Pastarųjų metų technologinė puslaidininkinių trimačių mikro struktūrų gamybos procese pažanga leidžia sukurti vis tikslesnius ir patikimesnius tokio tipo elektromechaninius jutiklius. Gerėjanti tokio tipo jutiklių kokybė atveria naujas jų panaudojimo galimybes. Vena jų – vidaus navigacinė sistema. Tokio tipo sistema reikalauja tikslių pagreičio, kampinio greičio ir kitokio tipo duomenų judėjimo trajektorijai nustatyti. Šiame darbe yra apžvelgtos pagrindinės problemos su kuriomis susiduriama kuriant inercines vidaus navigacines sistemas. Apžvelgti, patikrinti ir pasiūlyti alternatyvūs šių problemų sprendimo metodai. Mechaninių jutiklių taikymo navigacijai patalpų viduje tyrimas. Magistro baigiamasis darbas elektronikos inžinerijos magistro laipsniui. Vilniaus Gedimino technikos universitetas. 2014 m. / Recent technological improvements in micromachining process allows to produce smaller, cheaper and more accurate MEMS sensors. Better accuracy/size ratio increases MEMS sensors application field. One of most precise sensors looking for field is MEMS based indoor navigation system, which requires precise accelerometer/gyros, to ensure error free estimated position. Current gyros and accelerometers are much less precise than standard laser based gyros and bulk accelerometers. This work describes the main problems of using MEMS for inertial navigation and possible solutions, to minimize estimated position error. Research of MEMS application for indoor navigation. Master thesis for electronics engineer master degree. Vilnius Gediminas Technical University. Vilnius 2014 m.

Title: IVA Movement Quality Improvement for the Virtual Environment of Unreal Tournament 2004 Author: Bohuslav Macháč Department / Institute: Department of Software and Computer Science Education Supervisor of the master thesis: Mgr. Jakub Gemrot, Department of Software and Computer Science Education Abstract: PogamutUT2004 is an extension of the Pogamut platform designed for developing intelligent virtual agents (IVAs) in Unreal Tournament 2004. Navigation of IVAs in Pogamut is handled by a navigation system, which uses a navigation graph as an environment abstraction. Navigation mesh is a new, more advanced abstraction, but the existing navigation system is not capable of using its advantages. We created a new navigation system, which exploits advantages of the navigation mesh and solves several other issues of the old one. We show that the new navigation system improves the quality of navigation. To demonstrate the quality improvement, an evaluation framework was created for the comparison of navigation systems. Systems were compared in terms of total number of significant paths on the map, which the system is able to follow, length of the path and time of the navigation. We selected 18 different maps for thorough evaluation and we performed the basic evaluation on 58 other maps. The new system is more...

La navigation spatiale peut être subdivisée en deux processus: la construction d’une représentation mentale de l’espace à partir de l’exploration de l’environnement d'une part, et l’utilisation de cette représentation de façon à produire le trajet le plus adapté pour rejoindre le lieu souhaité d'autre part. Lors de l’exploration de l’environnement, des informations externes et des informations de mouvement propre (i.e. vestibulaires et proprioceptives) sont combinées pour former la carte cognitive. Depuis longtemps des études suggèrent que le cervelet participe à la navigation spatiale mais son rôle a souvent été confiné à l’exécution motrice. Notre équipe a étudié des souris mutantes L7-PKCI présentant un déficit de plasticité synaptique de type dépression à long terme (DLT) au niveau des synapses entre fibres parallèles et cellules de Purkinje du cortex cérébelleux. Ces travaux ont montré que les souris présentent à la fois un déficit dans l'optimisation de la trajectoire mais également dans le maintien de la carte cognitive formée dans l'hippocampe. En effet, les propriétés de décharge des cellules de lieu de l'hippocampe sont affectées chez ces souris exclusivement lorsque celles-ci doivent naviguer en se reposant sur les informations provenant de leur mouvement propre, c'est à dire quand elles explorent l'environnement dans le noir. A ces mêmes synapses, une plasticité de type potentialisation à long terme (PLT) a été observée et permet (avec la DLT) la modulation bidirectionelle de l’efficacité synaptique. La plasticité bidirectionnelle est un processus clé dans les modèles théoriques de type « filtre adaptatif » de traitement de l’information par le cervelet. Selon ces modèles, l’absence de PLT ou DLT devrait affecter de façon similaire la plasticité bidirectionnelle et conduire ainsi à des déficits comparables. Pour tester cette hypothèse, nous avons étudié les conséquences fonctionnelles d’un déficit de type PLT au niveau de la même synapse entre fibre parallèle et cellule de Purkinje. Nous avons utilisé la lignée transgénique L7-PP2B, spécifiquement déficitaire pour cette plasticité.Malgré un léger déficit moteur révélé exclusivement sur le rotarod, les capacités de navigation des souris L7-PP2B ne sont pas affectées dans une tâche de navigation en labyrinthe aquatique de type piscine de Morris. Les propriétés des cellules de lieu de l’hippocampe des souris L7-PP2B ont ensuite été caractérisées lors de l’exploration d’une arène circulaire dans différentes conditions environnementales. Contrairement à celles des souris L7-PKCI, les propriétés des cellules de lieux des souris L7-PP2B ne sont pas affectées lorsque les souris ne peuvent utiliser que les informations de mouvement propre pour s’orienter, c'est à dire dans le noir. Par contre, les cellules de lieux des souris L7-PP2B présentent une instabilité en l’absence de toute manipulation d’indice environnemental, dans 23% des sessions d’enregistrement. Cette instabilité, absente chez les souris contrôles, se manifeste de façon imprévisible dans un environnement familier et est caractérisée par une rotation angulaire cohérente de l’ensemble des cellules de lieux enregistrées. Ces données suggèrent qu’en l’absence de PLT cérébelleuse la représentation spatiale de l’hippocampe n’est pas ancrée de façon stable aux indices externes proximaux. Ces résultats, associés à ceux des souris L7-PKCI indiquent que le cervelet contribue de manière complexe à la fois à la représentation spatiale hippocampique et aux capacités de navigation et que DLT et PLT jouent probablement des rôles différents dans ces processus. / Spatial navigation can be divided into two processes: building a spatial representation from the environment exploration and using this representation to produce an adapted trajectory toward a goal. During the environment exploration, external and self-motion information (i.e. vestibular and proprioceptive) are combined to form the spatial map. It has long been suggested that the cerebellum participates in spatial navigation but its role has often been confined to motor execution. Our team has studied L7-PKCI mice which lack a plasticity mechanism (long term depression (LTD)) at parallel fiber-Purkinje cell synapses in the cerebellar cortex. These works have shown that L7-PKCI mice present a deficit in trajectory optimization as well as in the maintenance of the cognitive map in the hippocampus. Indeed in these mice, the firing properties of hippocampal place cells are affected specifically when mice have to rely on self-motion information, i.e. when exploring the environment in the dark.A these same synapses, another type of plasticity (long term potentiation (LTP)) has been described, and allows (with LTD) the bidirectional modulation of the synaptic efficiency. Bidirectional plasticity is a key element of the ‘adaptive filter’ theoretical models of cerebellar information processing. According to these models, a lack of LTP or LTD should similarly affect bidirectional plasticity and result in comparable deficits. To test this prediction, we investigated the functional consequences of a deficit of LTP at parallel fiber-Purkinje cell synapses using the L7-PP2B mice model, specifically impaired for this plasticity.In spite of a mild motor adaptation deficit, revealed on the rotarod task, spatial learning of L7-PP2B mice was not impaired in the watermaze task. Hippocampal place cell properties of L7-PP2B mice were characterized during exploration of a circular arena, following different experimental manipulations. In contrast to mice lacking cerebellar LTD, place cells properties of L7-PP2B mice were not impaired when mice had to rely on self-motion cues, i.e. in the dark. Surprisingly, L7-PP2B place cells displayed instability in the absence of any proximal cue manipulation in 23 % of the recording sessions. This instability occurred in an unpredictable way in a familiar environment and was characterized each time by a coherent angular rotation of the whole set of recorded place cells. These data suggest that, in the absence of cerebellar LTP, hippocampal spatial representation cannot be reliably anchored to the proximal cue. These results along with those from L7­PKCI mice, indicate that the cerebellum contributes to both hippocampal representation and subsequent navigation abilities and that LTP and LTD are likely to play different roles in these processes.

This thesis deals with the possibility of connecting inertial navigation sensors (accelerometer, magnetometer and gyroscope) to determine with the highest precision the position of the user without the help of GPS or other networks. This is inherently connected with the need to deal with many sources of errors, which are connected with this positioning method. The research section describes the principle and history of selected navigation methods and current trends in the use of inertial positioning or navigation methods. The methodical part deals with the design of a system able to determine with the highest accuracy the current position of the user from different input conditions. It is designed to obtain the necessary data from both the sensors and the user and their subsequent processing and use to render the user's position. The application section then describes the practical procedure for creating an Android mobile OS application output and in the discussion part is presented and evaluated the knowledge of testing both during the creation and in the final survey among the test users. The conclusion evaluates the goals and summarizes the practical possibilities and limits of the usability of these positioning methods in mobile phones. It also provides suggestions for further development and...

This work investigates the possibility of obtaining attitude estimates by capturing images of stars using a SWIR camera. Today, many autonomous systems rely on the measurements from a GPS to obtain accurate position and attitude estimates. However, the GPS signals are vulnerable to both jamming and spoofing, making any system reliant on only GPS signals insecure. To make the navigation systems more robust, other sensors can be added to acquire a multisensor system. One of these sensors might be a ground based SWIR star camera that is able to provide accurate attitude estimates. To investigate if this is possible, an experimental setup with a SWIR camera was placed at the office of FOI Linköping, where the camera in a rigid position has captured images of the sky. The SWIR camera possesses several advantages over a camera operating in the visual spectrum. For example, the background radiation is weaker and the transmission through the atmosphere is higher in certain wavelength bands.  The images captured by the SWIR camera was provided to a star tracker software that has been developed. The star tracker software contains algorithms to detect stars, position them in the image at subpixel accuracy, match the stars to a star database and finally output an attitude based on the stars from the image and the identified stars in the database. To further improve the attitude estimates, an MEKF was applied. The results show that attitude estimates could be obtained consistently from late evenings to early mornings, when the sky was dark. However, this required that the weather conditions were good, i.e., a limited amount of clouds. When more clouds were present, no attitude estimates could be provided for a majority of the night. The SWIR camera was also compared to a camera operating in the visual spectrum when clouds were present, to see if the results were any different. With the camera settings applied in this work, the two cameras seemed to perform equally. The accuracy of the estimated attitudes is hard to validate, since no true attitude is available. However, the variance of the estimates was low, and the major differences in the attitude estimates over a night's measurements seemed to be a drift present in all angles. The maximum estimated error in declination during a night's measurements varied from about 40 to 60 arc seconds, depending on the data set. The maximum estimated error in right ascension varied between 200 and 2000 arc seconds, and the same metric in the roll estimate were about 100 to 2500 arc seconds. The reason for the drifts is assumed to be atmospheric effects not being accounted for, and astronomical effects moving the direction of the rotation axis of the earth, creating errors in the star positions given in the database.

Standard GPS receivers are unable to provide the rate or precision required when used on a small vessel such as an Unmanned Surface Vehicles (USVs). To overcome this, the thesis presents a low cost high rate motion measurement system for an USV with underwater and oceanographic purposes. The work integrates an Inertial Measurement Unit (IMU), a GPS receiver, a flux-gate compass, a tilt sensor and develops a software package, using real time data fusion methods, for an USV to aid in the navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP).While ADCPs non-intrusively measure water flow, they suffer from the inability to discriminate between motions in the water column and self-motion. Thus, the vessel motion contamination needs to be removed to analyze the data and the system developed in this thesis provides the motion measurements and processing to accomplish this task. / by Chrystel Gelin. / Thesis (M.S.C.S.)--Florida Atlantic University, 2010. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.

The design and integration of an unmanned surface vehicle (USV) control system is described. A survey of related work in both USV control, and unmanned vehicle operating software is presented. The hardware subsystem comprising a modular Guidance, Navigation, and Control (GNC) package is explained. A multi-threaded software architecture is presented, utilizing a decentralized, mutex-protected shared memory inter-process communication subsystem to provide interoperability with additional software modules. A generic GNC approach is presented, with particular elaboration on a virtual rudder abstraction of differential thrust platforms. A MATLAB Simulink simulation is presented as a tool for developing an appropriate controller structure, the result of which was implemented on the target platform. Software validation is presented via a series of sea trials. The USV was tested both in open- and closed-loop control configurations, the results of which are presented here. Lastly recommendations for future development of the GNC system are enumerated. / by Thomas C. Furfaro. / Thesis (M.S.C.S.)--Florida Atlantic University, 2012. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2012. Mode of access: World Wide Web.

L’objectif principal d’une Arthroplastie Totale de Hanche (ATH) est de réduire la douleur en reproduisant les propriétés mécaniques de l’articulation de la hanche à l'aide d'implants artificiels, qui assurent également une fonctionnalité optimale. Ce travail traite de la navigation de l’ATH, à base d’échographie, en mettant l'accent sur la navigation de l'implant fémoral. La conception d'un système de navigation pour l’ATH, basé sur l’échographie peropératoire et CT préopératoire et focalisant sur l’implant fémoral, est proposée. Il fournit un feed back visuel et quantitatif sur l'insertion de l'implant. Le pipeline de navigation proposé inclut : la calibration de la sonde, la segmentation tenant compte de la géométrie d’acquisition, et le recalage profitant de la forme quasi symétrique du fémur. La précision est évaluée en termes cliniques.Les temps d'exécution et la précision obtenus sont encourageants et rendent le pipeline proposé valable pour être évalué en utilisant des données réelles des patients. Une fois notre étude réussie le défi peropératoire, d’autres applications telles que l'arthroplastie totale de l'épaule et l'ablation du cancer osseux peuvent en profiter. / The principal aim of a Total Hip Arthroplasty (THA) is to reduce pain by reproducing the hip joint mechanical properties using artificial implants. This work addresses the ultrasound based navigation of THA, with a focus on the femoral implant. Using a calibrated 3D ultrasound probe, the aim is to image and recognize the femur after implant insertion, then to provide quantitative and visual navigation instructions for optimal implant placement. US bone interfaces are estimated per line of sight, then mapped to CT model profiting from the femur symmetry. The inaccuracy of the proposed navigation system is quantified in clinical terms. The obtained runtimes and accuracies make the proposed pipeline worthy to be tested in the OR. Once the proposed pipeline succeeds the intraoperative challenge, navigated bone tumor ablation and total shoulder arthroplasty can profit from our work.

Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1981. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND AERO. / Includes bibliographical references. / Ph.D.

Les textes de Mout développent une théologie septentrionale émanant d’Héliopolis, localement adaptée par une mise en parallèle entre le couple démiurgique héliopolitain, Atoum / Témet, et le couple monarchique thébain Amon / Mout, ainsi que par un transfert de géographie sacrée. Mout récupère l’apanage mythico-cultuel de Témet : Mythe de la Déesse lointaine, rituels d’Apaiser Sekhmet et de l’offrande de l’ivresse, qui, en contexte thébain, ont pour finalité la protection de la cité d’Amon et la glorification de Thèbes-la-Victorieuse, assimilée à Mout protégeant Amon. / The Mut’s texts present a local adaptation of a northern theology originated from Heliopolis, based on parallelism between the heliopolitan demiurgic couple Atum / Temet and the theban monarchic couple Amun / Mut, as well as a transfer of sacred geography. Mut recovers Temet’s mythological prerogatives and worship : Myth of the Wandering Goddess, rituals of Pacifying Sekhmet and of the offering of the drunkness, wich, in the theban context, focus on the protection of Amun’s city and the glory of Victorious-Thebes, assimilated to Mut who protects Amun.