Resilient Peer-to-Peer Ranging using Narrowband High-Performance Software-Defined Radios for Mission-Critical Applications

There has been a growing need for resilient positioning for numerous applications of the military and emergency services that routinely conduct operations that require an uninterrupted positioning service. However, the level of resilience required for these applications is difficult to achieve using the popular navigation and positioning systems available at the time of this writing. Most of these systems are dependent on existing infrastructure to function or have certain vulnerabilities that can be too easily exploited by hostile forces. Mobile ad-hoc networks can bypass some of these prevalent issues making them an auspicious topic for positioning and navigation research and development. Such networks consist of portable devices that collaborate to form wireless communication links with one another and collectively carry out vital network functions independent of any fixed centralized infrastructure. The purpose of the research presented in this thesis is to adapt the protocols of an existing narrowband mobile ad-hoc communications system provided by Terrafix to enable range measuring for positioning. This is done by extracting transmission and reception timestamps of signals exchanged between neighbouring radios in the network with the highest precision possible. However, many aspects of the radios forming this network are generally not conducive to precise ranging, so the ranging protocols implemented need to either maneuver around these shortcomings or compensate for loss of precision caused. In particular, the narrow bandwidth of the signals that drastically reduces the resolution of symbol timing. The objective is to determine what level of accuracy and precision is possible using this radio network and whether one can justify investment for further development. Early experiments have provided a simple ranging demonstration in a benign environment, using the existing synchronization protocols, by extracting time data. The experiments have then advanced to the radio’s signal processing to adjust the synchronization protocols for maximize symbol timing precision and correct for clock drift. By implementing innovative synchronization techniques to the radio network, ranging data collected under benign conditions can exhibit a standard deviation of less than 3m. The lowest standard deviation achieved using only the existing methods of synchronization was over two orders of magnitude greater. All this is achieved in spite of the very narrow 10−20kHz bandwidth of the radio signals, which makes producing range estimates with an error less than 10−100m much more challenging compared to wider bandwidth systems. However, this figure is beholden to the relative motion of neighbouring radios in the network and how frequently range estimates need to be made. This thesis demonstrates how such a precision may be obtained and how this figure is likely to hold up when applied in conditions that are not ideal

The manual control of vehicles undergoing slow transitions in dynamic characteristics

The manual control was studied of a vehicle with slowly time-varying dynamics to develop analytic and computer techniques necessary for the study of time-varying systems. The human operator is considered as he controls a time-varying plant in which the changes are neither abrupt nor so slow that the time variations are unimportant. An experiment in which pilots controlled the longitudinal mode of a simulated time-varying aircraft is described. The vehicle changed from a pure double integrator to a damped second order system, either instantaneously or smoothly over time intervals of 30, 75, or 120 seconds. The regulator task consisted of trying to null the error term resulting from injected random disturbances with bandwidths of 0.8, 1.4, and 2.0 radians per second. Each of the twelve experimental conditons was replicated ten times. It is shown that the pilot's performance in the time-varying task is essentially equivalent to his performance in stationary tasks which correspond to various points in the transition. A rudimentary model for the pilot-vehicle-regulator is presented

Research on the properties of circadian systems amenable to study in space

Three areas of inquiry are reported for the Skylab Experiment S-071 whose objective was to study the circadian system of a mammal during space flight. The thermoregulatory behavior of the Perognathus longimembris, or little pocket mouse, was studied under conditions of constant dark and constant temperature in the prolonged weightless environment of Skylab. The following specific questions were studied: (1) the effects of weightlessness on circadian periodicity in the little pocket mouse; (2) stability of the free-running circadian period of body temperature of the little pocket mouse exposed to simulated launch stress; and (3) characteristics of the circadian rhythm of body temperature in the little pocket mouse. Diagrams of the electronic circuitry and hardware used in the experiment are shown and results are given in both graphical and tabular form. The methods used in the experiment are fully documented, along with conclusions and recommendations for future research

Positron Emission Tomography: Current Challenges and Opportunities for Technological Advances in Clinical and Preclinical Imaging Systems

Positron emission tomography (PET) imaging is based on detecting two time-coincident high-energy photons from the emission of a positronemitting radioisotope. The physics of the emission, and the detection of the coincident photons, give PET imaging unique capabilities for both very high sensitivity and accurate estimation of the in vivo concentration of the radiotracer. PET imaging has been widely adopted as an important clinical modality for oncological, cardiovascular, and neurological applications. PET imaging has also become an important tool in preclinical studies, particularly for investigating murine models of disease and other small-animal models. However, there are several challenges to using PET imaging systems. These include the fundamental trade-offs between resolution and noise, the quantitative accuracy of the measurements, and integration with X-ray computed tomography and magnetic resonance imaging. In this article, we review how researchers and industry are addressing these challenges.This work was supported in part by National Institutes of Health grants R01-CA042593, U01-CA148131, R01CA160253, R01CA169072, and R01CA164371; by Human Frontier Science Program grant RGP0004/2013; and by the Innovative Medicines Initiative under grant agreement 115337, which comprises financial contributions from the European Union’s Seventh Framework Program (FP7/2007–2013

Characteristics and format of the tracking data to be obtained by the NASA Deep Space Instrumentation Facility for lunar orbiter

Characteristics and format of tracking data to be obtained by Deep Space Instrumentation Facility /DSIF/ for lunar orbite

Methods for monitoring the human circadian rhythm in free-living

Our internal clock, the circadian clock, determines at which time we have our best cognitive abilities, are physically strongest, and when we are tired. Circadian clock phase is influenced primarily through exposure to light. A direct pathway from the eyes to the suprachiasmatic nucleus, where the circadian clock resides, is used to synchronise the circadian clock to external light-dark cycles. In modern society, with the ability to work anywhere at anytime and a full social agenda, many struggle to keep internal and external clocks synchronised. Living against our circadian clock makes us less efficient and poses serious health impact, especially when exercised over a long period of time, e.g. in shift workers. Assessing circadian clock phase is a cumbersome and uncomfortable task. A common method, dim light melatonin onset testing, requires a series of eight saliva samples taken in hourly intervals while the subject stays in dim light condition from 5 hours before until 2 hours past their habitual bedtime. At the same time, sensor-rich smartphones have become widely available and wearable computing is on the rise. The hypothesis of this thesis is that smartphones and wearables can be used to record sensor data to monitor human circadian rhythms in free-living. To test this hypothesis, we conducted research on specialised wearable hardware and smartphones to record relevant data, and developed algorithms to monitor circadian clock phase in free-living. We first introduce our smart eyeglasses concept, which can be personalised to the wearers head and 3D-printed. Furthermore, hardware was integrated into the eyewear to recognise typical activities of daily living (ADLs). A light sensor integrated into the eyeglasses bridge was used to detect screen use. In addition to wearables, we also investigate if sleep-wake patterns can be revealed from smartphone context information. We introduce novel methods to detect sleep opportunity, which incorporate expert knowledge to filter and fuse classifier outputs. Furthermore, we estimate light exposure from smartphone sensor and weather in- formation. We applied the Kronauer model to compare the phase shift resulting from head light measurements, wrist measurements, and smartphone estimations. We found it was possible to monitor circadian phase shift from light estimation based on smartphone sensor and weather information with a weekly error of 32±17min, which outperformed wrist measurements in 11 out of 12 participants. Sleep could be detected from smartphone use with an onset error of 40±48 min and wake error of 42±57 min. Screen use could be detected smart eyeglasses with 0.9 ROC AUC for ambient light intensities below 200lux. Nine clusters of ADLs were distinguished using Gaussian mixture models with an average accuracy of 77%. In conclusion, a combination of the proposed smartphones and smart eyeglasses applications could support users in synchronising their circadian clock to the external clocks, thus living a healthier lifestyle

Evaluation of Pavement Roughness and Vehicle Vibrations for Road Surface Profiling

The research explores aspects of road surface measurement and monitoring, targeting some of the main challenges in the field, including cost and portability of high-speed inertial profilers. These challenges are due to the complexities of modern profilers to integrate various sensors while using advanced algorithms and processes to analyse measured sensor data. Novel techniques were proposed to improve the accuracy of road surface longitudinal profiles using inertial profilers. The thesis presents a Half-Wavelength Peak Matching (HWPM) model, designed for inertial profilers that integrate a laser displacement sensor and an accelerometer to evaluate surface irregularities. The model provides an alternative approach to drift correction in accelerometers, which is a major challenge when evaluating displacement from acceleration. The theory relies on using data from the laser displacement sensor to estimate a correction offset for the derived displacement. The study also proposes an alternative technique to evaluating vibration velocity, which improves on computational factors when compared to commonly used methods. The aim is to explore a different dimension to road roughness evaluation, by investigating the effect of surface irregularities on vehicle vibration. The measured samples show that the drift in the displacement calculated from the accelerometer increased as the vehicle speed at which the road measurement was taken increased. As such, the significance of the HWPM model is more apparent at higher vehicle speeds, where the results obtained show noticeable improvements to current techniques. All results and analysis carried out to validate the model are based on real-time data obtained from an inertial profiler that was designed and developed for the research. The profiler, which is designed for portability, scalability and accuracy, provides a Power Over Ethernet (POE) enabled solution to cope with the demand for high data transmission rates.

A DETECTION AND DATA ACQUISITION SYSTEM FOR PRECISION BETA DECAY SPECTROSCOPY

Free neutron and nuclear beta decay spectroscopy serves as a robust laboratory for investigations of the Standard Model of Particle Physics. Observables such as decay product angular correlations and energy spectra overconstrain the Standard Model and serve as a sensitive probe for Beyond the Standard Model physics. Improved measurement of these quantities is necessary to complement the TeV scale physics being conducted at the Large Hadron Collider. The UCNB, 45Ca, and Nab experiments aim to improve upon existing measurements of free neutron decay angular correlations and set new limits in the search for exotic couplings in beta decay. To achieve these experimental goals, a highly-pixelated, thick silicon detector with a 100 nm entrance window has been developed for precision beta spectroscopy and the direct detection of 30 keV beta decay protons. The detector has been characterized for its performance in energy reconstruction and particle arrival time determination. A Monte Carlo simulation of signal formation in the silicon detector and propagation through the electronics chain has been written to develop optimal signal analysis algorithms for minimally biased energy and timing extraction. A tagged-electron timing test has been proposed and investigated as a means to assess the validity of these Monte Carlo efforts. A universal platform for data acquisition (DAQ) has been designed and implemented in National Instrument\u27s PXIe-5171R digitizer/FPGA hardware. The DAQ retains a ring buffer of the most recent 400 ms of data in all 256 channels, so that a waveform trace can be returned from any combination of pixels and resolution for complete energy reconstruction. Low-threshold triggers on individual channels were implemented in FPGA as a generic piecewise-polynomial filter for universal, real-time digital signal processing, which allows for arbitrary filter implementation on a pixel-by-pixel basis. This system is universal in the sense that it has complete flexible, complex, and debuggable triggering at both the pixel and global level without recompiling the firmware. The culmination of this work is a system capable of a 10 keV trigger threshold, 3 keV resolution, and maximum 300 ps arrival time systematic, even in the presence of large amplitude noise components