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Journal articles on the topic 'IFR navigation'
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GERATOWSKI, Michał, and Mateusz SOBALA. "Conducting IFR flights without the use of conventional navigation AIDS at the uncontrolled aerodromes." Scientific Journal of Silesian University of Technology. Series Transport 90 (March 1, 2016): 47–62. http://dx.doi.org/10.20858/sjsutst.2016.90.5.
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Kumar, Priyadarshi Biplab, Dayal R. Parhi, and Chinmaya Sahu. "An approach to optimize the path of humanoid robots using a hybridized regression-adaptive particle swarm optimization-adaptive ant colony optimization method." Industrial Robot: the international journal of robotics research and application 46, no. 1 (2019): 104–17. http://dx.doi.org/10.1108/ir-10-2018-0204.
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PurposeWith enhanced use of humanoids in demanding sectors of industrial automation and smart manufacturing, navigation and path planning of humanoid forms have become the centre of attraction for robotics practitioners. This paper aims to focus on the development and implementation of a hybrid intelligent methodology to generate an optimal path for humanoid robots using regression analysis, adaptive particle swarm optimization and adaptive ant colony optimization techniques.Design/methodology/approachSensory information regarding obstacle distances are fed to the regression controller, and an interim turning angle is obtained as the initial output. Adaptive particle swarm optimization technique is used to tune the governing parameter of adaptive ant colony optimization technique. The final output is generated by using the initial output of regression controller and tuned parameter from adaptive particle swarm optimization as inputs to the adaptive ant colony optimization technique along with other regular inputs. The final turning angle calculated from the hybrid controller is subsequently used by the humanoids to negotiate with obstacles present in the environment.FindingsAs the current investigation deals with the navigational analysis of single as well as multiple humanoids, a Petri-Net model has been combined with the proposed hybrid controller to avoid inter-collision that may happen in navigation of multiple humanoids. The hybridized controller is tested in simulation and experimental platforms with comparison of navigational parameters. The results obtained from both the platforms are found to be in coherence with each other. Finally, an assessment of the current technique with other existing navigational model reveals a performance improvement.Research limitations/implicationsThe proposed hybrid controller provides satisfactory results for navigational analysis of single as well as multiple humanoids. However, the developed hybrid scheme can also be attempted with use of other smart algorithms.Practical implicationsHumanoid navigation is the present talk of the town, as its use is widespread to multiple sectors such as industrial automation, medical assistance, manufacturing sectors and entertainment. It can also be used in space and defence applications.Social implicationsThis approach towards path planning can be very much helpful for navigating multiple forms of humanoids to assist in daily life needs of older adults and can also be a friendly tool for children.Originality/valueHumanoid navigation has always been tricky and challenging. In the current work, a novel hybrid methodology of navigational analysis has been proposed for single and multiple humanoid robots, which is rarely reported in the existing literature. The developed navigational plan is verified through testing in simulation and experimental platforms. The results obtained from both the platforms are assessed against each other in terms of selected navigational parameters with observation of minimal error limits and close agreement. Finally, the proposed hybrid scheme is also evaluated against other existing navigational models, and significant performance improvements have been observed.
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l Reweti, Savern, Andrew Gilbey, and Lynn Jeffrey. "Efficacy of Low-Cost PC-Based Aviation Training Devices." Journal of Information Technology Education: Research 16 (2017): 127–42. http://dx.doi.org/10.28945/3682.
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Aim/Purpose: The aim of this study was to explore whether a full cost flight training device (FTD) was significantly better for simulator training than a low cost PC-Based Aviation Training Device (PCATD). Background: A quasi-transfer study was undertaken to ascertain whether a Civil Aviation Authority certified Flight Training Device (FTD) was more effective at improving pilot proficiency in the performance of a standard VFR traffic pattern (Overhead Rejoin Procedure) than a customised low cost PCATD. Methodology: In this quasi-transfer study, a high fidelity FTD rather than an aircraft was used to test both training and transfer tasks. Ninety-three pilots were recruited to participate in the study. Contribution: The use of PCATDs is now well established for pilot training, especially for Instrument Flight Rules (IFR) skills training. However, little substantive research has been undertaken to examine their efficacy for VFR training. Findings: There was no evidence of a pre-test/post-test difference in VFR task perfor-mance between participants trained on the PCATD and the FTD, when post tested on the FTD. The use of both PCATD and FTD demonstrated signifi-cant improvements in VFR task performance compared to a control group that received no PCATD or FTD training. Recommendations for Practitioners : We discuss the possibility that low cost PCATDs may be a viable alternative for flight schools wishing to use a flight simulator but not able to afford a FTD. Recommendation for Researchers: We discuss the introduction of improved low cost technologies that allow PCATDs to be used more effectively for training in VFR procedures. The development and testing of new technologies requires more research. Impact on Society: Flight training schools operate in a difficult economic environment with continued increases in the cost of aircraft maintenance, compliance costs, and aviation fuel. The increased utilisation of low cost PCATD’s especially for VFR instruction could significantly reduce the overall cost of pilot training Future Research: A new study is being undertaken to compare the effectiveness of a PCATD and a FTD at training transfer of other VFR task procedures such as forced landing training, forced landing after take-off, and low-level navigation exercises.
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Patle, Bhumeshwar, Shyh-Leh Chen, Brijesh Patel, Sunil Kumar Kashyap, and Sudarshan Sanap. "Topological drone navigation in uncertain environment." Industrial Robot: the international journal of robotics research and application 48, no. 3 (2021): 423–41. http://dx.doi.org/10.1108/ir-10-2020-0218.
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Purpose With the increasing demand for surveillance and smart transportation, drone technology has become the center of attraction for robotics researchers. This study aims to introduce a new path planning approach to drone navigation based on topology in an uncertain environment. The main objective of this study is to use the Ricci flow evolution equation of metric and curvature tensor over angular Riemannian metric, and manifold for achieving navigational goals such as path length optimization at the minimum required time, collision-free obstacle avoidance in static and dynamic environments and reaching to the static and dynamic goals. The proposed navigational controller performs linearly and nonlinearly both with reduced error-based objective function by Riemannian metric and scalar curvature, respectively. Design/methodology/approach Topology and manifolds application-based methodology establishes the resultant drone. The trajectory planning and its optimization are controlled by the system of evolution equation over Ricci flow entropy. The navigation follows the Riemannian metric-based optimal path with an angular trajectory in the range from 0° to 360°. The obstacle avoidance in static and dynamic environments is controlled by the metric tensor and curvature tensor, respectively. The in-house drone is developed and coded using C++. For comparison of the real-time results and simulation results in static and dynamic environments, the simulation study has been conducted using MATLAB software. The proposed controller follows the topological programming constituted with manifold-based objective function and Riemannian metric, and scalar curvature-based constraints for linear and nonlinear navigation, respectively. Findings This proposed study demonstrates the possibility to develop the new topology-based efficient path planning approach for navigation of drone and provides a unique way to develop an innovative system having characteristics of static and dynamic obstacle avoidance and moving goal chasing in an uncertain environment. From the results obtained in the simulation and real-time environments, satisfactory agreements have been seen in terms of navigational parameters with the minimum error that justifies the significant working of the proposed controller. Additionally, the comparison of the proposed navigational controller with the other artificial intelligent controllers reveals performance improvement. Originality/value In this study, a new topological controller has been proposed for drone navigation. The topological drone navigation comprises the effective speed control and collision-free decisions corresponding to the Ricci flow equation and Ricci curvature over the Riemannian metric, respectively.
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Khalilullah, K. M. Ibrahim, Shunsuke Ota, Toshiyuki Yasuda, and Mitsuru Jindai. "Road area detection method based on DBNN for robot navigation using single camera in outdoor environments." Industrial Robot: An International Journal 45, no. 2 (2018): 275–86. http://dx.doi.org/10.1108/ir-08-2017-0139.
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Purpose The purpose of this study is to develop a cost-effective autonomous wheelchair robot navigation method that assists the aging population. Design/methodology/approach Navigation in outdoor environments is still a challenging task for an autonomous mobile robot because of the highly unstructured and different characteristics of outdoor environments. This study examines a complete vision guided real-time approach for robot navigation in urban roads based on drivable road area detection by using deep learning. During navigation, the camera takes a snapshot of the road, and the captured image is then converted into an illuminant invariant image. Subsequently, a deep belief neural network considers this image as an input. It extracts additional discriminative abstract features by using general purpose learning procedure for detection. During obstacle avoidance, the robot measures the distance from the obstacle position by using estimated parameters of the calibrated camera, and it performs navigation by avoiding obstacles. Findings The developed method is implemented on a wheelchair robot, and it is verified by navigating the wheelchair robot on different types of urban curve roads. Navigation in real environments indicates that the wheelchair robot can move safely from one place to another. The navigation performance of the developed method and a comparison with laser range finder (LRF)-based methods were demonstrated through experiments. Originality/value This study develops a cost-effective navigation method by using a single camera. Additionally, it utilizes the advantages of deep learning techniques for robust classification of the drivable road area. It performs better in terms of navigation when compared to LRF-based methods in LRF-denied environments.
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Tang, S. J., Q. Zhu, W. W. Wang, and Y. T. Zhang. "AUTOMATIC TOPOLOGY DERIVATION FROM IFC BUILDING MODEL FOR IN-DOOR INTELLIGENT NAVIGATION." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XL-4/W5 (May 11, 2015): 7–11. http://dx.doi.org/10.5194/isprsarchives-xl-4-w5-7-2015.
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With the goal to achieve an accuracy navigation within the building environment, it is critical to explore a feasible way for building the connectivity relationships among 3D geographical features called in-building topology network. Traditional topology construction approaches for indoor space always based on 2D maps or pure geometry model, which remained information insufficient problem. Especially, an intelligent navigation for different applications depends mainly on the precise geometry and semantics of the navigation network. The trouble caused by existed topology construction approaches can be smoothed by employing IFC building model which contains detailed semantic and geometric information. In this paper, we present a method which combined a straight media axis transformation algorithm (S-MAT) with IFC building model to reconstruct indoor geometric topology network. This derived topology aimed at facilitating the decision making for different in-building navigation. In this work, we describe a multi-step deviation process including semantic cleaning, walkable features extraction, Multi-Storey 2D Mapping and S-MAT implementation to automatically generate topography information from existing indoor building model data given in IFC.
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Abou Diakité, Abdoulaye, and Sisi Zlatanova. "Valid Space Description in BIM for 3D Indoor Navigation." International Journal of 3-D Information Modeling 5, no. 3 (2016): 1–17. http://dx.doi.org/10.4018/ij3dim.2016070101.
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The BIM paradigm, supplied by appropriate standards like IFC, became unavoidable in recent construction projects. Several applications (e.g. indoor navigation, energy analysis ...) find in it a source of information on which they can rely. However, practices reveal that BIM models are not always directly reliable for applications and the latter have to ensure the validity of the data by their own. In the case of indoor navigation, the calculations will highly rely on the IfcSpace objects describing the rooms, in addition to their spatial relationships with their surrounding components. Unfortunately, it is common to face IFC models in which IfcSpace objects contain wrong geometric and topological description. In this paper, the authors discuss the issues related to BIM models validation for indoor navigation. Furthermore, they present a method to generate valid indoor spaces in IFC models. The approach relies on the structural components of the building (walls, slabs, etc.) and uses topological operations, supported by the combinatorial map data structure, to produce watertight space volumes.
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Tian, Yumiao. "Refinement of GLONASS Phase Inter-Frequency Biases and Their Applications on Single-Epoch Ambiguity Fixing." Journal of Navigation 73, no. 3 (2019): 530–46. http://dx.doi.org/10.1017/s037346331900078x.
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Carrier-phase inter-frequency bias (IFB) exists in GLObal NAvigation Satellite System (GLONASS) baselines when receivers of different brands are used. Those biases need to be calibrated in GLONASS data processing to derive precise fixed solutions. Consequently, the accuracy of the IFB calibration affects ambiguity fixing, and low-accuracy IFB values in the calibration will degrade the positioning results. Hitherto, at least two IFB rate value sets for various receiver brands have been given in previous studies. Some of the differences between the value sets exceed 2 mm/FN (frequency number) and the effects of those differences on ambiguity fixing have not been investigated until now. This study showed that ambiguity fixing in GLONASS single-epoch positioning is very sensitive to the accuracy of the IFB rates. Even errors of millimetres can seriously lower the empirical success rate. The short baselines from the Global Navigation Satellite System (GNSS, which includes Russian GLONASS) networks of the International GNSS Service and the Regional Reference Frame Sub-Commission for Europe were employed to obtain more accurate IFB rate estimates with the proposed two-dimensional particle filtering. Afterwards, the IFB estimates were statistically refined by the least-squares method. Experiments showed that when the refined IFB rates were used in the IFB calibration, the empirical success rates of ambiguity fixing in GLONASS single-epoch positioning were largely improved compared with the values given before, improvements such as 20·6% for a Septentrio and Leica receiver combination.
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Lichoń, Daniel, and Marek Orkisz. "Models of the Reference Departure and Arrival IFR Procedures for the Purpose of Research in RPAS Integration in Controlled Airspace." Journal of KONES 26, no. 3 (2019): 121–28. http://dx.doi.org/10.2478/kones-2019-0065.
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Abstract The air operations in controlled airspace performed according to Instrument Flight Rules (IFR) are composed of three main flight phases, i.e. departure, cruise, arrival. Controlled airspace is divided into the terminal area and en-route airspace. The terminal area encloses the departure and arrival phases while the en-route airspace encloses the cruise phase. The IFR procedures are designed for manned aviation to ensure the safety of air operations. Development of the aviation concerns among others the increase in the number of unmanned aviation operations. Currently, on the European level, there is an on-going, long-term program of integration of the unmanned aviation in the uniform (non-segregated) airspace. This work concerns the research in the integration of the Remotely Piloted Aircraft Systems (RPAS) in the IFR procedures of the controlled airports. The objective was to build the reference models of Standard Instrument Departure and Arrival Procedures (SID and STAR). Basing on the procedure design guidelines the models of procedural nominal track, tolerance area, obstacle clearance area, climb or descend gradient, manoeuvres in SID and STAR were done. The guidelines describe the operational minima thus the statistics of existing procedures was done to select the suitable procedure parameters such as a number of navigational points, segments lengths, altitudes, climb or descent gradients. Reference models of SID include straight departure and turning departure procedures. Reference models of STAR include non-precision approach procedures according to used navigational aids, i.e. GNSS, VOR. The reference procedures were numerically implemented which will be used in the further works on RPAS integration problem by simulations of the RPAS ability to execute of the SID and STAR.
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Rodriguez, Simon, Siddhant Prakash, Peter Hedman, and George Drettakis. "Image-Based Rendering of Cars using Semantic Labels and Approximate Reflection Flow." Proceedings of the ACM on Computer Graphics and Interactive Techniques 3, no. 1 (2020): 1–17. http://dx.doi.org/10.1145/3384535.
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Image-Based Rendering (IBR) has made impressive progress towards highly realistic, interactive 3D navigation for many scenes, including cityscapes. However, cars are ubiquitous in such scenes; multi-view stereo reconstruction provides proxy geometry for IBR, but has difficulty with shiny car bodies, and leaves holes in place of reflective, semi-transparent windows on cars. We present a new approach allowing free-viewpoint IBR of cars based on an approximate analytic reflection flow computation on curved windows. Our method has three components: a refinement step of reconstructed car geometry guided by semantic labels, that provides an initial approximation for missing window surfaces and a smooth completed car hull; an efficient reflection flow computation using an ellipsoid approximation of the curved car windows that runs in real-time in a shader and a reflection/background layer synthesis solution. These components allow plausible rendering of reflective, semi-transparent windows in free viewpoint navigation. We show results on several scenes casually captured with a single consumer-level camera, demonstrating plausible car renderings with significant improvement in visual quality over previous methods.
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Deng, Chenlong, Qian Liu, Xuan Zou, et al. "Investigation of Tightly Combined Single-Frequency and Single-Epoch Precise Positioning Using Multi-GNSS Data." Remote Sensing 12, no. 2 (2020): 285. http://dx.doi.org/10.3390/rs12020285.
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The loose combination (LC) and the tight combination (TC) are two different models in the combined processing of four global navigation satellite systems (GNSSs). The former is easy to implement but may be unusable with few satellites, while the latter should cope with the inter-system bias (ISB) and is applicable for few tracked satellites. Furthermore, in both models, the inter-frequency bias (IFB) in the GLObal NAvigation Satellite System (GLONASS) system should also be removed. In this study, we aimed to investigate the performance difference of ambiguity resolution and position estimation between these two models simultaneously using the single-frequency data of all four systems (GPS + GLONASS + Galileo + BeiDou Navigation Satellite System (BDS)) in three different environments, i.e., in an open area, with surrounding high buildings, and under a block of high buildings. For this purpose, we first provide the definition of ISB and IFB from the perspective of the hardware delays, and then propose practical algorithms to estimate the IFB rate and ISB. Thereafter, a comprehensive performance comparison was made between the TC and LC models. Experiments were conducted to simulate the above three observation environments: the typical situation and situations suffering from signal obstruction with high elevation angles and limited azimuths, respectively. The results show that in a typical situation, the TC and LC models achieve a similar performance. However, when the satellite signals are severely obstructed and few satellites are tracked, the float solution and ambiguity fixing rates in the LC model are dramatically decreased, while in the TC model, there are only minor declines and the difference in the ambiguity fixing rates can be as large as 30%. The correctly fixed ambiguity rates in the TC model also had an improvement of around 10%. Once the ambiguity was fixed, both models achieved a similar positioning accuracy.
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Ding, Dale, Robert M. Starke, Christopher R. Durst, and Avery J. Evans. "Modification of a Braided Support Catheter into a Rapid Exchange System for Navigation of a Distal Protection Device through Significant Vascular Tortuosity." Interventional Neuroradiology 20, no. 6 (2014): 663–68. http://dx.doi.org/10.15274/inr-2014-10073.
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Cerebral embolic protection devices (EPD) reduce the rate of periprocedural thromboembolic complications and are currently used in all carotid artery stenting (CAS) procedures. However, tortuous vascular anatomy of the internal carotid artery (ICA) may prevent navigation of distal EPDs, thereby leading to inadequate cerebral protection. We present a case in which significant tortuosity of the ICA distal to the stenotic lesion precluded navigation of currently available distal EPDs. During a CAS procedure, significant vascular tortuosity of the distal cervical ICA was noted which prevented navigation of currently available distal EPDs due to catheter kinking. In order to overcome this anatomic barrier, a novel rapid exchange catheter system (RECS) was created using a modified DAC 038 braided catheter through which a distal EPD and microguidewire were placed. This newly devised RECS allowed navigation of the distal EPD past the tortuous ICA bend and successful completion of the CAS procedure without periprocedural complications. We demonstrate that modification of currently available devices can, in select cases, effectively address cases of significant vascular tortuosity which limit the use of conventional distal EPDs.
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Lu, Zhenglong, Jie Li, Xi Zhang, et al. "A New In-Flight Alignment Method with an Application to the Low-Cost SINS/GPS Integrated Navigation System." Sensors 20, no. 2 (2020): 512. http://dx.doi.org/10.3390/s20020512.
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The optimization-based alignment (OBA) methods, which are implemented by the optimal attitude estimation using vector observations—also called double-vectors—have proven to be effective at solving the in-flight alignment (IFA) problem. However, the traditional OBA methods are not applicable for the low-cost strap-down inertial navigation system (SINS) since the error of double-vectors will be accumulated over time due to the substantial drift of micro-electronic- mechanical system (MEMS) gyroscope. Moreover, the existing optimal estimation method is subject to a large computation burden, which results in a low alignment speed. To address these issues, in this article we propose a new fast IFA method based on modified double-vectors construction and the gradient descent method. To be specific, the modified construction method is implemented by reducing the integration interval and identifying the gyroscope bias during the construction procedure, which improves the accuracy of double-vectors and IFA; the gradient descent scheme is adopted to estimate the optimal attitude of alignment without complex matrix operation, which results in the improvement of alignment speed. The effect of different sizes of mini-batch on the performance of the gradient descent method is also discussed. Extensive simulations and vehicle experiments demonstrate that the proposed method has better accuracy and faster alignment speed than the related traditional methods for the low-cost SINS/global positioning system (GPS) integrated navigation system
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Zhu, Li, and Huaqing Mao. "Building Interior Model Interpolation between IFC and CityGML." Open Construction and Building Technology Journal 9, no. 1 (2015): 170–76. http://dx.doi.org/10.2174/1874836801509010170.
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The use of building interior model in indoor emergency response and building interior navigation is becoming more and more common. Although the LoD4 of CityGML can express building interior spatial information quite well, it is hard to gather or obtain the spatial data in the building. In particular, building interior model needs rich semantics information (e.g. the width of window) to perform extra calculation such as the fire evacuation scenario. This paper addresses this issue by presenting a framework of interpolation between IFC and CityGML, which uses IFCXML as intermediate output file. There are two advantages relative to the direct conversion. One advantage is that IFCXML is defined in XML which has better readability, scalability and flexibility than IFC, and IFCXML can be integrated into XML database or web service. Since IFC contains the whole construction engineering information, the other advantage is that we don’t need to convert whole the IFC file. The analysis results showed that this interpolation framework is practical and feasible, and it provides a partially converting solution between IFC and CityGML.
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Xu, M., S. Wei, S. Zlatanova, and R. Zhang. "BIM-BASED INDOOR PATH PLANNING CONSIDERING OBSTACLES." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences IV-2/W4 (September 14, 2017): 417–23. http://dx.doi.org/10.5194/isprs-annals-iv-2-w4-417-2017.
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At present, 87 % of people’s activities are in indoor environment; indoor navigation has become a research issue. As the building structures for people’s daily life are more and more complex, many obstacles influence humans’ moving. Therefore it is essential to provide an accurate and efficient indoor path planning. Nowadays there are many challenges and problems in indoor navigation. Most existing path planning approaches are based on 2D plans, pay more attention to the geometric configuration of indoor space, often ignore rich semantic information of building components, and mostly consider simple indoor layout without taking into account the furniture. Addressing the above shortcomings, this paper uses BIM (IFC) as the input data and concentrates on indoor navigation considering obstacles in the multi-floor buildings. After geometric and semantic information are extracted, 2D and 3D space subdivision methods are adopted to build the indoor navigation network and to realize a path planning that avoids obstacles. The 3D space subdivision is based on triangular prism. The two approaches are verified by the experiments.
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Lämmermann, Tim, and Wolfgang Kastenmüller. "Concepts of GPCR ‐controlled navigation in the immune system." Immunological Reviews 289, no. 1 (2019): 205–31. http://dx.doi.org/10.1111/imr.12752.
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Tu, Jun, Cheng Liang Liu, and Zhong Hua Miao. "Outdoor Navigating Scene Labeling Using Importance Factor Based I-RELIEF and Feature Weighted Support Vector Machines." Applied Mechanics and Materials 511-512 (February 2014): 467–74. http://dx.doi.org/10.4028/www.scientific.net/amm.511-512.467.
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Feature selection plays an important role in terrain classification for outdoor robot navigation. For terrain classification, the image data usually have a large number of feature dimensions. The better selection of features usually results in higher labeling accuracy. In this work, a novel approach for terrain perception using Importance Factor based I-Relief algorithm and Feature Weighted Support Vector Machines (IFIR-FWSVM) is put forward. Firstly, the weight of each feature for classification is computed by using Importance Factor based I-Relief algorithm (IFIR) and the irrelevant features are eliminated. Then the weighted features are used to compute the kernel functions of SVM and trained the classifier. Finally, the trained SVM is employed to predict the terrain label in the far-field regions. Experimental results based on DARPA datasets show that the proposed method IFIR-FWSVM is superior over traditional SVM.
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Chen, Weina, Qinghua Zeng, Jianye Liu, and Huizhe Wang. "Seamless autonomous navigation based on the motion constraint of the mobile robot." Industrial Robot: An International Journal 44, no. 2 (2017): 178–88. http://dx.doi.org/10.1108/ir-06-2016-0171.
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Purpose The purpose of this paper is to propose a seamless autonomous navigation method based on the motion constraint of the mobile robot, which is able to meet the practical need of maintaining the navigation accuracy during global positioning system (GPS) outages. Design/methodology/approach The seamless method uses the motion constraint of the mobile robot to establish the filter model of the system, in which the virtual observation about the speed is used to overcome the shortage of the navigation accuracy during GPS outages. The corresponding motion constraint model of the mobile robot is established. The proposed seamless navigation scheme includes two parts: the micro inertial navigation system (MINS)/GPS-integrated filter model and the motion constraint filter model. When the satellite signals are good, the system works on the MINS/GPS-integrated mode. If some obstacles block the GPS signals, the motion constraint measurement equation will be effective so as to improve the navigation accuracy of the mobile robot. Findings Three different vehicle tests of the mobile robot show that the seamless navigation method can overcome the shortage of the navigation accuracy during GPS outages, so as to improve the navigation performance in practical applications. Originality/value A seamless navigation system based on the motion constraint of the mobile robot is proposed to overcome the shortage of the navigation accuracy during GPS outages, thus improving the adaptability of the robot navigation.
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Prakash, Siddhant, Thomas Leimkühler, Simon Rodriguez, and George Drettakis. "Hybrid Image-based Rendering for Free-view Synthesis." Proceedings of the ACM on Computer Graphics and Interactive Techniques 4, no. 1 (2021): 1–20. http://dx.doi.org/10.1145/3451260.
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Image-based rendering (IBR) provides a rich toolset for free-viewpoint navigation in captured scenes. Many methods exist, usually with an emphasis either on image quality or rendering speed. In this paper we identify common IBR artifacts and combine the strengths of different algorithms to strike a good balance in the speed/quality tradeoff. First, we address the problem of visible color seams that arise from blending casually-captured input images by explicitly treating view-dependent effects. Second, we compensate for geometric reconstruction errors by refining per-view information using a novel clustering and filtering approach. Finally, we devise a practical hybrid IBR algorithm, which locally identifies and utilizes the rendering method best suited for an image region while retaining interactive rates. We compare our method against classical and modern (neural) approaches in indoor and outdoor scenes and demonstrate superiority in quality and/or speed.
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Parhi, Dayal R., and Animesh Chhotray. "Development and analysis of DAYANI arc contour intelligent technique for navigation of two-wheeled mobile robot." Industrial Robot: An International Journal 45, no. 5 (2018): 688–702. http://dx.doi.org/10.1108/ir-05-2018-0093.
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PurposeThis paper aims to generate an obstacle free real time optimal path in a cluttered environment for a two-wheeled mobile robot (TWMR).Design/methodology/approachThis TWMR resembles an inverted pendulum having an intermediate body mounted on a robotic mobile platform with two wheels driven by two DC motors separately. In this article, a novel motion planning strategy named as DAYANI arc contour intelligent technique has been proposed for navigation of the two-wheeled self-balancing robot in a global environment populated by obstacles. The developed new path planning algorithm evaluates the best next feasible point of motion considering five weight functions from an arc contour depending upon five separate navigational parameters.FindingsAuthenticity of the proposed navigational algorithm has been demonstrated by computing the path length and time taken through a series of simulations and experimental verifications and the average percentage of error is found to be about 6%.Practical implicationsThis robot dynamically stabilizes itself with taller configuration, can spin on the spot and rove along through obstacles with smaller footprints. This diversifies its areas of application to both indoor and outdoor environments especially with very narrow spaces, sharp turns and inclined surfaces where its multi-wheel counterparts feel difficult to perform.Originality/valueA new obstacle avoidance and path planning algorithm through incremental step advancement by evaluating the best next feasible point of motion has been established and verified through both experiment and simulation.
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Trim, Richard M. "Radar Transponders and Radar Target Enhancers." Journal of Navigation 48, no. 3 (1995): 396–409. http://dx.doi.org/10.1017/s0373463300012893.
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Radar transponders and radar target enhancers have been in use in a variety of applications for many years. Perhaps the most widely-known applications of radar transponders are in Identification Friend or Foe (IFF) and its civilian counterpart, secondary surveillance radar for air traffic control, and as racons in marine navigation and, most recently, as Search And Rescue Transponders (SART) in the Global Marine Distress and Safety System (GMDSS).
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Yao, Yi, Shuang Pan, and Gao Chao. "An In-Flight Emergency Alignment Scheme for Aircraft MINS with Assistant of Airborne SAR." Applied Mechanics and Materials 367 (August 2013): 339–46. http://dx.doi.org/10.4028/www.scientific.net/amm.367.339.
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The alignment of a strapdown inertial navagation system (SDINS) is the process whereby the orientation of body frame is determined with respect to the navigation frame [. In a broad sense, alignment of SDINS can be classified as initial alignment and in-flight alignment (IFA). The IFA is performed with IMU and external sensors during the vehicle flight [2,, in which the primary assistant sources are satellite system, radar, or other airborne equipment, offering reference signals like position, velocity, or attitude to assist the alignment process [4,. However, these sources have disadvantages in redundancy, independence, and stability, which will be incipient faults in emergency take-off or warfare. So it is necessary for us to analyse the subsidiary airborne equipments and design new in-flight alignment scheme.
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Fang, Jiancheng, and Xiaoying Han. "In-Flight Alignment Algorithm Based on ADD2 for Airborne POS." Journal of Navigation 66, no. 2 (2012): 209–25. http://dx.doi.org/10.1017/s0373463312000446.
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The Position and Orientation System (POS) is a special Strapdown Inertial Navigation System (SINS)/Global Positioning System (GPS) integrated system, widely employed in airborne remote sensing. In-Flight Alignment (IFA) is an effective way to improve the accuracy and speed of initial alignment for an airborne POS. IFA is normally accomplished with references from the position and velocity of GPS for SINS, so that unstable GPS measurements will result in poor alignment accuracy. To improve alignment accuracy under unstable GPS conditions, an adaptive filtering algorithm of the Second-order Divided Difference filter (DD2) based on adaptive innovation estimation is proposed, which introduces calculated innovation covariance directly into computation of the filter gain matrix. Then, the adaptive DD2 algorithm is used for the IFA of the POS with a large initial heading error. To validate the proposed algorithm, simulations are undertaken, followed by IFA experiments for the prototype of the airborne POS (TX-F30) under a turning manoeuvre in a car-mounted experiment, and under an “8” manoeuvre in-flight. The simulations and experimental results show that the proposed algorithm can reach better alignment accuracy under unknown statistical characteristic of GPS measurement noises.
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Indriyanto, Toto, and Hedi Hartalita. "Affordable and Reliable Avionics Architecture Design for Advanced Regional Turboprop Aircraft." Applied Mechanics and Materials 842 (June 2016): 233–40. http://dx.doi.org/10.4028/www.scientific.net/amm.842.233.
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Integrated avionics architectures offer advantages such as higher flexibility, reliability, simplicity, future upgradeability and weight saving over previous federated designs. Successful implementations of integrated modular avionics (IMA) are onboard Boeing B777, B787, Airbus A380 and A350. These applications often result in development and maintenance cost not suitable for regional and general aviation aircraft. One popular approach to overcome this problem is by using integrated flight deck (IFD) supplied by avionics manufacturers such as Garmin or Honeywell. These manufacturers often optimize IFDs for applications in developed countries. For example, with the development and widespread use of satellite-based global positioning system (GPS) in the US, Canada and Europe, some terrestrial navigation equipment (e.g. ADF and DME) are no longer included in the standard IFD packages offered for commercial aviation. However, many areas in the rest of the world still use and rely largely on the availability of the ADF, DME, etc. Aircraft flying in these areas need to comply with the local requirements for terrestrial navigation systems already deployed. In this paper a study on the implementation of additional avionics equipment on Garmin G1000 for advanced regional turboprop aircraft is presented. G1000 is an integrated avionics system that integrates many electronic components including navigation, communication, course, attitude, display, etc. It has been widely used in all kinds of civil aviation aircraft. In order to conform to local and modern requirements, ADF receiver, DME transceiver, traffic alerting system and weather radar need to be integrated. Preliminary reliability analysis using fault tree method is performed for the designs to ascertain their safety as set out in the requirements for advanced regional turboprop aircraft.
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Thakur, Monika. "Navigating Multiple Identities: Decentering International Relations." International Studies Review 23, no. 2 (2021): 409–33. http://dx.doi.org/10.1093/isr/viaa101.
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Abstract The article argues that academics navigate and occupy various localities, spaces, and identities, which allows them to be self-reflexive in understanding the inherent challenges in diversifying the discipline. Using personal narratives as a methodological and theoretical tool, this article situates plural experiences and contexts of a woman of color, working in precarity in academia. The intersection of multiple identities reveals various sites of privilege and oppression, and inclusion and exclusion. Unsettling and dismantling binaries and identities reveal complex entanglements and connections that provide more nuanced understandings of IR. This article further discusses ways the discipline of IR has excluded diverse theoretical and empirical knowledges and regions, including critical approaches and the Global South. This disciplinary exclusion and erasure is reproduced in everyday academic practice and can serve as an entry point to understand why diverse communities are underrepresented in IR. Further, academia is not immune from the functions of power and social and economic hierarchies in society, and those hierarchies are manifested in various forms of asymmetry observable in academia, especially toward diverse communities and academics working in precarity.
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Honary, B. "Satellite Systems for Mobile Communications and Navigation." IEE Review 35, no. 8 (1989): 310. http://dx.doi.org/10.1049/ir:19890140.
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Pessin, Gustavo, Jefferson R. Souza, Fernando S. Osório, et al. "Investigation on the evolution of a robotic controller for autonomous vehicle navigation." Journal of Intelligent & Fuzzy Systems 27, no. 6 (2014): 3047–58. http://dx.doi.org/10.3233/ifs-141262.
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Miloud, Hamani, and Hassam Abdelouahab. "Improving mobile robot navigation by combining fuzzy reasoning and virtual obstacle algorithm." Journal of Intelligent & Fuzzy Systems 30, no. 3 (2016): 1499–509. http://dx.doi.org/10.3233/ifs-151857.
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Kim, Taekyung, Jangyoung Kim, and Yoon Gi Yang. "Public Electric Car Charging Locations Based on Car Navigation Data in Seoul." Information Systems Review 18, no. 4 (2016): 1–15. http://dx.doi.org/10.14329/isr.2016.18.4.001.
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Bogue, Rob. "New technologies for robotic tactile sensing and navigation." Industrial Robot: the international journal of robotics research and application 48, no. 4 (2021): 478–83. http://dx.doi.org/10.1108/ir-03-2021-0054.
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Purpose This aims to provide details of new sensor technologies and developments with potential applications in robotic tactile sensing and navigation. Design/methodology/approach Following a short introduction, this provides examples of tactile sensing research. This is followed by details of research into inertial sensors and other navigation techniques. Finally, brief conclusions are drawn. Findings This shows that tactile sensing and navigation techniques are the topic of a technologically diverse research effort which has prospects to impart various classes of robots with significantly enhanced capabilities. Originality/value This provides a technically detailed insight into recent sensor research with applications in robotic tactile sensing and navigation.
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Min, Huaqing, Chang'an Yi, Ronghua Luo, and Jinhui Zhu. "Goal-directed affordance prediction at the subtask level." Industrial Robot: An International Journal 43, no. 1 (2016): 48–57. http://dx.doi.org/10.1108/ir-05-2015-0084.
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Purpose – This paper aims to present a hybrid control approach that combines learning-based reactive control and affordance-based deliberate control for autonomous mobile robot navigation. Unlike many current navigation approaches which only use learning-based paradigms, the authors focus on how to utilize the machine learning methods for reactive control together with the affordance knowledge that is simultaneously inherent in natural environments to gain advantages from both local and global optimization. Design/methodology/approach – The idea is to decompose the complex and large-scale robot navigation task into multiple sub-tasks and use the hierarchical reinforcement learning (HRL) algorithm, which is well-studied in the learning and control algorithm domains, to decompose the overall task into sub-tasks and learn a grid-topological map of the environment. An affordance-based deliberate controller is used to inspect the affordance knowledge of the obstacles in the environment. The hybrid control architecture is then designed to integrate the learning-based reactive control and affordance-based deliberate control based on the grid-topological and affordance knowledge. Findings – Experiments with computer simulation and an actual humanoid NAO robot have demonstrated the effectiveness of the proposed hybrid approach for mobile robot navigation. Originality/value – The main contributions of this paper are a new robot navigation framework that decomposes a complex navigation task into multiple sub-tasks using the HRL approach, and hybrid control architecture development that integrates learning-based and affordance-based paradigms for autonomous mobile robot navigation.
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Li, Bin, Yu Yang, Chengshuai Qin, Xiao Bai, and Lihui Wang. "Improved random sampling consensus algorithm for vision navigation of intelligent harvester robot." Industrial Robot: the international journal of robotics research and application 47, no. 6 (2020): 881–87. http://dx.doi.org/10.1108/ir-03-2020-0055.
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Purpose Focusing on the problem that the visual detection algorithm of navigation path line in intelligent harvester robot is susceptible to interference and low accuracy, a navigation path detection algorithm based on improved random sampling consensus is proposed. Design/methodology/approach First, inverse perspective mapping was applied to the original images of rice or wheat to restore the three-dimensional spatial geometric relationship between rice or wheat rows. Second, set the target region and enhance the image to highlight the difference between harvested and unharvested rice or wheat regions. Median filter is used to remove the intercrop gap interference and improve the anti-interference ability of rice or wheat image segmentation. The third step is to apply the method of maximum variance to thresholding the rice or wheat images in the operation area. The image is further segmented with the single-point region growth, and the harvesting boundary corner is detected to improve the accuracy of the harvesting boundary recognition. Finally, fitting the harvesting boundary corner point as the navigation path line improves the real-time performance of crop image processing. Findings The experimental results demonstrate that the improved random sampling consensus with an average success rate of 94.6% has higher reliability than the least square method, probabilistic Hough and traditional random sampling consensus detection. It can extract the navigation line of the intelligent combine robot in real time at an average speed of 57.1 ms/frame. Originality/value In the precision agriculture technology, the accurate identification of the navigation path of the intelligent combine robot is the key to realize accurate positioning. In the vision navigation system of harvester, the extraction of navigation line is its core and key, which determines the speed and precision of navigation.
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Liu, Liu, Bofeng Li, Sisi Zlatanova, and Peter van Oosterom. "Indoor navigation supported by the Industry Foundation Classes (IFC): A survey." Automation in Construction 121 (January 2021): 103436. http://dx.doi.org/10.1016/j.autcon.2020.103436.
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Khalilullah, K. M. Ibrahim, Shunsuke Ota, Toshiyuki Yasuda, and Mitsuru Jindai. "Wheelchair robot navigation in different weather conditions using deep learning and evolved neural controller." Industrial Robot: the international journal of robotics research and application 46, no. 1 (2019): 146–58. http://dx.doi.org/10.1108/ir-08-2018-0176.
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Purpose Wheelchair robot navigation in different weather conditions using single camera is still a challenging task. The purpose of this study is to develop an autonomous wheelchair robot navigation method in different weather conditions, with single camera vision to assist physically disabled people. Design/methodology/approach A road detection method, called dimensionality reduction deep belief neural network (DRDBNN), is proposed for drivable road detection. Due to the dimensionality reduction ability of the DRDBNN, it detects the drivable road area in a short time for controlling the robot in real-time. A feed-forward neural network is used to control the robot for the boundary following navigation using evolved neural controller (ENC). The robot detects road junction area and navigates throughout the road, except in road junction, using calibrated camera and ENC. In road junction, it takes turning decision using Google Maps data, thus reaching the final destination. Findings The developed method is tested on a wheelchair robot in real environments. Navigation in real environments indicates that the wheelchair robot moves safely from source to destination by following road boundary. The navigation performance in different weather conditions of the developed method has been demonstrated by the experiments. Originality/value The wheelchair robot can navigate in different weather conditions. The detection process is faster than that of the previous DBNN method. The proposed ENC uses only distance information from the detected road area and controls the robot for boundary following navigation. In addition, it uses Google Maps data for taking turning decision and navigation in road junctions.
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Abdalla, Turki Y., Ali A. Abed, and Alaa A. Ahmed. "Mobile robot navigation using PSO-optimized fuzzy artificial potential field with fuzzy control." Journal of Intelligent & Fuzzy Systems 32, no. 6 (2017): 3893–908. http://dx.doi.org/10.3233/ifs-162205.
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Minetto, Alex, Andrea Nardin, and Fabio Dovis. "Modelling and Experimental Assessment of Inter-Personal Distancing Based on Shared GNSS Observables." Sensors 21, no. 8 (2021): 2588. http://dx.doi.org/10.3390/s21082588.
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In the last few years, all countries worldwide have fought the spread of SARS-CoV-2 (COVID-19) by exploiting Information and Communication Technologies (ICT) to perform contact tracing. In parallel, the pandemic has highlighted the relevance of mobility and social distancing among citizens. The monitoring of such aspects appeared prominent for reactive decision-making and the effective tracking of the infection chain. In parallel to the proximity sensing among people, indeed, the concept of social distancing has captured the attention to signal processing algorithms enabling short-to-medium range distance estimation to provide behavioral models in the emergency. By exploiting the availability of smart devices, the synergy between mobile network connectivity and Global Navigation Satellite Systems (GNSS), cooperative ranging approaches allow computing inter-personal distance measurements in outdoor environments through the exchange of light-weight navigation data among interconnected users. In this paper, a model for Inter-Agent Ranging (IAR) is provided and experimentally assessed to offer a naive collaborative distancing technique that leverages these features. Although the technique provides distance information, it does not imply the disclosure of the user’s locations being intrinsically prone to protect sensitive user data. A statistical error model is presented and validated through synthetic simulations and real, on-field experiments to support implementation in GNSS-equipped mobile devices. Accuracy and precision of IAR measurements are compared to other consolidated GNSS-based techniques showing comparable performance at lower complexity and computational effort.
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Wen, Shuhuan, Xiaohan Lv, Hak Keung Lam, Shaokang Fan, Xiao Yuan, and Ming Chen. "Probability Dueling DQN active visual SLAM for autonomous navigation in indoor environment." Industrial Robot: the international journal of robotics research and application 48, no. 3 (2021): 359–65. http://dx.doi.org/10.1108/ir-08-2020-0160.
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Purpose This paper aims to use the Monodepth method to improve the prediction speed of identifying the obstacles and proposes a Probability Dueling DQN algorithm to optimize the path of the agent, which can reach the destination more quickly than the Dueling DQN algorithm. Then the path planning algorithm based on Probability Dueling DQN is combined with FastSLAM to accomplish the autonomous navigation and map the environment. Design/methodology/approach This paper proposes an active simultaneous localization and mapping (SLAM) framework for autonomous navigation under an indoor environment with static and dynamic obstacles. It integrates a path planning algorithm with visual SLAM to decrease navigation uncertainty and build an environment map. Findings The result shows that the proposed method offers good performance over existing Dueling DQN for navigation uncertainty under the indoor environment with different numbers and shapes of the static and dynamic obstacles in the real world field. Originality/value This paper proposes a novel active SLAM framework composed of Probability Dueling DQN that is the improved path planning algorithm based on Dueling DQN and FastSLAM. This framework is used with the Monodepth depth image prediction method with faster prediction speed to realize autonomous navigation in the indoor environment with different numbers and shapes of the static and dynamic obstacles.
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Zhang, Ke, Hao Gui, Zhifeng Luo, and Danyang Li. "Matching for navigation map building for automated guided robot based on laser navigation without a reflector." Industrial Robot: the international journal of robotics research and application 46, no. 1 (2019): 17–30. http://dx.doi.org/10.1108/ir-05-2018-0096.
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PurposeLaser navigation without a reflector does not require setup of reflector markers at the scene and thus has the advantages of free path setting and flexible change. This technology has attracted wide attention in recent years and shows great potential in the field of automatic logistics, including map building and locating in real-time according to the environment. This paper aims to focus on the application of feature matching for map building.Design/methodology/approachFirst, an improved linear binary relation algorithm was proposed to calculate the local similarity of the feature line segments, and the matching degree matrix of feature line segments between two adjacent maps was established. Further, rough matching for the two maps was performed, and both the initial rotation matrix and the translation vector for the adjacent map matching were obtained. Then, to improve the rotation matrix, a region search optimization algorithm was proposed, which took the initial rotation matrix as the starting point and searched gradually along a lower error-of-objective function until the error sequence was nonmonotonic. Finally, the random-walk method was proposed to optimize the translation vector by iterating until the error-objective function reached the minimum.FindingsThe experimental results show that the final matching error was controlled within 10 mm after both rotation and translation optimization. Also, the algorithm of map matching and optimization proposed in this paper can realize accurately the feature matching of a laser navigation map and basically meet the real-time navigation and positioning requirements for an automated-guided robot.Originality/valueA linear binary relation algorithm was proposed, and the local similarity between line segments is calculated on the basis of the binary relation. The hill-climbing region search algorithm and the random-walk algorithm were proposed to optimize the rotation matrix and the translation vector, respectively. This algorithm has been applied to industrial production.
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Diakité, A. A., and S. Zlatanova. "EXTRACTION OF THE 3D FREE SPACE FROM BUILDING MODELS FOR INDOOR NAVIGATION." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences IV-2/W1 (October 5, 2016): 241–48. http://dx.doi.org/10.5194/isprs-annals-iv-2-w1-241-2016.
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For several decades, indoor navigation has been exclusively investigated in a 2D perspective, based on floor plans, projection and other 2D representations of buildings. Nevertheless, 3D representations are closer to our reality and offer a more intuitive description of the space configuration. Thanks to recent advances in 3D modelling, 3D navigation is timidly but increasingly gaining in interest through the indoor applications. But, because the structure of indoor environment is often more complex than outdoor, very simplified models are used and obstacles are not considered for indoor navigation leading to limited possibilities in complex buildings. In this paper we consider the entire configuration of the indoor environment in 3D and introduce a method to extract from it the actual navigable space as a network of connected 3D spaces (volumes). We describe how to construct such 3D free spaces from semantically rich and furnished IFC models. The approach combines the geometric, the topological and the semantic information available in a 3D model to isolate the free space from the rest of the components. Furthermore, the extraction of such navigable spaces in building models lacking of semantic information is also considered. A data structure named combinatorial maps is used to support the operations required by the process while preserving the topological and semantic information of the input models.
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Bogue, Robert. "Sensors for robotic perception. Part two: positional and environmental awareness." Industrial Robot: An International Journal 42, no. 6 (2015): 502–7. http://dx.doi.org/10.1108/ir-07-2015-0133.
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Purpose – The purpose of this article is to illustrate how sensors impart perceptive capabilities to robots. This is the second part of a two-part article. This second part considers positional awareness and sensing in the external environment, notably but not exclusively by autonomous, mobile robots. Design/methodology/approach – Following a short introduction, this article first discusses positional sensing and navigation by mobile robots, including self-driving cars, automated guided vehicles, unmanned aerial vehicles (UAVs) and autonomous underwater vehicles (AUVs). It then considers sensing with UAVs and AUVs, and finally discusses robots for hazard detection. Brief concluding comments are drawn. Findings – This shows that sensors based on a multitude of techniques confer navigational capabilities to mobile robots, including LIDARs, radar, sonar, imaging and inertial sensing devices. UAVs, AUVs and mobile terrestrial robots can be equipped with all manner of sensors to create detailed terrestrial and underwater maps, monitor air and water quality, locate pollution and detect hazards. While existing sensors are used widely, many new devices are now being developed to meet specific requirements and to comply with size, weight and cost restraints. Originality/value – The use of mobile robots is growing rapidly, and this article provides a timely account of how sensors confer them with positional awareness and allow them to act as mobile sensing platforms.
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Wang, Fei, Yuqiang Liu, Yahui Zhang, Yu Gao, Ling Xiao, and Chengdong Wu. "Research on the shared control technology for robotic wheelchairs based on topological map." Industrial Robot: the international journal of robotics research and application 47, no. 6 (2019): 825–35. http://dx.doi.org/10.1108/ir-04-2019-0084.
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Purpose A robotic wheelchair system was designed to assist disabled people with disabilities to walk. Design/methodology/approach An anticipated sharing control strategy based on topological map is proposed in this paper, which is used to assist robotic wheelchairs to realize interactive navigation. Then, a robotic wheelchair navigation control system based on the brain-computer interface and topological map was designed and implemented. Findings In the field of robotic wheelchairs, the problems of poor use, narrow application range and low humanization are still not improved. Originality/value In the system, the topological map construction is not restricted by the environment structure, which helps to expand the scope of application; the shared control system can predict the users’ intention and replace the users’ decision to realize human-machine interactive navigation, which has higher security, robustness and comfort.
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Deng, Hui, Zhibin Ou, Genjie Zhang, Yichuan Deng, and Mao Tian. "BIM and Computer Vision-Based Framework for Fire Emergency Evacuation Considering Local Safety Performance." Sensors 21, no. 11 (2021): 3851. http://dx.doi.org/10.3390/s21113851.
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Fire hazard in public buildings may result in serious casualties due to the difficulty of evacuation caused by intricate interior space and unpredictable development of fire situations. It is essential to provide safe and reliable indoor navigation for people trapped in the fire. Distinguished from the global shortest rescue route planning, a framework focusing on the local safety performance is proposed for emergency evacuation navigation. Sufficiently utilizing the information from Building Information Modeling (BIM), this framework automatically constructs geometry network model (GNM) through Industry Foundation Classes (IFC) and integrates computer vision for indoor positioning. Considering the available local egress time (ALET), a back propagation (BP) neural network is applied for adjusting the rescue route according to the fire situation, improving the local safety performance of evacuation. A campus building is taken as an example for proving the feasibility of the framework proposed. The result indicates that the rescue route generated by proposed framework is secure and reasonable. The proposed framework provides an idea for using real-time images only to implement the automatic generation of rescue route when a fire hazard occurs, which is passive, cheap, and convenient.
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Pin, François G., and Yutaka Watanabe. "Steps Toward Sensor-Based Vehicle Navigation in Outdoor Environments Using a Fuzzy Behaviorist Approach." Journal of Intelligent and Fuzzy Systems 1, no. 2 (1993): 95–107. http://dx.doi.org/10.3233/ifs-1993-1201.
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Chidebe, Runcie C. W. "Patient Navigation: Breaking the Barriers of Care While Empowering Patients to Fight Cancer." Journal of Global Oncology 4, Supplement 3 (2018): 10s. http://dx.doi.org/10.1200/jgo.18.10090.
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Purpose Through the Union for International Cancer Control and Pfizer Oncology SPARC MBC grant, Project PINK BLUE–Health & Psychological Trust Centre implemented the Breast Cancer Navigation and Palliative Program with strategic activities focused on metastatic breast cancer with the goal of “empower[ing] women at risk of, or living with advanced breast cancer and to reduce [the] incidence of stage III or IV breast cancer.” The project established Nigeria's first patient navigation program, which trained 138 health workers and social workers across the six area councils of Abuja and connected 116 breast health facilities, 58 in Abuja and another 58 across Nigeria—diagnostic centers and hospitals—in a Web-based navigation map application. The program was designed to train only 18 patient navigators for Abuja only; however, we trained 44 patient navigators from National Hospital Abuja, Enugu, and Kebbi states who are currently working on establishing Breast Cancer Navigation and Palliative Programs in their respective states. Trained oncology nurse navigators are providing optimum palliative care and navigation to patients across the mapped health facilities in Abuja. Whereas 72 institutions have been engaged through diverse partnerships, 27 resources were produced, including videos, documents, and a palliative/navigation book for health care workers. Ten ECHO palliative care trainings were organized for nurses and pain doctors, with an additional eight in-person workshops on palliative care and patient navigation and five patient support group meetings. Seventy-two news articles were published, including for TV, radio, and in interviews. Methods The program used training of nurses, cancer survivors and nurses to become patient navigators at National Hospital Abuja and across the six area councils of Abuja. Currently, navigators in Niger State and Enugu state have also received training on patient navigation, and more patients with cancer have been tracked and observed during their cancer journeys in Nigeria. Results The program has transited to lead national advocacy at Nigeria’s parliament for the establishment of the National Institute on Cancer Research and Treatment and has also establish such initiatives as Abuja’s first cancer support group and patient-led advocacy and campaign. Several patients with metastatic breast cancer were navigated through their journey with cancer. Conclusion Patients with metastatic breast cancer need more support to live a quality life; more than just pain medication. They need someone to listen to them and caregivers who show their care and love. Patient navigation is an emerging area of oncology and there is a need to support the patient navigators so that they may devote more time to its effects. AUTHOR’S DISCLOSURES OF POTENTIAL CONFLICTS OF INTEREST The following represents disclosure information provided by authors of this manuscript. All relationships are considered compensated. Relationships are self-held unless noted. I = Immediate Family Member, Inst = My Institution. Relationships may not relate to the subject matter of this manuscript. For more information about ASCO's conflict of interest policy, please refer to www.asco.org/rwc or ascopubs.org/jco/site/ifc . Runcie C.W. Chidebe Travel, Accommodations, Expenses: Jansen and Jansen Consulting or Advisory Role: Novartis Pharmaceuticals
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Boubertakh, H., M. Tadjine, and P. Y. Glorennec. "A new mobile robot navigation method using fuzzy logic and a modified Q-learning algorithm." Journal of Intelligent & Fuzzy Systems 21, no. 1, 2 (2010): 113–19. http://dx.doi.org/10.3233/ifs-2010-0440.
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Lauterbach, Michael, Bruno Sontag, and Karl Eugen Hauptmann. "Transcatheter Aortic Valve Implantation in the Hybrid Catheterisation Laboratory – Navigating into the Future." Interventional Cardiology Review 7, no. 1 (2012): 53. http://dx.doi.org/10.15420/icr.2012.7.1.53.
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Transcatheter aortic valve implantation (TAVI) has emerged as a viable treatment option for high-risk patients with symptomatic, senile degenerative aortic stenosis. Since the first TAVI in 2002, the technology has evolved tremendously. With the downsizing of the device delivery catheter profile, vascular access site complications have decreased significantly. Current access routes are transfemoral, subclavian, transapical and transaortic, with most centres preferring a ‘transfemoral-first’ strategy. Other significant complications of TAVI are cerebrovascular events and conduction disturbances with the need for pacemaker implantation. The current TAVI devices with the largest number of implantations and the best evidence are the Medtronic CoreValve™ and the Edwards SAPIEN XT™. Both devices are already in their third generation. Navigation technology, such as the HeartNavigator, has been developed to facilitate the preparation of the procedure and the actual device implantation. The use of hybrid catheterisation labs for performing TAVI is becoming the standard of care due to the significant advantages with regard to safety and hygiene.
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Plevin, Arlene. "Navigating the difficult: teaching for sustainability, activism, and the recognition of modern slavery." Interdisciplinary Environmental Review 18, no. 3/4 (2017): 238. http://dx.doi.org/10.1504/ier.2017.088772.
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Plevin, Arlene. "Navigating the difficult: teaching for sustainability, activism, and the recognition of modern slavery." Interdisciplinary Environmental Review 18, no. 3/4 (2017): 238. http://dx.doi.org/10.1504/ier.2017.10009668.
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Thornton, John K. "Traditions, Documents, and the Ife-Benin Relationship." History in Africa 15 (1988): 351–62. http://dx.doi.org/10.2307/3171867.
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Historians of Nigeria have been curious for many years about the relationship between the various states of the southern zone since the sixteenth century. The fact that the area has produced a rich art, has a fairly elaborate set of traditional histories, and has been the subject of some systematic archeological work means that the modern scholar has somewhat more to go on in reconstructing the region's history than just the fairly sparse and disappointing contemporary texts that came out of the early Portuguese contacts and subsequent European trade and navigation. But contemporary documentation for southern Nigeria remains much weaker than that for other African areas, such as the central African zone, Gold Coast, or the western Atlantic coast.Nevertheless, documents have raised problems in understanding the history of the area that cannot be fully solved by recourse to the other sources of information, in spite of the comparative richness of non-documentary sources. One of these documentary problems is the issue of the Ife-Benin relationship as documentated in archeology, contemporary texts, and art history. The problems raised by the relationship between these two southern Nigerian cities ultimately reflects on a much larger set of questions concerning the relationship of all the early states south of the Niger, at a period quite near the origin of the state system that would predominate the rest of the pre-colonial period.
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Barresi, Paul A. "Navigating the ideological and cultural landscapes of environmental policy-making in the United States." Interdisciplinary Environmental Review 10, no. 1/2 (2008): 1. http://dx.doi.org/10.1504/ier.2008.053959.
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