Search results for: satellite relative navigation

Authors: Marie Bieber, Fabrice Cosson, Olivier Schmitt

Abstract:

Europe's Global Navigation Satellite System, Galileo, provides worldwide positioning and navigation services. The satellites in space are only one part of the Galileo system. An extensive ground infrastructure is essential to oversee the satellites and ensure accurate navigation signals. High reliability and availability of the entire Galileo system are crucial to continuously provide positioning information of high quality to users. Outages are tracked, and operational availability is regularly assessed. A highly flexible and adaptive tool has been developed to automate the Galileo system availability analysis. Not only does it enable a quick availability consolidation, but it also provides first steps towards improving the data quality of maintenance tickets used for the analysis. This includes data import and data preparation, with a focus on processing strings used for classification and identifying faulty data. Furthermore, the tool allows to handle a low amount of data, which is a major constraint when the aim is to provide accurate statistics.

Keywords: availability, data quality, system performance, Galileo, aerospace

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Authors: Mohammed Hussein, Abualseoud Hanani

Abstract:

In Low Earth Orbit (LEO) satellite constellation system, routing data from the source all the way to the destination constitutes a daunting challenge because LEO satellite constellation resources are spare and the high speed movement of LEO satellites results in a highly dynamic network topology. This situation limits the applicability of traditional routing approaches that rely on exchanging topology information upon change or setup of a connection. Consequently, in recent years, many routing algorithms and implementation strategies for satellite constellation networks with Inter Satellite Links (ISLs) have been proposed. In this article, we summarize and classify some of the most representative solutions according to their objectives, and discuss their advantages and disadvantages. Finally, with a look into the future, we present some of the new challenges and opportunities for LEO satellite constellations in general and routing protocols in particular.

Keywords: LEO satellite constellations, dynamic topology, IP routing, inter-satellite-links

Procedia PDF Downloads 343

Authors: M. Naimur Rahman, Mohammad Tariqul Islam, Mandeep Singh Jit Singh, Norbahiah Misran

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This paper presents the architecture and exploration of a compact, circulated double Psi-shaped microstrip patch antenna for Ku-band satellite applications. The antenna is composed of the double Psi-shaped patch in opposite focus which is circulated with a ring. The antenna size is 24 mm × 18 mm and the prototype is imprinted on Rogers RT/duroid 5880 materials with the depth of 1.57 mm. The substrate has a relative permittivity of 2.2 and the dielectric constant of 0.0009. The excitation is supplied through a 50Ω microstrip line. The performance of the presented antenna has been simulated and verified with the High-Frequency Structural Simulator (HFSS). The results depict that the antenna covers the frequency spectrum 14.6 - 17.4 GHz (Ku-band) with 10 dB return loss. The antenna has a 4.40 dBi maximum gain with stable radiation patterns throughout the operating band which makes the proposed antenna compatible for the satellite application in Ku-band.

Keywords: Ku-band antenna, microstrip antenna, psi-shaped antenna, satellite applications

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Authors: Rahmat Purwoko, Bambang Riyanto Trilaksono

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This paper gives comparison of INS/GNSS architecture namely Loosely Coupled and Tightly Coupled using Hardware in the Loop Simulation in Guided Missile RKX-200 rocket model. INS/GNSS Tightly Coupled architecture requires pseudo-range, pseudo-range rate, and position and velocity of each satellite in constellation from GPS (Global Positioning System) measurement. The Loosely Coupled architecture use estimated position and velocity from GNSS receiver. INS/GNSS architecture also requires angular rate and specific force measurement from IMU (Inertial Measurement Unit). Loosely Coupled arhitecture designed using 15 states Kalman Filter and Tightly Coupled designed using 17 states Kalman Filter. Integration algorithm calculation using ECEF frame. Navigation System implemented Zedboard All Programmable SoC.

Keywords: kalman filter, loosely coupled, navigation system, tightly coupled

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Authors: Antigoni Panagiotopoulou, Lemonia Ragia

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High-resolution satellite images can provide detailed information about change detection on the earth. In the present work, QuickBird images of spatial resolution 60 cm/pixel and WorldView images of resolution 30 cm/pixel are utilized to perform automatic change detection in urban and suburban areas of Crete, Greece. There is a relative time difference of 13 years among the satellite images. Multiindex scene representation is applied on the images to classify the scene into buildings, vegetation, water and ground. Then, automatic change detection is made possible by pixel-per-pixel comparison of the classified multi-temporal images. The vegetation index and the water index which have been developed in this study prove effective. Furthermore, the proposed change detection approach not only indicates whether changes have taken place or not but also provides specific information relative to the types of changes. Experimentations with other different scenes in the future could help optimize the proposed spectral indices as well as the entire change detection methodology.

Keywords: change detection, multiindex scene representation, spectral index, QuickBird, WorldView

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Authors: Ronald Mraz, Gary C. Kessler, Ethan Gold, John G. Cline

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The International Ice Patrol (IIP) continually monitors iceberg activity in the North Atlantic by direct observation using ships, aircraft, and satellite imagery. Daily reports detailing navigational boundaries of icebergs have significantly reduced the risk of iceberg contact. What is currently lacking is formatting this data for automatic transmission and display of iceberg navigational boundaries in commercial navigation equipment. This paper describes the methodology and implementation of a system to format iceberg limit information for dissemination through existing radio network communications. This information will then automatically display on commercial navigation equipment. Additionally, this information is reformatted for Google Earth rendering of iceberg track line limits. Having iceberg limit information automatically available in standard navigation equipment will help support full autonomous operation of sailing vessels.

Keywords: iceberg, iceberg risk, iceberg track lines, AIS messaging, international ice patrol, North American ice service, google earth, autonomous surface vessels

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Authors: Francisco J. García-de-Quirós, Gianmarco Radice

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When considering small robots working in a cooperative community for Moon surface exploration, navigation and inter-nodes communication aspects become a critical issue for the mission success. For this approach to succeed, it is necessary however to deploy the required infrastructure for the robotic community to achieve efficient self-localization as well as relative positioning and communications between nodes. In this paper, an exploration mission concept in which two cooperative robotic systems co-exist is presented. This paradigm hinges on a community of reference agents that provide support in terms of communication and navigation to a second agent community tasked with exploration goals. The work focuses on the role of the agent community in charge of the overall support and, more specifically, will focus on the positioning and navigation methods implemented in RF microwave bands, which are combined with the communication services. An analysis of the different methods for range and position calculation are presented, as well as the main limiting factors for precision and resolution, such as phase and frequency noise in RF reference carriers and drift mechanisms such as thermal drift and random walk. The effects of carrier frequency instability due to phase noise are categorized in different contributing bands, and the impact of these spectrum regions are considered both in terms of the absolute position and the relative speed. A mission scenario is finally proposed, and key metrics in terms of mass and power consumption for the required payload hardware are also assessed. For this purpose, an application case involving an RF communication network in UHF Band is described, in coexistence with a communications network used for the single agents to communicate within the both the exploring agents as well as the community and with the mission support agents. The proposed approach implements a substantial improvement in planetary navigation since it provides self-localization capabilities for robotic agents characterized by very low mass, volume and power budgets, thus enabling precise navigation capabilities to agents of reduced dimensions. Furthermore, a common and shared localization radiofrequency infrastructure enables new interaction mechanisms such as spatial arrangement of agents over the area of interest for distributed sensing.

Keywords: cooperative robotics, localization, robot navigation, surface exploration

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Authors: Rubaiyea Uddin

Abstract:

The hippocampus, located in the limbic system, is most commonly known for its role in memory and spatial navigation (as cited in Brain Reward and Pathways). It maintains an especially important role in specifically episodic and declarative memory. The hippocampus has also recently been linked to dopamine, the reward pathway’s primary neurotransmitter. Since research has found that dopamine also contributes to memory consolidation and hippocampal plasticity, this neurotransmitter is potentially responsible for contributing to the hippocampus’s role in memory formation. In this experiment we tested to see the effect of tactile cues on spatial navigation for eight different mice. We used a radial arm that had one designated 'reward' arm containing sucrose. The presence or absence of bedding was our tactile cue. We attempted to see if the memory of that cue would enhance the mice’s memory of having received the reward in that arm. The results from our study showed there was no significant response from the use of tactile cues on spatial navigation on our 129 mice. Tactile cues therefore do not influence spatial navigation.

Keywords: mice, radial arm maze, memory, spatial navigation, tactile cues, hippocampus, reward, sensory skills, Alzheimer’s, neurodegnerative disease

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Authors: V. Vicente E. Mujica, Gustavo Gonzalez

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The global coverage of broadband multimedia and internet-based services in terrestrial-satellite networks demand particular interests for satellite providers in order to enhance services with low latencies and high signal quality to diverse users. In particular, the delay of on-board processing is an inherent source of latency in a satellite communication that sometimes is discarded for the end-to-end delay of the satellite link. The frame work for this paper includes modelling of an on-orbit satellite payload using an agent model that can reproduce the properties of processing delays. In essence, a comparison of different spatial interpolation methods is carried out to evaluate physical data obtained by an GEO satellite in order to define a discretization function for determining that delay. Furthermore, the performance of the proposed agent and the development of a delay discretization function are together validated by simulating an hybrid satellite and terrestrial network. Simulation results show high accuracy according to the characteristics of initial data points of processing delay for Ku bands.

Keywords: terrestrial-satellite networks, latency, on-orbit satellite payload, simulation

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Authors: Y. Y. Pang, N. A. Ismail

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The map is a powerful and convenient tool in helping us to navigate to different places, but the use of indirect devices often makes its usage cumbersome. This study intends to propose a new map navigation dialogue that uses hand gesture. A set of dialogue was developed from users’ perspective to provide users complete freedom for panning, zooming, rotate, and find direction operations. A participatory design experiment was involved here where one hand gesture and two hand gesture dialogues had been analysed in the forms of hand gestures to develop a set of usable dialogues. The major finding was that users prefer one-hand gesture compared to two-hand gesture in map navigation.

Keywords: hand gesture, map navigation, participatory design, intuitive interaction

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Authors: Othman Maklouf, Ahmed Adwaib

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This paper introduces a comparative study between the main GPS/INS coupling schemes, this will include the loosely coupled and tightly coupled configurations, several types of situations and operational conditions, in which the data fusion process is done using Kalman filtering. This will include the importance of sensors calibration as well as the alignment of the strap down inertial navigation system. The limitations of the inertial navigation systems are investigated.

Keywords: GPS, INS, Kalman filter, sensor calibration, navigation system

Procedia PDF Downloads 563

Authors: Rubaiyea Uddin, Rebecca Taylor, Emily Levesque

Abstract:

The hippocampus, located in the limbic system, is most commonly known for its role in memory and spatial navigation (as cited in Brain Reward and Pathways). It maintains an especially important role in specifically episodic and declarative memory. The hippocampus has also recently been linked to dopamine, the reward pathway’s primary neurotransmitter. Since research has found that dopamine also contributes to memory consolidation and hippocampal plasticity, this neurotransmitter is potentially responsible for contributing to the hippocampus’s role in memory formation. In this experiment we tested to see the effect of tactile cues on spatial navigation for eight different mice. We used a radial arm that had one designated “reward” arm containing sucrose. The presence or absence of bedding was our tactile cue. We attempted to see if the memory of that cue would enhance the mice’s memory of having received the reward in that arm. The results from our study showed there was no significant response from the use of tactile cues on spatial navigation on our 129 mice. Tactile cues therefore do not influence spatial navigation.

Keywords: mice, radial arm maze, memory, spatial navigation, tactile cues, hippocampus, reward, sensory skills, Alzheimer's, neuro-degenerative diseases

Procedia PDF Downloads 664

Authors: Faisal Alsaaq

Abstract:

Hydrographic surveys have traditionally relied on the availability of tide information for the reduction of sounding observations to a common datum. In most cases, tide information is obtained from tide gauge observations and/or tide predictions over space and time using local, regional or global tide models. While the latter often provides a rather crude approximation, the former relies on tide gauge stations that are spatially restricted, and often have sparse and limited distribution. A more recent method that is increasingly being used is Global Navigation Satellite System (GNSS) positioning which can be utilised to monitor height variations of a vessel or buoy, thus providing information on sea level variations during the time of a hydrographic survey. However, GNSS heights obtained under the dynamic environment of a survey vessel are affected by “non-tidal” processes such as wave activity and the attitude of the vessel (roll, pitch, heave and dynamic draft). This research seeks to examine techniques that separate the tide signal from other non-tidal signals that may be contained in GNSS heights. This requires an investigation of the processes involved and their temporal, spectral and stochastic properties in order to apply suitable recovery techniques of tide information. In addition, different post-mission and near real-time GNSS positioning techniques will be investigated with focus on estimation of height at ocean. Furthermore, the study will investigate the possibility to transfer the chart datums at the location of tide gauges.

Keywords: hydrography, GNSS, datum, tide gauge

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Authors: Emine Laarouchi, Daniela Cancila, Laurent Soulier, Hakima Chaouchi

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Cyber-Physical Systems as drones proved their efficiency for supporting emergency applications. For these particular applications, travel time and autonomous navigation algorithms are of paramount importance, especially when missions are performed in urban environments with high obstacle density. In this context, however, safety properties are not properly addressed. Our ambition is to optimize the system safety level under autonomous navigation systems, by preserving performance of the CPS. At this aim, we introduce genetic algorithms in the autonomous navigation process of the drone to better infer its trajectory considering the possible obstacles. We first model the wished safety requirements through a cost function and then seek to optimize it though genetics algorithms (GA). The main advantage in the use of GA is to consider different parameters together, for example, the level of battery for navigation system selection. Our tests show that the GA introduction in the autonomous navigation systems minimize the risk of safety lossless. Finally, although our simulation has been tested for autonomous drones, our approach and results could be extended for other autonomous navigation systems such as autonomous cars, robots, etc.

Keywords: safety, unmanned aerial vehicles , CPS, ACPS, drones, path planning, genetic algorithms

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Authors: Can Zhang, Qun Li, Yonglin Lei, Zhi Zhu, Dong Guo

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Aiming at the problem of factor screen in distributed collaborative navigation of dense UAV swarm, an efficient distributed collaborative navigation factor screen method is proposed. The method considered the balance between computing load and positioning accuracy. The proposed algorithm utilized the factor graph model to implement a distributed collaborative navigation algorithm. The GNSS information of the UAV itself and the ranging information between the UAVs are used as the positioning factors. In this distributed scheme, a local factor graph is established for each UAV. The positioning factors of nodes with good geometric position distribution and small variance are selected to participate in the navigation calculation. To demonstrate and verify the proposed methods, the simulation and experiments in different scenarios are performed in this research. Simulation results show that the proposed scheme achieves a good balance between the computing load and positioning accuracy in the distributed cooperative navigation calculation of UAV swarm. This proposed algorithm has important theoretical and practical value for both industry and academic areas.

Keywords: screen method, cooperative positioning system, UAV swarm, factor graph, cooperative navigation

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Authors: Milan N. A. Van Der Kuil, Anne M. A. Visser-Meily, Andrea W. M. Evers, Ineke J. M. Van Der Ham

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Navigation ability is essential for autonomy and mobility in daily life. In patients with acquired brain injury, navigation impairment is frequently impaired; however, in this study, we tested the effectiveness of a serious gaming training protocol as a tool for cognitive rehabilitation to reduce navigation impairment. In total, 38 patients with acquired brain injury and subjective navigation complaints completed the experiment, with a partially blind, randomized control trial design. An objective navigation test was used to construct a strengths and weaknesses profile for each patient. Subsequently, patients received personalized compensation training that matched their strengths and weaknesses by addressing an egocentric or allocentric strategy or a strategy aimed at minimizing the use of landmarks. Participants in the experimental condition received psychoeducation and a home-based rehabilitation game with a series of exercises (e.g., map reading, place finding, and turn memorization). The exercises were developed to stimulate the adoption of more beneficial strategies, according to the compensatory approach. Self-reported navigation ability (wayfinding questionnaire), participation level, and objective navigation performance were measured before and after 1 and 4 weeks after completing the six-week training program. Results indicate that the experimental group significantly improved in subjective navigation ability both 1 and 4 weeks after completion of the training, in comparison to the score before training and the scores of the control group. Similarly, goal attainment showed a significant increase after the first and fourth week after training. Objective navigation performance was not affected by the training. This navigation training protocol provides an effective solution to address navigation impairment after acquired brain injury, with clear improvements in subjective performance and goal attainment of the participants. The outcomes of the training should be re-examined after implementation in a clinical setting.

Keywords: spatial navigation, cognitive rehabilitation, serious gaming, acquired brain injury

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Authors: Maged Assem Soliman Mossallam

Abstract:

One of the main prospectives on the demand of space exploration is to reduce the costs and efforts for satellite design. Concerning this issue satellite down scaling attracts space scientists and engineers. Picosatellite is the smallest category of satellites. The overall mass is less than 1 kg and dimensions are 10x10x3 cm3. Thermal control target is to keep the Pico-satellite board temperature within the permissible limits of temperature. Thermal design is completely passive which relies mainly on the enhancement of the thermo-optical properties of aluminum using anodization. Transient analysis is given for two different orbits, ISS orbit and 600 km altitude orbit. Results show that board temperature lies within 3 oC to 22 oC using black anodization which is a permissible limit for the satellite internal electronic board.

Keywords: satellite thermal control, small satellites, thermooptical properties , transient orbit analysis

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Authors: Win Zaw Hein, Khin Sandar Linn, Su Su Yi Mon, Yoshitaka Goto

Abstract:

The Earth ionosphere is located at the altitude of about 70 km to several 100 km from the ground, and it is composed of ions and electrons called plasma. In the ionosphere, these plasma makes delay in GPS (Global Positioning System) signals and reflect in radio waves. The delay along the signal path from the satellite to the receiver is directly proportional to the total electron content (TEC) of plasma, and this delay is the largest error factor in satellite positioning and navigation. Sounding observation from the top and bottom of the ionosphere was popular to investigate such ionospheric plasma for a long time. Recently, continuous monitoring of the TEC using networks of GNSS (Global Navigation Satellite System) observation stations, which are basically built for land survey, has been conducted in several countries. However, in these stations, multi-frequency support receivers are installed to estimate the effect of plasma delay using their frequency dependence and the cost of multi-frequency support receivers are much higher than single frequency support GPS receiver. In this research, single frequency GPS receiver was used instead of expensive multi-frequency GNSS receivers to measure the ionospheric plasma variation such as vertical TEC distribution. In this measurement, single-frequency support ublox GPS receiver was used to probe ionospheric TEC. The location of observation was assigned at Mandalay Technological University in Myanmar. In the method, the ionospheric TEC distribution is represented by polynomial functions for latitude and longitude, and parameters of the functions are determined by least-squares fitting on pseudorange data obtained at a known location under an assumption of thin layer ionosphere. The validity of the method was evaluated by measurements obtained by the Japanese GNSS observation network called GEONET. The performance of measurement results using single-frequency of GPS receiver was compared with the results by dual-frequency measurement.

Keywords: ionosphere, global positioning system, GPS, ionospheric delay, total electron content, TEC

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Authors: S. Yelubayev, V. Ten, B. Albazarov, E. Sarsenbayev, К. Аlipbayev, A. Shamro, Т. Bopeyev, А. Sukhenko

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Currently in Kazakhstan much attention is paid to the development of space branch. Successful launch of two Earth remote sensing satellite is carried out, projects on development of components for satellite are being carried out. In particular, the project on development of star tracker experimental model is completed. In the future it is planned to use this experimental model for development of star tracker prototype. Main stages of star tracker experimental model development are considered in this article.

Keywords: development, prototype, satellite, star tracker

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Authors: Xabier Olaz Moratinos

Abstract:

Drone navigation is critical, particularly during the initial phases, such as the initial ascension, where pilots may fail due to strong external interferences that could potentially lead to a crash. In this ongoing work, a drone has been successfully trained to perform an ascent of up to 6 meters at speeds with external disturbances pushing it up to 24 mph, with the DQN algorithm managing external forces affecting the system. It has been demonstrated that the system can control its height, position, and stability in all three axes (roll, pitch, and yaw) throughout the process. The learning process is carried out in the Gazebo simulator, which emulates interferences, while ROS is used to communicate with the agent.

Keywords: machine learning, DQN, gazebo, navigation

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Authors: M. C. Paliwal, A. K. Jain, S. K. Katiyar

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Classification of satellite imagery is very important for the assessment of its accuracy. In order to determine the accuracy of the classified image, usually the assumed-true data are derived from ground truth data using Global Positioning System. The data collected from satellite imagery and ground truth data is then compared to find out the accuracy of data and error matrices are prepared. Overall and individual accuracies are calculated using different methods. The study illustrates advanced classification and accuracy assessment of land use/land cover mapping using satellite imagery. IRS-1C-LISS IV data were used for classification of satellite imagery. The satellite image was classified using the software in fourteen classes namely water bodies, agricultural fields, forest land, urban settlement, barren land and unclassified area etc. Classification of satellite imagery and calculation of accuracy was done by using ERDAS-Imagine software to find out the best method. This study is based on the data collected for Bhopal city boundaries of Madhya Pradesh State of India.

Keywords: resolution, accuracy assessment, land use mapping, satellite imagery, ground truth data, error matrices

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Authors: Bruno D. Souza, Gerson G. Cunha, Michael O. Ferreira, Roberto Rosenhaim, Robson C. Santos, Sergio O. Santos

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Devices and applications that use satellite-based positioning are becoming more popular day-by-day. Thus, evolution and improvement in this technology are mandatory. Accordingly, satellite georeferenced systems need to accomplish the same evolution rhythm. Either GPS (Global Positioning System) or its similar Russian GLONASS (Global Navigation Satellite System) are system samples that offer us powerful tools to plot coordinates on the earth surface. The development of this research aims the study of several aspects related to use of GPS and GLONASS technologies, given its application and collected data improvement during geodetic data acquisition. So, both relevant theoretic and practical aspects are considered. In this context, at the theoretical part, the main systems' characteristics are shown, observing its similarities and differences. At the practical part, a series of experiences are performed and obtained data packages are compared in order to demonstrate equivalence or differences among them. The evaluation methodology targets both quantitative and qualitative analysis provided by GPS and GPS/GLONASS receptors. Meanwhile, a specific collected data storage system was developed to better compare and analyze them (SisGeo - Georeferenced Research Comparison Support System).

Keywords: satellites, systems, applications, experiments, receivers

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Authors: F. Boufera, F. Debbat

Abstract:

This paper deals with an approach based on limit-cycles method for the problem of obstacle avoidance of mobile robots in unknown environments for any form of obstacles. The purpose of this approach is the improvement of limit-cycles method in order to obtain safe and flexible navigation. The proposed algorithm has been successfully tested in different configuration on simulation.

Keywords: mobile robot, navigation, avoidance of obstacles, limit-cycles method

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Authors: Xabier Olaz Moratinos

Abstract:

Drone navigation is critical, particularly during the initial phases, such as the initial ascension, where pilots may fail due to strong external interferences that could potentially lead to a crash. In this ongoing work, a drone has been successfully trained to perform an ascent of up to 6 meters at speeds with external disturbances pushing it up to 24 mph, with the DQN algorithm managing external forces affecting the system. It has been demonstrated that the system can control its height, position, and stability in all three axes (roll, pitch, and yaw) throughout the process. The learning process is carried out in the Gazebo simulator, which emulates interferences, while ROS is used to communicate with the agent.

Keywords: machine learning, DQN, Gazebo, navigation

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Authors: Z. Nougrara, J. Meunier

Abstract:

In this paper, we present a new approach for extracting roads, there road network and its nodes from satellite image representing regions in Algeria. Our approach is related to our previous research work. It is founded on the information theory and the mathematical morphology. We therefore have to define objects as sets of pixels and to study the shape of these objects and the relations that exist between them. The main interest of this study is to solve the problem of the automatic mapping from satellite images. This study is thus applied for that the geographical representation of the images is as near as possible to the reality.

Keywords: nodes, road network, satellite image, updating a road map

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Authors: Toufic Abd El-Latif Sadek

Abstract:

The asphalt object represents the asphalted areas like roads, and the concrete object represents the concrete areas like concrete buildings. The efficient extraction of asphalt and concrete objects from one satellite thermal image occurred at a specific time, by preventing the gaps in times which give the close and same brightness values between asphalt and concrete, and among other objects. So that to achieve efficient extraction and then better analysis. Seven sample objects were used un this study, asphalt, concrete, metal, rock, dry soil, vegetation, and water. It has been found that, the best timing for capturing satellite thermal images to extract the two objects asphalt and concrete from one satellite thermal image, saving time and money, occurred at a specific time in different months. A table is deduced shows the optimal timing for capturing satellite thermal images to extract effectively these two objects.

Keywords: asphalt, concrete, satellite thermal images, timing

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Authors: Jonqlan Lin, C. Y. Tasi, K. H. Lin

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This paper addresses the issue of the autonomous mobile robot (AMR) navigation task based on the hybrid control modes. The novel hybrid control mode, based on multi-sensors information by using the fuzzy approach, has been presented in this research. The system operates in real time, is robust, enables the robot to operate with imprecise knowledge, and takes into account the physical limitations of the environment in which the robot moves, obtaining satisfactory responses for a large number of different situations. An experiment is simulated and carried out with a pioneer mobile robot. From the experimental results, the effectiveness and usefulness of the proposed AMR obstacle avoidance and navigation scheme are confirmed. The experimental results show the feasibility, and the control system has improved the navigation accuracy. The implementation of the controller is robust, has a low execution time, and allows an easy design and tuning of the fuzzy knowledge base.

Keywords: autonomous mobile robot, obstacle avoidance, MEMS, hybrid control mode, navigation control

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Authors: Ibrahim Isa Ali (Pantami), Abdu Jaafaru Bambale, Abimbola Alale, Danjuma Ibrahim Ndihgihdah, Muhammad Alkali, Adamu Idris Umar, Samson Olufunmilayo Abodunrin, Muhammad Dokko Zubairu, Moshood Kareem

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This paper discusses the consideration and trade-offs used for the implementation of robust systems for orbit stability; Telemetry, Command and Ranging (TC& R) for Nigcomsat-1R and applicability for planned NigComSat-2 satellites. NigComSat-1R satellite was built by China Academy of Space Technology (CAST). The Satellite designed with quad-band payload (L, C, Ku, and Ka) was launched on the 20th of December 2011. The functionality of all satellite is driven by robust systems including Attitude & Orbit Control System (AOCS) and TC&R. The planned Nigcomsat-2 is a high throughput Satellite expected to function with better AOCS and TC&R.

Keywords: AOCS, CAST, Nigcomsat-1R, TC&R

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Authors: Wei Yao

Abstract:

A steerable and flexible drill is needed in orthopaedic surgery. For example, osteoarthritis is a common condition affecting millions of people for which joint replacement is an effective treatment which improves the quality and duration of life in elderly sufferers. Conventional surgery is not very accurate. Computer navigation and robotics can help increase the accuracy. For example, In Total Hip Arthroplasty (THA), robotic surgery is currently practiced mainly on acetabular side helping cup positioning and orientation. However, femoral stem positioning mostly uses hand-rasping method rather than robots for accurate positioning. The other case for using a flexible drill in surgery is Anterior Cruciate Ligament (ACL) Reconstruction. The majority of ACL Reconstruction failures are primarily caused by technical mistakes and surgical errors resulting from drilling the anatomical bone tunnels required to accommodate the ligament graft. The proposed new steerable drill system will perform orthopedic surgery through curved tunneling leading to better accuracy and patient outcomes. It may reduce intra-operative fractures, dislocations, early failure and leg length discrepancy by making possible a new level of precision. This technology is based on a robotically assisted, steerable, hand-held flexible drill, with a drill-tip tracking device and a multi-modality navigation system. The critical differentiator is that this robotically assisted surgical technology now allows the surgeon to prepare 'patient specific' and more anatomically correct 'curved' bone tunnels during orthopedic surgery rather than drilling straight holes as occurs currently with existing surgical tools. The flexible and steerable drill and its navigation system for femoral milling in total hip arthroplasty had been tested on sawbones to evaluate the accuracy of the positioning and orientation of femoral stem relative to the pre-operative plan. The data show the accuracy of the navigation system is better than traditional hand-rasping method.

Keywords: navigation, robotic orthopedic surgery, steerable drill, tracking

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Authors: Amr Emam, Joseph Victor, Mohamed Abd Elghany

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The paper presents the effect of the orbit inclination on the pointing error of the satellite antenna and consequently on its footprint on earth for a typical Ku- band payload system. The performance assessment is examined both theoretically and by means of practical measurements, taking also into account all additional sources of pointing errors, such as East-West station keeping, orbit eccentricity and actual attitude control performance. An implementation and computation of the sinusoidal biases in satellite roll and pitch used to compensate the pointing error of the satellite antenna coverage is studied and evaluated before and after the pointing corrections performed. A method for evaluation of the performance of the implemented biases has been introduced through measuring satellite received level from a tracking 11m and fixed 4.8m transmitting antenna before and after the implementation of the pointing corrections.

Keywords: satellite, inclined orbit, pointing errors, coverage optimization

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