Improved Particle Filter Based Localization and Mapping Techniques

One of the most fundamental problems in mobile robotics is localization. The solution to most problems requires that the robot first determine its location in the environment. Even if the absolute position is not necessary, the robot must know where it is in relation to other objects. Virtually all activities require this preliminary knowledge. Another part of the localization problem is mapping, the robot’s position depends on its representation of the environment. An object’s position cannot be known in isolation, but must be determined in relation to the other objects. A map gives the robot’s understanding of the world around it, allowing localization to provide a position within that representation. The quality of localization thus depends directly on the quality of mapping. When a robot is moving in an unknown environment these problems must be solved simultaneously in a problem called SLAM (Simultaneous Localization and Mapping). Some of the best current techniques for localization and SLAM are based on particle filters which approximate the belief state. Monte Carlo Localization (MCL) is a solution to basic localization, while FastSLAM is used to solve the SLAM problem. Although these techniques are powerful, certain assumptions reduce their effectiveness. In particular, both techniques assume an underlying static environment, as well as certain basic sensor models. Also, MCL applies to the case where the map is entirely known while FastSLAM solves an entirely unknown map. In the case of partial knowledge, MCL cannot succeed while FastSLAM must discard the additional information. My research provides improvements to particle based localization and mapping which overcome some of the problems with these techniques, without reducing the original capabilities of the algorithms. I also extend their application to additional situations and make them more robust to several types of error. The improved solutions allow more accurate localization to be performed, so that robots can be used in additional situations

Robust Global Localization Using Clustered Particle Filtering

Global mobile robot localization is the problem of determining a robot's pose in an environment, using sensor data, when the starting position is unknown. A family of probabilistic algorithms known as Monte Carlo Localization (MCL) is currently among the most popular methods for solving this problem. MCL algorithms represent a robot's belief by a set of weighted samples, which approximate the posterior probability of where the robot is located by using a Bayesian formulation of the localization problem. This article presents an extension to the MCL algorithm, which addresses its problems when localizing in highly symmetrical environments; a situation where MCL is often unable to correctly track equally probable poses for the robot. The problem arises from the fact that sample sets in MCL often become impoverished, when samples are generated according to their posterior likelihood. Our approach incorporates the idea of clusters of samples and modifies the proposal distribution considering the probability mass of those clusters. Experimental results are presented that show that this new extension to the MCL algorithm successfully localizes in symmetric environments where ordinary MCL often fails.Comment: 6 pages. Proceedings of AAAI-2002 (in press

Radiometer Calibration Using Colocated GPS Radio Occultation Measurements

We present a new high-fidelity method of calibrating a cross-track scanning microwave radiometer using Global Positioning System (GPS) radio occultation (GPSRO) measurements. The radiometer and GPSRO receiver periodically observe the same volume of atmosphere near the Earth's limb, and these overlapping measurements are used to calibrate the radiometer. Performance analyses show that absolute calibration accuracy better than 0.25 K is achievable for temperature sounding channels in the 50-60-GHz band for a total-power radiometer using a weakly coupled noise diode for frequent calibration and proximal GPSRO measurements for infrequent (approximately daily) calibration. The method requires GPSRO penetration depth only down to the stratosphere, thus permitting the use of a relatively small GPS antenna. Furthermore, only coarse spacecraft angular knowledge (approximately one degree rms) is required for the technique, as more precise angular knowledge can be retrieved directly from the combined radiometer and GPSRO data, assuming that the radiometer angular sampling is uniform. These features make the technique particularly well suited for implementation on a low-cost CubeSat hosting both radiometer and GPSRO receiver systems on the same spacecraft. We describe a validation platform for this calibration method, the Microwave Radiometer Technology Acceleration (MiRaTA) CubeSat, currently in development for the National Aeronautics and Space Administration (NASA) Earth Science Technology Office. MiRaTA will fly a multiband radiometer and the Compact TEC/Atmosphere GPS Sensor in 2015.United States. Dept. of Defense. Assistant Secretary of Defense for Research & Engineering (United States. Air Force Contract FA8721-05-C-0002

Prehospital Electronic Patient Care Report Systems: Early Experiences from Emergency Medical Services Agency Leaders

Background: As the United States embraces electronic health records (EHRs), improved emergency medical services (EMS) information systems are also a priority; however, little is known about the experiences of EMS agencies as they adopt and implement electronic patient care report (e-PCR) systems. We sought to characterize motivations for adoption of e-PCR systems, challenges associated with adoption and implementation, and emerging implementation strategies. Methods: We conducted a qualitative study using semi-structured in-depth interviews with EMS agency leaders. Participants were recruited through a web-based survey of National Association of EMS Physicians (NAEMSP) members, a didactic session at the 2010 NAEMSP Annual Meeting, and snowball sampling. Interviews lasted approximately 30 minutes, were recorded and professionally transcribed. Analysis was conducted by a five-person team, employing the constant comparative method to identify recurrent themes. Results: Twenty-three interviewees represented 20 EMS agencies from the United States and Canada; 14 EMS agencies were currently using e-PCR systems. The primary reason for adoption was the potential for e-PCR systems to support quality assurance efforts. Challenges to e-PCR system adoption included those common to any health information technology project, as well as challenges unique to the prehospital setting, including: fear of increased ambulance run times leading to decreased ambulance availability, difficulty integrating with existing hospital information systems, and unfunded mandates requiring adoption of e-PCR systems. Three recurring strategies emerged to improve e-PCR system adoption and implementation: 1) identify creative funding sources; 2) leverage regional health information organizations; and 3) build internal information technology capacity. Conclusion: EMS agencies are highly motivated to adopt e-PCR systems to support quality assurance efforts; however, adoption and implementation of e-PCR systems has been challenging for many. Emerging strategies from EMS agencies and others that have successfully implemented EHRs may be useful in expanding e-PCR system use and facilitating this transition for other EMS agencies

Observation of associated near-side and away-side long-range correlations in √sNN=5.02 TeV proton-lead collisions with the ATLAS detector

Two-particle correlations in relative azimuthal angle (Δϕ) and pseudorapidity (Δη) are measured in √sNN=5.02  TeV p+Pb collisions using the ATLAS detector at the LHC. The measurements are performed using approximately 1  μb-1 of data as a function of transverse momentum (pT) and the transverse energy (ΣETPb) summed over 3.1<η<4.9 in the direction of the Pb beam. The correlation function, constructed from charged particles, exhibits a long-range (2<|Δη|<5) “near-side” (Δϕ∼0) correlation that grows rapidly with increasing ΣETPb. A long-range “away-side” (Δϕ∼π) correlation, obtained by subtracting the expected contributions from recoiling dijets and other sources estimated using events with small ΣETPb, is found to match the near-side correlation in magnitude, shape (in Δη and Δϕ) and ΣETPb dependence. The resultant Δϕ correlation is approximately symmetric about π/2, and is consistent with a dominant cos⁡2Δϕ modulation for all ΣETPb ranges and particle pT

Search for direct production of charginos and neutralinos in events with three leptons and missing transverse momentum in √s = 7 TeV pp collisions with the ATLAS detector

A search for the direct production of charginos and neutralinos in final states with three electrons or muons and missing transverse momentum is presented. The analysis is based on 4.7 fb−1 of proton–proton collision data delivered by the Large Hadron Collider and recorded with the ATLAS detector. Observations are consistent with Standard Model expectations in three signal regions that are either depleted or enriched in Z-boson decays. Upper limits at 95% confidence level are set in R-parity conserving phenomenological minimal supersymmetric models and in simplified models, significantly extending previous results

Measurement of χ c1 and χ c2 production with s√ = 7 TeV pp collisions at ATLAS

The prompt and non-prompt production cross-sections for the χ c1 and χ c2 charmonium states are measured in pp collisions at s√ = 7 TeV with the ATLAS detector at the LHC using 4.5 fb−1 of integrated luminosity. The χ c states are reconstructed through the radiative decay χ c → J/ψγ (with J/ψ → μ + μ −) where photons are reconstructed from γ → e + e − conversions. The production rate of the χ c2 state relative to the χ c1 state is measured for prompt and non-prompt χ c as a function of J/ψ transverse momentum. The prompt χ c cross-sections are combined with existing measurements of prompt J/ψ production to derive the fraction of prompt J/ψ produced in feed-down from χ c decays. The fractions of χ c1 and χ c2 produced in b-hadron decays are also measured

Measurements of fiducial and differential cross sections for Higgs boson production in the diphoton decay channel at s√=8 TeV with ATLAS

Measurements of fiducial and differential cross sections are presented for Higgs boson production in proton-proton collisions at a centre-of-mass energy of s√=8 TeV. The analysis is performed in the H → γγ decay channel using 20.3 fb−1 of data recorded by the ATLAS experiment at the CERN Large Hadron Collider. The signal is extracted using a fit to the diphoton invariant mass spectrum assuming that the width of the resonance is much smaller than the experimental resolution. The signal yields are corrected for the effects of detector inefficiency and resolution. The pp → H → γγ fiducial cross section is measured to be 43.2 ±9.4(stat.) − 2.9 + 3.2 (syst.) ±1.2(lumi)fb for a Higgs boson of mass 125.4GeV decaying to two isolated photons that have transverse momentum greater than 35% and 25% of the diphoton invariant mass and each with absolute pseudorapidity less than 2.37. Four additional fiducial cross sections and two cross-section limits are presented in phase space regions that test the theoretical modelling of different Higgs boson production mechanisms, or are sensitive to physics beyond the Standard Model. Differential cross sections are also presented, as a function of variables related to the diphoton kinematics and the jet activity produced in the Higgs boson events. The observed spectra are statistically limited but broadly in line with the theoretical expectations