meyer, Bernhard; Krieg, Sandro M

2018-06-01

Preserving functionality is important during neurosurgical resection of brain tumors. Specialized centers also map further brain functions apart from motor and language functions, such as arithmetic processing (AP). The mapping of AP by navigated repetitive transcranial magnetic stimulation (nrTMS) in healthy volunteers has been reported. The present study aimed to correlate the results of mapping AP with functional patient outcomes. We included 26 patients with parietal brain tumors. Because of preoperative impairment of AP, mapping was not possible in 8 patients (31%). We stimulated 52 cortical sites by nrTMS while patients performed a calculation task. Preoperatively and postoperatively, patients underwent a standardized number-processing and calculation test (NPCT). Tumor resection was blinded to nrTMS results, and the change in NPCT performance was correlated to resected AP-positive spots as identified by nrTMS. The resection of AP-positive sites correlated with a worsening of the postoperative NPCT result in 12 cases. In 3 cases, no AP-positive sites were resected and the postoperative NPCT result was similar to or better than preoperatively. Also, in 3 cases, the postoperative NPCT result was better than preoperatively, although AP-positive sites were resected. Despite presenting only a few cases, nrTMS might be a useful tool for preoperative mapping of AP. However, the reliability of the present results has to be evaluated in a larger series and by intraoperative mapping data. Copyright © 2018 Elsevier Inc. All rights reserved.

Smartphones Based Mobile Mapping Systems

NASA Astrophysics Data System (ADS)

Al-Hamad, A.; El-Sheimy, N.

2014-06-01

The past 20 years have witnessed an explosive growth in the demand for geo-spatial data. This demand has numerous sources and takes many forms; however, the net effect is an ever-increasing thirst for data that is more accurate, has higher density, is produced more rapidly, and is acquired less expensively. For mapping and Geographic Information Systems (GIS) projects, this has been achieved through the major development of Mobile Mapping Systems (MMS). MMS integrate various navigation and remote sensing technologies which allow mapping from moving platforms (e.g. cars, airplanes, boats, etc.) to obtain the 3D coordinates of the points of interest. Such systems obtain accuracies that are suitable for all but the most demanding mapping and engineering applications. However, this accuracy doesn't come cheaply. As a consequence of the platform and navigation and mapping technologies used, even an "inexpensive" system costs well over 200 000 USD. Today's mobile phones are getting ever more sophisticated. Phone makers are determined to reduce the gap between computers and mobile phones. Smartphones, in addition to becoming status symbols, are increasingly being equipped with extended Global Positioning System (GPS) capabilities, Micro Electro Mechanical System (MEMS) inertial sensors, extremely powerful computing power and very high resolution cameras. Using all of these components, smartphones have the potential to replace the traditional land MMS and portable GPS/GIS equipment. This paper introduces an innovative application of smartphones as a very low cost portable MMS for mapping and GIS applications.

Abnormal hippocampal functioning and impaired spatial navigation in depressed individuals: evidence from whole-head magnetoencephalography.

PubMed

Cornwell, Brian R; Salvadore, Giacomo; Colon-Rosario, Veronica; Latov, David R; Holroyd, Tom; Carver, Frederick W; Coppola, Richard; Manji, Husseini K; Zarate, Carlos A; Grillon, Christian

2010-07-01

Dysfunction of the hippocampus has long been suspected to be a key component of the pathophysiology of major depressive disorder. Despite evidence of hippocampal structural abnormalities in depressed patients, abnormal hippocampal functioning has not been demonstrated. The authors aimed to link spatial navigation deficits previously documented in depressed patients to abnormal hippocampal functioning using a virtual reality navigation task. Whole-head magnetoencephalography (MEG) recordings were collected while participants (19 patients diagnosed with major depressive disorder and 19 healthy subjects matched by gender and age) navigated a virtual Morris water maze to find a hidden platform; navigation to a visible platform served as a control condition. Behavioral measures were obtained to assess navigation performance. Theta oscillatory activity (4-8 Hz) was mapped across the brain on a voxel-wise basis using a spatial-filtering MEG source analysis technique. Depressed patients performed worse than healthy subjects in navigating to the hidden platform. Robust group differences in theta activity were observed in right medial temporal cortices during navigation, with patients exhibiting less engagement of the anterior hippocampus and parahippocampal cortices relative to comparison subjects. Left posterior hippocampal theta activity was positively correlated with individual performance within each group. Consistent with previous findings, depressed patients showed impaired spatial navigation. Dysfunction of right anterior hippocampus and parahippocampal cortices may underlie this deficit and stem from structural abnormalities commonly found in depressed patients.

Acute stress switches spatial navigation strategy from egocentric to allocentric in a virtual Morris water maze.

PubMed

van Gerven, Dustin J H; Ferguson, Thomas; Skelton, Ronald W

2016-07-01

Stress and stress hormones are known to influence the function of the hippocampus, a brain structure critical for cognitive-map-based, allocentric spatial navigation. The caudate nucleus, a brain structure critical for stimulus-response-based, egocentric navigation, is not as sensitive to stress. Evidence for this comes from rodent studies, which show that acute stress or stress hormones impair allocentric, but not egocentric navigation. However, there have been few studies investigating the effect of acute stress on human spatial navigation, and the results of these have been equivocal. To date, no study has investigated whether acute stress can shift human navigational strategy selection between allocentric and egocentric navigation. The present study investigated this question by exposing participants to an acute psychological stressor (the Paced Auditory Serial Addition Task, PASAT), before testing navigational strategy selection in the Dual-Strategy Maze, a modified virtual Morris water maze. In the Dual-Strategy maze, participants can chose to navigate using a constellation of extra-maze cues (allocentrically) or using a single cue proximal to the goal platform (egocentrically). Surprisingly, PASAT stress biased participants to solve the maze allocentrically significantly more, rather than less, often. These findings have implications for understanding the effects of acute stress on cognitive function in general, and the function of the hippocampus in particular. Copyright © 2016 Elsevier Inc. All rights reserved.

Place recognition using batlike sonar.

PubMed

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

2016-08-02

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

mapKITE: a New Paradigm for Simultaneous Aerial and Terrestrial Geodata Acquisition and Mapping

NASA Astrophysics Data System (ADS)

Molina, P.; Blázquez, M.; Sastre, J.; Colomina, I.

2016-06-01

We introduce a new mobile, simultaneous terrestrial and aerial, geodata collection and post-processing method: mapKITE. By combining two mapping technologies such as terrestrial mobile mapping and unmanned aircraft aerial mapping, geodata are simultaneously acquired from air and ground. More in detail, a mapKITE geodata acquisition system consists on an unmanned aircraft and a terrestrial vehicle, which hosts the ground control station. By means of a real-time navigation system on the terrestrial vehicle, real-time waypoints are sent to the aircraft from the ground. By doing so, the aircraft is linked to the terrestrial vehicle through a "virtual tether," acting as a "mapping kite." In the article, we entail the concept of mapKITE as well as the various technologies and techniques involved, from aircraft guidance and navigation based on IMU and GNSS, optical cameras for mapping and tracking, sensor orientation and calibration, etc. Moreover, we report of a new measurement introduced in mapKITE, that is, point-and-scale photogrammetric measurements [of image coordinates and scale] for optical targets of known size installed on the ground vehicle roof. By means of accurate posteriori trajectory determination of the terrestrial vehicle, mapKITE benefits then from kinematic ground control points which are photogrametrically observed by point-and-scale measures. Initial results for simulated configurations show that these measurements added to the usual Integrated Sensor Orientation ones reduce or even eliminate the need of conventional ground control points -therefore, lowering mission costs- and enable selfcalibration of the unmanned aircraft interior orientation parameters in corridor configurations, in contrast to the situation of traditional corridor configurations. Finally, we report about current developments of the first mapKITE prototype, developed under the European Union Research and Innovation programme Horizon 2020. The first mapKITE mission will be held at the BCN Drone Center (Collsuspina, Moià, Spain) in mid 2016.

Real-time visual mosaicking and navigation on the seafloor

NASA Astrophysics Data System (ADS)

Richmond, Kristof

Remote robotic exploration holds vast potential for gaining knowledge about extreme environments accessible to humans only with great difficulty. Robotic explorers have been sent to other solar system bodies, and on this planet into inaccessible areas such as caves and volcanoes. In fact, the largest unexplored land area on earth lies hidden in the airless cold and intense pressure of the ocean depths. Exploration in the oceans is further hindered by water's high absorption of electromagnetic radiation, which both inhibits remote sensing from the surface, and limits communications with the bottom. The Earth's oceans thus provide an attractive target for developing remote exploration capabilities. As a result, numerous robotic vehicles now routinely survey this environment, from remotely operated vehicles piloted over tethers from the surface to torpedo-shaped autonomous underwater vehicles surveying the mid-waters. However, these vehicles are limited in their ability to navigate relative to their environment. This limits their ability to return to sites with precision without the use of external navigation aids, and to maneuver near and interact with objects autonomously in the water and on the sea floor. The enabling of environment-relative positioning on fully autonomous underwater vehicles will greatly extend their power and utility for remote exploration in the furthest reaches of the Earth's waters---even under ice and under ground---and eventually in extraterrestrial liquid environments such as Europa's oceans. This thesis presents an operational, fielded system for visual navigation of underwater robotic vehicles in unexplored areas of the seafloor. The system does not depend on external sensing systems, using only instruments on board the vehicle. As an area is explored, a camera is used to capture images and a composite view, or visual mosaic, of the ocean bottom is created in real time. Side-to-side visual registration of images is combined with dead-reckoned navigation information in a framework allowing the creation and updating of large, locally consistent mosaics. These mosaics are used as maps in which the vehicle can navigate and localize itself with respect to points in the environment. The system achieves real-time performance in several ways. First, wherever possible, direct sensing of motion parameters is used in place of extracting them from visual data. Second, trajectories are chosen to enable a hierarchical search for side-to-side links which limits the amount of searching performed without sacrificing robustness. Finally, the map estimation is formulated as a sparse, linear information filter allowing rapid updating of large maps. The visual navigation enabled by the work in this thesis represents a new capability for remotely operated vehicles, and an enabling capability for a new generation of autonomous vehicles which explore and interact with remote, unknown and unstructured underwater environments. The real-time mosaic can be used on current tethered vehicles to create pilot aids and provide a vehicle user with situational awareness of the local environment and the position of the vehicle within it. For autonomous vehicles, the visual navigation system enables precise environment-relative positioning and mapping, without requiring external navigation systems, opening the way for ever-expanding autonomous exploration capabilities. The utility of this system was demonstrated in the field at sites of scientific interest using the ROVs Ventana and Tiburon operated by the Monterey Bay Aquarium Research Institute. A number of sites in and around Monterey Bay, California were mosaicked using the system, culminating in a complete imaging of the wreck site of the USS Macon , where real-time visual mosaics containing thousands of images were generated while navigating using only sensor systems on board the vehicle.

Route learning in Korsakoff's syndrome: Residual acquisition of spatial memory despite profound amnesia.

PubMed

Oudman, Erik; Van der Stigchel, Stefan; Nijboer, Tanja C W; Wijnia, Jan W; Seekles, Maaike L; Postma, Albert

2016-03-01

Korsakoff's syndrome (KS) is characterized by explicit amnesia, but relatively spared implicit memory. The aim of this study was to assess to what extent KS patients can acquire spatial information while performing a spatial navigation task. Furthermore, we examined whether residual spatial acquisition in KS was based on automatic or effortful coding processes. Therefore, 20 KS patients and 20 matched healthy controls performed six tasks on spatial navigation after they navigated through a residential area. Ten participants per group were instructed to pay close attention (intentional condition), while 10 received mock instructions (incidental condition). KS patients showed hampered performance on a majority of tasks, yet their performance was superior to chance level on a route time and distance estimation tasks, a map drawing task and a route walking task. Performance was relatively spared on the route distance estimation task, but there were large variations between participants. Acquisition in KS was automatic rather than effortful, since no significant differences were obtained between the intentional and incidental condition on any task, whereas for the healthy controls, the intention to learn was beneficial for the map drawing task and the route walking task. The results of this study suggest that KS patients are still able to acquire spatial information during navigation on multiple domains despite the presence of the explicit amnesia. Residual acquisition is most likely based on automatic coding processes. © 2014 The British Psychological Society.

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.

Plan averaging for multicriteria navigation of sliding window IMRT and VMAT

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

Craft, David, E-mail: dcraft@partners.org; Papp, Dávid; Unkelbach, Jan

2014-02-15

Purpose: To describe a method for combining sliding window plans [intensity modulated radiation therapy (IMRT) or volumetric modulated arc therapy (VMAT)] for use in treatment plan averaging, which is needed for Pareto surface navigation based multicriteria treatment planning. Methods: The authors show that by taking an appropriately defined average of leaf trajectories of sliding window plans, the authors obtain a sliding window plan whose fluence map is the exact average of the fluence maps corresponding to the initial plans. In the case of static-beam IMRT, this also implies that the dose distribution of the averaged plan is the exact dosimetricmore » average of the initial plans. In VMAT delivery, the dose distribution of the averaged plan is a close approximation of the dosimetric average of the initial plans. Results: The authors demonstrate the method on three Pareto optimal VMAT plans created for a demanding paraspinal case, where the tumor surrounds the spinal cord. The results show that the leaf averaged plans yield dose distributions that approximate the dosimetric averages of the precomputed Pareto optimal plans well. Conclusions: The proposed method enables the navigation of deliverable Pareto optimal plans directly, i.e., interactive multicriteria exploration of deliverable sliding window IMRT and VMAT plans, eliminating the need for a sequencing step after navigation and hence the dose degradation that is caused by such a sequencing step.« less

Integrating cortico-limbic-basal ganglia architectures for learning model-based and model-free navigation strategies

PubMed Central

Khamassi, Mehdi; Humphries, Mark D.

2012-01-01

Behavior in spatial navigation is often organized into map-based (place-driven) vs. map-free (cue-driven) strategies; behavior in operant conditioning research is often organized into goal-directed vs. habitual strategies. Here we attempt to unify the two. We review one powerful theory for distinct forms of learning during instrumental conditioning, namely model-based (maintaining a representation of the world) and model-free (reacting to immediate stimuli) learning algorithms. We extend these lines of argument to propose an alternative taxonomy for spatial navigation, showing how various previously identified strategies can be distinguished as “model-based” or “model-free” depending on the usage of information and not on the type of information (e.g., cue vs. place). We argue that identifying “model-free” learning with dorsolateral striatum and “model-based” learning with dorsomedial striatum could reconcile numerous conflicting results in the spatial navigation literature. From this perspective, we further propose that the ventral striatum plays key roles in the model-building process. We propose that the core of the ventral striatum is positioned to learn the probability of action selection for every transition between states of the world. We further review suggestions that the ventral striatal core and shell are positioned to act as “critics” contributing to the computation of a reward prediction error for model-free and model-based systems, respectively. PMID:23205006

Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation

PubMed Central

Wang, Hubiao; Chai, Hua; Bao, Lifeng; Wang, Yong

2017-01-01

An experiment comparing the location accuracy of gravity matching-aided navigation in the ocean and simulation is very important to evaluate the feasibility and the performance of an INS/gravity-integrated navigation system (IGNS) in underwater navigation. Based on a 1′ × 1′ marine gravity anomaly reference map and multi-model adaptive Kalman filtering algorithm, a matching location experiment of IGNS was conducted using data obtained using marine gravimeter. The location accuracy under actual ocean conditions was 2.83 nautical miles (n miles). Several groups of simulated data of marine gravity anomalies were obtained by establishing normally distributed random error N(u,σ2) with varying mean u and noise variance σ2. Thereafter, the matching location of IGNS was simulated. The results show that the changes in u had little effect on the location accuracy. However, an increase in σ2 resulted in a significant decrease in the location accuracy. A comparison between the actual ocean experiment and the simulation along the same route demonstrated the effectiveness of the proposed simulation method and quantitative analysis results. In addition, given the gravimeter (1–2 mGal accuracy) and the reference map (resolution 1′ × 1′; accuracy 3–8 mGal), location accuracy of IGNS was up to reach ~1.0–3.0 n miles in the South China Sea. PMID:29261136

Location Accuracy of INS/Gravity-Integrated Navigation System on the Basis of Ocean Experiment and Simulation.

PubMed

Wang, Hubiao; Wu, Lin; Chai, Hua; Bao, Lifeng; Wang, Yong

2017-12-20

An experiment comparing the location accuracy of gravity matching-aided navigation in the ocean and simulation is very important to evaluate the feasibility and the performance of an INS/gravity-integrated navigation system (IGNS) in underwater navigation. Based on a 1' × 1' marine gravity anomaly reference map and multi-model adaptive Kalman filtering algorithm, a matching location experiment of IGNS was conducted using data obtained using marine gravimeter. The location accuracy under actual ocean conditions was 2.83 nautical miles (n miles). Several groups of simulated data of marine gravity anomalies were obtained by establishing normally distributed random error N ( u , σ 2 ) with varying mean u and noise variance σ 2 . Thereafter, the matching location of IGNS was simulated. The results show that the changes in u had little effect on the location accuracy. However, an increase in σ 2 resulted in a significant decrease in the location accuracy. A comparison between the actual ocean experiment and the simulation along the same route demonstrated the effectiveness of the proposed simulation method and quantitative analysis results. In addition, given the gravimeter (1-2 mGal accuracy) and the reference map (resolution 1' × 1'; accuracy 3-8 mGal), location accuracy of IGNS was up to reach ~1.0-3.0 n miles in the South China Sea.

Computer-aided system for detecting runway incursions

NASA Astrophysics Data System (ADS)

Sridhar, Banavar; Chatterji, Gano B.

1994-07-01

A synthetic vision system for enhancing the pilot's ability to navigate and control the aircraft on the ground is described. The system uses the onboard airport database and images acquired by external sensors. Additional navigation information needed by the system is provided by the Inertial Navigation System and the Global Positioning System. The various functions of the system, such as image enhancement, map generation, obstacle detection, collision avoidance, guidance, etc., are identified. The available technologies, some of which were developed at NASA, that are applicable to the aircraft ground navigation problem are noted. Example images of a truck crossing the runway while the aircraft flies close to the runway centerline are described. These images are from a sequence of images acquired during one of the several flight experiments conducted by NASA to acquire data to be used for the development and verification of the synthetic vision concepts. These experiments provide a realistic database including video and infrared images, motion states from the Inertial Navigation System and the Global Positioning System, and camera parameters.

Navigation within the heart and vessels in clinical practice.

PubMed

Beyar, Rafael

2010-02-01

The field of interventional cardiology has developed at an unprecedented pace on account of the visual and imaging power provided by constantly improving biomedical technologies. Transcatheter-based technology is now routinely used for coronary revascularization and noncoronary interventions using balloon angioplasty, stents, and many other devices. In the early days of interventional practice, the operating physician had to manually navigate catheters and devices under fluoroscopic imaging and was exposed to radiation, with its comcomitant necessity for wearing heavy lead aprons for protection. Until recently, very little has changed in the way procedures have been carried out in the catheterization laboratory. The technological capacity to remotely manipulate devices, using robotic arms and computational tools, has been developed for surgery and other medical procedures. This has brought to practice the powerful combination of the abilities afforded by imaging, navigational tools, and remote control manipulation. This review covers recent developments in navigational tools for catheter positioning, electromagnetic mapping, magnetic resonance imaging (MRI)-based cardiac electrophysiological interventions, and navigation tools through coronary arteries.

STEPPING - Smartphone-Based Portable Pedestrian Indoor Navigation

NASA Astrophysics Data System (ADS)

Lukianto, C.; Sternberg, H.

2011-12-01

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

High spatial resolution mapping of water quality and bathymetry with an autonomous underwater vehicle

NASA Astrophysics Data System (ADS)

Pampalone, Vincenzo; Milici, Barbara

2015-12-01

The drone Ecomapper AUV (Autonomous Underwater Vehicle) is a rare example of highly technological instrument in the environmental coastal monitoring field. The YSI EcoMapper is a one-man deployable, Autonomous Underwater Vehicle (AUV) designed to collect bathymetry and water quality data. The submarine-like vehicle follows a programmed course and employs sensors mounted in the nose to record pertinent information. Once the vehicle has started its mission, it operates independently of the user and utilizes GPS waypoints navigation to complete its programmed course. Throughout the course, the vehicle constantly steers toward the line drawn in the mission planning software (VectorMap), essentially following a more accurate road of coordinates instead of transversing waypoint-to-waypoint. It has been equipped with a Doppler Velocity Log (DVL) to increase its underwater navigation accuracy. Potential EcoMapper applications include baseline environmental mapping in freshwater, estuarine or near-coastal environments, bathymetric mapping, dissolved oxygen studies, event monitoring (algal blooms, storm impacts, low dissolved oxygen), non-point source studies, point-source dispersion mapping, security, search & rescue, inspection, shallow water mapping, thermal dissipation mapping of cooling outfalls, trace-dye studies. The AUV is used in the coastal area of the Augusta Bay (Italy), located in the eastern part of Sicily. Due to the heavy contamination generated by the several chemical and petrochemical industries active in the zone, the harbour was declared a Contaminated Site of National Interest. The ecomapper allows for a simultaneous data collection of water quality and bathymetric data providing a complete environmental mapping system of the Harbour.

Stereo-vision-based terrain mapping for off-road autonomous navigation

NASA Astrophysics Data System (ADS)

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

2009-05-01

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 nogo 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.

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.

Burns Fact Sheet

MedlinePlus

... Over Navigation Links National Institute of General Medical Sciences Site Map Staff Search My Order Search the ... NIGMS Website Research Funding Research Training News & Meetings Science Education About NIGMS NIGMS Home > Science Education > Burns ...

Pilot perception and confidence of location during a simulated helicopter navigation task.

PubMed

Yang, Ji Hyun; Cowden, Bradley T; Kennedy, Quinn; Schramm, Harrison; Sullivan, Joseph

2013-09-01

This paper aims to provide insights into human perception, navigation performance, and confidence in helicopter overland navigation. Helicopter overland navigation is a challenging mission area because it is a complex cognitive task, and failing to recognize when the aircraft is off-course can lead to operational failures and mishaps. A human-in-the-loop experiment to investigate pilot perception during simulated overland navigation by analyzing actual navigation trajectory, pilots' perceived location, and corresponding confidence levels was designed. There were 15 military officers with prior overland navigation experience who completed 4 simulated low-level navigation routes, 2 of which entailed auto-navigation. This route was paused roughly every 30 s for the subject to mark their perceived location on the map and their confidence level using a customized program. Analysis shows that there is no correlation between perceived and actual location of the aircraft, nor between confidence level and actual location. There is, however, some evidence that there is a correlation (rho = -0.60 to approximately 0.65) between perceived location and intended route of flight, suggesting that there is a bias toward believing one is on the intended flight route. If aviation personnel can proactively identify the circumstances in which usual misperceptions occur in navigation, they may reduce mission failure and accident rate. Fleet squadrons and instructional commands can benefit from this study to improve operations that require low-level flight while also improving crew resource management.

A Virtual Map to Support People Who Are Blind in Navigation through Real Spaces

ERIC Educational Resources Information Center

Lahav, Orly; Schloerb, David W.; Kumar, Siddarth; Srinivasan, Mandayam A.

2011-01-01

Most of the spatial information needed by sighted people to construct cognitive maps of spaces is gathered through the visual channel. Unfortunately, people who are blind lack the ability to collect the required spatial information in advance. The use of virtual reality as a learning and rehabilitation tool for people with disabilities has been on…

Using Concept Maps as Instructional Materials to Foster the Understanding of the Atomic Model and Matter-Energy Interaction

ERIC Educational Resources Information Center

Aguiar, Joana G.; Correia, Paulo R. M.

2016-01-01

In this paper, we explore the use of concept maps (Cmaps) as instructional materials prepared by teachers, to foster the understanding of chemistry. We choose fireworks as a macroscopic event to teach basic chemical principles related to the Bohr atomic model and matter-energy interaction. During teachers' Cmap navigation, students can experience…

Optimal Path Planning Program for Autonomous Speed Sprayer in Orchard Using Order-Picking Algorithm

NASA Astrophysics Data System (ADS)

Park, T. S.; Park, S. J.; Hwang, K. Y.; Cho, S. I.

This study was conducted to develop a software program which computes optimal path for autonomous navigation in orchard, especially for speed sprayer. Possibilities of autonomous navigation in orchard were shown by other researches which have minimized distance error between planned path and performed path. But, research of planning an optimal path for speed sprayer in orchard is hardly founded. In this study, a digital map and a database for orchard which contains GPS coordinate information (coordinates of trees and boundary of orchard) and entity information (heights and widths of trees, radius of main stem of trees, disease of trees) was designed. An orderpicking algorithm which has been used for management of warehouse was used to calculate optimum path based on the digital map. Database for digital map was created by using Microsoft Access and graphic interface for database was made by using Microsoft Visual C++ 6.0. It was possible to search and display information about boundary of an orchard, locations of trees, daily plan for scattering chemicals and plan optimal path on different orchard based on digital map, on each circumstance (starting speed sprayer in different location, scattering chemicals for only selected trees).

Public road infrastructure inventory in degraded global navigation satellite system signal environments

NASA Astrophysics Data System (ADS)

Sokolova, N.; Morrison, A.; Haakonsen, T. A.

2015-04-01

Recent advancement of land-based mobile mapping enables rapid and cost-effective collection of highquality road related spatial information. Mobile Mapping Systems (MMS) can provide spatial information with subdecimeter accuracy in nominal operation environments. However, performance in challenging environments such as tunnels is not well characterized. The Norwegian Public Roads Administration (NPRA) manages the country's public road network and its infrastructure, a large segment of which is represented by road tunnels (there are about 1 000 road tunnels in Norway with a combined length of 800 km). In order to adopt mobile mapping technology for streamlining road network and infrastructure management and maintenance tasks, it is important to ensure that the technology is mature enough to meet existing requirements for object positioning accuracy in all types of environments, and provide homogeneous accuracy over the mapping perimeter. This paper presents results of a testing campaign performed within a project funded by the NPRA as a part of SMarter road traffic with Intelligent Transport Systems (ITS) (SMITS) program. The testing campaign objective was performance evaluation of high end commercial MMSs for inventory of public areas, focusing on Global Navigation Satellite System (GNSS) signal degraded environments.

Mapping Wildfires In Nearly Real Time

NASA Technical Reports Server (NTRS)

Nichols, Joseph D.; Parks, Gary S.; Denning, Richard F.; Ibbott, Anthony C.; Scott, Kenneth C.; Sleigh, William J.; Voss, Jeffrey M.

1993-01-01

Airborne infrared-sensing system flies over wildfire as infrared detector in system and navigation subsystem generate data transmitted to firefighters' camp. There, data plotted in form of map of fire, including approximate variations of temperature. System, called Firefly, reveals position of fires and approximate thermal intensities of regions within fires. Firefighters use information to manage and suppress fires. Used for other purposes with minor modifications, such as to spot losses of heat in urban areas and to map disease and pest infestation in vegetation.

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.

Conflicting evidence about long-distance animal navigation.

PubMed

Alerstam, Thomas

2006-08-11

Because of conflicting evidence about several fundamental issues, long-distance animal navigation has yet to be satisfactorily explained. Among the unsolved problems are the nature of genetic spatial control of migration and the relationships between celestial and magnetic compass mechanisms and between different map-related cues in orientation and homing, respectively. In addition, navigation is expected to differ between animal groups depending on sensory capabilities and ecological conditions. Evaluations based on modern long-term tracking techniques of the geometry of migration routes and individual migration history, combined with behavioral experiments and exploration of the sensory and genetic mechanisms, will be crucial for understanding the spatial principles that guide animals on their global journeys.

Archive of digital Chirp sub-bottom profile data collected during USGS Cruise 07SCC01 offshore of the Chandeleur Islands, Louisiana, June 2007

USGS Publications Warehouse

Forde, Arnell S.; Dadisman, Shawn V.; Flocks, James G.; Wiese, Dana S.

2010-01-01

In June of 2007, the U.S. Geological Survey (USGS) conducted a geophysical survey offshore of the Chandeleur Islands, Louisiana, in cooperation with the Louisiana Department of Natural Resources (LDNR) as part of the USGS Barrier Island Comprehensive Monitoring (BICM) project. This project is part of a broader study focused on Subsidence and Coastal Change (SCC). The purpose of the study was to investigate the shallow geologic framework and monitor the enviromental impacts of Hurricane Katrina (Louisiana landfall was on August 29, 2005) on the Gulf Coast's barrier island chains. This report serves as an archive of unprocessed digital 512i and 424 Chirp sub-bottom profile data, trackline maps, navigation files, Geographic Information System (GIS) files, Field Activity Collection System (FACS) logs, observer's logbook, and formal Federal Geographic Data Committee (FGDC) metadata. Gained (a relative increase in signal amplitude) digital images of the seismic profiles are also provided. Refer to the Acronyms page for expansion of acronyms and abbreviations used in this report. The USGS St. Petersburg Coastal and Marine Science Center (SPCMSC) assigns a unique identifier to each cruise or field activity. For example, 07SCC01 tells us the data were collected in 2007 for the Subsidence and Coastal Change (SCC) study and the data were collected during the first field activity for that study in that calendar year. Refer to http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html for a detailed description of the method used to assign the field activity identification (ID). All Chirp systems use a signal of continuously varying frequency; the Chirp systems used during this survey produce high resolution, shallow penetration profile images beneath the seafloor. The towfish is a sound source and receiver, which is typically towed 1 - 2 m below the sea surface. The acoustic energy is reflected at density boundaries (such as the seafloor or sediment layers beneath the seafloor), detected by a receiver, and recorded by a PC-based seismic acquisition system. This process is repeated at timed intervals (for example, 0.125 s) and recorded for specific intervals of time (for example, 50 ms). In this way, a two-dimensional vertical image of the shallow geologic structure beneath the ship track is produced. Figure 1 displays the acquisition geometry. Refer to table 1 for a summary of acquisition parameters. See the digital FACS equipment log (11-KB PDF) for details about the acquisition equipment used. Table 2 lists trackline statistics. Scanned images of the handwritten FACS logs and handwritten science logbook (449-KB PDF) are also provided. The archived trace data are in standard Society of Exploration Geophysicists (SEG) SEG-Y rev 1 format (Norris and Faichney, 2002); ASCII character encoding is used for the first 3,200 bytes of the card image header instead of the SEG-Y rev 0 (Barry and others, 1975) EBCDIC format. The SEG-Y files may be downloaded and processed with commercial or public domain software such as Seismic Unix (SU) (Cohen and Stockwell, 2010). See the How To Download SEG-Y Data page for download instructions. The web version of this archive does not contain the SEG-Y trace files. These files are very large and would require extremely long download times. To obtain the complete DVD archive, contact USGS Information at 1-888-ASK-USGS or infoservices@usgs.gov. The printable profiles provided here are GIF images that were processed and gained using SU software; refer to the Software page for links to example SU processing scripts and USGS software for viewing the SEG-Y files (Zihlman, 1992). The processed SEG-Y data were also exported to Chesapeake Technology, Inc. (CTI) SonarWeb software to produce an interactive version of the profile that allows the user to obtain a geographic location and depth from the profile for a given cursor position. This information is displayed in the status bar of the browser.

Archive of Digital Boomer Seismic Reflection Data Collected During USGS Field Activity 08LCA01 in 10 Central Florida Lakes, March 2008

USGS Publications Warehouse

Harrison, Arnell S.; Dadisman, Shawn V.; Davis, Jeffrey B.; Flocks, James G.; Wiese, Dana S.

2009-01-01

In March of 2008, the U.S. Geological Survey and St. Johns River Water Management District (SJRWMD) conducted geophysical surveys in Lakes Avalon, Big, Colby, Helen, Johns, Prevatt, Searcy, Saunders, Three Island, and Trout, located in central Florida, as part of the USGS Lakes and Coastal Aquifers (LCA) study. This report serves as an archive of unprocessed digital boomer seismic reflection data, trackline maps, navigation files, Field Activity Collection System (FACS) logs, Geographic Information System (GIS) files, and formal Federal Geographic Data Committee (FGDC) metadata. Filtered and gained (a relative increase in signal amplitude) digital images of the seismic profiles are also provided. Refer to the Acronyms page for expansions of acronyms and abbreviations used in this report. The archived trace data are in standard Society of Exploration Geophysicists (SEG) SEG-Y format (Barry and others, 1975) and may be downloaded and processed with commercial or public domain software such as Seismic Unix (SU) (Cohen and Stockwell, 2005). Example SU processing scripts and USGS software for viewing the SEG-Y files (Zihlman, 1992) are also provided. The USGS Florida Integrated Science Center (FISC) - St. Petersburg assigns a unique identifier to each cruise or field activity. For example, 08LCA01 tells us the data were collected in 2008 for the Lakes and Coastal Aquifers (LCA) study and the data were collected during the first field activity for that study in that calendar year. Refer to http://walrus.wr.usgs.gov/infobank/programs/html/definition/activity.html for a detailed description of the method used to assign the field activity ID. The naming convention used for each seismic line is as follows: yye##a, where yy is the last two digits of the year in which the data were collected, e is a 1-letter abbreviation for the equipment type (for example, b for boomer), ## is a 2-digit number representing a specific track, and a is a letter representing the section of a line if recording was prematurely terminated or rerun for quality or acquisition problems. The boomer plate is an acoustic energy source that consists of capacitors charged to a high voltage and discharged through a transducer in the water. The transducer is towed on a sled floating on the water surface and when discharged emits a short acoustic pulse, or shot, which propagates through the water, sediment column, or rock beneath. The acoustic energy is reflected at density boundaries (such as the lake bottom, sediment, or rock layers beneath the lake bottom), detected by the receiver, and recorded by a PC-based seismic acquisition system. This process is repeated at timed intervals (for example, 0.5 s) and recorded for specific intervals of time (for example, 100 ms). In this way, a two-dimensional (2-D) vertical profile of the shallow geologic structure beneath the ship track is produced. Figure 1 displays the three boomer acquisition geometries used during this survey. The second method was used because windy weather conditions hindered steerage, and driving the boat in reverse actually helped maintain course and prevented the possibility of the streamer cables becoming entangled in the boat propellers. The third method was used to help attenuate propeller and generator noise. Refer to table 1 for a summary of acquisition parameters. Table 2 lists trackline statistics. The unprocessed seismic data are stored in SEG-Y format (Barry and others, 1975). For a detailed description of the data format, refer to the SEG-Y Format page. See the How To Download SEG-Y Data page for download instructions. The printable profiles provided here are GIF images that were filtered and gained using Seismic Unix software. Refer to the Software page for details about the processing and examples of the processing scripts. The processed SEG-Y data were exported to Chesapeake Technology, Inc. (CTI) SonarWeb software to produce a geospatially interactive Web page of the profile,

47 CFR 15.123 - Labeling of digital cable ready products.

Code of Federal Regulations, 2010 CFR

2010-10-01

...) Allows navigation of channels based on channel information (virtual channel map and source names... independent laboratory with personnel knowledgeable with respect to the standards referenced in paragraph (b...

Alcohol Facts and Statistics

MedlinePlus

... preventable causes of death in the United States: Comparative risk assessment of dietary, lifestyle, and metabolic risk ... Follow Get Updates Donations Share Join a Clinical Study Alcohol Treatment Navigator Site Map Accessibility Privacy FOIA ...

Robot navigation research using the HERMIES mobile robot

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

Barnett, D.L.

1989-01-01

In recent years robot navigation has attracted much attention from researchers around the world. Not only are theoretical studies being simulated on sophisticated computers, but many mobile robots are now used as test vehicles for these theoretical studies. Various algorithms have been perfected for navigation in a known static environment; but navigation in an unknown and dynamic environment poses a much more challenging problem for researchers. Many different methodologies have been developed for autonomous robot navigation, but each methodology is usually restricted to a particular type of environment. One important research focus of the Center for Engineering Systems Advanced researchmore » (CESAR) at Oak Ridge National Laboratory, is autonomous navigation in unknown and dynamic environments using the series of HERMIES mobile robots. The research uses an expert system for high-level planning interfaced with C-coded routines for implementing the plans, and for quick processing of data requested by the expert system. In using this approach, the navigation is not restricted to one methodology since the expert system can activate a rule module for the methodology best suited for the current situation. Rule modules can be added the rule base as they are developed and tested. Modules are being developed or enhanced for navigating from a map, searching for a target, exploring, artificial potential-field navigation, navigation using edge-detection, etc. This paper will report on the various rule modules and methods of navigation in use, or under development at CESAR, using the HERMIES-IIB robot as a testbed. 13 refs., 5 figs., 1 tab.« less

Neural Development Under Conditions of Spaceflight

NASA Technical Reports Server (NTRS)

Kosik, Kenneth S.; Steward, Oswald; Temple, Meredith D.; Denslow, Maria J.

2003-01-01

One of the key tasks the developing brain must learn is how to navigate within the environment. This skill depends on the brain's ability to establish memories of places and things in the environment so that it can form cognitive maps. Earth's gravity defines the plane of orientation of the spatial environment in which animals navigate, and cognitive maps are based on this plane of orientation. Given that experience during early development plays a key role in the development of other aspects of brain function, experience in a gravitational environment is likely to be essential for the proper organization of brain regions mediating learning and memory of spatial information. Since the hippocampus is the brain region responsible for cognitive mapping abilities, this study evaluated the development of hippocampal structure and function in rats that spent part of their early development in microgravity. Litters of male and female Sprague-Dawley rats were launched into space aboard the Space Shuttle Columbia on either postnatal day eight (P8) or 14 (P14) and remained in space for 16 days. Upon return to Earth, the rats were tested for their ability to remember spatial information and navigate using a variety of tests (the Morris water maze, a modified radial arm maze, and an open field apparatus). These rats were then tested physiologically to determine whether they exhibited normal synaptic plasticity in the hippocampus. In a separate group of rats (flight and controls), the hippocampus was analyzed using anatomical, molecular biological, and biochemical techniques immediately postlanding. There were remarkably few differences between the flight groups and their Earth-bound controls in either the navigation and spatial memory tasks or activity-induced synaptic plasticity. Microscopic and immunocytochemical analyses of the brain also did not reveal differences between flight animals and ground-based controls. These data suggest that, within the developmental window studied, microgravity has minimal long-term impact on cognitive mapping function and cellular substrates important for this function. Any differences due to development in microgravity were transient and returned to normal soon after return to Earth.

Seismic, side-scan survey, diving, and coring data analyzed by a Macintosh II sup TM computer and inexpensive software provide answers to a possible offshore extension of landslides at Palos Verdes Peninsula, California

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

Dill, R.F.; Slosson, J.E.; McEachen, D.B.

1990-05-01

A Macintosh II{sup TM} computer and commercially available software were used to analyze and depict the topography, construct an isopach sediment thickness map, plot core positions, and locate the geology of an offshore area facing an active landslide on the southern side of Palos Verdes Peninsula California. Profile data from side scan sonar, 3.5 kHz, and Boomer subbottom, high-resolution seismic, diving, echo sounder traverses, and cores - all controlled with a mini Ranger II navigation system - were placed in MacGridzo{sup TM} and WingZ{sup TM} software programs. The computer-plotted data from seven sources were used to construct maps with overlaysmore » for evaluating the possibility of a shoreside landslide extending offshore. The poster session describes the offshore survey system and demonstrates the development of the computer data base, its placement into the MacGridzo{sup TM} gridding program, and transfer of gridded navigational locations to the WingZ{sup TM} data base and graphics program. Data will be manipulated to show how sea-floor features are enhanced and how isopach data were used to interpret the possibility of landslide displacement and Holocene sea level rise. The software permits rapid assessment of data using computerized overlays and a simple, inexpensive means of constructing and evaluating information in map form and the preparation of final written reports. This system could be useful in many other areas where seismic profiles, precision navigational locations, soundings, diver observations, and core provide a great volume of information that must be compared on regional plots to develop of field maps for geological evaluation and reports.« less

Spiking Neurons in a Hierarchical Self-Organizing Map Model Can Learn to Develop Spatial and Temporal Properties of Entorhinal Grid Cells and Hippocampal Place Cells

PubMed Central

Pilly, Praveen K.; Grossberg, Stephen

2013-01-01

Medial entorhinal grid cells and hippocampal place cells provide neural correlates of spatial representation in the brain. A place cell typically fires whenever an animal is present in one or more spatial regions, or places, of an environment. A grid cell typically fires in multiple spatial regions that form a regular hexagonal grid structure extending throughout the environment. Different grid and place cells prefer spatially offset regions, with their firing fields increasing in size along the dorsoventral axes of the medial entorhinal cortex and hippocampus. The spacing between neighboring fields for a grid cell also increases along the dorsoventral axis. This article presents a neural model whose spiking neurons operate in a hierarchy of self-organizing maps, each obeying the same laws. This spiking GridPlaceMap model simulates how grid cells and place cells may develop. It responds to realistic rat navigational trajectories by learning grid cells with hexagonal grid firing fields of multiple spatial scales and place cells with one or more firing fields that match neurophysiological data about these cells and their development in juvenile rats. The place cells represent much larger spaces than the grid cells, which enable them to support navigational behaviors. Both self-organizing maps amplify and learn to categorize the most frequent and energetic co-occurrences of their inputs. The current results build upon a previous rate-based model of grid and place cell learning, and thus illustrate a general method for converting rate-based adaptive neural models, without the loss of any of their analog properties, into models whose cells obey spiking dynamics. New properties of the spiking GridPlaceMap model include the appearance of theta band modulation. The spiking model also opens a path for implementation in brain-emulating nanochips comprised of networks of noisy spiking neurons with multiple-level adaptive weights for controlling autonomous adaptive robots capable of spatial navigation. PMID:23577130

Effect of Cognitive Style on Learning and Retrieval of Navigational Environments.

PubMed

Boccia, Maddalena; Vecchione, Francesca; Piccardi, Laura; Guariglia, Cecilia

2017-01-01

Field independence (FI) has been found to correlate with a wide range of cognitive processes requiring cognitive restructuring. Cognitive restructuring, that is going beyond the information given by the setting, is pivotal in creating stable mental representations of the environment, the so-called "cognitive maps," and it affects visuo-spatial abilities underpinning environmental navigation. Here we evaluated whether FI, by fostering cognitive restructuring of environmental cues on the basis of an internal frame of reference, affects the learning and retrieval of a novel environment. Fifty-four participants were submitted to the Embedded Figure Test (EFT) for assessing their Cognitive Style (CS) and to the Perspective Taking/Spatial Orientation Test (PTSOT) and the Santa Barbara Sense of Direction Scale (SBSOD) for assessing their spatial perspective taking and orientation skills. They were also required to learn a path in a novel, real environment (route learning, RL), to recognize landmarks of this path among distracters (landmark recognition, LR), to order them (landmark ordering, LO) and to draw the learned path on a map (map drawing, MD). Retrieval tasks were performed both immediately after learning (immediate-retrieval) and the day after (24 h-retrieval). Performances on EFT significantly correlated with the time needed to learn the path, with MD (both in the immediate- and in the 24 h- retrievals), results on LR (in 24-retrieval) and performances on PTSOT. Interestingly, we found that gender interacted with CS on RL (time of learning) and MD. Females performed significantly worse than males only if they were classified as FD, but did not differ from males if they were classified as FI. These results suggest that CS affects learning and retrieval of navigational environment, especially when a map-like representation is required. We propose that CS may be pivotal in forming the cognitive map of the environment, likely due to the higher ability of FI individuals in restructuring environmental cues in a global and flexible long-term representation of the environment.

The bee's map of the e-vector pattern in the sky.

PubMed

Rossel, S; Wehner, R

1982-07-01

It has long been known that bees can use the pattern of polarized light in the sky as a compass cue even if they can see only a small part of the whole pattern. How they solve this problem has remained enigmatic. Here we show that the bees rely on a generalized celestial map that is used invariably throughout the day. We reconstruct this map by analyzing the navigation errors made by bees to which single e-vectors are displayed. In addition, we demonstrate how the bee's celestial map can be derived from the e-vector patterns in the sky.

Initial experience of a novel mapping system combined with remote magnetic navigation in the catheter ablation of atrial fibrillation.

PubMed

Lin, Changjian; Pehrson, Steen; Jacobsen, Peter Karl; Chen, Xu

2017-12-01

There have been advancements of sophisticated mapping systems used for ablation procedures over the last decade. Utilization of these novel mapping systems in combination with remote magnetic navigation (RMN) needs to be established. We investigated the new EnSite Precision mapping system (St. Jude Medical, Inc., St. Paul, MN, USA), which collects magnetic data for checking navigation field stability and is built on an open platform, allowing physicians to choose diagnostic and ablation catheters. We address its compatibility with RMN. To assess the clinical utility of a novel 3D mapping system (EnSite Precision mapping system) combined with RMN (Niobe ES, Stereotaxis, Inc., St. Louis, MO, USA) for atrial fibrillation (AF) ablation. In this prospective nonrandomized study, two groups of patients were treated in our center for drug refractory AF. Patients were consecutively enrolled in each group. Group A (n = 35, 14 persistent AF [PsAF]) was treated using the novel 3D mapping system combined with RMN. Group B (n = 38, 16 PsAF) was treated using Carto ® 3 (Biosense Webster, Inc., Diamond Bar, CA, USA) combined with RMN. In Group A, the left atrium (LA) was mapped with a circular magnetic catheter manually and was then replaced by a RMN ablation catheter. At the end of the procedures in Group A, the circular catheter was used for confirming field stability. In Group B, an ablation catheter was controlled by RMN to perform both LA mapping and ablation. All patients underwent pulmonary vein antrum isolation. Additional complex fractionated atrial electrograms (CFAEs) ablation was performed for PsAF. Procedural, ablation, and fluoroscopy times were recorded and complications were assessed. Electrophysiological end points were achieved in all patients. Using the novel mapping system, LA mapping time was fast (308 ± 60 seconds) with detailed anatomy points (178,831 ± 70,897) collected and magnetic points throughout LA. At the end of the procedures in Group A, the LA model was confirmed to be stable and its location was within the distance threshold (1 mm). Procedure time (117.9 ± 29.6 minutes vs. 119.2 ± 29.7 minutes, P = 0.89), fluoroscopy time (6.1 ± 2.4 minutes vs. 4.8 ± 2.2 minutes, P = 0.07), and ablation time (28.0 ± 12.9 minutes vs. 27.9 ± 15.8 minutes, P = 0.98) were similar in Group A versus Group B, respectively. No complications occurred in either group. LA mapped by the novel system is stable and reliable. Combined with RMN, it could be effectively used for AF ablation without impacting overall procedural times. © 2017 Wiley Periodicals, Inc.

Visual Navigation Constructing and Utilizing Simple Maps of an Indoor Environment

DTIC Science & Technology

1989-03-01

places are con- nected to eachother , so that the robot may plan routes. On a more advanced level. navigation nmay require an understanding of the meaning...two vertical lines, suitably separated from eachother . through which it tries to lead the robot. CHAPTER 1. L’TRODUCTION 14 1.4 Context of the Project...the observer will have no trouble in determining where the wall is. A robot, with far less processing power than humans have. might be able determine

UCare navigator: A dynamic guide to the hybrid electronic and paper medical record in transition.

PubMed

Bokser, Seth J; Cucina, Russell J; Love, Jeffrey S; Blum, Michael S

2007-10-11

During the phased transition from a paper-based record to an electronic health record (EHR), we found that clinicians had difficulty remembering where to find important clinical documents. We describe our experience with the design and use of a web-based map of the hybrid medical record. With between 50 to 75 unique visits per day, the UCare Navigator has served as an important aid to clinicians practicing in the transitional environment of a large EHR implementation.

A memory-mapped output interface: Omega navigation output data from the JOLT (TM) microcomputer

NASA Technical Reports Server (NTRS)

Lilley, R. W.

1976-01-01

A hardware interface which allows both digital and analog data output from the JOLT microcomputer is described in the context of a software-based Omega Navigation receiver. The interface hardware described is designed for output of six (or eight with simple extensions) bits of binary output in response to a memory store command from the microcomputer. The interface was produced in breadboard form and is operational as an evaluation aid for the software Omega receiver.

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

PubMed

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

2017-07-01

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

Autonomous assistance navigation for robotic wheelchairs in confined spaces.

PubMed

Cheein, Fernando Auat; Carelli, Ricardo; De la Cruz, Celso; Muller, Sandra; Bastos Filho, Teodiano F

2010-01-01

In this work, a visual interface for the assistance of a robotic wheelchair's navigation is presented. The visual interface is developed for the navigation in confined spaces such as narrows corridors or corridor-ends. The interface performs two navigation modus: non-autonomous and autonomous. The non-autonomous driving of the robotic wheelchair is made by means of a hand-joystick. The joystick directs the motion of the vehicle within the environment. The autonomous driving is performed when the user of the wheelchair has to turn (90, 90 or 180 degrees) within the environment. The turning strategy is performed by a maneuverability algorithm compatible with the kinematics of the wheelchair and by the SLAM (Simultaneous Localization and Mapping) algorithm. The SLAM algorithm provides the interface with the information concerning the environment disposition and the pose -position and orientation-of the wheelchair within the environment. Experimental and statistical results of the interface are also shown in this work.

Place recognition using batlike sonar

PubMed Central

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

2016-01-01

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

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.

National Institute of General Medical Sciences

MedlinePlus

... Over Navigation Links National Institute of General Medical Sciences Site Map Staff Search My Order Search the ... NIGMS Website Research Funding Research Training News & Meetings Science Education About NIGMS Feature Slides View All Slides ...

Homing of invasive Burmese pythons in South Florida: evidence for map and compass senses in snakes

PubMed Central

Pittman, Shannon E.; Hart, Kristen M.; Cherkiss, Michael S.; Snow, Ray W.; Fujisaki, Ikuko; Smith, Brian J.; Mazzotti, Frank J.; Dorcas, Michael E.

2014-01-01

Navigational ability is a critical component of an animal's spatial ecology and may influence the invasive potential of species. Burmese pythons (Python molurus bivittatus) are apex predators invasive to South Florida. We tracked the movements of 12 adult Burmese pythons in Everglades National Park, six of which were translocated 21–36 km from their capture locations. Translocated snakes oriented movement homeward relative to the capture location, and five of six snakes returned to within 5 km of the original capture location. Translocated snakes moved straighter and faster than control snakes and displayed movement path structure indicative of oriented movement. This study provides evidence that Burmese pythons have navigational map and compass senses and has implications for predictions of spatial spread and impacts as well as our understanding of reptile cognitive abilities. PMID:24647727

Navigation of a care and welfare robot

NASA Astrophysics Data System (ADS)

Yukawa, Toshihiro; Hosoya, Osamu; Saito, Naoki; Okano, Hideharu

2005-12-01

In this paper, we propose the development of a robot that can perform nursing tasks in a hospital. In a narrow environment such as a sickroom or a hallway, the robot must be able to move freely in arbitrary directions. Therefore, the robot needs to have high controllability and the capability to make precise movements. Our robot can recognize a line by using cameras, and can be controlled in the reference directions by means of comparison with original cell map information; furthermore, it moves safely on the basis of an original center-line established permanently in the building. Correspondence between the robot and a centralized control center enables the robot's autonomous movement in the hospital. Through a navigation system using cell map information, the robot is able to perform nursing tasks smoothly by changing the camera angle.

Homing of invasive Burmese pythons in South Florida: evidence for map and compass senses in snakes

USGS Publications Warehouse

Pittman, Shannon E.; Hart, Kristen M.; Cherkiss, Michael S.; Snow, Ray W.; Fujisaki, Ikuko; Mazzotti, Frank J.; Dorcas, Michael E.

2014-01-01

Navigational ability is a critical component of an animal's spatial ecology and may influence the invasive potential of species. Burmese pythons (Python molurus bivittatus) are apex predators invasive to South Florida. We tracked the movements of 12 adult Burmese pythons in Everglades National Park, six of which were translocated 21–36 km from their capture locations. Translocated snakes oriented movement homeward relative to the capture location, and five of six snakes returned to within 5 km of the original capture location. Translocated snakes moved straighter and faster than control snakes and displayed movement path structure indicative of oriented movement. This study provides evidence that Burmese pythons have navigational map and compass senses and has implications for predictions of spatial spread and impacts as well as our understanding of reptile cognitive abilities.

Coastal bathymetry data collected in 2013 from the Chandeleur Islands, Louisiana

USGS Publications Warehouse

DeWitt, Nancy T.; Miselis, Jennifer L.; Fredericks, Jake J.; Bernier, Julie C.; Reynolds, Billy J.; Kelso, Kyle W.; Thompson, David M.; Flocks, James G.; Wiese, Dana S.

2017-01-12

As part of the Barrier Island Evolution Research Project, scientists from the U.S. Geological Survey (USGS) St. Petersburg Coastal and Marine Science Center conducted nearshore geophysical surveys around the northern Chandeleur Islands, Louisiana, in July and August of 2013. The objective of the study is to better understand barrier-island geomorphic evolution, particularly storm-related depositional and erosional processes that shape the islands over annual to interannual timescales (1‒5 years). Collecting geophysical data will allow us to identify relationships between the geologic history of the island and its present day morphology and sediment distribution. This mapping effort was the third in a series of three planned surveys in this area. High resolution geophysical data collected in each of three consecutive years along this rapidly changing barrier island system will provide a unique time-series dataset that will significantly further the analyses and geomorphological interpretations of this and other coastal systems, improving our understanding of coastal response and evolution over short time scales (1‒5 years).This data series includes the geophysical data that were collected during two cruises (USGS Field Activity Numbers (FAN) 13BIM02, 13BIM03, and 13BIM04, in July 2013; and FANs 13BIM07 and 13BIM08 in August 2013) aboard the R/V Sallenger, the R/V Jabba Jaw, and the R/V Shark along the northern portion of the Chandeleur Islands, Breton National Wildlife Refuge, Louisiana. Primary data were acquired with the following equipment: (1) a Systems Engineering and Assessment, Ltd., SWATHplus interferometric sonar (468 kilohertz [kHz]), (2) an EdgeTech 424 (4‒24 kHz) chirp sub-bottom profiling system, and (3) two Odom Hydrographic Systems, Incorporated, Echotrach CV100 single beam echosounders.This data series report serves as an archive of processed interferometric swath and single-beam bathymetry data. Geographic information system data products include an interpolated digital elevation model, trackline maps, and point data files. Additional files include error analysis maps, Field Activity Collection System logs, and formal Federal Geographic Data Committee metadata.

Toward perception-based navigation using EgoSphere

NASA Astrophysics Data System (ADS)

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

2002-02-01

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

Climate Prediction Center - Monitoring & Data: La Niña Seasonal Maps and

Science.gov Websites

Statistics Skip Navigation Links www.nws.noaa.gov NOAA logo - Click to go to the NOAA home page National Weather Service NWS logo - Click to go to the NWS home page Climate Prediction Center Home Site Map News Organization Search Go Search the CPC Go About Us Our Mission Who We Are Contact Us

Learning Progressions Provide Road Maps for the Development and Validity of Assessments and Curriculum Materials

ERIC Educational Resources Information Center

Krajcik, Joseph

2011-01-01

Paul Black, Mark Wilson, and Shih-Ying Yao in "Road Maps for Learning: A Guide to the Navigation of Learning Progressions" provide a number of important ideas to consider regarding the development of assessments and curriculum materials to support development of core ideas. One major idea that the author found most valuable is the focus on student…

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, productivity and lifetime of robotic explorers, along with new solar navigation abilities.

FLASH LIDAR Based Relative Navigation

NASA Technical Reports Server (NTRS)

Brazzel, Jack; Clark, Fred; Milenkovic, Zoran

2014-01-01

Relative navigation remains the most challenging part of spacecraft rendezvous and docking. In recent years, flash LIDARs, have been increasingly selected as the go-to sensors for proximity operations and docking. Flash LIDARS are generally lighter and require less power that scanning Lidars. Flash LIDARs do not have moving parts, and they are capable of tracking multiple targets as well as generating a 3D map of a given target. However, there are some significant drawbacks of Flash Lidars that must be resolved if their use is to be of long-term significance. Overcoming the challenges of Flash LIDARs for navigation-namely, low technology readiness level, lack of historical performance data, target identification, existence of false positives, and performance of vision processing algorithms as intermediaries between the raw sensor data and the Kalman filter-requires a world-class testing facility, such as the Lockheed Martin Space Operations Simulation Center (SOSC). Ground-based testing is a critical step for maturing the next-generation flash LIDAR-based spacecraft relative navigation. This paper will focus on the tests of an integrated relative navigation system conducted at the SOSC in January 2014. The intent of the tests was to characterize and then improve the performance of relative navigation, while addressing many of the flash LIDAR challenges mentioned above. A section on navigation performance and future recommendation completes the discussion.

Age-related similarities and differences in monitoring spatial cognition.

PubMed

Ariel, Robert; Moffat, Scott D

2018-05-01

Spatial cognitive performance is impaired in later adulthood but it is unclear whether the metacognitive processes involved in monitoring spatial cognitive performance are also compromised. Inaccurate monitoring could affect whether people choose to engage in tasks that require spatial thinking and also the strategies they use in spatial domains such as navigation. The current experiment examined potential age differences in monitoring spatial cognitive performance in a variety of spatial domains including visual-spatial working memory, spatial orientation, spatial visualization, navigation, and place learning. Younger and older adults completed a 2D mental rotation test, 3D mental rotation test, paper folding test, spatial memory span test, two virtual navigation tasks, and a cognitive mapping test. Participants also made metacognitive judgments of performance (confidence judgments, judgments of learning, or navigation time estimates) on each trial for all spatial tasks. Preference for allocentric or egocentric navigation strategies was also measured. Overall, performance was poorer and confidence in performance was lower for older adults than younger adults. In most spatial domains, the absolute and relative accuracy of metacognitive judgments was equivalent for both age groups. However, age differences in monitoring accuracy (specifically relative accuracy) emerged in spatial tasks involving navigation. Confidence in navigating for a target location also mediated age differences in allocentric navigation strategy use. These findings suggest that with the possible exception of navigation monitoring, spatial cognition may be spared from age-related decline even though spatial cognition itself is impaired in older age.

A novel approach for monitoring writing interferences during navigated transcranial magnetic stimulation mappings of writing related cortical areas.

PubMed

Rogić Vidaković, Maja; Gabelica, Dragan; Vujović, Igor; Šoda, Joško; Batarelo, Nikolina; Džimbeg, Andrija; Zmajević Schönwald, Marina; Rotim, Krešimir; Đogaš, Zoran

2015-11-30

It has recently been shown that navigated repetitive transcranial magnetic stimulation (nTMS) is useful in preoperative neurosurgical mapping of motor and language brain areas. In TMS mapping of motor cortices the evoked responses can be quantitatively monitored by electromyographic (EMG) recordings. No such setup exists for monitoring of writing during nTMS mappings of writing related cortical areas. We present a novel approach for monitoring writing during nTMS mappings of motor writing related cortical areas. To our best knowledge, this is the first demonstration of quantitative monitoring of motor evoked responses from hand by EMG, and of pen related activity during writing with our custom made pen, together with the application of chronometric TMS design and patterned protocol of rTMS. The method was applied in four healthy subjects participating in writing during nTMS mapping of the premotor cortical area corresponding to BA 6 and close to the superior frontal sulcus. The results showed that stimulation impaired writing in all subjects. The corresponding spectra of measured signal related to writing movements was observed in the frequency band 0-20 Hz. Magnetic stimulation affected writing by suppressing normal writing frequency band. The proposed setup for monitoring of writing provides additional quantitative data for monitoring and the analysis of rTMS induced writing response modifications. The setup can be useful for investigation of neurophysiologic mechanisms of writing, for therapeutic effects of nTMS, and in preoperative mapping of language cortical areas in patients undergoing brain surgery. Copyright © 2015 Elsevier B.V. All rights reserved.

Experiences with Acquiring Highly Redundant Spatial Data to Support Driverless Vehicle Technologies

NASA Astrophysics Data System (ADS)

Koppanyi, Z.; Toth, C. K.

2018-05-01

As vehicle technology is moving towards higher autonomy, the demand for highly accurate geospatial data is rapidly increasing, as accurate maps have a huge potential of increasing safety. In particular, high definition 3D maps, including road topography and infrastructure, as well as city models along the transportation corridors represent the necessary support for driverless vehicles. In this effort, a vehicle equipped with high-, medium- and low-resolution active and passive cameras acquired data in a typical traffic environment, represented here by the OSU campus, where GPS/GNSS data are available along with other navigation sensor data streams. The data streams can be used for two purposes. First, high-definition 3D maps can be created by integrating all the sensory data, and Data Analytics/Big Data methods can be tested for automatic object space reconstruction. Second, the data streams can support algorithmic research for driverless vehicle technologies, including object avoidance, navigation/positioning, detecting pedestrians and bicyclists, etc. Crucial cross-performance analyses on map database resolution and accuracy with respect to sensor performance metrics to achieve economic solution for accurate driverless vehicle positioning can be derived. These, in turn, could provide essential information on optimizing the choice of geospatial map databases and sensors' quality to support driverless vehicle technologies. The paper reviews the data acquisition and primary data processing challenges and performance results.

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

PubMed

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

2014-06-17

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

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

PubMed Central

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

2014-01-01

Mammals navigate by means of a metric cognitive map. Insects, most notably bees and ants, are also impressive navigators. The question whether they, too, have a metric cognitive map is important to cognitive science and neuroscience. Experimentally captured and displaced bees often depart from the release site in the compass direction they were bent on before their capture, even though this no longer heads them toward their goal. When they discover their error, however, the bees set off more or less directly toward their goal. This ability to orient toward a goal from an arbitrary point in the familiar environment is evidence that they have an integrated metric map of the experienced environment. We report a test of an alternative hypothesis, which is that all the bees have in memory is a collection of snapshots that enable them to recognize different landmarks and, associated with each such snapshot, a sun-compass–referenced home vector derived from dead reckoning done before and after previous visits to the landmark. We show that a large shift in the sun-compass rapidly induced by general anesthesia does not alter the accuracy or speed of the homeward-oriented flight made after the bees discover the error in their initial postrelease flight. This result rules out the sun-referenced home-vector hypothesis, further strengthening the now extensive evidence for a metric cognitive map in bees. PMID:24889633

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

PubMed

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

2011-01-01

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

Dynamic map labeling.

PubMed

Been, Ken; Daiches, Eli; Yap, Chee

2006-01-01

We address the problem of filtering, selecting and placing labels on a dynamic map, which is characterized by continuous zooming and panning capabilities. This consists of two interrelated issues. The first is to avoid label popping and other artifacts that cause confusion and interrupt navigation, and the second is to label at interactive speed. In most formulations the static map labeling problem is NP-hard, and a fast approximation might have O(nlogn) complexity. Even this is too slow during interaction, when the number of labels shown can be several orders of magnitude less than the number in the map. In this paper we introduce a set of desiderata for "consistent" dynamic map labeling, which has qualities desirable for navigation. We develop a new framework for dynamic labeling that achieves the desiderata and allows for fast interactive display by moving all of the selection and placement decisions into the preprocessing phase. This framework is general enough to accommodate a variety of selection and placement algorithms. It does not appear possible to achieve our desiderata using previous frameworks. Prior to this paper, there were no formal models of dynamic maps or of dynamic labels; our paper introduces both. We formulate a general optimization problem for dynamic map labeling and give a solution to a simple version of the problem. The simple version is based on label priorities and a versatile and intuitive class of dynamic label placements we call "invariant point placements". Despite these restrictions, our approach gives a useful and practical solution. Our implementation is incorporated into the G-Vis system which is a full-detail dynamic map of the continental USA. This demo is available through any browser.

Novel microbial diversity retrieved by autonomous robotic exploration of the world's deepest vertical phreatic sinkhole.

PubMed

Sahl, Jason W; Fairfield, Nathaniel; Harris, J Kirk; Wettergreen, David; Stone, William C; Spear, John R

2010-03-01

The deep phreatic thermal explorer (DEPTHX) is an autonomous underwater vehicle designed to navigate an unexplored environment, generate high-resolution three-dimensional (3-D) maps, collect biological samples based on an autonomous sampling decision, and return to its origin. In the spring of 2007, DEPTHX was deployed in Zacatón, a deep (approximately 318 m), limestone, phreatic sinkhole (cenote) in northeastern Mexico. As DEPTHX descended, it generated a 3-D map based on the processing of range data from 54 onboard sonars. The vehicle collected water column samples and wall biomat samples throughout the depth profile of the cenote. Post-expedition sample analysis via comparative analysis of 16S rRNA gene sequences revealed a wealth of microbial diversity. Traditional Sanger gene sequencing combined with a barcoded-amplicon pyrosequencing approach revealed novel, phylum-level lineages from the domains Bacteria and Archaea; in addition, several novel subphylum lineages were also identified. Overall, DEPTHX successfully navigated and mapped Zacatón, and collected biological samples based on an autonomous decision, which revealed novel microbial diversity in a previously unexplored environment.

Enhancing Positioning Accuracy in Urban Terrain by Fusing Data from a GPS Receiver, Inertial Sensors, Stereo-Camera and Digital Maps for Pedestrian Navigation

PubMed Central

Przemyslaw, Baranski; Pawel, Strumillo

2012-01-01

The paper presents an algorithm for estimating a pedestrian location in an urban environment. The algorithm is based on the particle filter and uses different data sources: a GPS receiver, inertial sensors, probability maps and a stereo camera. Inertial sensors are used to estimate a relative displacement of a pedestrian. A gyroscope estimates a change in the heading direction. An accelerometer is used to count a pedestrian's steps and their lengths. The so-called probability maps help to limit GPS inaccuracy by imposing constraints on pedestrian kinematics, e.g., it is assumed that a pedestrian cannot cross buildings, fences etc. This limits position inaccuracy to ca. 10 m. Incorporation of depth estimates derived from a stereo camera that are compared to the 3D model of an environment has enabled further reduction of positioning errors. As a result, for 90% of the time, the algorithm is able to estimate a pedestrian location with an error smaller than 2 m, compared to an error of 6.5 m for a navigation based solely on GPS. PMID:22969321

A reactive system for open terrain navigation: Performance and limitations

NASA Technical Reports Server (NTRS)

Langer, D.; Rosenblatt, J.; Hebert, M.

1994-01-01

We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning module which issues commands to the vehicle controller. Our approach is to use the concept of 'early traversability evaluation', and on the use of reactive planning for generating commands to drive the vehicle. We argue that our approach leads to a robust and efficient navigation system. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain.

Integrated multi-sensor fusion for mapping and localization in outdoor environments for mobile robots

NASA Astrophysics Data System (ADS)

Emter, Thomas; Petereit, Janko

2014-05-01

An integrated multi-sensor fusion framework for localization and mapping for autonomous navigation in unstructured outdoor environments based on extended Kalman filters (EKF) is presented. The sensors for localization include an inertial measurement unit, a GPS, a fiber optic gyroscope, and wheel odometry. Additionally a 3D LIDAR is used for simultaneous localization and mapping (SLAM). A 3D map is built while concurrently a localization in a so far established 2D map is estimated with the current scan of the LIDAR. Despite of longer run-time of the SLAM algorithm compared to the EKF update, a high update rate is still guaranteed by sophisticatedly joining and synchronizing two parallel localization estimators.

Investigations of the potential effects of underwater noise from petroleum-industry activities on migrating gray-whale behavior. Phase 2: January 1984 migration

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

Malme, C.I.; Miles, P.R.; Clark, C.W.

1984-08-01

The study supplements work performed during 1983 in the Monterey, California region in determining the degree of behavioral response of migrating gray whales to acoustic stimuli associated with oil and gas exploration and development activities. A computer-implemented trackline program analyzed the theodolite data for any possible changes in distance from shore, speed, linearity of track, orientation toward the sound source, and course heading of the whale group. A history of marine seismic exploration off California was compiled that showed no long-term relationship with growth rates in the gray whale population.

MITSI project : final local evaluation report

DOT National Transportation Integrated Search

2003-01-01

The mission statement for the MITSI project was facilitating National Standards Compliance migration for NaviGAtor, conducting National Architecture mapping for MARTA and E911, and evaluating CORBA as a methodology for exchanging data. This involved ...

The Migration Matrix: Marine Vertebrate Movements in Magnetic Coordinate Space

NASA Astrophysics Data System (ADS)

Horton, T. W.; Holdaway, R. N.; Clapham, P. J.; Zerbini, A. N.; Andriolo, A.; Hays, G. C.; Egevang, C.; Domeier, M. L.; Lucas, N.

2011-12-01

Determining how vertebrates navigate during their long-distance migrations remains one of the most enduring and fundamental challenges of behavioral ecology. It is widely accepted that spatial orientation relative to a reference datum is a fundamental requirement of long-distance return migration between seasonal habitats, and a variety of viable positional and directional orientation cues, including the sun, stars, and magnetic field, have been documented experimentally. However, a fundamental question remains unanswered: Are empirically observed migratory movements compatible with modern theoretical frameworks of spatial orientation? To address this question, we analysed leatherback turtle (Dermochelys coriacea), arctic tern (Sterna paradisaea), humpback whale (Megaptera novaeangliae), and great white shark (Carcharodon carcharias) track maps, frequency distribution diagrams and time-series plots of animal locations in spherical magnetic coordinate space. Our analyses indicates that, although individual migration tracks are spatially and temporally distinct, vertebrate movements are non-randomly distributed in all three spherical magnetic coordinates (i.e. intensity, inclination, and declination). Stop-over locations, migratory destinations, and re-orientation points occur at similar magnetic coordinate locations, relative to tagging areas, in all four species, suggesting that a common system of magnetic orientation likely informs the navigational behaviors of these phylogenetically diverse taxa. Although our analyses demonstrate that the experiment-derived 'magnetic map' goal orientation theoretical framework of animal navigation is compatible with remotely-sensed migration track data, they also indicate that magnetic information is complemented by spatially and temporally contingent celestial stimuli during navigation.

Selective influence of prior allocentric knowledge on the kinesthetic learning of a path.

PubMed

Lafon, Matthieu; Vidal, Manuel; Berthoz, Alain

2009-04-01

Spatial cognition studies have described two main cognitive strategies involved in the memorization of traveled paths in human navigation. One of these strategies uses the action-based memory (egocentric) of the traveled route or paths, which involves kinesthetic memory, optic flow, and episodic memory, whereas the other strategy privileges a survey memory of cartographic type (allocentric). Most studies have dealt with these two strategies separately, but none has tried to show the interaction between them in spite of the fact that we commonly use a map to imagine our journey and then proceed using egocentric navigation. An interesting question is therefore: how does prior allocentric knowledge of the environment affect the egocentric, purely kinesthetic navigation processes involved in human navigation? We designed an experiment in which blindfolded subjects had first to walk and memorize a path with kinesthetic cues only. They had previously been shown a map of the path, which was either correct or distorted (consistent shrinking or growing). The latter transformations were studied in order to observe what influence a distorted prior knowledge could have on spatial mechanisms. After having completed the first learning travel along the path, they had to perform several spatial tasks during the testing phase: (1) pointing towards the origin and (2) to specific points encountered along the path, (3) a free locomotor reproduction, and (4) a drawing of the memorized path. The results showed that prior cartographic knowledge influences the paths drawn and the spatial inference capacity, whereas neither locomotor reproduction nor spatial updating was disturbed. Our results strongly support the notion that (1) there are two independent neural bases underlying these mechanisms: a map-like representation allowing allocentric spatial inferences, and a kinesthetic memory of self-motion in space; and (2) a common use of, or a switching between, these two strategies is possible. Nevertheless, allocentric representations can emerge from the experience of kinesthetic cues alone.

Interdisciplinary Navigation Unit for Mathematics and Earth Science Using Geospatial Technology

NASA Astrophysics Data System (ADS)

Smaglik, S. M.; Harris, V.

2006-12-01

Central Wyoming College (CWC) is located northeast of the Wind River Mountains. Although many people find recreation in the wilderness and remote areas surrounding the area, people still lose their lives because they become lost or disoriented. Creating an interdisciplinary field-based curriculum unit within mathematics (MATH 1000) and earth science (GEOL 1070) courses for non-science and education majors, provides students an opportunity to develop critical thinking skills and quantitative literacy. It also provides some necessary skills for survival and an understanding of landscape formation and wilderness navigation using geoscience. A brief history of navigation, including the importance of finding latitude and longitude, and the fairly recent implementation of the Global Positioning System, precedes activities in which students learn to use a basic compass. In addition to learning how to adjust for magnetic declination they read topographic maps, specifically USGS quadrangles, and learn how to use the scale in the legend to verify calculations using the Pythagorean Theorem. Students learn how to estimate distance and time required for traveling a pre- determined distance while using dimensional analysis to convert from the English system to metric. They learn how to read and measure latitude and longitude, as well as universal transverse Mercator projection measurements (UTM's), to find their position. The basic mathematical skills are assessed through hands-on activities such as finding their location on a map using a compass, a GPS unit, and Google Earth, and using a combination of maps, compasses, and GPS units to navigate through a course. Our goal is to provide life-saving information to students while incorporating necessary core curriculum from both mathematics and earth science classes. We work to create field-based activities, as well as assessments, to insure that students who complete the course are prepared to safely enjoy the outdoors and are prepared for future courses requiring mathematical problem-solving and/or lab science as a prerequisite.

The National Map: New Viewer, Services, and Data Download

USGS Publications Warehouse

Dollison, Robert M.

2010-01-01

Managed by the U.S. Geological Survey's (USGS) National Geospatial Program, The National Map has transitioned data assets and viewer applications to a new visualization and product and service delivery environment, which includes an improved viewing platform, base map data and overlay services, and an integrated data download service. This new viewing solution expands upon the National Geospatial Intelligence Agency (NGA) Palanterra X3 viewer, providing a solid technology foundation for navigation and basic Web mapping functionality. Building upon the NGA viewer allows The National Map to focus on improving data services, functions, and data download capabilities. Initially released to the public at the 125th anniversary of mapping in the USGS on December 3, 2009, the viewer and services are now the primary distribution point for The National Map data. The National Map Viewer: http://viewer.nationalmap.gov

Autonomous exploration and mapping of unknown environments

NASA Astrophysics Data System (ADS)

Owens, Jason; Osteen, Phil; Fields, MaryAnne

2012-06-01

Autonomous exploration and mapping is a vital capability for future robotic systems expected to function in arbitrary complex environments. In this paper, we describe an end-to-end robotic solution for remotely mapping buildings. For a typical mapping system, an unmanned system is directed to enter an unknown building at a distance, sense the internal structure, and, barring additional tasks, while in situ, create a 2-D map of the building. This map provides a useful and intuitive representation of the environment for the remote operator. We have integrated a robust mapping and exploration system utilizing laser range scanners and RGB-D cameras, and we demonstrate an exploration and metacognition algorithm on a robotic platform. The algorithm allows the robot to safely navigate the building, explore the interior, report significant features to the operator, and generate a consistent map - all while maintaining localization.

SGA-WZ: A New Strapdown Airborne Gravimeter

PubMed Central

Huang, Yangming; Olesen, Arne Vestergaard; Wu, Meiping; Zhang, Kaidong

2012-01-01

Inertial navigation systems and gravimeters are now routinely used to map the regional gravitational quantities from an aircraft with mGal accuracy and a spatial resolution of a few kilometers. However, airborne gravimeter of this kind is limited by the inaccuracy of the inertial sensor performance, the integrated navigation technique and the kinematic acceleration determination. As the GPS technique developed, the vehicle acceleration determination is no longer the limiting factor in airborne gravity due to the cancellation of the common mode acceleration in differential mode. A new airborne gravimeter taking full advantage of the inertial navigation system is described with improved mechanical design, high precision time synchronization, better thermal control and optimized sensor modeling. Apart from the general usage, the Global Positioning System (GPS) after differentiation is integrated to the inertial navigation system which provides not only more precise altitude information along with the navigation aiding, but also an effective way to calculate the vehicle acceleration. Design description and test results on the performance of the gyroscopes and accelerations will be emphasized. Analysis and discussion of the airborne field test results are also given. PMID:23012545

University of Pennsylvania MAGIC 2010 Final Report

DTIC Science & Technology

2011-01-10

and mapping ( SLAM ) techniques are employed to build a local map of the environment surrounding the robot. Readings from the two complementary LIDAR sen...IMU, LIDAR , Cameras Localization Disrupter UGV Local Navigation Sensors: GPS, IMU, LIDAR , Cameras Laser Control Localization Task Planner Strategy/Plan...various components shown in Figure 2. This is comprised of the following subsystems: • Sensor UGV: Mobile UGVs with LIDAR and camera sensors, GPS, and

Wayfinding in Libraries.

ERIC Educational Resources Information Center

Beck, Susan Gilbert

1996-01-01

Discusses recommendations for designing or redesigning library buildings for easy navigability. Signage, maps, collection arrangements, and placement of emergency exits must take into account observed traffic patterns, spatial or objective orientations of individual patrons, and patrons with disabilities. Contains 63 references. (BEW)

Orienteering: A Thinging Man's Sport or It's Not Nice to Fool Mother Nature

ERIC Educational Resources Information Center

August, Irwin

1974-01-01

Orienteering is land navigation through unknown countryside with map and compass. This article describes an orienteering program in the Action Education Curriculum, State University of New York, College at Purchase. (KM)

Virtual environment navigation with look-around mode to explore new real spaces by people who are blind.

PubMed

Lahav, Orly; Gedalevitz, Hadas; Battersby, Steven; Brown, David; Evett, Lindsay; Merritt, Patrick

2018-05-01

This paper examines the ability of people who are blind to construct a mental map and perform orientation tasks in real space by using Nintendo Wii technologies to explore virtual environments. The participant explores new spaces through haptic and auditory feedback triggered by pointing or walking in the virtual environments and later constructs a mental map, which can be used to navigate in real space. The study included 10 participants who were congenitally or adventitiously blind, divided into experimental and control groups. The research was implemented by using virtual environments exploration and orientation tasks in real spaces, using both qualitative and quantitative methods in its methodology. The results show that the mode of exploration afforded to the experimental group is radically new in orientation and mobility training; as a result 60% of the experimental participants constructed mental maps that were based on map model, compared with only 30% of the control group participants. Using technology that enabled them to explore and to collect spatial information in a way that does not exist in real space influenced the ability of the experimental group to construct a mental map based on the map model. Implications for rehabilitation The virtual cane system for the first time enables people who are blind to explore and collect spatial information via the look-around mode in addition to the walk-around mode. People who are blind prefer to use look-around mode to explore new spaces, as opposed to the walking mode. Although the look-around mode requires users to establish a complex collecting and processing procedure for the spatial data, people who are blind using this mode are able to construct a mental map as a map model. For people who are blind (as for the sighted) construction of a mental map based on map model offers more flexibility in choosing a walking path in a real space, accounting for changes that occur in the space.

Probabilistic choice between symmetric disparities in motion stereo matching for a lateral navigation system

NASA Astrophysics Data System (ADS)

Ershov, Egor; Karnaukhov, Victor; Mozerov, Mikhail

2016-02-01

Two consecutive frames of a lateral navigation camera video sequence can be considered as an appropriate approximation to epipolar stereo. To overcome edge-aware inaccuracy caused by occlusion, we propose a model that matches the current frame to the next and to the previous ones. The positive disparity of matching to the previous frame has its symmetric negative disparity to the next frame. The proposed algorithm performs probabilistic choice for each matched pixel between the positive disparity and its symmetric disparity cost. A disparity map obtained by optimization over the cost volume composed of the proposed probabilistic choice is more accurate than the traditional left-to-right and right-to-left disparity maps cross-check. Also, our algorithm needs two times less computational operations per pixel than the cross-check technique. The effectiveness of our approach is demonstrated on synthetic data and real video sequences, with ground-truth value.

Cognitive memory and mapping in a brain-like system for robotic navigation.

PubMed

Tang, Huajin; Huang, Weiwei; Narayanamoorthy, Aditya; Yan, Rui

2017-03-01

Electrophysiological studies in animals may provide a great insight into developing brain-like models of spatial cognition for robots. These studies suggest that the spatial ability of animals requires proper functioning of the hippocampus and the entorhinal cortex (EC). The involvement of the hippocampus in spatial cognition has been extensively studied, both in animal as well as in theoretical studies, such as in the brain-based models by Edelman and colleagues. In this work, we extend these earlier models, with a particular focus on the spatial coding properties of the EC and how it functions as an interface between the hippocampus and the neocortex, as proposed by previous work. By realizing the cognitive memory and mapping functions of the hippocampus and the EC, respectively, we develop a neurobiologically-inspired system to enable a mobile robot to perform task-based navigation in a maze environment. Copyright © 2016 Elsevier Ltd. All rights reserved.

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.

INERTIAL INSTRUMENT SYSTEM FOR AERIAL SURVEYING.

USGS Publications Warehouse

Brown, Russell H.; Chapman, William H.; Hanna, William F.; Mongan, Charles E.; Hursh, John W.

1987-01-01

The purpose of this report is to describe an inertial guidance or navigation system that will enable use of relatively light aircraft for efficient data-gathering in geologgy, hydrology, terrain mapping, and gravity-field mapping. The instrument system capitalizes not only on virtual state-of-the-art inertial guidance technology but also on similarly advanced technology for measuring distance with electromagnetic radiating devices. The distance measurement can be made with a transceiver beamed at either a cooperative taget, with a specially designed reflecting surface, or a noncooperative target, such as the Earth's surface. The instrument system features components that use both techniques. Thus, a laser tracker device, which updates the inertial guidance unit or navigator in flight, makes distance measurements to a retroreflector target mounted at a ground-control point; a laser profiler device, beamed vertically downward, makes distance measurements to the Earth's surface along a path that roughly mirrors the aircraft flight path.

Maintaining Consistency of Spatial Information in the Hippocampal Network: A Combinatorial Geometry Model.

PubMed

Dabaghian, Y

2016-06-01

Place cells in the rat hippocampus play a key role in creating the animal's internal representation of the world. During active navigation, these cells spike only in discrete locations, together encoding a map of the environment. Electrophysiological recordings have shown that the animal can revisit this map mentally during both sleep and awake states, reactivating the place cells that fired during its exploration in the same sequence in which they were originally activated. Although consistency of place cell activity during active navigation is arguably enforced by sensory and proprioceptive inputs, it remains unclear how a consistent representation of space can be maintained during spontaneous replay. We propose a model that can account for this phenomenon and suggest that a spatially consistent replay requires a number of constraints on the hippocampal network that affect its synaptic architecture and the statistics of synaptic connection strengths.

Towards An Understanding of Mobile Touch Navigation in a Stereoscopic Viewing Environment for 3D Data Exploration.

PubMed

López, David; Oehlberg, Lora; Doger, Candemir; Isenberg, Tobias

2016-05-01

We discuss touch-based navigation of 3D visualizations in a combined monoscopic and stereoscopic viewing environment. We identify a set of interaction modes, and a workflow that helps users transition between these modes to improve their interaction experience. In our discussion we analyze, in particular, the control-display space mapping between the different reference frames of the stereoscopic and monoscopic displays. We show how this mapping supports interactive data exploration, but may also lead to conflicts between the stereoscopic and monoscopic views due to users' movement in space; we resolve these problems through synchronization. To support our discussion, we present results from an exploratory observational evaluation with domain experts in fluid mechanics and structural biology. These experts explored domain-specific datasets using variations of a system that embodies the interaction modes and workflows; we report on their interactions and qualitative feedback on the system and its workflow.

Three-dimensional mapping in the electrophysiological laboratory.

PubMed

Maury, Philippe; Monteil, Benjamin; Marty, Lilian; Duparc, Alexandre; Mondoly, Pierre; Rollin, Anne

2018-06-07

Investigation and catheter ablation of cardiac arrhythmias are currently still based on optimal knowledge of arrhythmia mechanisms in relation to the cardiac anatomy involved, in order to target their crucial components. Currently, most complex arrhythmias are investigated using three-dimensional electroanatomical navigation systems, because these are felt to optimally integrate both the anatomical and electrophysiological features of a given arrhythmia in a given patient. In this article, we review the technical background of available three-dimensional electroanatomical navigation systems, and their potential use in complex ablations. Copyright © 2018 Elsevier Masson SAS. All rights reserved.

Archive of post-Hurricane Charley coastal oblique aerial photographs collected during U.S. Geological Survey field activity 04CCH01 from Marco Island to Fort DeSoto, Florida, August 15, 2004

USGS Publications Warehouse

Subino, Janice A.; Morgan, Karen L.M.; Krohn, M. Dennis; Miller, Gregory K.; Dadisman, Shawn V.; Forde, Arnell S.

2012-01-01

To view the survey maps and navigation files, and for more information about these items, see the Navigation page. Figure 1 displays the acquisition geometry. The tables provide detailed information about the assigned location, name, data, and time the photograph was taken along with links to the photo and corresponding 5-min contact sheet. Refer to table 1 and table 2 for details of the northern and southern county photographs, respectively.

Land Vehicle Navigation ? A Worldwide Perspective

NASA Astrophysics Data System (ADS)

French, Robert L.

This paper was presented at the NAV '90 conference and was first published in the Journal in 1991 (Vol. 44, p. 25). It is followed by comments from Christopher Querée.The future shakeout and consolidation of vehicle navigation technologies and systems approaches will occur primarily in the vehicle location, mobile data communications, and man/machine interface areas. Digital maps will not be directly affected because, although there is still a dearth of formal standards, there is already a high degree of uniformity among approaches being pursued in all parts of the world.

How the cerebellum may monitor sensory information for spatial representation

PubMed Central

Rondi-Reig, Laure; Paradis, Anne-Lise; Lefort, Julie M.; Babayan, Benedicte M.; Tobin, Christine

2014-01-01

The cerebellum has already been shown to participate in the navigation function. We propose here that this structure is involved in maintaining a sense of direction and location during self-motion by monitoring sensory information and interacting with navigation circuits to update the mental representation of space. To better understand the processing performed by the cerebellum in the navigation function, we have reviewed: the anatomical pathways that convey self-motion information to the cerebellum; the computational algorithm(s) thought to be performed by the cerebellum from these multi-source inputs; the cerebellar outputs directed toward navigation circuits and the influence of self-motion information on space-modulated cells receiving cerebellar outputs. This review highlights that the cerebellum is adequately wired to combine the diversity of sensory signals to be monitored during self-motion and fuel the navigation circuits. The direct anatomical projections of the cerebellum toward the head-direction cell system and the parietal cortex make those structures possible relays of the cerebellum influence on the hippocampal spatial map. We describe computational models of the cerebellar function showing that the cerebellum can filter out the components of the sensory signals that are predictable, and provides a novelty output. We finally speculate that this novelty output is taken into account by the navigation structures, which implement an update over time of position and stabilize perception during navigation. PMID:25408638

Satellite Imagery Assisted Road-Based Visual Navigation System

NASA Astrophysics Data System (ADS)

Volkova, A.; Gibbens, P. W.

2016-06-01

There is a growing demand for unmanned aerial systems as autonomous surveillance, exploration and remote sensing solutions. Among the key concerns for robust operation of these systems is the need to reliably navigate the environment without reliance on global navigation satellite system (GNSS). This is of particular concern in Defence circles, but is also a major safety issue for commercial operations. In these circumstances, the aircraft needs to navigate relying only on information from on-board passive sensors such as digital cameras. An autonomous feature-based visual system presented in this work offers a novel integral approach to the modelling and registration of visual features that responds to the specific needs of the navigation system. It detects visual features from Google Earth* build a feature database. The same algorithm then detects features in an on-board cameras video stream. On one level this serves to localise the vehicle relative to the environment using Simultaneous Localisation and Mapping (SLAM). On a second level it correlates them with the database to localise the vehicle with respect to the inertial frame. The performance of the presented visual navigation system was compared using the satellite imagery from different years. Based on comparison results, an analysis of the effects of seasonal, structural and qualitative changes of the imagery source on the performance of the navigation algorithm is presented. * The algorithm is independent of the source of satellite imagery and another provider can be used

Enabling cost-effective multimodal trip planners through open transit data : [summary].

DOT National Transportation Integrated Search

2011-01-01

Electronic navigation systems are now common : and widely used -- via Internet services, handheld : devices, and devices in vehicles -- to guide drivers : using instructions and maps. Next generation : systems will plan trips by other modes, includin...

South Atlantic Anomaly

Atmospheric Science Data Center

2013-04-19

... This map was created by specially processing MISR "dark" data taken between 3 February and 16 February 2000, while the cover was still ... Individual orbit tracks are visible, and some tracks are missing due to data gaps, missing spacecraft navigation information, or other ...

Using New Maps to Navigate Cancer Treatment - TCGA

Cancer.gov

Drs.Scott Hwang and Chad Holder of Emory University discuss the development of VARSARI and The Cancer Imaging Program's TCGA Radiology Initiative. Learn more about their and Dr. Carl Jaffe's work in this TCGA In Action Case Study.

Never Too Young to Orienteer.

ERIC Educational Resources Information Center

Lavine, Carolyn

1992-01-01

Describes orienteering courses for children, including courses that introduce young children to the idea of navigating in the outdoors and courses that teach map and compass skills and problem-solving techniques to older children. Lists sources of information and references. (SV)

Landmarks selection in street map design

NASA Astrophysics Data System (ADS)

Kao, C. J.

2014-02-01

In Taiwan many electrical maps present their landmarks according to the category of the feature, a designer short of knowledge about mental representation of space, can cause the map to lose its communication effects. To resolve this map design problem, in this research through long-term memory recall, navigation and observation, and short-term memory processing 111 participants were asked to select the proper landmark from study area. The results reveal that in Taiwan convenience stores are the most popular local landmark in rural and urban areas. Their commercial signs have a unique design and bright color. Contrasted to their background, this makes the convenience store a salient feature. This study also developed a rule to assess the priority of the landmarks to design them in different scale maps.

ARK: Autonomous mobile robot in an industrial environment

NASA Technical Reports Server (NTRS)

Nickerson, S. B.; Jasiobedzki, P.; Jenkin, M.; Jepson, A.; Milios, E.; Down, B.; Service, J. R. R.; Terzopoulos, D.; Tsotsos, J.; Wilkes, D.

1994-01-01

This paper describes research on the ARK (Autonomous Mobile Robot in a Known Environment) project. The technical objective of the project is to build a robot that can navigate in a complex industrial environment using maps with permanent structures. The environment is not altered in any way by adding easily identifiable beacons and the robot relies on naturally occurring objects to use as visual landmarks for navigation. The robot is equipped with various sensors that can detect unmapped obstacles, landmarks and objects. In this paper we describe the robot's industrial environment, it's architecture, a novel combined range and vision sensor and our recent results in controlling the robot in the real-time detection of objects using their color and in the processing of the robot's range and vision sensor data for navigation.

Clementine Observes the Moon, Solar Corona, and Venus

NASA Technical Reports Server (NTRS)

1997-01-01

In 1994, during its flight, the Clementine spacecraft returned images of the Moon. In addition to the geologic mapping cameras, the Clementine spacecraft also carried two Star Tracker cameras for navigation. These lightweight (0.3 kg) cameras kept the spacecraft on track by constantly observing the positions of stars, reminiscent of the age-old seafaring tradition of sextant/star navigation. These navigation cameras were also to take some spectacular wide angle images of the Moon.

In this picture the Moon is seen illuminated solely by light reflected from the Earth--Earthshine! The bright glow on the lunar horizon is caused by light from the solar corona; the sun is just behind the lunar limb. Caught in this image is the planet Venus at the top of the frame.

Ribbon networks for modeling navigable paths of autonomous agents in virtual environments.

PubMed

Willemsen, Peter; Kearney, Joseph K; Wang, Hongling

2006-01-01

This paper presents the Environment Description Framework (EDF) for modeling complex networks of intersecting roads and pathways in virtual environments. EDF represents information about the layout of streets and sidewalks, the rules that govern behavior on roads and walkways, and the locations of agents with respect to navigable structures. The framework serves as the substrate on which behavior programs for autonomous vehicles and pedestrians are built. Pathways are modeled as ribbons in space. The ribbon structure provides a natural coordinate frame for defining the local geometry of navigable surfaces. EDF includes a powerful runtime interface supported by robust and efficient code for locating objects on the ribbon network, for mapping between Cartesian and ribbon coordinates, and for determining behavioral constraints imposed by the environment.

Developing Navigational Skills with Young Children: Investigating Serial and Conceptual Approaches to the Teaching of Compass Skills. Sports Science Education Programme, Annual Report 1989/90.

ERIC Educational Resources Information Center

Liverpool Univ. (England).

Map and compass skills are a neglected aspect of the elementary school curriculum. Orienteering--a sport that involves running a prescribed course with the aid of map and compass--may provide an avenue for teaching these skills. This study taught orienteering to 148 10-year-old children and compared the effectiveness of a serial approach based on…

The Integrated Mission-Planning Station: Functional Requirements, Aviator-Computer Dialogue, and Human Engineering Design Criteria.

DTIC Science & Technology

1983-08-01

AD- R136 99 THE INTEGRATED MISSION-PLNNING STATION: FUNCTIONAL 1/3 REQUIREMENTS AVIATOR-..(U) RNACAPR SCIENCES INC SANTA BARBARA CA S P ROGERS RUG...Continue on reverse side o necess.ar and identify by btock number) Interactive Systems Aviation Control-Display Functional Require- Plan-Computer...Dialogue Avionics Systems ments Map Display Army Aviation Design Criteria Helicopters M4ission Planning Cartography Digital Map Human Factors Navigation

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

PubMed Central

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

2015-01-01

A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies—INS and LiDAR SLAM—into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform—NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment. PMID:26184206

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

PubMed

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

2015-07-10

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

Framing of grid cells within and beyond navigation boundaries

PubMed Central

Savelli, Francesco; Luck, JD; Knierim, James J

2017-01-01

Grid cells represent an ideal candidate to investigate the allocentric determinants of the brain’s cognitive map. Most studies of grid cells emphasized the roles of geometric boundaries within the navigational range of the animal. Behaviors such as novel route-taking between local environments indicate the presence of additional inputs from remote cues beyond the navigational borders. To investigate these influences, we recorded grid cells as rats explored an open-field platform in a room with salient, remote cues. The platform was rotated or translated relative to the room frame of reference. Although the local, geometric frame of reference often exerted the strongest control over the grids, the remote cues demonstrated a consistent, sometimes dominant, countervailing influence. Thus, grid cells are controlled by both local geometric boundaries and remote spatial cues, consistent with prior studies of hippocampal place cells and providing a rich representational repertoire to support complex navigational (and perhaps mnemonic) processes. DOI: http://dx.doi.org/10.7554/eLife.21354.001 PMID:28084992

Indoor Navigation by People with Visual Impairment Using a Digital Sign System

PubMed Central

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

2013-01-01

There is a need for adaptive technology to enhance indoor wayfinding by visually-impaired people. To address this need, we have developed and tested a Digital Sign System. The hardware and software consist of digitally-encoded signs widely distributed throughout a building, a handheld sign-reader based on an infrared camera, image-processing software, and a talking digital map running on a mobile device. Four groups of subjects—blind, low vision, blindfolded sighted, and normally sighted controls—were evaluated on three navigation tasks. The results demonstrate that the technology can be used reliably in retrieving information from the signs during active mobility, in finding nearby points of interest, and following routes in a building from a starting location to a destination. The visually impaired subjects accurately and independently completed the navigation tasks, but took substantially longer than normally sighted controls. This fully functional prototype system demonstrates the feasibility of technology enabling independent indoor navigation by people with visual impairment. PMID:24116156

A dataset on human navigation strategies in foreign networked systems.

PubMed

Kőrösi, Attila; Csoma, Attila; Rétvári, Gábor; Heszberger, Zalán; Bíró, József; Tapolcai, János; Pelle, István; Klajbár, Dávid; Novák, Márton; Halasi, Valentina; Gulyás, András

2018-03-13

Humans are involved in various real-life networked systems. The most obvious examples are social and collaboration networks but the language and the related mental lexicon they use, or the physical map of their territory can also be interpreted as networks. How do they find paths between endpoints in these networks? How do they obtain information about a foreign networked world they find themselves in, how they build mental model for it and how well they succeed in using it? Large, open datasets allowing the exploration of such questions are hard to find. Here we report a dataset collected by a smartphone application, in which players navigate between fixed length source and destination English words step-by-step by changing only one letter at a time. The paths reflect how the players master their navigation skills in such a foreign networked world. The dataset can be used in the study of human mental models for the world around us, or in a broader scope to investigate the navigation strategies in complex networked systems.

Drawing Road Networks with Mental Maps.

PubMed

Lin, Shih-Syun; Lin, Chao-Hung; Hu, Yan-Jhang; Lee, Tong-Yee

2014-09-01

Tourist and destination maps are thematic maps designed to represent specific themes in maps. The road network topologies in these maps are generally more important than the geometric accuracy of roads. A road network warping method is proposed to facilitate map generation and improve theme representation in maps. The basic idea is deforming a road network to meet a user-specified mental map while an optimization process is performed to propagate distortions originating from road network warping. To generate a map, the proposed method includes algorithms for estimating road significance and for deforming a road network according to various geometric and aesthetic constraints. The proposed method can produce an iconic mark of a theme from a road network and meet a user-specified mental map. Therefore, the resulting map can serve as a tourist or destination map that not only provides visual aids for route planning and navigation tasks, but also visually emphasizes the presentation of a theme in a map for the purpose of advertising. In the experiments, the demonstrations of map generations show that our method enables map generation systems to generate deformed tourist and destination maps efficiently.

The fusion of large scale classified side-scan sonar image mosaics.

PubMed

Reed, Scott; Tena, Ruiz Ioseba; Capus, Chris; Petillot, Yvan

2006-07-01

This paper presents a unified framework for the creation of classified maps of the seafloor from sonar imagery. Significant challenges in photometric correction, classification, navigation and registration, and image fusion are addressed. The techniques described are directly applicable to a range of remote sensing problems. Recent advances in side-scan data correction are incorporated to compensate for the sonar beam pattern and motion of the acquisition platform. The corrected images are segmented using pixel-based textural features and standard classifiers. In parallel, the navigation of the sonar device is processed using Kalman filtering techniques. A simultaneous localization and mapping framework is adopted to improve the navigation accuracy and produce georeferenced mosaics of the segmented side-scan data. These are fused within a Markovian framework and two fusion models are presented. The first uses a voting scheme regularized by an isotropic Markov random field and is applicable when the reliability of each information source is unknown. The Markov model is also used to inpaint regions where no final classification decision can be reached using pixel level fusion. The second model formally introduces the reliability of each information source into a probabilistic model. Evaluation of the two models using both synthetic images and real data from a large scale survey shows significant quantitative and qualitative improvement using the fusion approach.

Where the Birds Live

ERIC Educational Resources Information Center

MaKinster, James; Trautmann, Nancy; Burch, Carol; Watkins, Michelle

2015-01-01

Species richness, migration, habitats, ecological niches, adaptations: Concepts such as these come alive when students explore and analyze landscapes, environmental characteristics, and related biological features represented on digital maps. Most students are familiar with navigation tools integrated into smartphone apps but may be surprised to…

Map display design

NASA Technical Reports Server (NTRS)

Aretz, Anthony J.

1990-01-01

This paper presents a cognitive model of a pilot's navigation task and describes an experiment comparing a visual momentum map display to the traditional track-up and north-up approaches. The data show the advantage to a track-up map is its congruence with the ego-centered forward view; however, the development of survey knowledge is hindered by the inconsistency of the rotating display. The stable alignment of a north-up map aids the acquisition of survey knowledge, but there is a cost associated with the mental rotation of the display to a track-up alignment for ego-centered tasks. The results also show that visual momentum can be used to reduce the mental rotation costs of a north-up display.

A case study in programming a quantum annealer for hard operational planning problems

NASA Astrophysics Data System (ADS)

Rieffel, Eleanor G.; Venturelli, Davide; O'Gorman, Bryan; Do, Minh B.; Prystay, Elicia M.; Smelyanskiy, Vadim N.

2015-01-01

We report on a case study in programming an early quantum annealer to attack optimization problems related to operational planning. While a number of studies have looked at the performance of quantum annealers on problems native to their architecture, and others have examined performance of select problems stemming from an application area, ours is one of the first studies of a quantum annealer's performance on parametrized families of hard problems from a practical domain. We explore two different general mappings of planning problems to quadratic unconstrained binary optimization (QUBO) problems, and apply them to two parametrized families of planning problems, navigation-type and scheduling-type. We also examine two more compact, but problem-type specific, mappings to QUBO, one for the navigation-type planning problems and one for the scheduling-type planning problems. We study embedding properties and parameter setting and examine their effect on the efficiency with which the quantum annealer solves these problems. From these results, we derive insights useful for the programming and design of future quantum annealers: problem choice, the mapping used, the properties of the embedding, and the annealing profile all matter, each significantly affecting the performance.