Time-Relative RTK-GNSS: GNSS Loop Closure in Pose Graph Optimization

A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to estimate the absolute 3D position of outdoor mobile robots. However, since the accuracy of GNSS single-point positioning is only a few meters, the GNSS is not used for the loop closure of a pose graph. The main purpose of this study is to generate a loop closure of a pose graph using a time-relative real-time kinematic GNSS (TR-RTK-GNSS) technique. The proposed TR-RTK-GNSS technique uses time-differential carrier phase positioning, which is based on carrier-phase-based differential GNSS with a single GNSS receiver. Unlike a conventional RTK-GNSS, we can directly compute the robot's relative position using only a stand-alone GNSS receiver. The initial pose graph is generated from the accumulated velocity computed from GNSS Doppler measurements. To reduce the accumulated error of velocity, we use the TR-RTK-GNSS technique for the loop closure in the graph-based optimization framework. The kinematic positioning tests were performed using an unmanned aerial vehicle to confirm the effectiveness of the proposed technique. From the tests, we can estimate the vehicle's trajectory with approximately 3 cm accuracy using only a stand-alone GNSS receiver.Comment: Published in IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 202

GNSS Odometry: Precise Trajectory Estimation Based on Carrier Phase Cycle Slip Estimation

This paper proposes a highly accurate trajectory estimation method for outdoor mobile robots using global navigation satellite system (GNSS) time differences of carrier phase (TDCP) measurements. By using GNSS TDCP, the relative 3D position can be estimated with millimeter precision. However, when a phenomenon called cycle slip occurs, wherein the carrier phase measurement jumps and becomes discontinuous, it is impossible to accurately estimate the relative position using TDCP. Although previous studies have eliminated the effect of cycle slip using a robust optimization technique, it was difficult to completely eliminate the effect of outliers. In this paper, we propose a method to detect GNSS carrier phase cycle slip, estimate the amount of cycle slip, and modify the observed TDCP to calculate the relative position using the factor graph optimization framework. The estimated relative position acts as a loop closure in graph optimization and contributes to the reduction in the integration error of the relative position. Experiments with an unmanned aerial vehicle showed that by modifying the cycle slip using the proposed method, the vehicle trajectory could be estimated with an accuracy of 5 to 30 cm using only a single GNSS receiver, without using any other external data or sensors.Comment: Published in IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 202

Major Issues and Challenges of Influenza Pandemic Preparedness in Developing Countries

Summary line: A pandemic is a global issue, and pandemic preparedness should be considered from a global perspective

Robust UAV Position and Attitude Estimation using Multiple GNSS Receivers for Laser-based 3D Mapping

Small-sized unmanned aerial vehicles (UAVs) have been widely investigated for use in a variety of applications such as remote sensing and aerial surveying. Direct three-dimensional (3D) mapping using a small-sized UAV equipped with a laser scanner is required for numerous remote sensing applications. In direct 3D mapping, the precise information about the position and attitude of the UAV is necessary for constructing 3D maps. In this study, we propose a novel and robust technique for estimating the position and attitude of small-sized UAVs by employing multiple low-cost and light-weight global navigation satellite system (GNSS) antennas/receivers. Using the "redundancy" of multiple GNSS receivers, we enhance the performance of real-time kinematic (RTK)-GNSS by employing single-frequency GNSS receivers. This method consists of two approaches: hybrid GNSS fix solutions and consistency examination of the GNSS signal strength. The fix rate of RTK-GNSS using single-frequency GNSS receivers can be highly enhanced to combine multiple RTK-GNSS to fix solutions in the multiple antennas. In addition, positioning accuracy and fix rate can be further enhanced to detect multipath signals by using multiple GNSS antennas. In this study, we developed a prototype UAV that is equipped with six GNSS antennas/receivers. From the static test results, we conclude that the proposed technique can enhance the accuracy of the position and attitude estimation in multipath environments. From the flight test, the proposed system could generate a 3D map with an accuracy of 5 cm.Comment: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 201

Evolution of the M gene of the influenza A virus in different host species: large-scale sequence analysis

<p>Abstract</p> <p>Background</p> <p>Influenza A virus infects not only humans, but also other species including avian and swine. If a novel influenza A subtype acquires the ability to spread between humans efficiently, it could cause the next pandemic. Therefore it is necessary to understand the evolutionary processes of influenza A viruses in various hosts in order to gain better knowledge about the emergence of pandemic virus. The virus has segmented RNA genome and 7th segment, M gene, encodes 2 proteins. M1 is a matrix protein and M2 is a membrane protein. The M gene may be involved in determining host tropism. Besides, novel vaccines targeting M1 or M2 protein to confer cross subtype protection have been under development. We conducted the present study to investigate the evolution of the M gene by analyzing its sequence in different species.</p> <p>Results</p> <p>Phylogenetic tree revealed host-specific lineages and evolution rates were different among species. Selective pressure on M2 was stronger than that on M1. Selective pressure on M1 for human influenza was stronger than that for avian influenza, as well as M2. Site-by-site analyses identified one site (amino acid position 219) in M1 as positively selected in human. Positions 115 and 121 in M1, at which consensus amino acids were different between human and avian, were under negative selection in both hosts. As to M2, 10 sites were under positive selection in human. Seven sites locate in extracellular domain. That might be due to host's immune pressure. One site (position 27) positively selected in transmembrane domain is known to be associated with drug resistance. And, two sites (positions 57 and 89) locate in cytoplasmic domain. The sites are involved in several functions.</p> <p>Conclusion</p> <p>The M gene of influenza A virus has evolved independently, under different selective pressure on M1 and M2 among different hosts. We found potentially important sites that may be related to host tropism and immune responses. These sites may be important for evolutional process in different hosts and host adaptation.</p

Endoscopic Laser Treatment for Pediatric Nasal Allergy

We have used the carbon dioxide (CO2) laser and the gallium aluminium arsenide (GaAlAs) diode laser with flexible fiber delivery instruments for vaporization of the inferior nasal turbinate in pediatric patients since 1993. Under endoscopic control, the whole inferior turbinate was vaporized by 5–10 W laser output delivered via an optical fiber. Generally, the nasal mucosa changes into normal mucosa, and symptoms improve. The greatest symptomatic improvement was in nasal obstruction. The results obtained by the two laser devices were similar although they have had different characteristics. Endoscopic laser surgery is effective in the treatment of pediatric nasal allergy

Bioluminescence Microscopy: Design and Applications

Bioluminescence imaging by microscopy is performed using an ultra-low-light imaging camera. Although imaging devices such as sensor and camera have been greatly improved over time, such improvements have not been attained commercially which are available for microscopes now. We previously optimized the optical system of a microscope for bioluminescence imaging using a short-focal-length imaging lens and evaluated this system with a conventional color charge-coupled device camera. Here, we describe the concept of bioluminescence microscope design using a short-focal-length imaging lens and some representative applications, including intracellular calcium imaging, imaging of clock gene promoter assays, and three-dimensional reconstruction of Drosophila larva. This system facilitates the acquisition of bioluminescence images of single live cells using luciferase, which is similar to fluorescence microscopy using a fluorescent protein

Estimation of articulated angle in six-wheeled dump trucks using multiple GNSS receivers for autonomous driving

Due to the declining birthrate and aging population, the shortage of labor in the construction industry has become a serious problem, and increasing attention has been paid to automation of construction equipment. We focus on the automatic operation of articulated six-wheel dump trucks at construction sites. For the automatic operation of the dump trucks, it is important to estimate the position and the articulated angle of the dump trucks with high accuracy. In this study, we propose a method for estimating the state of a dump truck by using four global navigation satellite systems (GNSSs) installed on an articulated dump truck and a graph optimization method that utilizes the redundancy of multiple GNSSs. By adding real-time kinematic (RTK)-GNSS constraints and geometric constraints between the four antennas, the proposed method can robustly estimate the position and articulation angle even in environments where GNSS satellites are partially blocked. As a result of evaluating the accuracy of the proposed method through field tests, it was confirmed that the articulated angle could be estimated with an accuracy of 0.1$^\circ$ in an open-sky environment and 0.7$^\circ$ in a mountainous area simulating an elevation angle of 45$^\circ$ where GNSS satellites are blocked.Comment: This is an electronic version of an article published in ADVANCED ROBOTICS, 35:23, 1376-1387, 2021. ADVANCED ROBOTICS is available online at: www.tandfonline.com/Article DOI; 10.1080/01691864.2019.161962