Onboard and External Magnetic Bias Estimation for UAS through CDGNSS/Visual Cooperative Navigation

This paper describes a calibration technique aimed at combined estimation of onboard and external magnetic disturbances for small Unmanned Aerial Systems (UAS). In particular, the objective is to estimate the onboard horizontal bias components and the external magnetic declination, thus improving heading estimation accuracy. This result is important to support flight autonomy, even in environments characterized by significant magnetic disturbances. Moreover, in general, more accurate attitude estimates provide benefits for georeferencing and mapping applications. The approach exploits cooperation with one or more “deputy” UAVs and combines drone-to-drone carrier phase differential GNSS and visual measurements to attain magnetic-independent attitude information. Specifically, visual and GNSS information is acquired at different heading angles, and bias estimation is modelled as a non-linear least squares problem solved by means of the Levenberg–Marquardt method. An analytical error budget is derived to predict the achievable accuracy. The method is then demonstrated in flight using two customized quadrotors. A pointing analysis based on ground and airborne control points demonstrates that the calibrated heading estimate allows obtaining an angular error below 1°, thus resulting in a substantial improvement against the use of either the non-calibrated magnetic heading or the multi-sensor-based solution of the DJI onboard navigation filter, which determine angular errors of the order of several degrees.

Does the macro design of an implant affect the accuracy of template-guided implantation? A prospective clinical study

Background An implant prosthesis aims to ensure the best possible rehabilitation of function and esthetics following tooth loss. Template-guided insertion is used to achieve an optimal position of the implant with regard to prosthetic restorability, bone availability, and condition of the surrounding soft tissues. The accuracy of template-guided implant placement is subject to various influencing factors. The clinically achievable accuracy depending on the macro design of the implant body was investigated in this prospective clinical study. Material and methods In this prospective clinical study, 20 implants were placed in 20 patients. The implant had a pronounced conical outer geometry (Conelog ProgressiveLine, Camlog Wimsheim, Germany). Data from a study using an implant with a distinct cylindrical outer geometry were used as a comparison group (Conelog ScrewLine, Camlog, Wimsheim, Germany). The clinically achieved implant position was compared with the planned position. Results The evaluation of the two-dimensional deviations in direction resulted in the following mean values (standard deviation) at the shoulder: 0.42 mm (0.33) in the buccolingual direction, 0.27 mm (0.25) in the mesiodistal direction, and 0.68 mm (0.55) in the apicocoronal direction. The mean angular deviation was 4.1° (2.3). The three-dimensional (3D) deviation was 0.94 mm (0.53) at the shoulder and 1.36 mm (0.62) at the apex of the implant. Significant differences between implants with different macro designs were found in the apicocoronal direction. In connection to this, a significant 3D deviation was found at the implant shoulder. Conclusions Significant differences in height were found between the groups. The study had shown that the macro design of an implant has no influence on accuracy in all other directions. Overall, the implants showed a high level of accuracy and a low variation in values. The values were in the range determined by the template-guided insertion system in numerous other investigations. This provides good predictability of prosthetic rehabilitation. Trial registration German Register for Clinical Studies (DRKS-ID: DRKS000018939). Date of registration: November 11, 2019.

Feasibility of Location-Aware Handover for Autonomous Vehicles in Industrial Multi-Radio Environments

The integration of millimeter wave (mmWave) and low frequency interfaces brings an unique opportunity to unify the communications and positioning technologies in the future wireless heterogeneous networks (HetNets), which offer great potential for efficient handover using location awareness, hence a location-aware handover (LHO). Targeting a self-organized communication system with autonomous vehicles, we conduct and describe an experimental and analytical study on the LHO using a mmWave-enabled robotic platform in a multi-radio environment. Compared to the conventional received signal strength indicator (RSSI)-based handover, the studied LHO not only improves the achievable throughput, but also enhances the wireless link robustness for the industrial Internet-of-things (IIoT)-oriented applications. In terms of acquiring location awareness, a geometry-based positioning (GBP) algorithm is proposed and implemented in both simulation and experiments, where its achievable accuracy is assessed and tested. Based on the performed experiments, the location-related measurements acquired by the robot are not accurate enough for the standalone-GBP algorithm to provide an accurate location awareness to perform a reliable handover. Nevertheless, we demonstrate that by combining the GBP with the dead reckoning, more accurate location awareness becomes achievable, the LHO can therefore be performed in a more optimized manner compared to the conventional RSSI-based handover scheme, and is therefore able to achieve approximately twice as high average throughput in certain scenarios. Our study confirms that the achieved location awareness, if accurate enough, could enable an efficient handover scheme, further enhancing the autonomous features in the HetNets.

On the accuracy and applicability of a new implicit Taylor method and the high-order spectral method on steady nonlinear waves

This paper presents an investigation and discussion of the accuracy and applicability of an implicit Taylor (IT) method versus the classical higher-order spectral (HOS) method when used to simulate two-dimensional regular waves. This comparison is relevant, because the HOS method is in fact an explicit perturbation solution of the IT formulation. First, we consider the Dirichlet–Neumann problem of determining the vertical velocity at the free surface given the surface elevation and the surface potential. For this problem, we conclude that the IT method is significantly more accurate than the HOS method when using the same truncation order, M , and spatial resolution, N , and is capable of dealing with steeper waves than the HOS method. Second, we focus on the problem of integrating the two methods in time. In this connection, it turns out that the IT method is less robust than the HOS method for similar truncation orders. We conclude that the IT method should be restricted to M = 4, while the HOS method can be used with M ≤ 8. We systematically compare these two options and finally establish the best achievable accuracy of the two methods as a function of the wave steepness and the water depth.

A Recurrent Deep Network for Estimating the Pose of Real Indoor Images from Synthetic Image Sequences

Recently, deep convolutional neural networks (CNN) have become popular for indoor visual localisation, where the networks learn to regress the camera pose from images directly. However, these approaches perform a 3D image-based reconstruction of the indoor spaces beforehand to determine camera poses, which is a challenge for large indoor spaces. Synthetic images derived from 3D indoor models have been used to eliminate the requirement of 3D reconstruction. A limitation of the approach is the low accuracy that occurs as a result of estimating the pose of each image frame independently. In this article, a visual localisation approach is proposed that exploits the spatio-temporal information from synthetic image sequences to improve localisation accuracy. A deep Bayesian recurrent CNN is fine-tuned using synthetic image sequences obtained from a building information model (BIM) to regress the pose of real image sequences. The results of the experiments indicate that the proposed approach estimates a smoother trajectory with smaller inter-frame error as compared to existing methods. The achievable accuracy with the proposed approach is 1.6 m, which is an improvement of approximately thirty per cent compared to the existing approaches. A Keras implementation can be found in our Github repository.

Information Content of the Model for Calculating the Finite Precision of Measurements

Aims: We argue that the choice of a specific qualitative–quantitative set of variables in a model by a conscious observer fundamentally limits the achievable accuracy of the measurement process. Place and Duration of Study: Mechanical & Refrigeration Consultation Expert, between January 2020 and July 2020. Methodology: Using the concept of “finite information quantities” introduced by Gisin, we try to present it as a practical tool in science and engineering in calculating the proximity indicator of a model to the phenomenon being studied. Results: The formulated metric (comparative uncertainty) allows us to set the optimal achievable uncertainty of the model and to confirm the impossibility of implementing the principle of infinite precision. Conclusion: Any attempt to search for a universal physical theory must consider the uncertainty caused by the observer’s vision and the working of the human brain.

Optical Setup for Error Compensation in a Laser Triangulation System

Absolute distance measurement is a field of research with a large variety of applications. Laser triangulation is a well-tested and developed technique using geometric relations to calculate the absolute distance to an object. The advantages of laser triangulation include its simple and cost-effective setup with yet a high achievable accuracy and resolution in short distances. A main problem of the technology is that even small changes of the optomechanical setup, e.g., due to thermal expansion, lead to significant measurement errors. Therefore, in this work, we introduce an optical setup containing only a beam splitter and a mirror, which splits the laser into a measurement beam and a reference beam. The reference beam can then be used to compensate for different error sources, such as laser beam dithering or shifts of the measurement setup due to the thermal expansion of the components. The effectiveness of this setup is proven by extensive simulations and measurements. The compensation setup improves the deviation in static measurements by up to 75%, whereas the measurement uncertainty at a distance of 1 m can be reduced to 85 μm. Consequently, this compensation setup can improve the accuracy of classical laser triangulation devices and make them more robust against changes in environmental conditions.

High precision multi-spindle wrench for automated sealing of joints during assembly of products operating at high pressures

Based on the theoretical and experimental analysis of achievable accuracy and stability of main forces of automated tightening of threaded joints, a multi-spindle nut has been developed, which ensures tightness of joints of articles operating at high pressures.

Didymos Gravity Science through Ground-based and Satellite-to-Satellite Doppler Tracking

<p>Hera is ESA’s contribution to an international effort supported by ESA and NASA named Asteroid Impact and Deflection Assessment (AIDA). NASA’s DART mission will first perform a kinetic impact on Didymos secondary, nicknamed Didymoon, then Hera will follow-up with a detailed post-impact survey, to fully characterize this planetary defense technique. Two CubeSats will be deployed by the Hera spacecraft once the Early Characterization Phase has completed.</p><p>The Hera spacecraft communicates with the ground station on the Earth by means of a standard two-way X-band system. The microwave signal is sent to the S/C from a ground antenna and coherently retransmitted back to Earth, where Doppler (the key observable for gravity science) and range measurements are obtained. In addition, Hera will track the two CubeSats by means of a space-to-space inter-satellite link (ISL). This represents a very nice add-on to the gravity investigation carried out by means of Hera tracking observables as the Doppler effect that affects the inter-satellite link contains the information on the dynamics of the system, i.e. masses and gravity field of Didymos primary and secondary.</p><p>We describe here the mission scenario for the gravity science experiments to be jointly carried out by the three mission elements, i.e. Hera, CubeSat#1 (named Juventas) and CubeSat#2, via Ground-based and Satellite-to-Satellite Doppler Tracking. Also, our results and achievable accuracy for the estimation of the mass and gravity field of Didymos primary and secondary are presented.</p>

Analysis of significant measures for thermal conductivity

The analysis of a new class of measuring instrument for heat quantities based on the use of multi-valued measures of heat conductivity of solids. For example, measuring thermal conductivity of solids shown the fallacy of the proposed approach and the illegality of the use of the principle of ambiguity to intensive thermal quantities. As a proof of the error of the approach, the relations for the thermal conductivities of the component elements of a heat pump that implements a multi-valued measure of thermal conductivity are given, and the limiting cases are considered. In two ways, it is established that the thermal conductivity of the specified measure does not depend on the value of the supplied heat flow. It is shown that the declared accuracy of the thermal conductivity measurement method does not correspond to the actual achievable accuracy values and the standard for the unit of surface heat flux density GET 172-2016. The estimation of the currently achievable accuracy of measuring the thermal conductivity of solids is given. The directions of further research and possible solutions to the problem are given.