Vilson, Gunnar, Ängalid, Kim

This thesis report describes the process of developing an autonomous non-holonomic robot that can navigate and find targets in unknown environments. The goal was to create a system for a robot that was good enough to reach an honorable position in the SICK Robot Day competition 2009. The challenge of the competition was to build a autonomous vehicle that as fast as possible, found and marked number plates in a predefined order. To achieve this goal, we combined old and well known research with a...

Edlund, Andreas

The problem with motorized wheelchairs is that they are large, clumsy and difficult to control. This is especially true if the driver has severely reduced capabilities. What we want is a wheelchair that can take instructionsfrom the driver and then based on its understanding of the environment, construct a plan that will take the user to the intended destination. The user should be able to sit in a room, tell the wheelchair that he wants to be in another room and the wheelchair should take him t...

Anwar, Qaiser

In this thesis a machine vision based indoor navigation system is presented. This is achieved by using rotationally independent optimized color reference labels and a geometrical camera calibration model which determines a set of camera parameters. All reference labels carry one byte of information (0 to 255), which can be designed for different values. An algorithm in Matlab has been developed so that a machine vision system for N number of symbols can recognize the symbols at different orienta...

How, Tuck-Voon

Powered wheelchairs offer a means of independent mobility for older adults who are unable to walk and cannot propel a manual wheelchair. Unfortunately, cognitively impaired older adults may be denied this means of independent mobility. There is concern that these adults are unable to drive a powered wheelchair safely or properly. Intelligent wheelchairs offer an approach to address this problem. This research outlines the development and evaluation of an Intelligent Wheelchair System (IWS) that ...

Whelan, Conor

Air traffic congestion problems in many areas of the world are well known and have been highly publicised in recent years. This airspace dilemma, which results in delays and other undesirable knock-on effects, is escalating at a phenomenal rate and requires immediate attention. Correspondingly, there is concern about safety standards in some worldwide airspace regions. In addition, it is imperative that the significant projected growth in air transport movements over the next two decades is acco...

Rachel, Larabee

(En)Compassing Heart explores and documents the organizational journey of POR AMOR Community Enhancement Initiatives. POR AMOR is a current, Toronto based, youth-led, non-profit organization I co-founded with three other young women in 2003. POR AMOR initiatives focus on youth empowerment and specifically helping young people to make responsible transitions into adulthood and become active leaders in their communities. Through the use of arts-informed methodological practices, this project is co...

Henriksson, Simon, Lindqvist, Mats, Söderblom, Martin

In this paper we examine the need of navigational aids when designing interfaces for e-newspapers – newspapers presented on a digital paper built on E-Ink technology. By reviewing literature on navigation, and by handling input from both newspaper designers and potential e-newspaper adopters, we have suggested a number of navigational aids for the future e-newspaper. Our suggestions have been tested through a prototype using a modification of the Cooperative Usability Testing model (CUT) on...

Karimi, Reza

A perfect duality exists between the problem of space-based orbit determination from line-of-sight measurements and the problem of designing an interplanetary autonomous navigation system. Mathematically, these two problems are equivalent. Any method solving the first problem can be used to solve the second one and, vice versa. While the first problem estimates the observed unknown object orbit using the known observer orbit, the second problem does exactly the opposite (e.g. the spacecraft obse...

Fritz, Matthew Peyton

Relative global positioning system (GPS) navigation is currently used for autonomous rendezvous and docking of two spacecraft as well as formation flying applications. GPS receivers deliver measurements to flight software that use this information to determine estimates of the current states of the spacecraft. The success of autonomous proximity operations in the presence of an uncertain environment and noisy measurements depends primarily on the navigation accuracy. This thesis presents the i...

Berglund, Aseel

The transition to digital TV is changing the television set into an entertainment as well as information supplier device that provides two-way communication with the viewer. However, the present remote control device is not appropriate for navigation through the huge amount of services and information provided by the future digital TV, presumably also a device for accessing the Internet. One possibility for coping with the complex information navigation required by TV viewers is an augmentation ...

Ngai, Chi-kit., 魏智傑.

published_or_final_version / abstract / Electrical and Electronic Engineering / Doctoral / Doctor of Philosophy

Poulos, Dennis Duane

No description available.

Jeffries, Charles Leroy

No description available.

Macomber, Mark Morris.

No description available.

Arslan, Suat

At the Naval Postgraduate School (NPS), a small AUV navigation system (SANS) was developed for research in support of shallow-water mine countermeasures and coastal environmental monitoring The objective of this thesis is to test and evaluate the SANS performance after tuning the filter gains through a series of testing procedures. The new version of SANS (SANS III) used new hardware components which were smaller, cheaper, and more reliable. A PC/l O4 computer provided more computing power and, ...

Karahan, Saltuk Bugra.

Spatial knowledge acquisition is an integral part of navigation related studies. With the improvement of technology, the researchers gained the capability of testing the spatial ability in a virtual world as well. However, little research has been conducted to understand whether VE performance can predict Real World performance or not and amongst the measures used what measures are most predictive. This thesis research addresses the validity of performance measures used in virtual and real envir...

Botterill, Tom

Robust long-term positioning for autonomous mobile robots is essential for many applications. In many environments this task is challenging, as errors accumulate in the robot’s position estimate over time. The robot must also build a map so that these errors can be corrected when mapped regions are re-visited; this is known as Simultaneous Localisation and Mapping, or SLAM. Successful SLAM schemes have been demonstrated which accurately map tracks of tens of kilometres, however these schemes r...

DuRussel II, Patrick

Do we always have to be lost in the halls of a big school on an already stressful first day of class? This paper has evaluated a prototype indoor navigation system that uses a ANT wireless protocol. The protocol has been placed into nodes (small electrical devices, hardware) which are then placed around an area of interest (a map), like beacons, using RSSI (signal from the nodes) to help determine where the subject is located. The mobile application is made specific to Android with a search algo...

Panse, Frederik

Abstract Stryker’s FP6000 is the currently most accurate medical navigation camera on the market. This high-performance system consists of three one-dimensional sensors. An evaluation is presented, that analyzes, if it is possible to design a camera based on 2D sensors, that satisfies the same accuracy as the FP6000 camera, but is designed of smaller dimensions, reduced weight and lower cost. For the LED localization a glass-substrate with a certain pattern is placed in front of the 2D sensor. W...

Lee, Sharon

The research program described in this dissertation updates the knowledge base concerning human navigation and presents new methods for investigating selection and use of cognitive navigational strategies. Four experiments were designed to answer questions about the effects of environmental and experiential factors on cognitive mapping and selection of navigation strategies. Humans are thought to navigate using two different reference frames often referred to as “world based” and “person based”....

Spalteholz, Leonhard

For people with motor disabilities unable to control a pointing device, there is a need for an efficient keyboard Web navigation method. The current state of keyboard navigation tools is surveyed and discussed. The standard tab key navigation system is widely regarded as insufficient for practical keyboard access to the Web. Other techniques, such as identifier navigation --- where links are activated by entering their numeric code --- are found to be much more efficient, but possibilities re...

Zand, Jonathan

Remotely Operated Vehicles (ROVs) provide access to underwater environments too deep and dangerous for commercial divers. A tether connects the ROV to a vessel on the surface, providing power and communication channels. During extended manoeuvres, hydrodynamic forces on the tether produce large tensions which hinder ROV manoeuvrability. The research presented in this thesis focuses on the design of new tether management strategies that alleviate the tether disturbance problem, and the impleme...

Stevens, Clark D.

Approved for public release; distribution is unlimited. / This thesis documents the development of an interim Small Autonomous Underwater Vehicle (AUV) Navigation System (SANS), a self-contained, externally mountable navigation package. The purpose of SANS is to determine the position of a submerged object of interest located by an AUV. The volume of SANS must not exceed 120 cubic inches and total system accuracy of 10.0 meters rms or better is required. An Inertial Navigation System (INS) is im...

Thomas, Norman Mattoon, III.

A precise navigation system has been proposed for use in mine and amphibious warfare. It is a continuous-wave phase comparison system, which derives its information from the change in phase between two stable oscillators as the distance between them is varied. A receiver, with very good phase versus temperature stability, was designed for this system. A test circuit was designed to field monitor any receiver phase changes which do occur. A method to frequency lock several oscillators to a...

Jones, James T.

Approved for public release; distribution is unlimited / The NAVSTAR Global Positioning System (GPS) has provided a quantum leap in real-time autonomous navigation capabilities. NASA's Space Shuttle will be receiving an integrated GPS capability in the near future, and the orbiter Endeavour has been equipped with a stand-alone GPS receiver. Although much data is available regarding spacecraft GPS receiver performance at higher altitudes, little information is available for spacecraft at Shuttle ...

Da Silva Filho, Jader Gomes

Approved for public release; Distribution is unlimited / This research deals with the problem of extracting features from an image using wavelets and then using these features to recognize objects present in the image. This technique is applied to recognition of Unexploded Ordnance (UXO) objects. However, the concepts described here can be extended to recognition of other objects such as ships, missiles and aircraft. This work is performed as part of an ongoing effort to develop an autonomous ve...

Mannberg, Mikael

This thesis describes a new approach for a vision-based positioning system for Un- manned Aerial Vehicles using a recognition method based on known, robust geo- graphic landmarks. Landmarks are used to calculate a position estimate in a global coordinate frame without requiring external signals, such as GPS. Absolute systems are of interest as they provide a redundant positioning system, allow UAVs to oper- ate when GPS-denied and can enable high-precision landings for spacecraft. The core chall...

Nagengast, Steve

Approved for public release; distribution is unlimited / An Autonomous Underwater Vehicle (AUV) can combine a Global Positioning System (GPS) receiver with an Inertial Navigation System (INS) to navigate with a specified accuracy level. The AUV would be required to surface periodically to obtain a GPS fix. A computer simulation has been developed using an AUV model and an INS error model to generate noisy measurements. A Kalman filter is used to estimate the simulated INS errors. Several run...

Ghyzel, Paul A.

Approved for public release; distribution is unlimited / The role of Unmanned Aerial Vehicles (UAV) for modern military operations is expected to expand in the 21st Century, including increased deployment of UAVs from Navy ships at sea. Autonomous operation of UAVs from ships at sea requires the UAV to land on a moving ship using only passive sensors installed in the UAV. This thesis investigates the feasibility of using passive vision sensors installed in the UAV to estimate the UAV position re...

Au, Zher Wen, 歐哲彣

Although spatial navigation is predominantly guided by allothetic visual cues, idiothetic cues can obtain control when familiar visual cues are not available. In path integration, the current position and orientation are estimated and continuously updated using idiothetic cues, which are contributed by the vestibular system. Previous studies have revealed that vestibular lesioned rats were significantly impaired in path integration. Rats assessed in the current study received neonatal treatment ...

Mogensen, Andreas Enevold, 1976-

Real-time navigation during the final approach phase of an interplanetary mission can significantly increase the accuracy of aerocapture and pin-point landing. The Mars Network is a versatile telecommunications network that is ideally situated to provide spacecraft-to-spacecraft radiometric navigation during Mars final approach and entry, descent, and landing via the Electra UHF transceiver, which is capable of providing autonomous, on-orbit, real-time trajectory determination using two-way Dopp...

Cloth, Allison Hope

Not available

Wesson, Kyle D.

Civil Global Navigation Satellite System (GNSS) signals are broadcast unencrypted worldwide according to an open-access standard. The virtues of open-access and global availability have made GNSS a huge success. Yet the transparency and predictability of these signals renders them easy to counterfeit, or spoof. During a spoofing attack, a malefactor broadcasts counterfeit GNSS signals that deceive a victim receiver into reporting the spoofer-controlled position or time. Given the extensive integ...

Wright, Cinnamon Amber

A Discrete Extended Kalman Filter has been designed to process measurements from a magnetometer, sun sensor, IMU, and GPS receiver to provide the relative position, velocity, attitude, and gyro bias of a chaser spacecraft relative to a target spacecraft. An Extended Kalman Filter with Uncompensated Bias has also been developed for the implementation of well known biases and errors that are not directly observable. A detailed explanation of the algorithms, models, and derivations that go into bot...

McFerrin, Melinda Ruth

Small satellites are becoming increasingly appealing as technology advances and shrinks in both size and cost. The development time for a small satellite is also much less compared to a large satellite. For small satellites to be successful, the navigation systems must be accurate and very often they must be autonomous. For lunar navigation, contact with a ground station is not always available and the system needs to be robust. The extended Kalman filter is a nonlinear estimator that has been ...

Newman, Clark Patrick

A navigation system for precision lunar descent and landing is presented and analyzed. The navigation algorithm is based upon the extended Kalman Filter and employs measurements from an inertial measurement unit to propagate the vehicle position, velocity, and attitude forward in time. External measurements from an altimeter, star camera, terrain camera, and velocimeter are utilized in state estimate updates. The navigation algorithm also attempts to estimate the values of uncertain parameters a...

González Agudelo, Julián

This thesis deals with the further development of an existing underwater vehicle for autonomous navigation. The vehicle was conceived to navigate over the sea surface and, at certain fixed points, to dive vertically in order to obtain a profile of a water column. The main objectives of the thesis are the improvement of the hardware and software of the vehicle in order to make it fully operational, and the design and implementation of control techniques for autonomous navigation. The problem of a...

Unwala, Ali Ishaq

The goal of this work is to describe a robotics platform called the Building Wide Intelligence Segbot (segbot). The segbot is a two wheeled robot that can robustly navigate our building, perform obstacle avoidance, and reason about the world. This work has two main goals. First we introduce the segbot platform to anyone that may use it in the future. We begin by examining off-the-shelf components we used and how to build a robot that is able to navigate in a complex multi-floor building environm...

Künzle, Philippe

Robots carrying tasks in an unknown environment often need to build a map in order to be able to navigate. One approach is to create a detailed map of the environment containing the position of obstacles. But this option can use a large amount of memory, especially if the environment is large. Another approach, closer to how people build a mental map, is the topological map. A topological map contains only places that are easy to recognize (landmarks) and links them together. / In this the...

Goulet, Benoit G.

Objectif: Nous avons effectué une étude chez 135 patients ayant subis une chirurgie lombo-sacrée avec vissage pédiculaire sous navigation par tomographie axiale. Nous avons évalué la précision des vis pédiculaires et les résultats cliniques. Méthodes: Cette étude comporte 44 hommes et 91 femmes (âge moyen=61, intervalle 24-90 ans). Les diamètres, longueurs et trajectoires des 836 vis ont été planifiés en préopératoire avec un système de navigation (SNN, Surgical Navigation Network, Mississauga...

Andrade, Alessandra Arrojado Lisbôa de.

Signalling the beginning of a new era to international civil aviation, the concept of the CNS/ATM systems came into being as the result of joint efforts of the international community, under the aegis of ICAO, in search for a solution to the limitations of the ground-based air navigation systems, which would otherwise inhibit further development of air transport on a global scale. Employing digital and satellite technologies in support of a seamless air traffic management system, it will bring i...

Dodge, Michael

The law of global navigation satellite systems is a nascent, yet growing academic field. The subject matter it studies, GNSS, has been and is becoming ever-more important in the modern world, both for transportation, as well as for commerce. Indeed, globalization has seen billions of euros in trade associated with both nautical and aviation shipping, and this trend is likely to grow larger with the passage of time. Additionally, the nations of the world are fast realizing the potential of GNSS t...

Bui, Don T.

An object recognition system called ORB1 is proposed and implemented for use on a mobile robot. ORB utilizes the QUADRIS sensor platform developed at the Centre for Intelligent Machines (CIM) at McGill University, which is composed of two BIRIS2 laser rangefinders. ORB performs a series of sensory and perceptual tasks in conjunction with a mobile robot control architecture called SPOTT. ORB's main task is to sense the mobile robot's surroundings and provide laser range data, in the form of line ...

Sinha, Dwaipayan

A novel approach is proposed for real-time retrieval of images from a large database of overlapping images of an indoor environment. The procedure extracts visual features from images using selected computer vision techniques, and processes the extracted features to create a reduced list of features annotated with the frame numbers they appear in. This method is named landmark indexing. Unlike some state-of-the-art approaches, the proposed method does not need to consider large image adjacency g...

Zeng, Limin, Weber, Gerhard

Due to the shortage of geographical information suitable for the visually impaired, the current navigation systems fail to provide high quality performance. The results of an international survey on the user needs are discussed in this article. A collaborative accessibility approach (COACH) is proposed to not only extend accessible geo-information, but also offer an opportunity to share experiences among peers. Related topics are addressed, like map data, multimodal annotation, and privacy.

Hewitson, Steve, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW

The availability of GPS signals is a major limitation for many existing and potential applications. Fortunately, with the development of Galileo by the European Commission (EC) and European Space Agency (ESA) and new funding for the restoration of the Russian GLONASS announced by the Russian Federation the future for satellite based positioning and navigation applications is extremely promising. This research primarily investigates the benefits of GNSS interoperability and GNSS/INS integration t...

Tabatabaei Balaei, Asghar, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW

GPS has become very popular in recent years. It is used in wide range of applications including aircraft navigation, search and rescue, space borne attitude and position determination and cellular network synchronization. Each application places demands on GPS for various levels of accuracy, integrity, system availability and continuity of service. Radio frequency interference (RFI) which results from many sources such as TV/FM harmonics, radar or mobile satellite systems, presents a challenge t...

Lee, Hung Kyu, Surveying & Spatial Information Systems, Faculty of Engineering, UNSW

The integrated GPS/INS system has become an indispensable tool for providing precise and continuous position, velocity, and attitude information for many positioning and navigation applications. Although the integrated GPS/INS system provides augmented solutions that make use of the complementary features of each component system, its performance is still limited by the quality of GPS measurements, and the geometric strength of the satellite constellation. To address such a problem this research...

Weber, Keven

Giving robots the ability to move around autonomously in various real-world environments has long been a major challenge for Artificial Intelligence. New approaches to the design and control of autonomous robots have shown the value of drawing inspiration from the natural world. Animals navigate, perceive and interact with various uncontrolled environments with seemingly little effort. Flying insects, in particular, are quite adept at manoeuvring in complex, unpredictable and possibly hostile en...

Zhao, Tingting

This research constructs the virtual environment of a multi-floor building and provides some navigation assistance to enhance the navigation experience of users in the virtual environment. Based on the 2D architectural floor plans and photographs of Engineering and Information Technology Complex (EITC), a virtual environment of the multi-floor building is created using visualization modeling. Geometric modeling, texture mapping, and lighting procedures are employed to increase the visual effect....