Outdoor navigation of mobile robots

AGVs in the manufacturing industry currently constitute the largest application area for mobile robots. Other applications have been gradually emerging, including various transporting tasks in demanding environments, such as mines or harbours. Most of the new potential applications require a free-ranging navigation system, which means that the path of a robot is no longer bound to follow a buried inductive cable. Moreover, changing the route of a robot or taking a new working area into use must be as effective as possible. These requirements set new challenges for the navigation systems of mobile robots. One of the basic methods of building a free ranging navigation system is to combine dead reckoning navigation with the detection of beacons at known locations. This approach is the backbone of the navigation systems in this study. The study describes research and development work in the area of mobile robotics including the applications in forestry, agriculture, mining, and transportation in a factory yard. The focus is on describing navigation sensors and methods for position and heading estimation by fusing dead reckoning and beacon detection information. A Kalman filter is typically used here for sensor fusion. Both cases of using either artificial or natural beacons have been covered. Artificial beacons used in the research and development projects include specially designed flat objects to be detected using a camera as the detection sensor, GPS satellite positioning system, and passive transponders buried in the ground along the route of a robot. The walls in a mine tunnel have been used as natural beacons. In this case, special attention has been paid to map building and using the map for positioning. The main contribution of the study is in describing the structure of a working navigation system, including positioning and position control. The navigation system for mining application, in particular, contains some unique features that provide an easy-to-use procedure for taking new production areas into use and making it possible to drive a heavy mining machine autonomously at speed comparable to an experienced human driver.reviewe

Post-harvest height growth of Norway spruce seedlings in northern Finland peatland forest canopy gaps and comparison to partial and complete canopy removals and plantations.

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Disentangling the effects of phonation and articulation: Hemispheric asymmetries in the auditory N1m response of the human brain

BACKGROUND: The cortical activity underlying the perception of vowel identity has typically been addressed by manipulating the first and second formant frequency (F1 & F2) of the speech stimuli. These two values, originating from articulation, are already sufficient for the phonetic characterization of vowel category. In the present study, we investigated how the spectral cues caused by articulation are reflected in cortical speech processing when combined with phonation, the other major part of speech production manifested as the fundamental frequency (F0) and its harmonic integer multiples. To study the combined effects of articulation and phonation we presented vowels with either high (/a/) or low (/u/) formant frequencies which were driven by three different types of excitation: a natural periodic pulseform reflecting the vibration of the vocal folds, an aperiodic noise excitation, or a tonal waveform. The auditory N1m response was recorded with whole-head magnetoencephalography (MEG) from ten human subjects in order to resolve whether brain events reflecting articulation and phonation are specific to the left or right hemisphere of the human brain. RESULTS: The N1m responses for the six stimulus types displayed a considerable dynamic range of 115–135 ms, and were elicited faster (~10 ms) by the high-formant /a/ than by the low-formant /u/, indicating an effect of articulation. While excitation type had no effect on the latency of the right-hemispheric N1m, the left-hemispheric N1m elicited by the tonally excited /a/ was some 10 ms earlier than that elicited by the periodic and the aperiodic excitation. The amplitude of the N1m in both hemispheres was systematically stronger to stimulation with natural periodic excitation. Also, stimulus type had a marked (up to 7 mm) effect on the source location of the N1m, with periodic excitation resulting in more anterior sources than aperiodic and tonal excitation. CONCLUSION: The auditory brain areas of the two hemispheres exhibit differential tuning to natural speech signals, observable already in the passive recording condition. The variations in the latency and strength of the auditory N1m response can be traced back to the spectral structure of the stimuli. More specifically, the combined effects of the harmonic comb structure originating from the natural voice excitation caused by the fluctuating vocal folds and the location of the formant frequencies originating from the vocal tract leads to asymmetric behaviour of the left and right hemisphere

Using Games to Understand and Create Randomness

Massive growth of data and communication encryption has created growing need for non-predictable, random data, needed for encryption keys creation. Need for randomness grows (nearly) linearly with growth of encryption, but randomness is very important ingredient also e.g. in quickly growing industry of game programming. Computers are deterministic devices and cannot create random results, computer procedures can generate only pseudo-random (looking random) data. For true randomness is needed some outside information - time and placement of user's keystrokes, fluctuations of current, interrupt requests in computer processor etc. But even those sources can often not comply with requests from our increasingly randomness-hunger environment of ciphered communications and data. Growing need for randomness has created a market of randomness sources; new sources are proposed constantly. These sources differ in their properties (ease of access, size of required software etc.) and in ease of estimating their quality. However, there is an easily available good source for comparing quality of randomness and also creating new randomness - computer games. The growing affectionateness of users to play digital games makes this activity very attractive for comparing quality of randomness sources and using as a source of new randomness. In the following are analyzed possibilities for investigating and extracting randomness from digital gameplay and demonstrated some experiments with simple stateless games which allow to compare existing sources of (pseudo) randomness and generate new randomness, which can be used e.g. to create cyphering keys in mobile and Internet of Things devices.publishedVersionPeer reviewe