GPS Receiver Position Augmentation Using Correntropy Kalman Filter in Low Latitude Terrain

If any Global Positioning System (GPS) receiver is operated in low latitude regions or urban canyons, the visibility further reduces. These system constraints lead to many challenges in providing precise GPS position accuracy over the Indian subcontinent. As a result, the standalone GPS accuracy does not meet the aircraft landing requirements, such as Category I (CAT-I) Precision Approaches. However, the required accuracy can be achieved by augmenting the GPS. Among all these issues, the predominant factors that significantly influence the receiver position accuracy are selecting a user/receiver position estimation algorithm. In this article, a novel method is proposed based on correntropy and designated as Correntropy Kalman Filter (CKF) for precise GPS applications and GPS Aided Geosynchronous equatorial orbit Augmented Navigation (GAGAN) based aircraft landings over the low latitude Indian subcontinent. The real-world GPS data collected from a dual-frequency GPS receiver located in the southern region of the Indian subcontinent (IISc), Bangalore with Lat/Long: 13.021°N/ 77.5°E) is used for the performance evaluation of the proposed algorithm. Results prove that the proposed CKF algorithm exhibits significant improvement (up to 34%) in position estimation compared to the traditional Kalman Filter.

3D virtual reality vs. 2D desktop registration user interface comparison

Working with organs and extracted tissue blocks is an essential task in many medical surgery and anatomy environments. In order to prepare specimens from human donors for further analysis, wet-bench workers must properly dissect human tissue and collect metadata for downstream analysis, including information about the spatial origin of tissue. The Registration User Interface (RUI) was developed to allow stakeholders in the Human Biomolecular Atlas Program (HuBMAP) to register tissue blocks—i.e., to record the size, position, and orientation of human tissue data with regard to reference organs. The RUI has been used by tissue mapping centers across the HuBMAP consortium to register a total of 45 kidney, spleen, and colon tissue blocks, with planned support for 17 organs in the near future. In this paper, we compare three setups for registering one 3D tissue block object to another 3D reference organ (target) object. The first setup is a 2D Desktop implementation featuring a traditional screen, mouse, and keyboard interface. The remaining setups are both virtual reality (VR) versions of the RUI: VR Tabletop, where users sit at a physical desk which is replicated in virtual space; VR Standup, where users stand upright while performing their tasks. All three setups were implemented using the Unity game engine. We then ran a user study for these three setups involving 42 human subjects completing 14 increasingly difficult and then 30 identical tasks in sequence and reporting position accuracy, rotation accuracy, completion time, and satisfaction. All study materials were made available in support of future study replication, alongside videos documenting our setups. We found that while VR Tabletop and VR Standup users are about three times as fast and about a third more accurate in terms of rotation than 2D Desktop users (for the sequence of 30 identical tasks), there are no significant differences between the three setups for position accuracy when normalized by the height of the virtual kidney across setups. When extrapolating from the 2D Desktop setup with a 113-mm-tall kidney, the absolute performance values for the 2D Desktop version (22.6 seconds per task, 5.88 degrees rotation, and 1.32 mm position accuracy after 8.3 tasks in the series of 30 identical tasks) confirm that the 2D Desktop interface is well-suited for allowing users in HuBMAP to register tissue blocks at a speed and accuracy that meets the needs of experts performing tissue dissection. In addition, the 2D Desktop setup is cheaper, easier to learn, and more practical for wet-bench environments than the VR setups.

FREE STATION TASK WITH DRONE

Using drones with different purposes than only taking photos is nowadays the main direction of drone development. Drones are made for package delivery, people transport, etc. Drone equipped by GNSS RTK and prism can be used as orientation point for the free station. The idea is using drone to get coordinates of total stations inappropriate for GNSS. such as high buildings and forest. The drone can fly above the obstacle causing inappropriate, so the GNSS will compute the position coordinates correctly. Total station will measure distance and angles on prism to get free station coordinates. This article deals with the accuracy of using two points in the free station task. Accuracy of measurement and data is based on real values. Drone can be used as the target if it is not windy, the position accuracy of the target on drone is 5 cm. Wind has no effect on the vertical position accuracy of the the drone. The results show that the same principles and limitations must be observed when measuring the free station task. Horizontal angle between orientation points must be bigger than 100 gon and the zenith angle must be at least 50 gon. The distance between orientation and free station must longer than consequent measured points.

Adaptive Machining Scheme for Multi-Hole Part with Multi-Position Accuracy Requirements

The machining of multi-hole parts often has complex correlated position accuracy requirements. When some position accuracies do not meet the requirements, several hole axes need to be adjusted. Previous methods usually correct all deviated axes to their theoretical locations. However, the correction workload is too large and inefficient. This paper proposes an efficient and adaptive hole position correction model for multi-hole part. First, the method establishes the topological relationship of the holes and faces on the part according to the position accuracy requirements of the multi-hole part. Then, the goal is to minimize the number of holes that need to be corrected. In this model, the parallelism of holes, perpendicularity, and other constraints are considered. The simulation and experimental results show that the use of this model can effectively reduce the number of holes that need to be corrected during the compensation of the position error between holes. It improves the efficiency in the subsequent compensation process significantly.

Multi-objective optimization for control parameters of underwater gliders considering effect of uncertain input errors

In actual application, the energy utilization rate of underwater glider directly affects the total voyage range. When underwater glider is used for executing exploration mission for a fixed point, the position that the glider resurfaces should be accurate enough. In this paper, we employ a multi-objective optimization method to determine the control parameters values that can maximize the position accuracy that the glider resurfaces and the energy utilization rate simultaneously. Especially, the optimization of this paper considers the effect of uncertain input errors. The control parameters include the net buoyancy adjustment amount and the movable mass block translation amount. The input errors include the control parameters errors, the motion depth error and the current. Based on the dynamic model of an underwater glider, we propose the calculation model and evaluation flow that are used for analyzing the glider position accuracy and energy utilization rate, considering the effect of uncertain input errors. Besides, a combinatorial experimental design method is proposed to calculate the performance evaluation parameters under different control parameters values. Then the radial basis function neural network is employed to establish the surrogate models of performance evaluation parameters to participate in the optimization calculation, which can improve the optimization efficiency. After optimization calculation based on the non-dominated sorting genetic algorithm II, we obtain a Pareto optimal set consisting of 257 sets of non-dominated solutions. Finally, the selection rule of optimal control parameters values is given, and the optimization results are validated under 3 sets of solutions. This research may be valuable for the improvement of the glider work quality.

Converging Evidence of Underlying Competence: Comprehension and Production in the Acquisition of Spanish Subject-Verb Agreement

A surprising comprehension-production asymmetry in subject-verb (SV) agreement acquisition has been suggested in the literature, and recent research indicates that task-specific as well as language-specific features may contribute to this apparent asymmetry across languages. The present study investigates when during development children acquiring Mexican Spanish gain competence with 3rd-person SV agreement, testing production as well as comprehension in the same children aged between 3;6 and 5;7 years, and whether comprehension of SV agreement is modulated by the sentential position of the verb (i.e., medial vs. final position). Accuracy and sensitivity analyses show that comprehension performance correlates with SV agreement production abilities, and that comprehension of singular and plural third-person forms is not influenced by the sentential position of the agreement morpheme. Issues of the appropriate outcome measure and the role of structural familiarity in the development of abstract representations are discussed.