Valency in the Urhobo Language

This paper examines verb valency in Urhobo, using minimalism as a theoretical framework.  The method of data collection is group into two: the primary and the secondary sources. The primary source is the intuitive knowledge of the native speaker, while the secondary involves documented materials from internet, Journals, conference proceedings and documented books. The study reveals that where we have one argument structure, we have one theta function. Where there are two place predicates, we have two theta roles or functions, and also, three arguments predicates possess three theta roles. This goes a long way to say that Urhobo verbs can take different levels of arguments and its syntactic and semantic well-formeness will still be intact. It also reveals that it involves entity to perform an action, such as òvwèrẹ̀ (sleeping event) in the Urhobo language. Finally, the paper identifies three valency classes in the Urhobo language (Mono-valent verb- takes or involves one entity, Di-valent verb- takes or involves two entities, and Tri-valent verb- takes or involves three entities)

Tightly Coupled 3D Lidar Inertial Odometry and Mapping

Ego-motion estimation is a fundamental requirement for most mobile robotic applications. By sensor fusion, we can compensate the deficiencies of stand-alone sensors and provide more reliable estimations. We introduce a tightly coupled lidar-IMU fusion method in this paper. By jointly minimizing the cost derived from lidar and IMU measurements, the lidar-IMU odometry (LIO) can perform well with acceptable drift after long-term experiment, even in challenging cases where the lidar measurements can be degraded. Besides, to obtain more reliable estimations of the lidar poses, a rotation-constrained refinement algorithm (LIO-mapping) is proposed to further align the lidar poses with the global map. The experiment results demonstrate that the proposed method can estimate the poses of the sensor pair at the IMU update rate with high precision, even under fast motion conditions or with insufficient features.Comment: Accepted by ICRA 201

The processing of IMU data in ENTREE implementation and preliminary results

It is demonstrated that the shuttle entry trajectory can be accurately represented in ENTREE with IMU data available postflight. The IMU data consist of platform to body quaternions, and accumulated sensed velocities in mean of fifty (M50) coordinates approximately every second. The preprocessing software required to incorporate the IMU data in ENTREE is described as well as the relatively minor code changes to the ENTREE program itself required to process the IMU data. Code changes to the ENTREE program and input tape data format and content changes are described

Estimation of temporal parameters during sprint running using a trunk-mounted inertial measurement unit

This research was supported by a grant of the Universit a Italo-Francese (Call Vinci) awarded to E. Bergamini.The purpose of this study was to identify consistent features in the signals supplied by a single inertial measurement unit (IMU), or thereof derived, for the identification of foot-strike and foot-off instants of time and for the estimation of stance and stride duration during the maintenance phase of sprint running. Maximal sprint runs were performed on tartan tracks by five amateur and six elite athletes, and durations derived from the IMU data were validated using force platforms and a high-speed video camera, respectively, for the two groups. The IMU was positioned on the lower back trunk (L1 level) of each athlete. The magnitudes of the acceleration and angular velocity vectors measured by the IMU, as well as their wavelet-mediated first and second derivatives were computed, and features related to foot-strike and foot-off events sought. No consistent features were found on the acceleration signal or on its first and second derivatives. Conversely, the foot-strike and foot-off events could be identified from features exhibited by the second derivative of the angular velocity magnitude. An average absolute difference of 0.005 s was found between IMU and reference estimates, for both stance and stride duration and for both amateur and elite athletes. The 95% limits of agreement of this difference were less than 0.025 s. The results proved that a single, trunk-mounted IMU is suitable to estimate stance and stride duration during sprint running, providing the opportunity to collect information in the field, without constraining or limiting athletes’ and coaches’ activities

Onorbit IMU alignment error budget

The Star Tracker, Crew Optical Alignment Sight (COAS), and Inertial Measurement Unit (IMU) from a complex navigation system with a multitude of error sources were combined. A complete list of the system errors is presented. The errors were combined in a rational way to yield an estimate of the IMU alignment accuracy for STS-1. The expected standard deviation in the IMU alignment error for STS-1 type alignments was determined to be 72 arc seconds per axis for star tracker alignments and 188 arc seconds per axis for COAS alignments. These estimates are based on current knowledge of the star tracker, COAS, IMU, and navigation base error specifications, and were partially verified by preliminary Monte Carlo analysis

Trunk Inclination Estimate During the Sprint Start Using an Inertial Measurement Unit: A Validation Study

The proper execution of the sprint start is crucial in determining the performance during a sprint race. In this respect, when moving from the crouch to the upright position, trunk kinematics is a key element. The purpose of this study was to validate the use of a trunk-mounted inertial measurement unit (IMU) in estimating the trunk inclination and angular velocity in the sagittal plane during the sprint start. In-laboratory sprint starts were performed by five sprinters. The local acceleration and angular velocity components provided by the IMU were processed using an adaptive Kalman filter. The accuracy of the IMU inclination estimate and its consistency with trunk inclination were assessed using reference stereophotogrammetric measurements. A Bland-Altman analysis, carried out using parameters (minimum, maximum, and mean values) extracted from the time histories of the estimated variables, and curve similarity analysis (correlation coefficient > 0.99, root mean square difference < 7 deg) indicated the agreement between reference and IMU estimates, opening a promising scenario for an accurate in-field use of IMUs for sprint start performance assessment

Case Role in the Urhobo Language

This paper examines case role in the Urhobo language. Case theory is used as theoretical frame work, the specific objectives is to investigate type of cases and to relate cases roles to argument structures in Urhobo. The study reveals that in the Urhobo language every lexically headed NP must receive case from a case assigner. The Case theory requires that the case assigner govern the NP to which its assigns case. Tense, verb and preposition are case assigners. The infinitive ‘to’ and the passive participles are not case assigners. Case assignment can take place only when the case assigner and the NP to which it assigns case bear a structural relation to one another. It also reveals that irrespective of the theory and its arguments, Urhobo verbs are the basses and centre of its expansion of its constructions. This research also finds out, that the argument structures identified in universal grammar (UG) align with the argument structure of the Urhobo language; the verb assigns arguments to the noun phrases in a sentence. This is traced to the structure of the Urhobo language which is subject-verb-object (SVO). Finally, the study reveals that the function of the nominative case is to mark the subject of the sentence; the vocative is the case of address; the accusative is used to mark the object of a transitive verb; the genitive is the case of possession, ablative case is to mark the instrument with which something is done and the dative case marks the indirect object in the Urhobo language

Navigation strategy and filter design for solar electric missions

Methods which have been proposed to improve the navigation accuracy for the low-thrust space vehicle include modifications to the standard Sequential- and Batch-type orbit determination procedures and the use of inertial measuring units (IMU) which measures directly the acceleration applied to the vehicle. The navigation accuracy obtained using one of the more promising modifications to the orbit determination procedures is compared with a combined IMU-Standard. The unknown accelerations are approximated as both first-order and second-order Gauss-Markov processes. The comparison is based on numerical results obtained in a study of the navigation requirements of a numerically simulated 152-day low-thrust mission to the asteroid Eros. The results obtained in the simulation indicate that the DMC algorithm will yield a significant improvement over the navigation accuracies achieved with previous estimation algorithms. In addition, the DMC algorithms will yield better navigation accuracies than the IMU-Standard Orbit Determination algorithm, except for extremely precise IMU measurements, i.e., gyroplatform alignment .01 deg and accelerometer signal-to-noise ratio .07. Unless these accuracies are achieved, the IMU navigation accuracies are generally unacceptable

Cooperative Relative Positioning of Mobile Users by Fusing IMU Inertial and UWB Ranging Information

Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertial-measurement unit (IMU) is promising to determine the change of position over short periods of time, but it is very sensitive to error accumulation over long term run. By equipping the mobile users with ranging unit, e.g. ultra-wideband (UWB), it is possible to achieve accurate relative positioning by trilateration-based approaches. As compared to vision or laser-based sensors, the UWB does not need to be with in line-of-sight and provides accurate distance estimation. However, UWB does not provide any bearing information and the communication range is limited, thus UWB alone cannot determine the user location without any ambiguity. In this paper, we propose an approach to combine IMU inertial and UWB ranging measurement for relative positioning between multiple mobile users without the knowledge of the infrastructure. We incorporate the UWB and the IMU measurement into a probabilistic-based framework, which allows to cooperatively position a group of mobile users and recover from positioning failures. We have conducted extensive experiments to demonstrate the benefits of incorporating IMU inertial and UWB ranging measurements.Comment: accepted by ICRA 201