Episodic memory is processed by the extended hippocampal system, and pathology or injury to individual components of this system can result in deficits in spatial learning and memory (Aggleton & Brown, 1999). Extensive research regarding spatial memory has been carried out on the anterior thalamic nuclei, a component of the extended hippocampal system, but the contribution of the laterodorsal thalamic nuclei, an adjacent structure with similar neural connections, is less clear. The purpose of the present study was to compare the effects of selective anterior thalamic nuclei lesions (AT) with selective laterodorsal thalamic nuclei lesions (LD) in a novel land-based spatial reference memory task. This assessed the use of proximal and distal visual cues on the propensity to use allocentric or egocentric navigation strategies to locate a specific place in space, as well as the temporal evolution of these navigation strategies. AT lesion impairments were observed in the acquisition trials in both proximal and distal cue conditions. LD lesion rats were unimpaired in the acquisition trials in both visual cue conditions. Across the probe trials, lesion effects were not observed when tested for general navigation, egocentric or allocentric strategies, and there was no clear improvement in performance over the four weeks of probe trials. However, performance was consistently poorer for all groups when proximal cues facilitated navigation compared to distal cues. Performance differences related to cue proximity may reflect the influence of motion parallax, the perceived displacement rate of visual cues. The absence of lesion effects across probes were thought to be due to the preferential use of cued navigation, which was reliant on a single salient beacon, and the lack of integration between cued and place navigation, which was reliant on the formation of a spatial representation.

Obstacle detection is one of the major focus area on image processing. For mobile robots, obstacle detection and collision avoidance is a notorious problem and is still a part of the modern research. There are already a lot of research have been done so far for obstacle detection and collision avoidance. This thesis evaluates the existing various well-known methods and sensors for collision free navigation of the mobile robot. For moving obstacle detection purpose the frame difference approach is adopted. Robotino® is used as the mobile robot platform and additionally Microsoft Kinect is used as 3D sensor. For getting information from the environment about obstacle, the 9-built-in distance sensor of Robotino® and 3D depth image data from the Kinect is used. The combination is done to get the maximum advantages for obstacles information. The detection of moving object in front of the sensor is a major interest of this work.

Thesis (Ph. D.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2012. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 177-187). / This dissertation presents three separate-but related-contributions to the art of underwater navigation. These methods may be used in postprocessing with a human in the loop, but the overarching goal is to enhance vehicle autonomy, so the emphasis is on automated approaches that can be used in realtime. The three research threads are: i) in situ navigation sensor alignment, ii) dead reckoning through the water column, and iii) model-driven delayed measurement fusion. Contributions to each of these areas have been demonstrated in simulation, with laboratory data, or in the field-some have been demonstrated in all three arenas. The solution to the in situ navigation sensor alignment problem is an asymptotically stable adaptive identifier formulated using rotors in Geometric Algebra. This identifier is applied to precisely estimate the unknown alignment between a gyrocompass and Doppler velocity log, with the goal of improving realtime dead reckoning navigation. Laboratory and field results show the identifier performs comparably to previously reported methods using rotation matrices, providing an alignment estimate that reduces the position residuals between dead reckoning and an external acoustic positioning system. The Geometric Algebra formulation also encourages a straightforward interpretation of the identifier as a proportional feedback regulator on the observable output error. Future applications of the identifier may include alignment between inertial, visual, and acoustic sensors. The ability to link the Global Positioning System at the surface to precision dead reckoning near the seafloor might enable new kinds of missions for autonomous underwater vehicles. This research introduces a method for dead reckoning through the water column using water current profile data collected by an onboard acoustic Doppler current profiler. Overlapping relative current profiles provide information to simultaneously estimate the vehicle velocity and local ocean current-the vehicle velocity is then integrated to estimate position. The method is applied to field data using online bin average, weighted least squares, and recursive least squares implementations. This demonstrates an autonomous navigation link between the surface and the seafloor without any dependence on a ship or external acoustic tracking systems. Finally, in many state estimation applications, delayed measurements present an interesting challenge. Underwater navigation is a particularly compelling case because of the relatively long delays inherent in all available position measurements. This research develops a flexible, model-driven approach to delayed measurement fusion in realtime Kalman filters. Using a priori estimates of delayed measurements as augmented states minimizes the computational cost of the delay treatment. Managing the augmented states with time-varying conditional process and measurement models ensures the approach works within the proven Kalman filter framework-without altering the filter structure or requiring any ad-hoc adjustments. The end result is a mathematically principled treatment of the delay that leads to more consistent estimates with lower error and uncertainty. Field results from dead reckoning aided by acoustic positioning systems demonstrate the applicability of this approach to real-world problems in underwater navigation. / by Michael Jordan Stanway. / Ph.D.

ITC/USA 2009 Conference Proceedings / The Forty-Fifth Annual International Telemetering Conference and Technical Exhibition / October 26-29, 2009 / Riviera Hotel & Convention Center, Las Vegas, Nevada / Several navigation technologies exist, which can facilitate the generation of Time Space Positioning Information (TSPI) in urban environments. These include GPS, image-based localization, radio-based localization and dead reckoning. This paper first presents a basic overview of these techniques including advantages and limitations of each. We present an approach to localization in urban environments, based on environment learning and collaborative navigation using multiple homogeneous and non-homogeneous localization technologies, fused to form a multi-sensor system.

International Telemetering Conference Proceedings / October 25-28, 1999 / Riviera Hotel and Convention Center, Las Vegas, Nevada / The coverage characteristics of the GLONASS constellation is analyzed. The almanac data of GLONASS navigation message are used in the computation according to the operation of the satellites. The ground traces of the GLONASS satellites are plotted. And the probability of visible satellite number is calculated under different latitude conditions. The results are analyzed to give descriptions of the GLONASS constellation. And they are compared with those of GPS's. The conclusion is verified that GLONASS constellation provides better coverage at high latitude.

There are millions of robots in operation around the world today, and almost all of them operate on factory floors in isolation from people. However, it is now becoming clear that robots can provide much more value assisting people in daily tasks in human environments. Perhaps the most fundamental capability for a mobile robot is navigating from one location to another. Advances in mapping and motion planning research in the past decades made indoor navigation a commodity for mobile robots. Yet, questions remain on how the robots should move around humans. This thesis advocates the use of semantic maps and spatial rules of engagement to enable non-expert users to effortlessly interact with and control a mobile robot. A core concept explored in this thesis is the Tour Scenario, where the task is to familiarize a mobile robot to a new environment after it is first shipped and unpacked in a home or office setting. During the tour, the robot follows the user and creates a semantic representation of the environment. The user labels objects, landmarks and locations by performing pointing gestures and using the robot's user interface. The spatial semantic information is meaningful to humans, as it allows providing commands to the robot such as ``bring me a cup from the kitchen table". While the robot is navigating towards the goal, it should not treat nearby humans as obstacles and should move in a socially acceptable manner. Three main navigation behaviors are studied in this work. The first behavior is the point-to-point navigation. The navigation planner presented in this thesis borrows ideas from human-human spatial interactions, and takes into account personal spaces as well as reactions of people who are in close proximity to the trajectory of the robot. The second navigation behavior is person following. After the description of a basic following behavior, a user study on person following for telepresence robots is presented. Additionally, situation awareness for person following is demonstrated, where the robot facilitates tasks by predicting the intent of the user and utilizing the semantic map. The third behavior is person guidance. A tour-guide robot is presented with a particular application for visually impaired users.

International Telemetering Conference Proceedings / October 29-November 02, 1990 / Riviera Hotel and Convention Center, Las Vegas, Nevada / Global Positioning System (GPS) translator signals have been used to track U.S Navy Trident missile test launches for the past 15 years. Absolute position accuracies of better than 20 meters in real-time and 8 meters in post mission have been consistently demonstrated. Flight qualified GPS translators 40 cubic inches in size have been developed for the U.S. Army Exoatmospheric Re-entry Vehicle Interceptor Subsystem (ERIS) program and are currently available for use by U.S. and allied government test ranges. More widespread use of GPS translators is constrained, however, by the great expense and size of the custom ground equipment currently used to acquire GPS translator signals and compute the position and velocity of the vehicle. To address this problem, the U.S. Air Force Western Space and Missile Center (WSMC) placed 3S under contract to design a lower-cost GPS translator processor based mainly on using commercial telemetry equipment. This paper describes how a working prototype was constructed to demonstrate the feasibility of the Translator Record and Interface System (TRIS). This prototype shows that TRIS can be built from a combination of commercially-available telemetry equipment, GPS equipment developed for the U.S. Air Force Range Applications Joint Program Office (RAJPO), and a few elements of custom equipment.

International Telemetering Conference Proceedings / October 23-26, 2000 / Town & Country Hotel and Conference Center, San Diego, California / There is an increasing demand for practical and powerful navigation system to lead people from one place to another quickly and rightly. The introduction of a new embedded operating system, Windows CE, allows us to design a compact, low-cost, efficient autonomous vehicle location and navigation system. This paper discusses the advantages of Windows CE, demonstrates the possibility of building an AVLNS based on it. Then a realization scheme of hardware platform and navigation software is presented.

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