Map-aided navigation for emergency searches

This is the author accepted manuscript. The final version is available from the publisher via the DOI in this recordReal-time positioning of emergency personnel has been an active research topic for many years. However, studies on how to improve navigation accuracy by using prior information on the idiosyncratic motion characteristics of firefighters are scarce. This paper presents an algorithm for generating pseudo observations of position and orientation based on standard search patterns used by firefighters. The iterative closest point algorithm is used to compare walking trajectories estimated from inertial odometry with search patterns generated from digital maps. The resulting fitting errors are then used to integrate the pseudo observations into a map-aided navigation filter. Specifically, we present a sequential Monte Carlo solution where the pattern comparison is used to both update particle weights and create new particle samples. Experimental results involving professional firefighters demonstrate that the proposed pseudo observations can achieve a stable localization error of about one meter, and offer increased robustness in the presence of map errors

Security of GPS/INS based On-road Location Tracking Systems

Location information is critical to a wide-variety of navigation and tracking applications. Today, GPS is the de-facto outdoor localization system but has been shown to be vulnerable to signal spoofing attacks. Inertial Navigation Systems (INS) are emerging as a popular complementary system, especially in road transportation systems as they enable improved navigation and tracking as well as offer resilience to wireless signals spoofing, and jamming attacks. In this paper, we evaluate the security guarantees of INS-aided GPS tracking and navigation for road transportation systems. We consider an adversary required to travel from a source location to a destination, and monitored by a INS-aided GPS system. The goal of the adversary is to travel to alternate locations without being detected. We developed and evaluated algorithms that achieve such goal, providing the adversary significant latitude. Our algorithms build a graph model for a given road network and enable us to derive potential destinations an attacker can reach without raising alarms even with the INS-aided GPS tracking and navigation system. The algorithms render the gyroscope and accelerometer sensors useless as they generate road trajectories indistinguishable from plausible paths (both in terms of turn angles and roads curvature). We also designed, built, and demonstrated that the magnetometer can be actively spoofed using a combination of carefully controlled coils. We implemented and evaluated the impact of the attack using both real-world and simulated driving traces in more than 10 cities located around the world. Our evaluations show that it is possible for an attacker to reach destinations that are as far as 30 km away from the true destination without being detected. We also show that it is possible for the adversary to reach almost 60-80% of possible points within the target region in some cities

FootSLAM meets adaptive thresholding

The is the author accepted manuscript. The final version is available from IEEE via the DOI in this recordCalibration of the zero-velocity detection threshold is an essential prerequisite for zero-velocity-aided inertial navigation. However, the literature is lacking a self-contained calibration method, suitable for large-scale use in unprepared environments without map information or pre-deployed infrastructure. In this paper, the calibration of the zero-velocity detection threshold is formulated as a maximum likelihood problem. The likelihood function is approximated using estimation quantities readily available from the FootSLAM algorithm. Thus, we obtain a method for adaptive thresholding that does not require map information, measurements from supplementary sensors, or user input. Experimental evaluations are conducted using data with different gait speeds, sensor placements, and walking trajectories. The proposed calibration method is shown to outperform fixed-threshold zero-velocity detectors and a benchmark using a speed-based threshold classifier.National Institute of Standards and Technology (NIST

Three levels of metric for evaluating wayfinding

Three levels of virtual environment (VE) metric are proposed, based on: (1) users’ task performance (time taken, distance traveled and number of errors made), (2) physical behavior (locomotion, looking around, and time and error classification), and (3) decision making (i.e., cognitive) rationale (think aloud, interview and questionnaire). Examples of the use of these metrics are drawn from a detailed review of research into VE wayfinding. A case study from research into the fidelity that is required for efficient VE wayfinding is presented, showing the unsuitability in some circumstances of common metrics of task performance such as time and distance, and the benefits to be gained by making fine-grained analyses of users’ behavior. Taken as a whole, the article highlights the range of techniques that have been successfully used to evaluate wayfinding and explains in detail how some of these techniques may be applied

Legal Challenges and Market Rewards to the Use and Acceptance of Remote Sensing and Digital Information as Evidence

Bakgrund I den nutida forskningen är det essentiellt att företag tar hänsyn till medarbetarnas motivation så att de gynnas av det arbetssätt som tillämpas. En arbetsmetod som blivit allt vanligare är konceptet Lean som ursprungligen kommer från den japanska bilindustrin. Lean har idag utvecklats till ett allmängiltigt koncept som tillämpas i flertalet branscher världen över. Trots att konceptet innebär flertalet positiva aspekter har det fått utstå stark kritik när det kommer till de mänskliga aspekterna och forskare har ställt sig frågan om Lean är "Mean". Kritiken härleds främst till medarbetares arbetsmiljö i form av stress och brist på variation, självbestämmande, hälsa och välmående. Få empiriska studier har däremot genomförts som undersöker konsekvenserna som Lean får på medarbetares upplevda motivation. Syfte Vårt syfte är att undersöka och öka förståelsen för medarbetares upplevelser av motivationen i företag som tillämpar Lean. Vidare har studien för avsikt att utreda om det föreligger en paradox mellan Lean och vad som motiverar medarbetare på en arbetsplats. Metod Studien har utgått från en kvalitativ metod via intervjuer. För att göra en djupare undersökning och analysera hur vårt fenomen, motivation, upplevs i en kontext med Lean tillämpade vi Små-N-studier. Vi har även haft en iterativ forskningsansats som förenat den deduktiva och induktiva ansatsen där studien pendlat mellan teorier och empiriska observationer fram tills det slutgiltiga resultatet. Slutsatser Utefter medarbetarnas upplevelser har vi identifierat att det inte föreligger någon paradox mellan Lean och motivation eftersom övervägande antal medarbetare upplevde att de är motiverade även om företaget tillämpar Lean. Dock har studien kunnat urskilja både stödjande och motverkande faktorer när det kommer till medarbetarnas upplevda arbetsförhållanden som i sin tur inverkar på motivationen. De motverkande faktorerna menar vi främst beror på att arbetsförhållandena i somliga fall innehåller höga prestationskrav, målstyrning samt standardiseringar. Vidare upplevs motivationen överlag som mer positiv när företagen använder en mjukare form av Lean där samtliga medlemmars intressen beaktas.Background In modern research, it is essential that companies consider employees’ motivation so that they benefit from the applied practices. A working method that has become increasingly common is the concept Lean, which has its origin in the Japanese automotive industry. Today, Lean has evolved into a universal concept that is applied in many industries worldwide. Although the concept involves numerous positive aspects it has endured strong criticism when it comes to the human aspects and researchers have raised the question if Lean is "Mean". Criticism is derived primarily to employees’ working conditions in terms of stress and lack, variation, autonomy, health and wellbeing. However, few empirical studies have been carried out that examines the impact that Lean has on employees’ experienced motivation. Aim The aim is to increase the understanding of employees’ experienced motivation in companies that practice Lean. Further on the study has the intention to investigate if there is a paradox between Lean and what motivates employees on work. Methodology The study has been conducted through a qualitative method by interviews and to be able to do a deeper examination and analyze how our phenomenon, motivation, is experienced in a Lean context we applied small-N-studies. Our strategy has been iterative, combining both a deductive and inductive approach, where the study has varied between theories and empirical observations until the final result. Conclusions We have identified that there is no paradox between Lean and motivation since the majority of employees’ experienced that they are motivated even though the company practice Lean. Nevertheless the study shows that there are both supportive and counteractive factors when it comes to the employees’ experienced working conditions. The counteractive factors consists foremost of high performance standards, goal steering and standardizations, and have in some cases a negative influence on the working conditions. Furthermore the experienced motivation is more positive overall when the companies use a softer form of Lean where all the members’ interests are taken into account

Zero-Velocity Detection - A Bayesian Approach to Adaptive Thresholding

A Bayesian zero-velocity detector for foot-mounted inertial navigation systems is presented. The detector extends existing zero-velocity detectors based on the likelihood-ratio test, and allows, possibly time-dependent, prior information about the two hypotheses - the sensors being stationary or in motion - to be incorporated into the test. It is also possible to incorporate information about the cost of a missed detection or a false alarm. Specifically, we consider an hypothesis prior based on the velocity estimates provided by the navigation system and an exponential model for how the cost of a missed detection increases with the time since the last zero-velocity update. Thereby, we obtain a detection threshold that adapts to the motion characteristics of the user. Thus, the proposed detection framework efficiently solves one of the key challenges in current zero-velocity-aided inertial navigation systems: the tuning of the zero-velocity detection threshold. A performance evaluation on data with normal and fast gait demonstrates that the proposed detection framework outperforms any detector that chooses two separate fixed thresholds for the two gait speeds

How much does a man cost? A dirty, dull, and dangerous application

Thesis (M.A.) University of Alaska Fairbanks, 2017This study illuminates the many abilities of Unmanned Aerial Vehicles (UAVs). One area of importance includes the UAV's capability to assist in the development, implementation, and execution of crisis management. This research focuses on UAV uses in pre and post crisis planning and accomplishments. The accompaniment of unmanned vehicles with base teams can make crisis management plans more reliable for the general public and teams faced with tasks such as search and rescue and firefighting. In the fight for mass acceptance of UAV integration, knowledge and attitude inventories were collected and analyzed. Methodology includes mixed method research collected by interviews and questionnaires available to experts and ground teams in the UAV fields, mining industry, firefighting and police force career field, and general city planning crisis management members. This information was compiled to assist professionals in creation of general guidelines and recommendations for how to utilize UAVs in crisis management planning and implementation as well as integration of UAVs into the educational system. The results from this study show the benefits and disadvantages of strategically giving UAVs a role in the construction and implementation of crisis management plans and other areas of interest. The results also show that the general public is lacking information and education on the abilities of UAVs. This education gap shows a correlation with negative attitudes towards UAVs. Educational programs to teach the public benefits of UAV integration should be implemented