FootSLAM meets adaptive thresholding

The is the author accepted manuscript. The final version is available from IEEE via the DOI in this recordCalibration of the zero-velocity detection threshold is an essential prerequisite for zero-velocity-aided inertial navigation. However, the literature is lacking a self-contained calibration method, suitable for large-scale use in unprepared environments without map information or pre-deployed infrastructure. In this paper, the calibration of the zero-velocity detection threshold is formulated as a maximum likelihood problem. The likelihood function is approximated using estimation quantities readily available from the FootSLAM algorithm. Thus, we obtain a method for adaptive thresholding that does not require map information, measurements from supplementary sensors, or user input. Experimental evaluations are conducted using data with different gait speeds, sensor placements, and walking trajectories. The proposed calibration method is shown to outperform fixed-threshold zero-velocity detectors and a benchmark using a speed-based threshold classifier.National Institute of Standards and Technology (NIST

Evaluation of Milk Products in Rations for Early Weaned Pigs

It is important to have an economical starter ration that will be highly palatable and result in rapid pig gains. This is especially true for pigs weaned at three to four weeks of age. The ration must provide all of the essential nutrients in a readily available form and at a cost which is not prohibitive. Previous research with partially delactosed whey has shown that the product may be less palatable for young pigs. This was thought to be due to the increased percentage of salts which occurs when some of the lactose is removed. If this is true, then the amount of salt normally added to the ration must be reduced to compensate for the higher level of salt in the whey product. The trials reported here were designed to study the effects of feeding milk products with and without sugar in comparison to a com-soybean meal ration and to determine the effect of the increased salts in delactosed whey on palatability, feed consumption, and rate of gain

IMU-based smartphone-to-vehicle positioning

This is the author accepted manuscript. The final version is available from the publisher via the DOI in this recordIn this paper, we address the problem of using inertial measurements to position a smartphone with respect to a vehicle-fixed accelerometer. Using rigid body kinematics, this is cast as a nonlinear filtering problem. Unlike previous publications, we consider the complete three-dimensional kinematics, and do not approximate the angular acceleration to be zero. The accuracy of an estimator based on the unscented Kalman filter is compared with the Cramer-Rao bound. As is illustrated, the estimates can be expected to be better in the horizontal plane than in the vertical direction of the vehicle frame. Moreover, implementation issues are discussed and the system model is motivated by observability arguments. The efficiency of the method is demonstrated in a field study which shows that the horizontal RMSE is in the order of 0.5 [m]. Last, the proposed estimator is benchmarked against the state-of-the-art in left/right classification. The framework can be expected to find use in both insurance telematics and distracted driving solutions

Effect of Virginiamycin on Growth and Carcass Characteristics of Barrows and Gilts

Antibiotics have been used as additives to swine diets for approximately 30 years. Various antibiotics have been shown to improve growth performance and efficiency of feed utilization. In addition, antibiotics have reduced low order infection. Since different organisms are sensitive to different antibiotics, the antibiotic of choice may vary depending on the organisms present. The effect of antibiotics on carcass characteristics has been less conclusive. This experiment was conducted to determine the effect of the antibiotic, virginiamycin, on performance and carcass characteristics of barrows and gilts fed separately

The Effect of Pen Space and Vitamin C Addition to the Diet on Weanling Pig Performance

It is assumed that there is no dietary requirement for vitamin C by the pig. However, recently there has been some indication that, under certain conditions, vitamin C or ascorbic acid may boost pig performance. Vitamin C is involved in development of the immune response. Therefore, if a requirement for dietary vitamin C exists, it should be demonstrated with pigs under stressed conditions. The study reported in this paper is a part of a cooperative project by the NCR-89 Committee on Confinement Management of Swine. It is designed to evaluate the response of weaned pigs to a vitamin C addition to the diet when placed under the stress of reduced pen space and feeder space

Swine Diets Utilizing Wheat

Previous trials have suggested that, when diets were supplemented at the same level and either corn or wheat was used in the same amount as the grain, pig gains were similar. However, pigs fed corn diets were more efficient in terms of both feed use and cost per pound of grain. Wheat diets supplemented at lower levels or assess the value of wheat\u27s higher protein level relative to corn and fed with or without supplemental lysine did not support satisfactory pig performance in terms of gain, feed efficiency or feed cost. Results of these trials suggested that an intermediate level of protein supplementation for wheat should be investigated. The trial reported here was designed with that objective

Sunflower Seeds in Growing-Finishing Swine Diets

South Dakota has become a leader in the production of sunflowers during the past few years. Sunflowers are an excellent oil. crop as they may contain 40% oil that is highly unsaturated in nature. In swine diets, the addition of sunflower seeds would replace mainly the grain or carbohydrate source in the diet, This would increase the energy content of the diet and shift the energy source from carbohydrate to a mixture of carbohydrates and fat. A previous experiment reported in the 1982 South Dakota Swine Day proceedings indicated that 20% dietary sunflower seeds reduced rate of gain and produced softer carcasses but 4id not affect the eating quality of the pork. The study reported herein was designed to further evaluate different levels of sunflower seeds in swine diets on swine performence and carcass characteristics

Wheat in Swine Finishing Rations

The objectives of the trial reported here were: 1. To compare the performance of pigs fed rations with the same proportions of grain and supplement but with the grain corn in one rations and wheat in another ration. 2. To assess the possible feeding value of wheat\u27s greater protein content by use of an all wheat ration in which there was a lower level of supplemental protein. 3. To assess the value of lysine in wheat rations by the effition of lysine to the same ration as used for comparison 2 (above)

Effects of Various Levels of Sunflower Seeds on Growing-Finishing Swine

Sunflowers are becoming a very important crop in South Dakota. Currently, most seeds are used to produce confectionary seeds or sunflower oil and sunflower meal. For various reasons, some sunflower seeds may not be suitable for these purposes. Feeding these seeds to livestock is one possible way to utilize them. Although at the present time sunflower seeds are not considered an economically feasible feed ingredient, prices may change, making them a more practical substitute for the common feed grains. For these reasons, this study has been conducted to determine growth and carcass characteristics of swine fed diets containing various levels of sunflower seeds