Frequency and site selection criteria for MST radars, part 5.1A

The majority of mesosphere-stratosphere-troposphere (MST) and ST radars are located in or near mountainous terrain. When measuring horizontal velocities, the terrain is a small factor, but when measuring vertical velocities, the meteorological noise induced by rough terrain can severely limit the usefulness of the observations. When the variance of the vertical velocity is too large, it is not possible to suitably filter the data to detect the small synoptic-scale signal with reasonable statistical confidence. The variance of vertical velocity at all tropospheric levels is directly related to the low level wind speed during flow over rough terrain. It is suggested that the synoptic-scale vertical velocity can be measured by ST radars where the terrain is smooth. The large-scale vertical velocity cannot always be reliably determined from MST radar data when the underlying terrain is rough. The vertical velocity is potentially on of future radar site selections, taking into account the desired meteorological applications of the data and engineering design factors. If the synoptic-scale vertical velocity is a desired variable, the radar should not be located near mountains

Measurement of vertical velocity using clear-air Doppler radars

A new clear air Doppler radar was constructed, called the Flatland radar, in very flat terrain near Champaign-Urbana, Illinois. The radar wavelength is 6.02 m. The radar has been measuring vertical velocity every 153 s with a range resolution of 750 m almost continuously since March 2, 1987. The variance of vertical velocity at Flatland is usually quite small, comparable to the variance at radars located near rough terrain during periods of small background wind. The absence of orographic effects over very flat terrain suggests that clear air Doppler radars can be used to study vertical velocities due to other processes, including synoptic scale motions and propagating gravity waves. For example, near rough terrain the shape of frequency spectra changes drastically as the background wind increases. But at Flatland the shape at periods shorter than a few hours changes only slowly, consistent with the changes predicted by Doppler shifting of gravity wave spectra. Thus it appears that the short period fluctuations of vertical velocity at Flatland are alsmost entirely due to the propagating gravity waves

Longitudinal quasi-static stability predicts changes in dog gait on rough terrain

Legged animals utilize gait selection to move effectively and must recover from environmental perturbations. We show that on rough terrain, domestic dogs, Canis lupus familiaris, spend more time in longitudinal quasi-statically stable patterns of movement. Here, longitudinal refers to the rostro-caudal axis. We used an existing model in the literature to quantify the longitudinal quasi-static stability of gaits neighbouring the walk, and found that trot-like gaits are more stable. We thus hypothesized that when perturbed, the rate of return to a stable gait would depend on the direction of perturbation, such that perturbations towards less quasi-statically stable patterns of movement would be more rapid than those towards more stable patterns of movement. The net result of this would be greater time spent in longitudinally quasi-statically stable patterns of movement. Limb movement patterns in which diagonal limbs were more synchronized (those more like a trot) have higher longitudinal quasi-static stability. We therefore predicted that as dogs explored possible limb configurations on rough terrain at walking speeds, the walk would shift towards trot. We gathered experimental data quantifying dog gait when perturbed by rough terrain and confirmed this prediction using GPS and inertial sensors (n=6, P<0.05). By formulating gaits as trajectories on the n-torus we are able to make tractable the analysis of gait similarity. These methods can be applied in a comparative study of gait control which will inform the ultimate role of the constraints and costs impacting locomotion, and have applications in diagnostic procedures for gait abnormalities, and in the development of agile legged robots.Temple University. College of EngineeringBioengineerin

Satellite communication and navigation for mobile users

Efforts made to utilize space technology for solving communication and navigation problems faced by mobile users in earth orientated situations are outlined. Applications include transoceanic airline communications, reliable long range ship-shore communications, emergency communications in regions with rough terrain, and military operations

First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain

Bayesian Optimisation for Safe Navigation under Localisation Uncertainty

In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that are safe for navigation based on its own percepts about the environment while avoiding damage to itself. Bayesian optimisation (BO) has been successfully applied to the task of learning a model of terrain traversability while guiding the robot through more traversable areas. An issue, however, is that localisation uncertainty can end up guiding the robot to unsafe areas and distort the model being learnt. In this paper, we address this problem and present a novel method that allows BO to consider localisation uncertainty by applying a Gaussian process model for uncertain inputs as a prior. We evaluate the proposed method in simulation and in experiments with a real robot navigating over rough terrain and compare it against standard BO methods.Comment: To appear in the proceedings of the 18th International Symposium on Robotics Research (ISRR 2017