Implementation of Dead Reckoning System Using Fingerprint and K-NN Algorithm for An Object Position and Posture Estimation

Author(s):  
Asti Putri Rahmadini ◽  
Prima Kristalina ◽  
Amang Sudarsono
Author(s):  
K. N. Hooghan ◽  
K. S. Wills ◽  
P.A. Rodriguez ◽  
S.J. O’Connell

Abstract Device repair using Focused Ion Beam(FIB) systems has been in use for most of the last decade. Most of this has been done by people who have been essentially self-taught. The result has been a long learning curve to become proficient in device repair. Since a great deal of the problem is that documentation on this “art form” is found in papers from many different disciplines, this work attempts to summarize all of the available information under one title. The primary focus of FIB device repair is to ensure and maintain device integrity and subsequently retain market share while optimizing the use of the instrument, usually referred to as ‘beam time’. We describe and discuss several methods of optimizing beam time. First, beam time should be minimized while doing on chip navigation to reach the target areas. Several different approaches are discussed: dead reckoning, 3-point alignment, CAD-based navigation, and optical overlay. Second, after the repair areas are located and identified, the desired metal levels must be reached using a combination of beam currents and gas chemistries, and then filled up and strapped to make final connections. Third, cuts and cleanups must be performed as required for the final repair. We will discuss typical values of the beam currents required to maintain device integrity while concurrently optimizing repair time. Maintaining device integrity is difficult because of two potentially serious interactions of the FIB on the substrate: 1) since the beam consists of heavy metal ions (typically Gallium) the act of imaging the surface produces some physical damage; 2) the beam is positively charged and puts some charge into the substrate, making it necessary to use great care working in and around capacitors or active areas such as transistors, in order to avoid changing the threshold voltage of the devices. Strategies for minimizing potential damage and maximizing quality and throughput will be discussed.


Author(s):  
Yoshiaki Bando ◽  
Takeshi Mizumoto ◽  
Katsutoshi Itoyama ◽  
Kazuhiro Nakadai ◽  
Hiroshi G. Okuno

Geomatics ◽  
2021 ◽  
Vol 1 (2) ◽  
pp. 148-176
Author(s):  
Maan Khedr ◽  
Naser El-Sheimy

Mobile location-based services (MLBS) are attracting attention for their potential public and personal use for a variety of applications such as location-based advertisement, smart shopping, smart cities, health applications, emergency response, and even gaming. Many of these applications rely on Inertial Navigation Systems (INS) due to the degraded GNSS services indoors. INS-based MLBS using smartphones is hindered by the quality of the MEMS sensors provided in smartphones which suffer from high noise and errors resulting in high drift in the navigation solution rapidly. Pedestrian dead reckoning (PDR) is an INS-based navigation technique that exploits human motion to reduce navigation solution errors, but the errors cannot be eliminated without aid from other techniques. The purpose of this study is to enhance and extend the short-term reliability of PDR systems for smartphones as a standalone system through an enhanced step detection algorithm, a periodic attitude correction technique, and a novel PCA-based motion direction estimation technique. Testing shows that the developed system (S-PDR) provides a reliable short-term navigation solution with a final positioning error that is up to 6 m after 3 min runtime. These results were compared to a PDR solution using an Xsens IMU which is known to be a high grade MEMS IMU and was found to be worse than S-PDR. The findings show that S-PDR can be used to aid GNSS in challenging environments and can be a viable option for short-term indoor navigation until aiding is provided by alternative means. Furthermore, the extended reliable solution of S-PDR can help reduce the operational complexity of aiding navigation systems such as RF-based indoor navigation and magnetic map matching as it reduces the frequency by which these aiding techniques are required and applied.


Linguistics ◽  
2020 ◽  
Vol 58 (3) ◽  
pp. 745-766
Author(s):  
Elisabeth Stark ◽  
Paul Widmer

AbstractWe discuss a potential case of borrowing in this paper: Breton a- ‘of’, ‘from’ marking of (internal) verbal arguments, unique in Insular Celtic languages, and reminiscent of Gallo-Romance de/du- (and en-) arguments. Looking at potential Gallo-Romance parallels of three Middle Breton constructions analyzed in some detail (a with indefinite mass nominals in direct object position, a-marking of internal arguments under the scope of negation, a [allomorphs an(ez)-/ahan-] with personal pronouns for internal arguments, subjects (mainly of predicative constructions) and as expletive subjects of existential constructions), we demonstrate that even if there are some semantic parallels and one strong structural overlap (a and de under the scope of negation), the amount of divergences in morphology, syntax and semantics and the only partially fitting relative chronology of the different constructions do not allow to conclude with certainty that language-contact is an explanation of the Breton facts, which might have come into being also because of internal change (bound to restructuring of the pronominal system in Breton). More research is necessary to complete our knowledge of a-marking in Middle Breton and Modern Breton varieties and on the precise history of French en, in order to decide for one or the other explanation.


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