Low-cost RPAS navigation and guidance system using Square Root Unscented Kalman Filter

Multi-Sensor Data Fusion (MSDF) techniques involving satellite and inertial-based sensors are widely adopted to improve the navigation solution of a number of mission- and safety-critical tasks. Such integrated Navigation and Guidance Systems (NGS) currently do not meet the required level of performance in all flight phases of small Remotely Piloted Aircraft Systems (RPAS). In this paper an innovative Square Root-Unscented Kalman Filter (SR-UKF) based NGS is presented and compared with a conventional UKF governed design. The presented system architectures adopt state-of-the-art information fusion approach based on a number of low-cost sensors including; Global Navigation Satellite Systems (GNSS), Micro-Electro-Mechanical System (MEMS) based Inertial Measurement Unit (IMU) and Vision Based Navigation (VBN) sensors. Additionally, an Aircraft Dynamics Model (ADM), which is essentially a knowledge based module, is employed to compensate for the MEMS-IMU sensor shortcomings in high-dynamics attitude determination tasks. The ADM acts as a virtual sensor and its measurements are processed with non-linear estimation in order to increase the operational validity time. An improvement in the ADM navigation state vector (i.e., position, velocity and attitude) measurements is obtained, thanks to the accurate modeling of aircraft dynamics and advanced processing techniques. An innovative SR-UKF based VBN-IMU-GNSS-ADM (SR-U-VIGA) architecture design was implemented and compared with a typical UKF design (U-VIGA) in a small RPAS (AEROSONDE) integration arrangement exploring a representative cross-section of the operational flight envelope. The comparison of position and attitude data shows that the SR-U-VIGA and U-VIGA NGS fulfill the relevant RNP criteria, including precision approach tasks

Progressor: Social navigation support through open social student modeling

The increased volumes of online learning content have produced two problems: how to help students to find the most appropriate resources and how to engage them in using these resources. Personalized and social learning have been suggested as potential ways to address these problems. Our work presented in this paper combines the ideas of personalized and social learning in the context of educational hypermedia. We introduce Progressor, an innovative Web-based tool based on the concepts of social navigation and open student modeling that helps students to find the most relevant resources in a large collection of parameterized self-assessment questions on Java programming. We have evaluated Progressor in a semester-long classroom study, the results of which are presented in this paper. The study confirmed the impact of personalized social navigation support provided by the system in the target context. The interface encouraged students to explore more topics attempting more questions and achieving higher success rates in answering them. A deeper analysis of the social navigation support mechanism revealed that the top students successfully led the way to discovering most relevant resources by creating clear pathways for weaker students. © 2013 Taylor and Francis Group, LLC

MISAT: Designing a Series of Powerful Small Satellites Based upon Micro Systems Technology

MISAT is a research and development cluster which will create a small satellite platform based on Micro Systems Technology (MST) aiming at innovative space as well as terrestrial applications. MISAT is part of the Dutch MicroNed program which has established a microsystems infrastructure to fully exploit the MST knowledge chain involving public and industrial partners alike. The cluster covers MST-related developments for the spacecraft bus and payload, as well as the satellite architecture. Particular emphasis is given to distributed systems in space to fully exploit the potential of miniaturization for future mission concepts. Examples of current developments are wireless sensor and actuator networks with plug and play characteristics, autonomous digital Sun sensors, re-configurable radio front ends with minimum power consumption, or micro-machined electrostatic accelerometer and gradiometer system for scientific research in fundamental physics as well as geophysics. As a result of MISAT, a first nano-satellite will be launched in 2007 to demonstrate the next generation of Sun sensors, power subsystems and satellite architecture technology. Rapid access to in-orbit technology demonstration and verification will be provided by a series of small satellites. This will include a formation flying mission, which will increasingly rely on MISAT technology to improve functionality and reduce size, mass and power for advanced technology demonstration and novel scientific applications.

Integration of Massive Plug-in Hybrid Electric Vehicles into Power Distribution Systems: Modeling, Optimization, and Impact Analysis

With the development of vehicle-to-grid (V2G) technology, it is highly promising to use plug-in hybrid electric vehicles (PHEVs) as a new form of distributed energy resources. However, the uncertainties in the power market and the conflicts among different stakeholders make the integration of PHEVs a highly challenging task. Moreover, the integration of PHEVs may lead to negative effects on the power grid performance if the PHEV fleets are not properly managed. This dissertation studies various aspects of the integration of PHEVs into power distribution systems, including the PHEV load demand modeling, smart charging algorithms, frequency regulation, reliability-differentiated service, charging navigation, and adequacy assessment of power distribution systems. This dissertation presents a comprehensive methodology for modeling the load demand of PHEVs. Based on this stochastic model of PHEV, a two-layer evolution strategy particle swarm optimization (ESPSO) algorithm is proposed to integrate PHEVs into a residential distribution grid. This dissertation also develops an innovative load frequency control system, and proposes a hierarchical game framework for PHEVs to optimize their charging process and participate in frequency regulation simultaneously. The potential of using PHEVs to enable reliability-differentiated service in residential distribution grids has been investigated in this dissertation. Further, an integrated electric vehicle (EV) charging navigation framework has been proposed in this dissertation which takes into consideration the impacts from both the power system and transportation system. Finally, this dissertation proposes a comprehensive framework for adequacy evaluation of power distribution networks with PHEVs penetration. This dissertation provides innovative, viable business models for enabling the integration of massive PHEVs into the power grid. It helps evolve the current power grid into a more reliable and efficient system

Building multi-layer social knowledge maps with google maps API

Google Maps is an intuitive online-map service which changes people's way of navigation on Geo-maps. People can explore the maps in a multi-layer fashion in order to avoid information overloading. This paper reports an innovative approach to extend the "power" of Google Maps to adaptive learning. We have designed and implemented a navigator for multi-layer social knowledge maps, namely ProgressiveZoom, with Google Maps API. In our demonstration, the knowledge maps are built from the Interactive System Design (ISD) course at the School of Information Science, University of Pittsburgh. Students can read the textbooks and reflect their individual and social learning progress in a context of pedagogical hierarchical structure

Motivational Social Visualizations for Personalized E-Learning

A large number of educational resources is now available on the Web to support both regular classroom learning and online learning. However, the abundance of available content produces at least two problems: how to help students find the most appropriate resources, and how to engage them into using these resources and benefiting from them. Personalized and social learning have been suggested as potential methods for addressing these problems. Our work presented in this paper attempts to combine the ideas of personalized and social learning. We introduce Progressor + , an innovative Web-based interface that helps students find the most relevant resources in a large collection of self-assessment questions and programming examples. We also present the results of a classroom study of the Progressor +  in an undergraduate class. The data revealed the motivational impact of the personalized social guidance provided by the system in the target context. The interface encouraged students to explore more educational resources and motivated them to do some work ahead of the course schedule. The increase in diversity of explored content resulted in improving students’ problem solving success. A deeper analysis of the social guidance mechanism revealed that it is based on the leading behavior of the strong students, who discovered the most relevant resources and created trails for weaker students to follow. The study results also demonstrate that students were more engaged with the system: they spent more time in working with self-assessment questions and annotated examples, attempted more questions, and achieved higher success rates in answering them

QuizMap: Open social student modeling and adaptive navigation support with TreeMaps

In this paper, we present a novel approach to integrate social adaptive navigation support for self-assessment questions with an open student model using QuizMap, a TreeMap-based interface. By exposing student model in contrast to student peers and the whole class, QuizMap attempts to provide social guidance and increase student performance. The paper explains the nature of the QuizMap approach and its implementation in the context of self-assessment questions for Java programming. It also presents the design of a semester-long classroom study that we ran to evaluate QuizMap and reports the evaluation results. © 2011 Springer-Verlag Berlin Heidelberg