A significant challenge in fielding space-based and ground-based augmentation systems (SBAS GBAS) for GPS involves the validation of navigation integrity, which requires establishment error bounds aircraft position. This paper introduces a new approach to validating position-domain integrity by using two-sided envelopes each ranging source. paired-bounding allows distributions arbitrary form thus improves on earlier approaches restricted zero-mean, symmetric, unimodal distributions.

Given the complexity of problem, genetic algorithms are one more promising methods discovering control schemes for soft robotics. Since physically embodied evolution is time consuming and expensive, an outstanding challenge lies in developing fast suitably realistic simulations which to evolve robot gaits. We describe two parallel using NVidia's PhysX, a hardware-accelerated (GPGPU) physics engine, order optimize bodied The first method involves open-loop gaits reduced-order lumped parameter...

<h3>Abstract</h3> Distribution-to-distribution point cloud registration algorithms are fast and interpretable perform well in unstructured environments. Unfortunately, existing strategies for predicting the solution error these methods overly optimistic, particularly regions containing large or extended physical objects. In this paper, we introduce <i>iterative closest ellipsoidal transform</i> (ICET), a novel three-dimensional (3D) lidar scan-matching algorithm that re-envisions normal...

The relationship between range-domain and position-domain errors remains an open issue for GPS augmentation programs, such as the Federal Aviation Administration's Local Area Augmentation System (LAAS). This paper introduces a theorem that guarantees conservative error bound (overbound) in position domain given similarly overbounds broadcast pseudorange statistics. paired overbound requires cumulative distribution function (CDF) be constructed to both sides of distribution. holds arbitrary...

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> The United States Navy seeks the capability to land manned and unmanned aerial vehicles autonomously on an aircraft carrier using GPS. To deliver this capability, is developing a navigation system called Sea-Based Joint Precision Approach Landing System (JPALS). Because standard GPS not sufficiently precise shortened, constantly moving runway, JPALS leverages dual-frequency, carrier-phase...

Most bio-inspired robots have been based on animals with jointed, stiff skeletons. There is now an increasing interest in mimicking the robust performance of natural environments by incorporating compliant materials into locomotory system. However, mechanics moving, highly conformable structures are particularly difficult to predict. This paper proposes a planar, extensible-link model for soft-bodied tobacco hornworm caterpillar, Manduca sexta, provide insight biologists and engineers...

This paper presents a vision algorithm that enables automated jellyfish tracking using remotely operated vehicles (ROVs) or autonomous underwater (AUVs). The discussion focuses on design. introduction provides novel performance-assessment tool, called segmentation efficiency, which aids in matching potential algorithms to the jelly-tracking task. general-purpose tool evaluates inherent applicability of various particular applications. is applied problem transparent under uneven time-varying...

ABSTRACT: In aviation navigation systems such as the Ground-Based and Space-Based Augmentation Systems (GBAS SBAS) for GPS, it is critical users to compute a conservative navigation-error bound during precision approach landing. This paper describes method overbounding outputs of linear (i.e., conservatively describing their error distributions). Whereas earlier methods apply only sets independent samples, developed in this handle samples drawn from correlated time series, so long those have...

Ground-based augmentation systems (GBAS), such as the federal aviation administration's local area system (LAAS), protect GPS users against signal anomalies by monitoring for rare satellite faults. This paper introduces a new, time-varying MERR (maximum-allowable error in range) formulation that enables proof of integrity ground-based fault monitoring. The supersedes earlier methods which relied on static test. utility these was limited they neglected GBAS time-to-alert (TTA) requirements...

SUMMARY When generating gaits for soft robots (those with no explicit joints), it is not evident that undulating control schemes are the most efficient. In considering alternative schemes, however, computational costs of evaluating continuum mechanic models represent a significant bottleneck. We consider use lumped dynamic robotic systems. Such have been employed previously to design systems, though they widely used simulate compliant joints. A major question whether these methods accurate...

For a growing number of aviation applications the Global Positioning System (GPS) and other Navigation Satellite Systems (GNSS), it is essential to establish rigorous bound on measurement error. Most existing bounding methods rely representing actual error distribution with conservative, continuous model (e.g., Gaussian "overbound"). We propose discrete as practical alternative. A key limitation models validation, particularly in tails where comparatively little statistical data available....

This paper presents an approach for generating Global Navigation Satellite System (GNSS) differential corrections by distributing GNSS and georeferenced vision measurements through a vehicle-to-vehicle (V2V) communications network. Conventionally, high-quality are generated from stationary reference receiver in close proximity to set of mobile users. The proposed method, which is called Collaborative Vision Integrated Pseudorange Error Removal (C-VIPER), instead generates using data moving...

This paper presents a method for overbounding integrity risk chi-square monitors, which detect anomalies by analyzing the two-norm of vector input signals. Aircraft navigation examples monitors include many Receiver Autonomous Integrity Monitoring (RAIM) algorithms as well fault-specific detection in space-based and ground-based augmentation systems GNSS (e.g., signal deformation monitoring ionosphere gradient monitoring). Simple inflation noise model input-data does not always ensure...

Because scanning-LIDAR sensors require finite time to create a point cloud, sensor motion during scan warps the resulting image, phenomenon known as distortion or rolling shutter.Motion-distortion correction methods exist, but they rely on external measurements Bayesian filtering over multiple LIDAR scans.In this letter we propose novel algorithm that performs snapshot processing obtain motion-distortion correction.Snapshot processing, which registers current reference image without using...

We present a method to apply simulations the tracking of live event such as an evacuation. assume only limited amount information is available ongoing, through population-counting sensors surveillance cameras. In this context, agent-based models provide useful ability simulate individual behaviors and relationships among members population; however, also introduce significant data-association challenge when used with that do not specifically identify agents. The main contribution paper...

This paper models the frequency at which high-accuracy positioning is needed for safe roadway operations, specifically automated vehicles navigating in adjacent lanes and traveling same direction. One of significant challenges defining navigation integrity concepts ground transportation relating a system-safety criterion (e.g., maximum accident probability per mile driven) to error distribution specific sensor. To address this unsolved problem, develops relate events (when system stressed)...

Limits on the technology available to marine scientists study jellyfish in situ motivate development of an automated robotic tracking system for deployment deep ocean. This paper synthesizes a control strategy with remotely operated vehicle (ROV). The employs three feedback loops tailored jelly-tracking task. A primary loop provides moderate proportional-derivative track animal swimming motion without producing excessive hydrodynamic disturbances, which might impact behavior under study....

Continuing ocean experiments demonstrate specific applications in which a jelly-tracking ROV pilot assist enhances collection of scientific data. Recent results have repeatedly demonstrated the tracker's ability to follow jelly target for extended periods, as long 34 minutes. Thus far, experimental demonstrations tracker incorporated linear control law. This paper presents extensions law that enable two new capabilities. The first extension compensates steady disturbances. second gives...