ASSESSMENT OF CAR COLLABORATIVE POSITIONING WITH UWB AND VISION

Abstract. During the last decades the role of positioning and navigation systems is drastically changed in the everyday life of common people, influencing people behavior even multiple times each day. One of the most common applications of this kind of systems is that of terrestrial vehicle navigation: the use of GPS in the automotive navigation sector started thirty years ago, and, nowadays, it commonly assists drivers in reaching most of their non-standard destinations. Despite the popularity of global navigation satellite systems (GNSS), their usability is quite limited in certain working conditions, such as in urban canyons, in tunnels and indoors. While the latter case is typically not particularly interesting for the automotive sector, the first two scenarios represent important cases of interest for automotive navigation. In addition to the market request for increasing the usability of navigation systems on consumer devices, the recent increasing eagerness for autonomous driving is also attracting a lot of researchers' attention on the development of alternative positioning systems, able to compensate for the unavailability or unreliability of GNSS. In accordance with the motivations mentioned above, this paper focuses on the development of a positioning system based on collaborative positioning between vehicles with UltraWide-Band devices and vision. To be more specific, this work focuses on assessing the performance of the developed system in successfully accomplishing three tasks, associated to different levels of gathered information: 1) assessing distance between vehicles, 2) determining the vehicle relative positions, 3) estimating the absolute car positions. The obtained results show that a) UWB can be reliably used (error of few decimeters error) to assess distances when vehicles are relatively close to each other (e.g. less than 40 m), b) the combination of UWB and vision allows to obtain good results in the computation of relative positions between vehicles, c) UWB-based collaborative positioning can be used for determining the absolute vehicle positions if a sufficient number of UWB range measurements can be ensured (sub-meter error for vehicles connected with a static UWB infrastructure, whereas error at meter level for those exploiting only vehicle-to-vehicle UWB communications)

Application of artificial intelligence in Geodesy – A review of theoretical foundations and practical examples

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.Artificial Intelligence (AI) is one of the key technologies in many of today's novel applications. It is used to add knowledge and reasoning to systems. This paper illustrates a review of AI methods including examples of their practical application in Geodesy like data analysis, deformation analysis, navigation, network adjustment, and optimization of complex measurement procedures. We focus on three examples, namely, a geo-risk assessment system supported by a knowledge-base, an intelligent dead reckoning personal navigator, and evolutionary strategies for the determination of Earth gravity field parameters. Some of the authors are members of IAG Sub-Commission 4.2 – Working Group 4.2.3, which has the main goal to study and report on the application of AI in Engineering Geodesy

Multisensor navigation systems: a remedy for GNSS vulnerabilities?

Space-based positioning, navigation, and timing (PNT) technologies, such as the global navigation satellite systems (GNSS) provide position, velocity, and timing information to an unlimited number of users around the world. In recent years, PNT information has become increasingly critical to the security, safety, and prosperity of the World's population, and is now widely recognized as an essential element of the global information infrastructure. Due to its vulnerabilities and line-of-sight requirements, GNSS alone is unable to provide PNT with the required levels of integrity, accuracy, continuity, and reliability. A multisensor navigation approach offers an effective augmentation in GNSS-challenged environments that holds a promise of delivering robust and resilient PNT. Traditionally, sensors such as inertial measurement units (IMUs), barometers, magnetometers, odometers, and digital compasses, have been used. However, recent trends have largely focused on image-based, terrain-based and collaborative navigation to recover the user location. This paper offers a review of the technological advances that have taken place in PNT over the last two decades, and discusses various hybridizations of multisensory systems, building upon the fundamental GNSS/IMU integration. The most important conclusion of this study is that in order to meet the challenging goals of delivering continuous, accurate and robust PNT to the ever-growing numbers of users, the hybridization of a suite of different PNT solutions is required

A Benchmarking Measurement Campaign to Support Ubiquitous Localization in GNSS Denied and Indoor Environments

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Search for Charginos with a Small Mass Difference with the Lightest Supersymmetric Particle at \sqrt{s} = 189 GeV

A search for charginos nearly mass-degenerate with the lightest supersymmetric particle is performed using the 176 pb^-1 of data collected at 189 GeV in 1998 with the L3 detector. Mass differences between the chargino and the lightest supersymmetric particle below 4 GeV are considered. The presence of a high transverse momentum photon is required to single out the signal from the photon-photon interaction background. No evidence for charginos is found and upper limits on the cross section for chargino pair production are set. For the first time, in the case of heavy scalar leptons, chargino mass limits are obtained for any \tilde{\chi}^{+-}_1 - \tilde{\chi}^0_1 mass difference

Search for Low Scale Gravity Effects in e+e- Collisions at LEP

Recent theories propose that quantum gravity effects may be observable at LEP energies via gravitons that couple to Standard Model particles and propagate into extra spatial dimensions. The associated production of a graviton and a photon is searched for as well as the effects of virtual graviton exchange in the processes: e+e- -> gamma gamma, ZZ, WW, mu mu, tau tau, qq and ee No evidence for this new interaction is found in the data sample collected by the L3 detector at LEP at centre-of-mass energies up to 183 GeV. Limits close to 1 TeV on the scale of this new scenario of quantum gravity are set

Search for Branons at LEP

We search, in the context of extra-dimension scenarios, for the possible existence of brane fluctuations, called branons. Events with a single photon or a single Z-boson and missing energy and momentum collected with the L3 detector in e^+ e^- collisions at centre-of-mass energies sqrt{s}=189-209$ GeV are analysed. No excess over the Standard Model expectations is found and a lower limit at 95% confidence level of 103 GeV is derived for the mass of branons, for a scenario with small brane tensions. Alternatively, under the assumption of a light branon, brane tensions below 180 GeV are excluded

Near-Infrared and Optical Observations of Type Ic SN 2021krf: Luminous Late-time Emission and Dust Formation

We present near-infrared (NIR) and optical observations of the Type Ic supernova (SN Ic) SN 2021krf obtained between days 13 and 259 at several ground-based telescopes. The NIR spectrum at day 68 exhibits a rising $K$-band continuum flux density longward of $\sim$ 2.0 $\mu$m, and a late-time optical spectrum at day 259 shows strong [O I] 6300 and 6364 \r{A} emission-line asymmetry, both indicating the presence of dust, likely formed in the SN ejecta. We estimate a carbon-grain dust mass of $\sim$ 2 $\times$ 10$^{-5}$ M$_{\odot}$ and a dust temperature of $\sim$ 900 - 1200 K associated with this rising continuum and suggest the dust has formed in SN ejecta. Utilizing the one-dimensional multigroup radiation hydrodynamics code STELLA, we present two degenerate progenitor solutions for SN 2021krf, characterized by C-O star masses of 3.93 and 5.74 M$_{\odot}$, but with the same best-fit $^{56}$Ni mass of 0.11 M$_{\odot}$ for early times (0-70 days). At late times (70-300 days), optical light curves of SN 2021krf decline substantially more slowly than that expected from $^{56}$Co radioactive decay. Lack of H and He lines in the late-time SN spectrum suggests the absence of significant interaction of the ejecta with the circumstellar medium. We reproduce the entire bolometric light curve with a combination of radioactive decay and an additional powering source in the form of a central engine of a millisecond pulsar with a magnetic field smaller than that of a typical magnetar.Comment: Accepted for publication in ApJ, 27 pages, 21 figures, 6 tables. Previous arXiv submission (arXiv:2211.00205) replaced after acceptanc

The Transcription Factor Ultraspiracle Influences Honey Bee Social Behavior and Behavior-Related Gene Expression

Behavior is among the most dynamic animal phenotypes, modulated by a variety of internal and external stimuli. Behavioral differences are associated with large-scale changes in gene expression, but little is known about how these changes are regulated. Here we show how a transcription factor (TF), ultraspiracle (usp; the insect homolog of the Retinoid X Receptor), working in complex transcriptional networks, can regulate behavioral plasticity and associated changes in gene expression. We first show that RNAi knockdown of USP in honey bee abdominal fat bodies delayed the transition from working in the hive (primarily “nursing” brood) to foraging outside. We then demonstrate through transcriptomics experiments that USP induced many maturation-related transcriptional changes in the fat bodies by mediating transcriptional responses to juvenile hormone. These maturation-related transcriptional responses to USP occurred without changes in USP's genomic binding sites, as revealed by ChIP–chip. Instead, behaviorally related gene expression is likely determined by combinatorial interactions between USP and other TFs whose cis-regulatory motifs were enriched at USP's binding sites. Many modules of JH– and maturation-related genes were co-regulated in both the fat body and brain, predicting that usp and cofactors influence shared transcriptional networks in both of these maturation-related tissues. Our findings demonstrate how “single gene effects” on behavioral plasticity can involve complex transcriptional networks, in both brain and peripheral tissues

Transient exposure to low levels of insecticide affects metabolic networks of honeybee larvae

The survival of a species depends on its capacity to adjust to changing environmental conditions, and new stressors. Such new, anthropogenic stressors include the neonicotinoid class of crop-protecting agents, which have been implicated in the population declines of pollinating insects, including honeybees (Apis mellifera). The low-dose effects of these compounds on larval development and physiological responses have remained largely unknown. Over a period of 15 days, we provided syrup tainted with low levels (2 µg/L−1) of the neonicotinoid insecticide imidacloprid to beehives located in the field. We measured transcript levels by RNA sequencing and established lipid profiles using liquid chromatography coupled with mass spectrometry from worker-bee larvae of imidacloprid-exposed (IE) and unexposed, control (C) hives. Within a catalogue of 300 differentially expressed transcripts in larvae from IE hives, we detect significant enrichment of genes functioning in lipid-carbohydrate-mitochondrial metabolic networks. Myc-involved transcriptional response to exposure of this neonicotinoid is indicated by overrepresentation of E-box elements in the promoter regions of genes with altered expression. RNA levels for a cluster of genes encoding detoxifying P450 enzymes are elevated, with coordinated downregulation of genes in glycolytic and sugar-metabolising pathways. Expression of the environmentally responsive Hsp90 gene is also reduced, suggesting diminished buffering and stability of the developmental program. The multifaceted, physiological response described here may be of importance to our general understanding of pollinator health. Muscles, for instance, work at high glycolytic rates and flight performance could be impacted should low levels of this evolutionarily novel stressor likewise induce downregulation of energy metabolising genes in adult pollinators