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På Robotförsöksplats Norrland, RFN, i Vidsel, har flygplan och robotar utprovats sedan 1958. Provplatsen har Västeuropas största provområde över land, med en area på över 1600 kvadratkilometer. Radar, Kinoteodoliter, Telemetri och Kameror används för att övervaka provobjektens rörelser. Att kunna följa robotbanan och lagra positionsdata är en väsentlig del av provningsverksamheten. All positionsdata samlas in av ledningsprogramvaran, BAPS, och används för att i realtid presentera positionsdata på en karta till stöd för provledaren. Samma data kan sedan bearbetas för att generera mera exakta positionsuppgifter i efterhand. 2001 infördes ett nytt geodetiskt referenssystem i Sverige, SWEREF99. Till skillnad från det föregående systemet, RT90, är det nya ett verkligt tredimensionellt globalt system. Eftersom all positionering görs i relation till ett referenssystem, och positioner utgör kärnan i RFN:s aktiviteter, är det av stor vikt att undersöka hur RFN skulle påverkas av att införa det nya referenssystemet. Det är syftet med denna rapport att undersöka detta. Att RFN skall införa SWEREF99 är klart. Det finns många skäl för detta. Sedan några år tillbaka införs detta system över hela landet, hos kommuner, myndigheter och företag. Samverkan med dessa underlättas om RFN har samma referenssystem som de har. Än viktigare är att RFN har många utländska kunder, vilka oftast använder det till SWEREF99 närbesläktade WGS84. Vidare underlättas användningen av GNSS-teknologi av att SWEREF99 och WGS84 ligger så nära varandra. Idag använder RFN en kombination av de gamla nationella systmen, RT90 och RH70, och en föregångare till SWEREF99, det preliminära systemet SWEREF93, som skiljer sig från SWEREF99 med mindre än en decimeter. SWEREF93 används i tredimensionell kartesisk form i BAPS, vars algoritmer transformerar data till och från provsystemens format. Sammantaget har SWEREF99 i och med denna rapports fastställande införts på RFN. Ett transformationssamband har etablerats mellan det gamla referenssystemet, en dialekt av RT90, och SWEREF99. Med hjälp av detta har befintliga stom- och brukspunkter transformerats till det nya systemet och en uppdaterad koordinatförteckning upprättats. Prov- och ledningssystem har analyserats med avseende på användning av positionsdata och ett antal förändringar i den kod som utgör dessa systems programvara har utförts. En algoritm för transformation mellan å ena sidan SWEREF99 och å andra sidan SWEREF93 och RR92, har tagits fram och ett antal funktionsanrop i olika subrutiner har pekats om till att använda dessa nya algoritmer. Två nya koordinatlistor för sensorer har ersatts äldre i ledningssystemet, dels för BUS, dels för realtidskommunikationen med ett antal provsystem, såsom TM, KTS och RIR. Därmed är prov- och ledningssystem i allt väsentligt redo att börja använda det nya systemet. / Robotförsöksplats Norrland (RFN = Vidsel Test Range), has been the main site for missile testing in Sweden since 1958. It has Europe’s largest test range over land, with an area of more than 1600 square kilometres. Radars, kinotheodolites, telemetry and cameras are used to monitor the test object during flight. Following the missile trajectory and registering position data is central to the testing. All position data is collected by the command and control software, BAPS, and used to present real time position information on a map to support the personnel responsible for the test. The data can also be processed after the test to generate more exact evaluation of the flight. In 2001 a new geodetic reference system, SWEREF99, was introduced in Sweden. Unlike the old system it replaced, RT90, this new system is a truly global three dimensional system. Since all positioning is done in relation to a geodetic reference system, and since positioning is at the core of the activities at RFN, it is of great importance to investigate how the introduction of this new reference system would affect RFN. That is the aim of this report. There is really no question about if SWEREF99 should be introduced at RFN. For several reasons it should be. In the last five years most authorities, companies and municipalities in Sweden have adopted this new system, replacing RT90 or local systems, and others will follow. Coordination with these entities would be much simplified if RFN used the same reference system. Further, SWEREF99 is a global system, closely following the GPS-system, WGS84. Using this new system allows RFN to fully utilise GPS technology. Finally, since many test range customers come from other countries, a global system simplifies coordination with them as well. Today RFN uses a combination of the old national system, RT90, and a precursor to SWEREF99, the preliminary reference system SWEREF93. This later system differs from SWEREF99 by less then a decimetre, and is used in three dimensional Cartesian form in BAPS, whose algorithms transforms data to and from the test systems to that system. The first step of the project was to establish transformation parameters between the new system and the old ones. This was done using methods developed by the Swedish Land Survey Office to help municipalities introduce the new system in a project called RIX-95. Using these parameters it was possible to transform all coordinates for reference points, sensors, runways and other equipment stored in the RFN geo database. Next step was an analysis of the command and control software, BAPS, in order to understand what changes would be necessary when introducing SWEREF99. In most cases it turned out that changing the software sensor position list was enough to ensure that the system would retain its functionality, but using the new reference system instead. In some cases, though, it became necessary to alter the source code to the software, adding subroutines to transform coordinates between SWEREF99 and the old systems SWEREF93 and RT90. These changes have been made, and the resulting code added to this report as appendixes together with various documents related to the transformation of coordinates. Most of the calculations and resulting tables, formulas and parameters are presented in the main body of the report only. Implementing the changes recommended in this report will introduce SWEREF99 at RFN, maintaining all present functions in the test and command and control systems. There are also some recommendations for changes that would be beneficial to carry out in a longer perspective. Apart from further changes in the software recommendations include reconnaissance of existing reference points around the Vidsel airport, and the introduction of a geodetic survey manual for personnel involved in surveying at the test range.

Chronic wasting disease (CWD) has been a known threat to Saskatchewans wild cervid populations for more than a decade. As host movements can affect the spread of a disease across the landscape, disease models and management strategies should incorporate information regarding movement patterns of the host population in question. I used radio telemetry to study mule deer (<i>Odocoileus hemionus</i>) captured between 2006 and 2008 in a CWD-endemic region of southern Saskatchewan. Using location data from 152 individuals, I investigated home range size and patterns of direct and indirect contact (measured using proximity and shared space use) in relation to sex, habitat, and landscape structure. <p>Home ranges (95% fixed kernel) of GPS-collared deer in this study averaged 21.4 km² (n = 94). Male home ranges (mean = 29.5 km², n = 56) were larger than those of females (mean = 16.1 km², n = 38), which could have implications for CWD prevalence differences between sexes. Of the landscape variables tested, topographic ruggedness was inversely related to home range size and Shannons diversity (a measure of both habitat richness and evenness) was positively related to home range size. <p>Potential direct contact events were identified when two deer were located within 25 m of each other at the same point in time. These events occurred more often between February and April, agreeing with the tendency of mule deer to aggregate into large groups during the late winter months, and suggesting that this may be an important time period for disease transmission. Contact also occurred more than expected in cropland, whereas areas of shared use occurred more than expected in grassland, shrub/wood habitat, and rugged terrain. Smaller home ranges and greater degree of shared space use within areas of rough topography may lead to greater risk of environmental contamination with the infectious CWD agent in these areas. In contrast, the relationship between cropland and probability of direct contact may imply greater risk of direct CWD transmission between deer occupying this habitat. <p>These results identify connections between particular landscape factors and risk of CWD transmission and will be used, in combination with results of related studies, to develop a model of CWD spread in Saskatchewan. This will in turn aid management agencies in developing methods to more effectively manage the disease and control its movement outside of affected regions.

Today, the Internet is growing exponentially, with traffic statistics that mathematically exhibit fractal characteristics: self-similarity and long-range dependence. With these properties, data traffic shows high peak-to-average bandwidth ratios and causes networks inefficient. These problems make it difficult to predict, quantify, and control data traffic. In this thesis, two analytical methods are used to study fractal network traffic. They are second-order self-similarity analysis and multifractal analysis. First, self-similarity is an adaptability of traffic in networks. Many factors are involved in creating this characteristic. A new view of this self-similar traffic structure related to multi-layer network protocols is provided. This view is an improvement over the theory used in most current literature. Second, the scaling region for traffic self-similarity is divided into two timescale regimes: short-range dependence (SRD) and long-range dependence (LRD). Experimental results show that the network transmission delay separates the two scaling regions. This gives us a physical source of the periodicity in the observed traffic. Also, bandwidth, TCP window size, and packet size have impacts on SRD. The statistical heavy-tailedness (Pareto shape parameter) affects the structure of LRD. In addition, a formula to estimate traffic burstiness is derived from the self-similarity property. Furthermore, studies with multifractal analysis have shown the following results. At large timescales, increasing bandwidth does not improve throughput. The two factors affecting traffic throughput are network delay and TCP window size. On the other hand, more simultaneous connections smooth traffic, which could result in an improvement of network efficiency. At small timescales, in order to improve network efficiency, we need to control bandwidth, TCP window size, and network delay to reduce traffic burstiness. In general, network traffic processes have a Hlder exponent a ranging between 0.7 and 1.3. Their statistics differ from Poisson processes. From traffic analysis, a notion of the efficient bandwidth, EB, is derived. Above that bandwidth, traffic appears bursty and cannot be reduced by multiplexing. But, below it, traffic is congested. An important finding is that the relationship between the bandwidth and the transfer delay is nonlinear.

This thesis presents a fully integratable read-out front-end for recording from piezoelectric sensors. It is proposed to periodically reset the input signal to avoid build-up of large voltages across the circuit input terminals. Digitizing the signal after buffering allows removal of the reset steps in the digital domain, thus yielding a faithful representation of the applied input force variation. Different realignment algorithms are presented in this thesis, and the measured results as well as the simulated results from a bench setup are reported which confirm a 52.5 dB dynamic range and recording of frequencies as low as 0.55 Hz. It is also shown the effect of input current leakage is reduced. The proposed system is simulated using the Cadence Spectre simulator, Synopsys HSPICE and National Instruments LabVIEW to confirm its operation. Different realignment algorithms are examined using MATLAB. The read-out circuit is further realized by 0.35 £gm 2-poly 4-metal Taiwan Semiconductor Manufacturing Company (TSMC) process technology. The chip measured results are reported and compared to the simulation. The measured implementation yields a pressure recording range of 0.4 N to 169 N, while consuming 230 £gW from 3 V supplies.

This thesis has described a wide tuning range transconductor combining source degeneration, cross-coupled, translinear loop to achieve high linearity. The transconductance tuning range from 220£gs to 1050£gs with 1V input range and the total harmonic distortion is -50dB with 0.6Vpp input voltage. And its application to a fifth-order elliptic low-pass Gm-C filter for the front-end RF circuit is presented. In order to transform the passive element circuit into a Gm-C based filter, a GIC flow method has been used. The proposal Gm-C based filter achieve a with performance a low frequency filtering range from 5Mhz to 10Mhz by transconductance tuning.

A packet will be dropped when it arrives at a congested node in a routing path. The authors of [22] proposed the CRP protocol that can alleviate the congestion problem by splitting the traffic to the bypass nodes. In this thesis, we propose a new routing protocol, called MIMO-assisted congestion-adaptive routing protocol (MCRP for short), for multi-hop mobile ad hoc networks (MANETs for short). In MCRP, nodes periodically record the information of their rate-link/range-link neighbors. MCRP alleviates the congestion problem by dynamically adjusting the MIMO antenna mode and splitting the traffic to the downstream range-link neighbors. In addition, MCRP can quickly reestablish the routing path when it is broken due to node failure or mobility. Simulation results show that MCRP outperforms the existing protocols in terms of packet delivery ratio and end-to-end throughput.

¡@¡@In recent years, the geographic information system (GIS) databases develop quickly and play a significant role in many applications. Many of these applications allow users to find objects with keywords and spatial information at the same time. Most researches in the spatial keyword queries only consider the exact match between the database and query with the textual information. Since users may not know how to spell the exact keyword, they make a query with the approximate-keyword, instead of the exact keyword. Therefore, how to process the approximate-keyword query in the spatial database becomes an important research topic. Alsubaiee et al. have proposed the Location-Based-Approximate-Keyword-tree (LBAK-tree) index structure which is to augment a tree-based spatial index with approximate-string indexes such as a gram-based index. However, the LBAK-tree index structure is the R*-tree based index structure. The nodes of the R*-tree have to be split and be reinserted when they get full. Due to this condition, it can not index the spatial attribute and the textual attribute at the same time. It stores the keywords in the nodes after the R*-tree is already built. Based on the R*-tree, it has to search all the children in a node to insert a new item and answer a query. Moreover, after they find the needed keywords by using the approximate index, they probe the nodes by checking the intersection of the similar keyword sets and the keywords stored in the nodes. However, the higher level the node is, the larger the number of keywords stored in the node is. It takes long time to check the intersections. And the LBAK-tree checks all the intersections even if there exits one of the intersections which is already an empty set. Therefore, in this thesis, we propose the Nine-Area-Approximate-Keyword-tree (NAAK-tree) index structure to process the spatial approximate-keyword query. We do not have to partition the space to construct the spatial index. We do not have to reinsert the children when split the nodes, so we can deal with the keywords at the same time. We can use the spatial number to find out the nodes that satisfy the spatial condition of the query. And we augment the NAAK-tree with signatures to speed up the query of the textual condition. We use the union of the bit strings of each keyword in a node to represent them in the node. Therefore, we can efficiently filter out the nodes that there is no keyword corresponding to the query by checking the signatures just one time without checking all the keywords stored in the nodes. Based on our NAAK-tree, if there exits one empty set in the similar keywords sets, we do not check all the similar keywords sets. From our simulation results, we show that the NAAK-tree is more efficient than the LBAK-tree to build the index and answer the spatial approximate-keyword query.

Nowadays, LiDAR(Light Detection And Ranging, LiDAR) is the more important and widely applicable measurement technique. The rise of visual system in 3D is very useful to the measurement of LiDAR and gets more importance value for 3D reconstruction technology, in which abundant surface features are implied in the point cloud data. Combined with the image and laser technique for real-time rendering, the LiDAR will be more functional. This thesis proposes and designs a system which combined with Laser Range Finder and 3D visual interface for vehicles, and also equipped with rotary encoder and initial measurement unit to DR(Dead Reckoning) function. Through the coordinate transform method of 2D to 3D, the 3D coordinate of each point will be calculated, and embedded with the color information which captured from the camera to take 3D color point cloud collection. This method is also called Mobile Mapping System(MMS). In addition, this mapping system uses Direct Memory Access technology to display the point cloud synchronous in 3D visual system. Except for the point cloud collection, the reconstruction of point cloud data is used in this system. The surface reconstruction is based on Nearest Neighbor Interpolation method. There are two factors to conduct the interpolation process: the angle and distance between two sample points from the points sequence. The reconstruction of point cloud and calibration of DR is not only to confirm the accuracy of 3D point cloud map but also the ¡§New Geography¡¨ of the 3D electronic map. This research will build up an independent Mobile Mapping System.

Data warehouses contain data consolidated from several operational databases and provide the historical, and summarized data which is more appropriate for analysis than detail, individual records. On-Line Analytical Processing (OLAP) provides advanced analysis tools to extract information from data stored in a data warehouse. Fast response time is essential for on-line decision support. A bitmap index could reach this goal in read-mostly environments. When data has high cardinality, we prefer to use the Range-Based Index (RBI), which divides the attributes values into several partitions and a bitmap vector is used to represent a range. With RBI, however, the number of records assigned to different ranges can be highly unbalanced, resulting in different search times of disk accesses for different queries. Wu et al proposed an algorithm for RBI, DBEC, which takes the data distribution into consideration. But the DBEC strategy could not guarantee to get the partition result with the given number of bitmap vectors, PN. Moreover, for different data records with the same value, they may be partitioned into different bitmap vectors which takes long disk I/O time. Therefore, we propose the IPDF, CP, CP* strategies for constructing the dynamic range-based indexes concerning with the case that data has high cardinality and is not uniformly distributed. The IPDF strategy decides each partition according to the Probability Density Function (p.d.f.). The CP strategy sorts the data and partitions them into PN groups for every w continuous records. The CP* strategy is an improved version of the CP strategy by adjusting the cutting points such that data records with the same value will be assigned into the same partition. On the other hand, we could take the history of users' queries into consideration. Based on the greedy approach, we propose the GreedyExt and GreedyRange strategies. The GreedyExt strategy is used for answering exact queries and the GreedyRange strategy is used for answering range queries. The two strategies decide the set of queries to construct the bitmap vectors such that the average response time of answering queries could be reduced. Moreover, a bitmap index consists of a set of bitmap vectors and the size of the bitmap index could be much larger than the capacity of the disk. We propose the FZ strategy to compress each bitmap vector to reduce the size of the storage space and provide efficient bitwise operations without decompressing these bitmap vectors. Finally, from our performance analysis, the performance of the CP* strategy could be better than the CP strategy in terms of the number of disk accesses. From our simulation, we show that the ranges divided by the IPDF and CP* strategies are more uniform than those divided by the DBEC strategy. The GreedyExt and GreedyRange strategies could provide fast response time in most of situations. Moreover, the FZ strategy could reduce the storage space more than the WAH strategy.