Novel Framework for Navigation using Enhanced Fuzzy Approach with Sliding Mode Controller

The reliability of any embedded navigator in advanced vehicular system depends upon correct and precise information of navigational data captured and processed to offer trustworthy path. After reviewing the existing system, a significant trade-off is explored between the existing navigational system and present state of controller design on various case studies and applications. The existing design of controller system for navigation using error-prone GPS/INS data doesn‟t emphasize on sliding mode controller. Although, there has been good number of studies in sliding mode controller, it is less attempted to optimize the navigational performance of a vehicle. Therefore, this paper presents a novel optimized design of a sliding mode controller that can be effectively deployed on advanced navigational system. The study outcome was found to offer higher speed, optimal control signal, and lower error occurances to prove that proposed system offers reliable and optimized navigational services in contrast to existing system

Filtering based multi-sensor data fusion algorithm for a reliable unmanned surface vehicle navigation

When considering the working conditions under which an unmanned surface vehicle (USV) operates, the navigational sensors, which already have inherent uncertainties, are subjected to environment influences that can affect the accuracy, security and reliability of USV navigation. To combat this, multi-sensor data fusion algorithms will be developed in this paper to deal with the raw sensor measurements from three kinds of commonly used sensors and calculate improved navigational data for USV operation in a practical environment. Unscented Kalman Filter, as an advanced filtering technology dedicated to dealing with non-linear systems, has been adopted as the underlying algorithm with the performance validated within various computer-based simulations where practical, dynamic navigational influences, such as ocean currents, provide force against the vessel’s structure, are to be considered

Development of a Geo-spatial Analysis Methodology for Assessing the Adequacy of Hydrographic Surveying and Nautical Charts

IHO Publication C-55 (Status of Hydrographic Surveying and Nautical Charting Worldwide) contains information about the progress of hydrographic surveying and nautical charting for a country with navigable waters under its jurisdiction. Listed primarily as percent coverage, it is difficult to use this information to determine: 1) if the current level of surveying or charting is adequate or in need of action, or 2) can be used to compare different locations. An analysis and assessment methodology has been developed to assess the adequacy hydrographic surveying and nautical charting coverage. Indications of chart adequacy and completeness as depicted on current charts or sailing directions are spatially correlated with significant maritime sites/areas associated with social, environmental and economic factors. The procedure was developed in a GIS environment for Belize and Nigeria. Areas within the charts were prioritized based on zone of confidence, source diagrams, chart quality symbols/indicators, doubtful danger markings, survey completeness, navigationally-significant depths, and areas of significant maritime importance

A study of navigation strategies in spatial-semantic visualizations

Visualisations of abstract data are believed to assist the searcher by providing an overview of the semantic structure of a document collection whereby semantically similar items tend to cluster in space. Cribbin and Chen (2001) found that similarity data represented using minimum spanning tree (MST) graphs provided greater levels of support to users when conducting a range of information seeking tasks, in comparison to simple scatter graphs. MST graphs emphasise the most salient relationships between nodes by means of connecting links. This paper is based on the premise that it is the provision of these links that facilitated search performance. Using a combination of visual observations and existing theory, hypotheses predicting navigational strategies afforded by the MST link structure are presented and tested. The utility, in terms of navigational efficiency and retrieval success, of these and other observed strategies is then examined

The Role of Trust and Interaction in GPS Related Accidents: A Human Factors Safety Assessment of the Global Positioning System (GPS)

The Global Positioning System (GPS) uses a network of orbiting and geostationary satellites to calculate the position of a receiver over time. This technology has revolutionised a wide range of safety-critical industries and leisure applications ranging from commercial fisheries through to mountain running. These systems provide diverse benefits; supplementing the users existing navigation skills and reducing the uncertainty that often characterises many route planning tasks. GPS applications can also help to reduce workload by automating tasks that would otherwise require finite cognitive and perceptual resources. However, the operation of these systems has been identified as a contributory factor in a range of recent accidents. Users often come to rely on GPS applications and, therefore, fail to notice when they develop faults or when errors occur in the other systems that use the data from these systems. Further accidents can stem from the ‘over confidence’ that arises when users assume automated warnings will be issued when they stray from an intended route. Unless greater attention is paid to the human factors of GPS applications then there is a danger that we will see an increasing number of these failures as positioning technologies are integrated into increasing numbers of application

The goldstone real-time connected element interferometer

Connected element interferometry (CEI) is a technique of observing a celestial radio source at two spatially separated antennas and then interfering the received signals to extract the relative phase of the signal at the two antennas. The high precision of the resulting phase delay data type can provide an accurate determination of the angular position of the radio source relative to the baseline vector between the two stations. This article describes a recently developed connected element interferometer on a 21-km baseline between two antennas at the Deep Space Network's Goldstone, California, tracking complex. Fiber-optic links are used to transmit the data to a common site for processing. The system incorporates a real-time correlator to process these data in real time. The architecture of the system is described, and observational data are presented to characterize the potential performance of such a system. The real-time processing capability offers potential advantages in terms of increased reliability and improved delivery of navigational data for time-critical operations. Angular accuracies of 50-100 nrad are achievable on this baseline

Robust Multi-sensor Data Fusion for Practical Unmanned Surface Vehicles (USVs) Navigation

The development of practical Unmanned Surface Vehicles (USVs) are attracting increasing attention driven by their assorted military and commercial application potential. However, addressing the uncertainties presented in practical navigational sensor measurements of an USV in maritime environment remain the main challenge of the development. This research aims to develop a multi-sensor data fusion system to autonomously provide an USV reliable navigational information on its own positions and headings as well as to detect dynamic target ships in the surrounding environment in a holistic fashion. A multi-sensor data fusion algorithm based on Unscented Kalman Filter (UKF) has been developed to generate more accurate estimations of USV’s navigational data considering practical environmental disturbances. A novel covariance matching adaptive estimation algorithm has been proposed to deal with the issues caused by unknown and varying sensor noise in practice to improve system robustness. Certain measures have been designed to determine the system reliability numerically, to recover USV trajectory during short term sensor signal loss, and to autonomously detect and discard permanently malfunctioned sensors, and thereby enabling potential sensor faults tolerance. The performance of the algorithms have been assessed by carrying out theoretical simulations as well as using experimental data collected from a real-world USV projected collaborated with Plymouth University. To increase the degree of autonomy of USVs in perceiving surrounding environments, target detection and prediction algorithms using an Automatic Identification System (AIS) in conjunction with a marine radar have been proposed to provide full detections of multiple dynamic targets in a wider coverage range, remedying the narrow detection range and sensor uncertainties of the AIS. The detection algorithms have been validated in simulations using practical environments with water current effects. The performance of developed multi-senor data fusion system in providing reliable navigational data and perceiving surrounding environment for USV navigation have been comprehensively demonstrated

The Impact of External Audience on Second Graders\u27 Writing Quality

The overarching purpose of writing is to communicate; as such, the intended audience is a critical consideration for writers. However, elementary school writing instruction commonly neglects the role of the audience. Typically, children are asked to compose a piece of text without a specific audience that is usually evaluated by the classroom teacher. Previous studies have found a relationship between audience specification and higher quality writing among older children; this study examines the impact of audience specification on young children’s writing. Using a within-subjects design, the study compared writing quality when second-grade students wrote for internal versus external audiences and found that children are more likely to produce higher quality writing when writing for an external audience than when writing for their teacher

Design Principals of Social Navigation

8th Delos Workshop on "User Interfaces for Digital Libraries" (on 21 October it will be held in conjuction with the 4th ERCIM Workshop on "User Interfaces for All"), SICS, Kista, Sweden, 21-23 October 1998PERSON

Flight test results of the Strapdown hexad Inertial Reference Unit (SIRU). Volume 1: Flight test summary

Flight test results of the strapdown inertial reference unit (SIRU) navigation system are presented. The fault-tolerant SIRU navigation system features a redundant inertial sensor unit and dual computers. System software provides for detection and isolation of inertial sensor failures and continued operation in the event of failures. Flight test results include assessments of the system's navigational performance and fault tolerance