Drift-Free Indoor Navigation Using Simultaneous Localization and Mapping of the Ambient Heterogeneous Magnetic Field

In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend, thus achieving a good balance between exploration and exploitation. Although vision-based systems like laser scanners are typically deployed for SLAM, these sensors are heavy, energy inefficient, and expensive, making them unattractive for wearables or smartphone applications. However, the concept of SLAM can be extended to non-optical systems such as magnetometers. Instead of matching features such as walls and furniture using some variation of the ICP algorithm, the local magnetic field can be matched to provide loop-closure and global trajectory updates in a Gaussian Process (GP) SLAM framework. With a MEMS-based inertial measurement unit providing a continuous trajectory, and the matching of locally distinct magnetic field maps, experimental results in this paper show that a drift-free navigation solution in an indoor environment with millimetre-level accuracy can be achieved. The GP-SLAM approach presented can be formulated as a maximum a posteriori estimation problem and it can naturally perform loop-detection, feature-to-feature distance minimization, global trajectory optimization, and magnetic field map estimation simultaneously. Spatially continuous features (i.e. smooth magnetic field signatures) are used instead of discrete feature correspondences (e.g. point-to-point) as in conventional vision-based SLAM. These position updates from the ambient magnetic field also provide enough information for calibrating the accelerometer and gyroscope bias in-use. The only restriction for this method is the need for magnetic disturbances (which is typically not an issue indoors); however, no assumptions are required for the general motion of the sensor.Comment: ISPRS Workshop Indoor 3D 201

Chow's Method of Optimal Control: A Numerical Solution

Method

Evolution of isolated turbulent trailing vortices

In this work, the temporal evolution of a low swirl-number turbulent Batchelor vortex is studied using pseudospectral direct numerical simulations. The solution of the governing equations in the vorticity-velocity form allows for accurate application of boundary conditions. The physics of the evolution is investigated with an emphasis on the mechanisms that influence the transport of axial and angular momentum. Excitation of normal mode instabilities gives rise to coherent large scale helical structures inside the vortical core. The radial growth of these helical structures and the action of axial shear and differential rotation results in the creation of a polarized vortex layer. This vortex layer evolves into a series of hairpin-shaped structures that subsequently breakdown into elongated fine scale vortices. Ultimately, the radially outward propagation of these structures results in the relaxation of the flow towards a stable high-swirl configuration. Two conserved quantities, based on the deviation from the laminar solution, are derived and these prove to be useful in characterizing the polarized vortex layer and enhancing the understanding of the transport process. The generation and evolution of the Reynolds stresses is also addressed

A New Era of Legalism for Dispute Settlement Under the WTO

Book review of "Dispute Settlement in the World Trade Organization: Practice and Procedure" by David Palmeter and Petros C. Mavroidis (Boston: Kluwer Law International, 1999).Published in cooperation with the American Bar Association Section of Dispute Resolutio