Diseño, implementación y validación de un sistema de localización híbrido basado en una red de sensores inalámbricos (WSN)

Aquest projecte estudia la implementació d’un sistema de localització híbrid amb la combinació del posicionament GPS y el posicionament obtingut mitjançant mesures de potència rebuda (RSS) utilitzant una xarxa de sensors sense fils (WSN). Inicialment s’analitzen les característiques principals de les WSN y les tècniques de posicionament GPS y RSS. A continuació es proposen tècniques de localització híbrides que combinen el posicionament bàsic brindat per la WSN (GPS y RSS)per obtenir posicionament tant en escenaris interiors com exteriors a més d’obtenir una precisió major que les precisions bàsiques. Una vegada s’han analitzat els conceptes bàsics y s’han proposat les tècniques a utilitzar en el sistema de localització híbrida s’expliquen els aspectes d’implementació relacionats amb la programació de la WSN. Finalment, després d’analitzar els resultats de diverses mesures, queda present la necessitat de tècniques d’estimació d’error en el posicionament, per això es proposa una tècnica d’estimació d’error per ser utilitzada en les estimacions híbrides y obtenir així el funcionament desitjat de les tècniques híbrides.

Technology Transfer of As-Built and Preliminary Surveys Using GPS, Soft Photogrammetry, and Video Logging, 2002

This research involved two studies: one to determine the local geoid to obtain mean sea level elevation from a global positioning system (GPS) to an accuracy of ±2 cm, and the other to determine the location of roadside features such as mile posts and stop signs for safety studies, geographic information systems (GIS), and maintenance applications, from video imageries collected by a van traveling at traffic speed.

Inovação e Tecnologia na Formação Agrícola – Agricultura de Precisão

O conceito de Agricultura de Precisão está normalmente associado à utilização de equipamento de alta tecnologia (seja hardware, no sentido genérico do termo, ou software) para avaliar, ou monitorizar, as condições numa determinada parcela de terreno, aplicando depois os diversos factores de produção (sementes, fertilizantes, fitofármacos, reguladores de crescimento, água, etc.) em conformidade. Tanto a monitorização como a aplicação diferenciada, ou à medida, exigem a utilização de tecnologias recentes, como os sistemas de posicionamento a partir de satélites (v.g. GPS - Global Positioning System), os Sistemas de Informação Geográfica (SIG) ou os sensores electrónicos, associados quer a reguladores automáticos de débito nas máquinas de distribuição quer a medidores de fluxo nas máquinas de colheita. A Agricultura de Precisão aparece, geralmente, associada a dois objectivos genéricos: o aumento do rendimento dos agricultores; e, a redução do impacte ambiental resultante da actividade agrícola. O primeiro destes objectivos pode, por sua vez, ser alcançado por duas vias distintas mas complementares: a redução dos custos de produção; e, o aumento da produtividade (e, por vezes, também da qualidade) das culturas. O cumprimento do segundo daqueles objectivos está relacionado com o rigor do controlo da aplicação dos factores de produção (sobretudo, produtos químicos, atendendo às externalidades ambientais negativas que lhes estão normalmente associadas), que deverá ser feita, tanto quanto possível, na justa medida das necessidades das plantas. De facto, se soubermos, por exemplo, que as necessidades de azoto em duas áreas distintas de uma mesma parcela de terreno não são iguais, por hipótese, em função dos resultados da análise de terras para as duas situações, teremos, do ponto de vista estritamente técnico e teórico, vantagem em fazer variar a quantidade de adubo azotado em conformidade. Deste modo, seríamos naturalmente tentados a aplicar mais adubo na área em que as necessidades ou o potencial produtivo são maiores, e a reduzir a quantidade na área em que o potencial produtivo ou as necessidades são menores, em vez de, como usualmente sucede, aplicar um valor médio e igual em toda a parcela. Com esta forma de actuar, não só aumentaríamos a produção, aplicando mais adubo onde este é necessário, como também reduziríamos os custos e o impacte ambiental da actividade, não aplicando adubo em excesso e precavendo a provável lixiviação do azoto. Na prática, tudo isto seria inquestionável, não fôra o caso de as tecnologias associadas à Agricultura de Precisão serem, quase sempre, complexas e caras. É exactamente por esta razão que o conceito não se encontra hoje em dia mais divulgado, nomeadamente no nosso país. Em primeiro lugar, só fará sentido recorrer à Agricultura de Precisão se os benefícios económicos daí decorrentes forem superiores ao investimento necessário à sua adopção; ora, infelizmente, são muito poucas as explorações, sobretudo em Portugal, com dimensão suficiente para, só por si, justificar ou viabilizar tais investimentos. Note-se que os investimentos a que nos referimos não passam apenas pela aquisição de determinados equipamentos (GPS, sensores, etc.), mas também pelo levantamento da situação de base e pela construção de um sistema de informação geograficamente referenciada. Em segundo lugar, existe ainda um longo caminho a percorrer pelas tecnologias de informação associadas, especialmente no que se refere à sua facilidade de uso e de integração no negócio, isto é, ainda é necessário um esforço razoável para efectuar a recolha e processamento da informação necessária à prática da agricultura de precisão, esforço este com custos muitas vezes inaceitáveis para o agricultor, nomeadamente quanto ao dispêndio do seu tempo/atenção. Em terceiro lugar, na hipótese de que os investimentos sejam rentáveis, é necessário que existam pessoas (agricultores e/ou técnicos) com conhecimentos suficientes para ajustar, desenvolver e utilizar estas tecnologias. O futuro, apesar de tudo, apresenta-se mais favorável. Por um lado, os equipamentos de alta tecnologia tendem a diminuir de preço, por vezes de forma muito marcada (um GPS de gama baixa, por exemplo, custava mais de 5000 euros há dez anos, existindo hoje à venda modelos similares por menos de 200 euros). Por outro, o nível educacional dos agricultores tem vindo a aumentar, existindo hoje cada vez mais estruturas de apoio técnico na agricultura. O nascimento e desenvolvimento de empresas especializadas no aluguer de máquinas e equipamentos agrícolas, que se tem vindo a registar nos últimos anos, pode igualmente contribuir para ultrapassar uma das maiores limitações à adopção destas tecnologias: a reduzida dimensão das explorações e os elevados custos de amortização daí decorrentes.

GPS analysis of human locomotion: further evidence for long-range correlations in stride-to-stride fluctuations of gait parameters.

During free walking, gait is automatically adjusted to provide optimal mechanical output and minimal energy expenditure; gait parameters, such as cadence, fluctuate from one stride to the next around average values. It was described that this fluctuation exhibited long-range correlations and fractal-like patterns. In addition, it was suggested that these long-range correlations disappeared if the participant followed the beep of metronome to regulate his or her pace. Until now, these fractal fluctuations were only observed for stride interval, because no technique existed to adequately analyze an extended time of free walking. The aim of the present study was to measure walking speed (WS), step frequency (SF) and step length (SL) with high accuracy (<1 cm) satellite positioning method (global positioning system or GPS) in order to detect long-range correlations in the stride-to-stride fluctuations. Eight participants walked 30 min under free and constrained (metronome) conditions. Under free walking conditions, DFA (detrended fluctuation analysis) and surrogate data tests showed that the fluctuation of WS, SL and SF exhibited a fractal pattern (i.e., scaling exponent alpha: 0.5 < alpha < 1) in a large majority of participants (7/8). Under constrained conditions (metronome), SF fluctuations became significantly anti-correlated (alpha < 0.5) in all participants. However, the scaling exponent of SL and WS was not modified. We conclude that, when the walking pace is controlled by an auditory signal, the feedback loop between the planned movement (at supraspinal level) and the sensory inputs induces a continual shifting of SF around the mean (persistent anti-correlation), but with no effect on the fluctuation dynamics of the other parameters (SL, WS).

Contribución al diseño de GNSS-SDR, un receptor GNSS de código abierto

[ANGLÈS] This project introduces GNSS-SDR, an open source Global Navigation Satellite System software-defined receiver. The lack of reconfigurability of current commercial-of-the-shelf receivers and the advent of new radionavigation signals and systems make software receivers an appealing approach to design new architectures and signal processing algorithms. With the aim of exploring the full potential of this forthcoming scenario with a plurality of new signal structures and frequency bands available for positioning, this paper describes the software architecture design and provides details about its implementation, targeting a multiband, multisystem GNSS receiver. The result is a testbed for GNSS signal processing that allows any kind of customization, including interchangeability of signal sources, signal processing algorithms, interoperability with other systems, output formats, and the offering of interfaces to all the intermediate signals, parameters and variables. The source code release under the GNU General Public License (GPL) secures practical usability, inspection, and continuous improvement by the research community, allowing the discussion based on tangible code and the analysis of results obtained with real signals. The source code is complemented by a development ecosystem, consisting of a website (http://gnss-sdr.org), as well as a revision control system, instructions for users and developers, and communication tools. The project shows in detail the design of the initial blocks of the Signal Processing Plane of the receiver: signal conditioner, the acquisition block and the receiver channel, the project also extends the functionality of the acquisition and tracking modules of the GNSS-SDR receiver to track the new Galileo E1 signals available. Each section provides a theoretical analysis, implementation details of each block and subsequent testing to confirm the calculations with both synthetically generated signals and with real signals from satellites in space.

Sign Inventory Users Guide, August 2010

This User’s Guide serves as a reference for field personnel using the sign inventory data collection software tool. This tool was developed to simplify and standardize the collection and updating of sign inventory information. The software and collection methodology was developed by the Iowa DOT Sign Management Task Force and the Center for Transportation Research and Education at Iowa State University. Required Equipment -The data collection process requires both a portable computer and a global positioning system (GPS) device (connected via USB cable). Since computer battery performance varies, a DC power converter is recommended. A check-in/out process has also been established which allows updates to sign information from the central database.

Use of GPS for Photogrammetry, HR-342, 1993

Five test flights were conducted to study the use of Global Positioning System (GPS) in Photogrammetry, three in Iowa, one each in California and Texas. These tests show that GPS can be used to establish ground control by the static method and to determine camera location by the kinematic method. In block triangulation, six GPS controls are required and additional elevation control along the centerline is also required in strip triangulation. The camera location determined by aerial triangulation depends on the scale of the photography. The 1:3000 scale photography showed that the absolute accuracy of the camera location by GPS is better than five centimeters. The 1:40000 scale photography showed that the relative accuracy of the camera location by GPS is about one millimeter. In a strip triangulation elevation control is required in addition to the camera location by GPS. However, for block triangulation camera location by GPS is sufficient. Pre-targeting of pass and tie points gives the best results in both block and strip triangulation. In normal mapping for earth work computations the use of 1:6000 scale photography with GPS control instead of 1:3000 scale is recommended. It is recommended that research be done in the use of GPS for navigation in aerial photographic missions. It is highly recommended that research be done in the use of GPS to determine tip and tilt of the aerial camera, that is required in stereoplotting.

Airborne GPS Final Report, HR-359, 1995

The objective of this project was to use a Global Positioning System (GPS) to determine the aerial camera location and orientation that best facilitated mapping done from aerial photographs without any ground control. Four test flights were conducted. The first test flight was performed in June 1993 at St. Louis, with the objective of testing the multiantenna concept using two antenna on the aircraft. The second test in August 1993 was conducted over the Iowa State University (ISU) campus at Ames. This flight evaluated the use of GPS for pinpoint navigation. The third test flight over St. Louis was flown in October 1993, with four antenna on aircraft; its objective was to evaluate the 3DF GPS receiver and the antenna locations. On the basis of the results of these three tests, a final test flight over the Mustang Project area in Ames and the ISU campus was conducted in June 1994. Analysis of these data showed that airborne GPS can be used (1) in pinpoint navigation with an accuracy of 25 m or better, (2) to determine the location of the camera nodal point with an accuracy of 10 cm or better, and (3) to determine the orientation angles of the camera with an accuracy of 0.0001 radians or better. In addition, the exterior orientation elements determined by airborne GPS can be used to rectify aerial photos, to produce orthophotos, and in direct stereo plotting. Further research is recommended in these areas to maximize the use of airborne GPS. The report is organized in the following chapters: (1) Introduction; (2) Photogrammetry and Kinematic GPS; (3) Analysis of First Test; (4) Analysis of Second Test; (5) Analysis of Third Test; (6) Analysis of Final Test; (7) Applications of Airborne GPS; and (8) Conclusion and Recommendation.

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

Variação espacial da resposta do milho à adubação nitrogenada de cobertura em lavoura no cerrado

O objetivo deste trabalho foi avaliar, numa perspectiva espacial, a resposta do milho (Zea mays) à adubação de cobertura com nitrogênio (N) e relacionar a produtividade de grãos com variáveis indicadoras do suprimento desse nutriente. Quatro doses de N foram testadas em 12 parcelas experimentais de 12,6x1.200 m. Em cada parcela foram georreferenciados 11 locais onde foram feitas as avaliações. Nesses locais, foi monitorado o estado nutricional do milho com o clorofilômetro e foram determinados os teores de N mineral do solo e os teores de N na folha e nos grãos. A produtividade de grãos foi mapeada com sensor de produtividade e "Global Positioning System" (GPS) acoplados à colhedora. Os dados foram analisados por estatística clássica e espacial. O cultivo sem aplicação de N em cobertura proporcionou, em média, 77% da máxima produtividade de milho (9,21 Mg ha-1) obtida com a adubação de cobertura. Altas correlações entre leitura do clorofilômetro, teor foliar de N e produtividade do milho, verificadas na análise de médias, não se confirmaram nos mapas que representam a variabilidade espacial dessas variáveis. A interpretação conjunta dos mapas de leitura do clorofilômetro e de produtividade do milho permitiu identificar áreas com diferentes capacidades de suprimento de N pelo solo e subsidiar a delimitação de zonas para o manejo diferenciado do nitrogênio.

Field Evaluation of Compaction Monitoring Technology: Phase I, 2004

This Phase I report describes a preliminary evaluation of a new compaction monitoring system developed by Caterpillar, Inc. (CAT), for use as a quality control and quality assurance (QC/QA) tool during earthwork construction operations. The CAT compaction monitoring system consists of an instrumented roller with sensors to monitor machine power output in response to changes in soil machine interaction and is fitted with a global positioning system (GPS) to monitor roller location in real time. Three pilot tests were conducted using CAT’s compaction monitoring technology. Two of the sites were located in Peoria, Illinois, at the Caterpillar facilities. The third project was an actual earthwork grading project in West Des Moines, Iowa. Typical construction operations for all tests included the following steps: (1) aerate/till existing soil; (2) moisture condition soil with water truck (if too dry); (3) remix; (4) blade to level surface; and (5) compact soil using the CAT CP-533E roller instrumented with the compaction monitoring sensors and display screen. Test strips varied in loose lift thickness, water content, and length. The results of the study show that it is possible to evaluate soil compaction with relatively good accuracy using machine energy as an indicator, with the advantage of 100% coverage with results in real time. Additional field trials are necessary, however, to expand the range of correlations to other soil types, different roller configurations, roller speeds, lift thicknesses, and water contents. Further, with increased use of this technology, new QC/QA guidelines will need to be developed with a framework in statistical analysis. Results from Phase I revealed that the CAT compaction monitoring method has a high level of promise for use as a QC/QA tool but that additional testing is necessary in order to prove its validity under a wide range of field conditions. The Phase II work plan involves establishing a Technical Advisor Committee, developing a better understanding of the algorithms used, performing further testing in a controlled environment, testing on project sites in the Midwest, and developing QC/QA procedures.

ML estimator and hybrid beamformer for multipath and interference mitigation in GNSS receivers

This paper addresses the estimation of the code-phase(pseudorange) and the carrier-phase of the direct signal received from a direct-sequence spread-spectrum satellite transmitter. Thesignal is received by an antenna array in a scenario with interferenceand multipath propagation. These two effects are generallythe limiting error sources in most high-precision positioning applications.A new estimator of the code- and carrier-phases is derivedby using a simplified signal model and the maximum likelihood(ML) principle. The simplified model consists essentially ofgathering all signals, except for the direct one, in a component withunknown spatial correlation. The estimator exploits the knowledgeof the direction-of-arrival of the direct signal and is much simplerthan other estimators derived under more detailed signal models.Moreover, we present an iterative algorithm, that is adequate for apractical implementation and explores an interesting link betweenthe ML estimator and a hybrid beamformer. The mean squarederror and bias of the new estimator are computed for a numberof scenarios and compared with those of other methods. The presentedestimator and the hybrid beamforming outperform the existingtechniques of comparable complexity and attains, in manysituations, the Cramér–Rao lower bound of the problem at hand.

Error en el posicionamiento indoor en dispositivos mo¿viles

Location information is becoming increasingly necessary as every new smartphone incorporates a GPS (Global Positioning System) which allows the development of various applications based on it. However, it is not possible to properly receive the GPS signal in indoor environments. For this reason, new indoor positioning systems are being developed.As indoors is a very challenging scenario, it is necessary to study the precision of the obtained location information in order to determine if these new positioning techniques are suitable for indoor positioning.

CISNE-P: a global scheduling oriented to NOW environments

In this work, we present an integral scheduling system for non-dedicated clusters, termed CISNE-P, which ensures the performance required by the local applications, while simultaneously allocating cluster resources to parallel jobs. Our approach solves the problem efficiently by using a social contract technique. This kind of technique is based on reserving computational resources, preserving a predetermined response time to local users. CISNE-P is a middleware which includes both a previously developed space-sharing job scheduler and a dynamic coscheduling system, a time sharing scheduling component. The experimentation performed in a Linux cluster shows that these two scheduler components are complementary and a good coordination improves global performance significantly. We also compare two different CISNE-P implementations: one developed inside the kernel, and the other entirely implemented in the user space.