June 1987 GISMOS experiment: Preliminary report on high time resolution, multi-radar measurements

Data collected by ground magnetometers and high latitude radars during a small isolated substorm are discussed in terms of the global changes in convection during the substorm. This substorm was observed during the international GISMOS (Global Ionospheric Simultaneous Measurements of Substorms) Experiment of 1 – 5 June 1987 and the array of observations discussed here span the night sector from approximately dusk to dawn. The substorm, observed by the Sondrestrom radar and auroral and midlatitude magnetometers is associated with a polar cap contraction observed near dusk by the EISCAT radar.

Recent Ionospheric Observations Relating to Solar-Wind--Magnetosphere Coupling [and Discussion]

Simultaneous observations in the high-latitude ionosphere and in the near-Earth interplanetary medium have revealed the control exerted by the interplanetary magnetic field and the solar wind flow on field-perpendicular convection of plasma in both the ionosphere and the magnetosphere. Previous studies, using statistical surveys of data from both low-altitude polar-orbiting satellites and ground-based radars and magnetometers, have established that magnetic reconnection at the dayside magnetopause is the dominant driving mechanism for convection. More recently, ground-based data and global auroral images of higher temporal resolution have been obtained and used to study the response of the ionospheric flows to changes in the interplanetary medium. These observations show that ionospheric convection responds rapidly (within a few minutes) to both increases and decreases in the reconnection rate over a range of spatial scales, as well as revealing transient enhancements which are also thought to be related to magnetopause phenomena. Such results emphasize the potential of ground-based radars and other remote-sensing instruments for studies of the Earth's interaction with the interplanetary medium.

Field-perpendicular and field-aligned plasma flows observed by EISCAT during a prolonged period of northward IMF

The effect of a prolonged period of strongly northward Interplanetary Magnetic Field (IMF) on the high-latitude F-region is studied using data from the EISCAT Common Programme Zero mode of operation on 11–12 August 1982. The analysis of the raw autocorrelation functions is kept to the directly derived parameters Ne, Te, Ti and velocity, and limits are defined for the errors introduced by assumptions about ion composition and by changes in the transmitted power and system constant. Simple data-cleaning criteria are employed to eliminate problems due to coherent signals and large background noise levels. The observed variations in plasma densities, temperatures and velocities are interpreted in terms of supporting data from ISEE-3 and local riometers and magnetometers. Both field-aligned and field-perpendicular plasma flows at Tromsø showed effects of the northward IMF: convection was slow and irregular and field-aligned flow profiles were characteristic of steady-state polar wind outflow with flux of order 1012 m−2 s−1. This period followed a strongly southward IMF which had triggered a substorm. The substorm gave enhanced convection, with a swing to equatorward flow and large (5 × 1012 m−2 s−1), steady-state field-aligned fluxes, leading to the possibility of O+ escape into the magnetosphere. The apparent influence of the IMF over both field-perpendicular and field-aligned flows is explained in terms of the cross-cap potential difference and the location of the auroral oval.

Flexible magnetic membranes based on bacterial cellulose and its evaluation as electromagnetic interference shielding material

Flexible magnetic membranes with high proportion of magnetite were successfully prepared by previous impregnation of the never dried bacterial cellulose pellicles with ferric chloride followed by reduction with sodium bisulfite and alkaline treatment for magnetite precipitation. Membranes were characterized by Raman spectroscopy, Fourier transform infrared spectroscopy (FTIR), X-ray diffraction (XRD), vibrating magnetometer, field emission scanning electron microscopy (FEG-SEM) and impedance spectroscopy. Microwave properties of these membranes were investigated in the X-band (8.2 to 12.4 GHz). FEG-SEM micrographs show an effective coverage of the BC nanofibers by Fe 3O4 nanoparticles. Membranes with up to 75% in weight of particles have been prepared after 60 min of reaction. Magnetite nanoparticles in the form of aggregates well adhered to the BC fibers were observed by SEM. The average crystal sizes of the magnetic particles were in the range of 10 ± 1 to 13 ± 1 nm (estimated by XRD). The magnetic particles in the BC pellicles presented superparamagnetic behavior with a saturation magnetization in the range of 60 emu g- 1 and coercive force around 15 Oe. These magnetic pellicles also displayed high electrical permittivity and a potential application as microwave absorber materials. © 2013 Elsevier B.V.

Desenvolvimento de um magnetometro a precessão nuclear

O objetivo desta tese foi desenvolver um magnetômetro à precessão nuclear para prospecção geofísica e estações-base magnéticas. O magnetômetro à precessão nuclear mede a intensidade total do campo magnético. Seu funcionamento é baseado na ressonância magnética nuclear. A medida de campo é feita pela de terminação da freqüência de precessão de núcleos de hidrogênio – prótons - de líquidos não viscosos no campo magnético terrestre. O magnetômetro é constituído de duas partes: o sensor e o instrumento de medida. O sensor é uma bobina solenoidal, cujo núcleo é preenchido com o líquido. Três líquidos diferentes foram testados; água, propanol e um querosene sintético. Optou-se pelo uso do querosene porque oferece maior amplitude no sinal de precessão, dando, conseqüentemente, maior relação sinal/ ruído. O sistema de medida contém os circuitos de sintonia e amplificação do sinal e, os circuitos lógicos para a programação da operação e contagem da freqüência de precessão. Cada ciclo de medida tem duração de 3 segundos, sendo 2,3s para a polarização e 0,7s para a recepção do sinal. São possíveis dois modos de operação: manual, reciclando automaticamente e por controle remoto. O sinal de precessão é amplificado seletivamente em uma das 14 faixas de sintonia, que cobrem medidas entre 22000 e 95000 gammas. A freqüência de precessão é multiplicada por um fator de 64 e contada durante um tempo igual a 0,36699s, determinado com base na razão giromagnética do próton. O número de pulsos contados é numericamente igual ao valor do campo magnético em gammas. A resposta pode ser lida em mostradores digitais ou na saída BCD paralela quando operando por controle remoto. A precisão da medida é de 1 gamma. O instrumento foi testado no campo para avaliar a relação sinal/ruído, gradiente suportável e consumo de potência. Nos testes de aplicação do protótipo, foram obtidos dados de variação diurna e realizaram-se levantamentos magnético de reconhecimento e detalhe em um sítio arqueológico na Ilha de Marajó, Pará. As respostas dos testes foram comparados com dois magnetômetros comerciais - o GP-70, McPhar e o G-816, Geometrics e, ainda, com dados do Observatório Magnético de Tatuoca-Pa. Em todos os casos, a comparação dos dados mostrou bom desempenho do magnetômetro em teste.

Métodos geofísicos aplicados ao ultramafito da Serra de Quatipuru - Estado do Pará

O objetivo deste trabalho foi a aplicação de métodos geofísicos para a avaliação econômica de ocorrência de níquel, cromo e amianto, em uma área de 6,25 km² - Malha 2 - Serra de Quatipuru, localizada a cerca de 50 km a SW de Conceição do Araguaia, no sul do Estado do Pará. Inicialmente foi aplicado o método magnético em caráter de reconhecimento, usando magnetômetros de campo total e componente vertical visando localizar zonas anômalas de amianto e cromita, uma vez que estes minerais se encontram associados com a magnetita. Em seguida foi usado o método eletromagnético de "dip angle" com o objetivo de definir zonas condutoras associadas a possíveis depósitos minerais ou características estruturais. Com base na interpretação destes dois métodos, definiu-se os locais de aplicação do método de polarização elétrica induzida-resistividade, que teve caráter de detalhe visando como alvo principal depósitos de sulfetos disseminados. As possíveis ocorrências minerais na área foram correlacionadas com anomalias geofísicas e confirmadas através de testemunhos de sondagem concluindo-se não serem de importância econômica. Contudo a aplicação destes métodos geofísicos foi útil, pois possibilitou o levantamento detalhado da área, que de outra forma só poderia ser realizado por meio dos métodos mais convencionais, tais como sondagem mecânica através de perfurações, os quais são muito caros e demorados.

Caracterização in vitro de técnica biomagnética empregando magnetômetros 3D para avaliar tempo de trânsito esofagiano

The biomagnetic techniques use different magnetic field detectors to measure parameters of the human physiology. Those techniques present the advantage of being noninvasive and radiation free. Among them we can show up the Superconducting Quantum Interference Device (SQUID), the Current Alternate Biosusceptometry (ACB) and, more recently, the employment of anisotropic magnetoresistive sensors. Those magnetic sensors have a low cost and good sensitivity to measure different physiological parameters using magnetic markers. The biomagnetic techniques have being used successfully through study on the characteristics of the gastrointestinal tract. Recent research, the magnetoresistors were used to evaluate the transit time and localization of magnetic sources in different parts of the gastrointestinal tract. The objective of this work is the characterization, with in vitro tests, of a biomagnetic instrumentation using two 3-axis magnetoresistors arranged in a gradiometric coplanar setup to evaluate esophageal transit time, analyze and compare the results of experimental signals and the magnetic theory, as well as evaluate the instrumentation gain with use of tri-axial sensor front to the mono-axial sensor. The instrumentation is composed by two three-axis sensing magnetometers, precision power supply and amplifier electronic circuits. The sensors fixed in a coplanar setup were separate by distance of 18 cm. The sensitivity tests had been carried through using a cylindrical magnet (ø = 4 mm and h = 4 mm) of neodymium-iron-boron (grid 35). The tests were done moving the permanent magnet on the sensors parallel axis, simulating the food transit in... (Complete abstract click electronic access below)

Präparation, Charakterisierung und elektronische Eigenschaften von dünnen Schichten des Hochtemperatursupraleiters HgReBa 2 Ca n-1 Cu n O y

Ziel dieser Arbeit war die Pr"{a}paration, Charakterisierung und Untersuchung der elektronischen Eigenschaften von d"{u}nnen Schichten des Hochtemperatursupraleiters HgReBa$_{2}$Ca$_{n-1}$Cu$_{n}$O$_{y}$, die mittels gepulster Laser-Deposition hergestellt wurden. Die HgRe1212-Filme zeigen in der AC-Suszeptibilit"{a}t einen scharfen "{U}bergang in die supraleitende Phase bei 124 K mit einer "{U}bergangsbreite von 2 K. Die resistiven "{U}berg"{a}nge der Proben wurden mit zunehmender St"{a}rke des externen Magnetfeldes breiter. Aus der Steigung der Arrheniusplots konnte die Aktivierungsenergie f"{u}r verschiedene Feldst"{a}rken bestimmt werden. Weiterhin wurde die Winkelabh"{a}ngigkeit des Depinning-Feldes $B_{dp}(theta)$ der Filme gemessen. Hieraus wurde ein Anisotropiewert von $gamma$ = 7.7 bei 105 K ermittelt. Dies ist relevant, um den f"{u}r Anwendungen wichtigen Bereich im $T$-$B$-$theta$-Phasenraum des Materials absch"{a}tzen zu k"{o}nnen. Die kritische Stromdichte $J_{c}$ der d"{u}nnen Filme aus HgRe-1212 wurde mit Hilfe eines SQUID-Magnetometers gemessen. Die entsprechenden $M$-$H$ Kurven bzw. das magnetische Moment dieser Filme wurde f"{u}r einen weiten Temperatur- und Feldbereich mit einem magnetischen Feld senkrecht zum Film aufgenommen. F"{u}r einen HgRe-1212-Film konnte bei 5 K eine kritische Stromdichte von 1.2 x 10$^{7}$ A/cm$^{2}$ und etwa 2 x 10$^{6}$ A/cm$^{2}$ bei 77 K ermittelt werden. Es wurde die Magnetfeld- und die Temperaturabh"{a}ngigkeit des Hall-Effekts im normalleitenden und im Mischzustand in Magnetfeldern senkrecht zur $ab$-Ebene bis zu 12 T gemessen. Oberhalb der kritischen Temperatur $T_{c}$ steigt der longitudinale spezifische Widerstand $rho_{xx}$ linear mit der Temperatur, w"{a}hrend der spezifische Hall-Widerstand $rho_{yx}$ sich umgekehrt proportional zur Temperatur "{a}ndert. In der N"{a}he von $T_{c}$ und in Feldern kleiner als 3 T wurde eine doppelte Vorzeichen"{a}nderung des spezifischen Hall-Widerstandes beobachtet. Der Hall-Winkel im Normalzustand, cot $theta_{H}= alpha T^{2} + beta$, folgt einer universellen $textit{T }^{2}$-Abh"{a}ngigkeit in allen magnetischen Feldern. In der N"{a}he des Nullwiderstand-Zustandes h"{a}ngt der spezifische Hall-Widerstand $rho_{yx}$ "{u}ber ein Potenzgesetz mit dem longitudinalen Widerstand $rho_{xx}$ zusammen. Das Skalenverhalten zwischen $rho_{yx}$ und $rho_{xx}$ weist eine starke Feld-Abh"{a}ngigkeit auf. Der Skalenexponent $beta$ in der Gleichung $rho_{yx}$ =A $rho_{xx}^{beta}$ steigt von 1.0 bis 1.7, w"{a}hrend das Feld von 1.0 bis 12 T zunimmt.

Sviluppo di un sistema miniaturizzato per il controllo real-time di assetto di nano e microsatelliti

Microsatelliti e nanosatelliti, come ad esempio i Cubesat, sono carenti di sistemi integrati di controllo d’assetto e di manovra orbitale. Lo scopo di questa tesi è stato quello di realizzare un sistema compatibile con Cubesat di una unità, completo di attuatori magnetici e attuatori meccanici, comprendente tutti i sensori e l’elettronica necessaria per il suo funzionamento, creando un dispositivo totalmente indipendente dal veicolo su cui è installato, capace di funzionare sia autonomamente che ricevendo comandi da terra. Nella tesi sono descritte le campagne di simulazioni numeriche effettuate per validare le scelte tecnologiche effettuate, le fasi di sviluppo dell’elettronica e della meccanica, i test sui prototipi realizzati e il funzionamento del sistema finale. Una integrazione così estrema dei componenti può implicare delle interferenze tra un dispositivo e l’altro, come nel caso dei magnetotorquer e dei magnetometri. Sono stati quindi studiati e valutati gli effetti della loro interazione, verificandone l’entità e la validità del progetto. Poiché i componenti utilizzati sono tutti di basso costo e di derivazione terrestre, è stata effettuata una breve introduzione teorica agli effetti dell’ambiente spaziale sull’elettronica, per poi descrivere un sistema fault-tolerant basato su nuove teorie costruttive. Questo sistema è stato realizzato e testato, verificando così la possibilità di realizzare un controller affidabile e resistente all’ambiente spaziale per il sistema di controllo d’assetto. Sono state infine analizzate alcune possibili versioni avanzate del sistema, delineandone i principali aspetti progettuali, come ad esempio l’integrazione di GPS e l’implementazione di funzioni di determinazione d’assetto sfruttando i sensori presenti a bordo.

Improvements in production and storage of HP-129 Xe

Seit seiner Entdeckung im Jahre 1978 wurden für hyperpolarisiertes (HP) 129Xe zahlreiche Anwendungen gefunden. Aufgrund seiner hohen Verstärkung von NMR-Signalen wird es dabei typischerweise für Tracer- und Oberflächenstudien verwendet. Im gasförmigen Zustand ist es ein interessantes, klinisches Kontrastmittel, welches für dynamische Lungen MRT genutzt oder auch in Blut oder lipophilen Flüssigkeiten gelöst werden kann. Weiterhin findet HP-Xe auch in der Grundlagenphysik in He-Xe Co-Magnetometern Verwendung, mit welchen z. B. das elektrische Dipolmoment von Xe bestimmt werden soll, oder es dient zur Überprüfung auf Lorentz-Invarianzen. Alle diese Anwendungen profitieren von einem hohen Polarisationsgrad (PXe), um hohe Signalstärken und lange Lagerzeiten zu erreichen. rnIn dieser Arbeit wurden zwei mobile Xe-Polarisatoren konstruiert: einer für Experimente in der Grundlagenphysik mit einer Produktionsrate von 400 mbar·l/h mit PXe ≈ 5%. Der zweite Xe-Polarisator wurde für medizinische Anwendungen entwickelt und soll 1 bar l/h mit PXe > 20% erzeugen. Der letztere wurde noch nicht getestet. Die Arbeitsbedingungen des Xe-Polarisators für Grundlagenphysik (Strömung des Gasgemischs, Temperatur, Druck und Konzentration von Xe) wurden variiert, um einen höchstmöglichen Polarisationsgrad zu erzielen. Die maximale Polarisation von 5,6 % wurde bei Verwendung eine Gasmischung von 1% Xe bei einem Durchfluss von 200 ml/min, einer Temperatur von 150°C und einem Gesamtdruck von 4 bar erreicht. rnWeiterhin muss HP-Xe auch effizient gelagert werden, um Polarisationsverluste zu minimieren. Das ist besonders für solche Anwendungen notwendig, welche an einem entfernten Standort durchgeführt werden sollen oder auch wenn lange Spinkohärenzeiten gefordert sind, z.B. bei He-Xe Co-Magnetometern. rnHierbei bestand bisher die größte Schwierigkeit darin, die Reproduzierbarkeit der gemessenen Lagerzeiten sicherzustellen. In dieser Arbeit konnte die Spin-Gitter-Relaxationszeit (T1) von HP-129Xe in unbeschichteten, Rb-freien, sphärischen Zellen aus Aluminiumsilikatglas (GE-180) signifikant verbessert werden. Die T1–Zeit wurde in einem selbstgebauten Niederfeld-NMR-System (2 mT) sowohl für reines HP-Xe als auch für HP-Xe in Mischungen mit N2, SF6 und CO2 bestimmt. Bei diesen Experimenten wurde die maximale Relaxationszeit für reines Xe (85% 129 Xe) bei (4,6 ± 0,1) h festgestellt. Dabei lagen die typischen Wand-Relaxationszeiten bei ca. 18 h für Glaszellen mit einem Durchmesser von 10 cm. Des Weiteren wurde herausgefunden, dass CO2 eine unerwartet hohe Effizienz bei der Verkürzung der Lebensdauer der Xe-Xe Moleküle zeigte und somit zu einer deutlichen Verlängerung der gesamten T1-Zeit genutzt werden kann. rnIm Verlauf vieler Experimente wurde durch wiederholte Messungen mit der gleichen Zelle, ein "Alterungsprozess“ bei der Wandrelaxation identifiziert und untersucht. Dieser Effekt könnte leicht rückgängig gemacht werden, indem die anfängliche Reinigungsprozedur wiederholt wurde. Auf diese Weise kann eine konstante Wandrelaxation sichergestellt werden, durch die sehr reproduzierbare T1-Messungen möglich werden. rnSchließlich wurde die maximale Relaxationszeit für HP-Xe mit natürlicher Häufigkeit in Mischungen mit SF6 bestimmt. Überraschenderweise war dieser Wert um ca. 75% niedriger als der Wert für Xenon, das zu 85% mit 129Xe angereichert war. Dieser Effekt wurde durch drei unabhängige Experimente bestätigt, da er nicht von der bestehenden Theorie der Xe-Relaxation ableitbar ist. rnDie Polarisation von HP-Xe, PXe, wird normalerweise durch den Vergleich der NMR-Signale des HP-Xe mit einer thermischen polarisierten Probe (z. B. 1H2O oder Xe) bestimmt. Dabei beinhaltet der Vergleich unterschiedlicher Messungen an verschiedenen Proben (unterschiedlicher Druck, Signalintensität und Messverfahren) viele experimentelle Unsicherheiten, welche sich oft nicht leicht bestimmen lassen. Eine einfache, genaue und kostengünstige Methode zur Bestimmung von PXe durch eine direkte Messung der makroskopischen Magnetisierung in einem statischen Magnetfeld vermeidet alle diese Unsicherheiten. Dieses Verfahren kann Polarisationen von > 2 % mit einer Genauigkeit von maximal 10% fast ohne Polarisationsverlust bestimmen. Zusätzlich kann diese Methode ohne weitere Änderungen auch für Bestimmungen des Polarisationsgrades anderer HP-Gase verwendet werden.rn

An accurate combined 3 He,Cs magnetometer with fT sensitivity for the nEDM experiment at PSI

Diese Arbeit beschreibt die Entwicklung, Konstruktion und Untersuchung eines Magnetometers zur exakten und präzisen Messung schwacher Magnetfelder. Diese Art von Magnetometer eignet sich zur Anwendung in physikalischen hochpräzisions Experimenten wie zum Beispiel der Suche nach dem elektrischen Dipolmomentrndes Neutrons. Die Messmethode beruht auf der gleichzeitigen Detektion der freien Spin Präzession Kern-Spin polarisierten 3He Gases durch mehrere optisch gepumpte Cäsium Magnetometer. Es wird gezeigt, dass Cäsium Magnetometer eine zuverlässige und vielseitige Methode zur Messung der 3He Larmor Frequenz und eine komfortable Alternative zur Benutzung von SQUIDs für diesen Zweck darstellen. Ein Prototyp dieses Magnetometers wurde gebaut und seine Funktion in der magnetisch abgeschirmten Messkabine der Physikalisch Technischen Bundesanstalt untersucht. Die Sensitivität des Magnetometers in Abhängigkeitrnvon der Messdauer wurde experimentell untersucht. Es wird gezeigt, dass für kurze Messperioden (< 500s) Cramér-Rao limitierte Messungen möglich sind während die Sensitivität bei längeren Messungen durch die Stabilität des angelegten Magnetfeldes limitiert ist. Messungen eines 1 muT Magnetfeldes mit einer relative Genauigkeit von besser als 5x10^(-8) in 100s werden präsentiert. Es wird gezeigt, dass die Messgenauigkeit des Magnetometers durch die Zahl der zur Detektion der 3He Spin Präzession eingesetzten Cäsium Magnetometer skaliert werden kann. Prinzipiell ist dadurch eine Anpassung der Messgenauigkeit an jegliche experimentellen Bedürfnisse möglich. Es wird eine gradiometrische Messmethode vorgestellt, die es erlaubt den Einfluss periodischerrnmagnetischer Störungen auf dieMessung zu unterdrücken. Der Zusammenhang zwischen der Sensitivität des kombinierten Magnetometers und den Betriebsparametern der Cäsium Magnetometer die zur Spin Detektion verwendet werden wird theoretisch untersucht und anwendungsspezifische Vor- und Nachteile verschiedener Betriebsartenwerden diskutiert. Diese Zusammenhänge werden in einer Formel zusammengefasst die es erlaubt, die erwartete Sensitivität des Magnetometers zu berechnen. Diese Vorhersagen befinden sich in perfekter Übereinstimmung mit den experimentellen Daten. Die intrinsische Sensitivität des Magnetometer Prototyps wird auf Basis dieser Formel theoretisch bestimmt. Ausserdem wird die erwartete Sensitivität für die Anwendung im Rahmen des Experiments der nächsten Generation zur Bestimmung des elektrischenrnDipolmoments des Neutrons am Paul Scherrer Institut abgeschätzt. Des weiteren wird eine bequeme experimentelle Methode zur Messung des Polarisationsgrades und des Rabi Flip-Winkels der 3He Kernspin Polarisation vorgestellt. Letztere Messung ist sehr wichtig für die Anwendung in hochpräzisions Experimenten.

Io volcano observer (IVO) integrated approach to optimizing system design for radiation challenges

One of the major challenges for a mission to the Jovian system is the radiation tolerance of the spacecraft (S/C) and the payload. Moreover, being able to achieve science observations with high signal to noise ratios (SNR), while passing through the high flux radiation zones, requires additional ingenuity on the part of the instrument provider. Consequently, the radiation mitigation is closely intertwined with the payload, spacecraft and trajectory design, and requires a systems-level approach. This paper presents a design for the Io Volcano Observer (IVO), a Discovery mission concept that makes multiple close encounters with Io while orbiting Jupiter. The mission aims to answer key outstanding questions about Io, especially the nature of its intense active volcanism and the internal processes that drive it. The payload includes narrow-angle and wide-angle cameras (NAC and WAC), dual fluxgate magnetometers (FGM), a thermal mapper (ThM), dual ion and neutral mass spectrometers (INMS), and dual plasma ion analyzers (PIA). The radiation mitigation is implemented by drawing upon experiences from designs and studies for missions such as the Radiation Belt Storm Probes (RBSP) and Jupiter Europa Orbiter (JEO). At the core of the radiation mitigation is IVO's inclined and highly elliptical orbit, which leads to rapid passes through the most intense radiation near Io, minimizing the total ionizing dose (177 krads behind 100 mils of Aluminum with radiation design margin (RDM) of 2 after 7 encounters). The payload and the spacecraft are designed specifically to accommodate the fast flyby velocities (e.g. the spacecraft is radioisotope powered, remaining small and agile without any flexible appendages). The science instruments, which collect the majority of the high-priority data when close to Io and thus near the peak flux, also have to mitigate transient noise in their detectors. The cameras use a combination of shielding and CMOS detectors with extremely fast readout to mi- imize noise. INMS microchannel plate detectors and PIA channel electron multipliers require additional shielding. The FGM is not sensitive to noise induced by energetic particles and the ThM microbolometer detector is nearly insensitive. Detailed SNR calculations are presented. To facilitate targeting agility, all of the spacecraft components are shielded separately since this approach is more mass efficient than using a radiation vault. IVO uses proven radiation-hardened parts (rated at 100 krad behind equivalent shielding of 280 mils of Aluminum with RDM of 2) and is expected to have ample mass margin to increase shielding if needed.

Localization and activity detection Based on the fusion of environment And inertial sensors = Localización y detección de actividad Basadas en integración de sensores y dispositivos inerciales

Los sensores inerciales (acelerómetros y giróscopos) se han ido introduciendo poco a poco en dispositivos que usamos en nuestra vida diaria gracias a su minituarización. Hoy en día todos los smartphones contienen como mínimo un acelerómetro y un magnetómetro, siendo complementados en losmás modernos por giróscopos y barómetros. Esto, unido a la proliferación de los smartphones ha hecho viable el diseño de sistemas basados en las medidas de sensores que el usuario lleva colocados en alguna parte del cuerpo (que en un futuro estarán contenidos en tejidos inteligentes) o los integrados en su móvil. El papel de estos sensores se ha convertido en fundamental para el desarrollo de aplicaciones contextuales y de inteligencia ambiental. Algunos ejemplos son el control de los ejercicios de rehabilitación o la oferta de información referente al sitio turístico que se está visitando. El trabajo de esta tesis contribuye a explorar las posibilidades que ofrecen los sensores inerciales para el apoyo a la detección de actividad y la mejora de la precisión de servicios de localización para peatones. En lo referente al reconocimiento de la actividad que desarrolla un usuario, se ha explorado el uso de los sensores integrados en los dispositivos móviles de última generación (luz y proximidad, acelerómetro, giróscopo y magnetómetro). Las actividades objetivo son conocidas como ‘atómicas’ (andar a distintas velocidades, estar de pie, correr, estar sentado), esto es, actividades que constituyen unidades de actividades más complejas como pueden ser lavar los platos o ir al trabajo. De este modo, se usan algoritmos de clasificación sencillos que puedan ser integrados en un móvil como el Naïve Bayes, Tablas y Árboles de Decisión. Además, se pretende igualmente detectar la posición en la que el usuario lleva el móvil, no sólo con el objetivo de utilizar esa información para elegir un clasificador entrenado sólo con datos recogidos en la posición correspondiente (estrategia que mejora los resultados de estimación de la actividad), sino también para la generación de un evento que puede producir la ejecución de una acción. Finalmente, el trabajo incluye un análisis de las prestaciones de la clasificación variando el tipo de parámetros y el número de sensores usados y teniendo en cuenta no sólo la precisión de la clasificación sino también la carga computacional. Por otra parte, se ha propuesto un algoritmo basado en la cuenta de pasos utilizando informaiii ción proveniente de un acelerómetro colocado en el pie del usuario. El objetivo final es detectar la actividad que el usuario está haciendo junto con la estimación aproximada de la distancia recorrida. El algoritmo de cuenta pasos se basa en la detección de máximos y mínimos usando ventanas temporales y umbrales sin requerir información específica del usuario. El ámbito de seguimiento de peatones en interiores es interesante por la falta de un estándar de localización en este tipo de entornos. Se ha diseñado un filtro extendido de Kalman centralizado y ligeramente acoplado para fusionar la información medida por un acelerómetro colocado en el pie del usuario con medidas de posición. Se han aplicado también diferentes técnicas de corrección de errores como las de velocidad cero que se basan en la detección de los instantes en los que el pie está apoyado en el suelo. Los resultados han sido obtenidos en entornos interiores usando las posiciones estimadas por un sistema de triangulación basado en la medida de la potencia recibida (RSS) y GPS en exteriores. Finalmente, se han implementado algunas aplicaciones que prueban la utilidad del trabajo desarrollado. En primer lugar se ha considerado una aplicación de monitorización de actividad que proporciona al usuario información sobre el nivel de actividad que realiza durante un período de tiempo. El objetivo final es favorecer el cambio de comportamientos sedentarios, consiguiendo hábitos saludables. Se han desarrollado dos versiones de esta aplicación. En el primer caso se ha integrado el algoritmo de cuenta pasos en una plataforma OSGi móvil adquiriendo los datos de un acelerómetro Bluetooth colocado en el pie. En el segundo caso se ha creado la misma aplicación utilizando las implementaciones de los clasificadores en un dispositivo Android. Por otro lado, se ha planteado el diseño de una aplicación para la creación automática de un diario de viaje a partir de la detección de eventos importantes. Esta aplicación toma como entrada la información procedente de la estimación de actividad y de localización además de información almacenada en bases de datos abiertas (fotos, información sobre sitios) e información sobre sensores reales y virtuales (agenda, cámara, etc.) del móvil. Abstract Inertial sensors (accelerometers and gyroscopes) have been gradually embedded in the devices that people use in their daily lives thanks to their miniaturization. Nowadays all smartphones have at least one embedded magnetometer and accelerometer, containing the most upto- date ones gyroscopes and barometers. This issue, together with the fact that the penetration of smartphones is growing steadily, has made possible the design of systems that rely on the information gathered by wearable sensors (in the future contained in smart textiles) or inertial sensors embedded in a smartphone. The role of these sensors has become key to the development of context-aware and ambient intelligent applications. Some examples are the performance of rehabilitation exercises, the provision of information related to the place that the user is visiting or the interaction with objects by gesture recognition. The work of this thesis contributes to explore to which extent this kind of sensors can be useful to support activity recognition and pedestrian tracking, which have been proven to be essential for these applications. Regarding the recognition of the activity that a user performs, the use of sensors embedded in a smartphone (proximity and light sensors, gyroscopes, magnetometers and accelerometers) has been explored. The activities that are detected belong to the group of the ones known as ‘atomic’ activities (e.g. walking at different paces, running, standing), that is, activities or movements that are part of more complex activities such as doing the dishes or commuting. Simple, wellknown classifiers that can run embedded in a smartphone have been tested, such as Naïve Bayes, Decision Tables and Trees. In addition to this, another aim is to estimate the on-body position in which the user is carrying the mobile phone. The objective is not only to choose a classifier that has been trained with the corresponding data in order to enhance the classification but also to start actions. Finally, the performance of the different classifiers is analysed, taking into consideration different features and number of sensors. The computational and memory load of the classifiers is also measured. On the other hand, an algorithm based on step counting has been proposed. The acceleration information is provided by an accelerometer placed on the foot. The aim is to detect the activity that the user is performing together with the estimation of the distance covered. The step counting strategy is based on detecting minima and its corresponding maxima. Although the counting strategy is not innovative (it includes time windows and amplitude thresholds to prevent under or overestimation) no user-specific information is required. The field of pedestrian tracking is crucial due to the lack of a localization standard for this kind of environments. A loosely-coupled centralized Extended Kalman Filter has been proposed to perform the fusion of inertial and position measurements. Zero velocity updates have been applied whenever the foot is detected to be placed on the ground. The results have been obtained in indoor environments using a triangulation algorithm based on RSS measurements and GPS outdoors. Finally, some applications have been designed to test the usefulness of the work. The first one is called the ‘Activity Monitor’ whose aim is to prevent sedentary behaviours and to modify habits to achieve desired objectives of activity level. Two different versions of the application have been implemented. The first one uses the activity estimation based on the step counting algorithm, which has been integrated in an OSGi mobile framework acquiring the data from a Bluetooth accelerometer placed on the foot of the individual. The second one uses activity classifiers embedded in an Android smartphone. On the other hand, the design of a ‘Travel Logbook’ has been planned. The input of this application is the information provided by the activity and localization modules, external databases (e.g. pictures, points of interest, weather) and mobile embedded and virtual sensors (agenda, camera, etc.). The aim is to detect important events in the journey and gather the information necessary to store it as a journal page.

Improved heuristic drift elimination with magnetically-aided dominant directions (MiHDE) for pedestrian navigation in complex buildings

The main problem of pedestrian dead-reckoning (PDR) using only a body-attached inertial measurement unit is the accumulation of heading errors. The heading provided by magnetometers in indoor buildings is in general not reliable and therefore it is commonly not used. Recently, a new method was proposed called heuristic drift elimination (HDE) that minimises the heading error when navigating in buildings. It assumes that the majority of buildings have their corridors parallel to each other, or they intersect at right angles, and consequently most of the time the person walks along a straight path with a heading constrained to one of the four possible directions. In this article we study the performance of HDE-based methods in complex buildings, i.e. with pathways also oriented at 45°, long curved corridors, and wide areas where non-oriented motion is possible. We explain how the performance of the original HDE method can be deteriorated in complex buildings, and also, how severe errors can appear in the case of false matches with the building's dominant directions. Although magnetic compassing indoors has a chaotic behaviour, in this article we analyse large data-sets in order to study the potential use that magnetic compassing has to estimate the absolute yaw angle of a walking person. Apart from these analysis, this article also proposes an improved HDE method called Magnetically-aided Improved Heuristic Drift Elimination (MiHDE), that is implemented over a PDR framework that uses foot-mounted inertial navigation with an extended Kalman filter (EKF). The EKF is fed with the MiHDE-estimated orientation error, gyro bias corrections, as well as the confidence over that corrections. We experimentally evaluated the performance of the proposed MiHDE-based PDR method, comparing it with the original HDE implementation. Results show that both methods perform very well in ideal orthogonal narrow-corridor buildings, and MiHDE outperforms HDE for non-ideal trajectories (e.g. curved paths) and also makes it robust against potential false dominant direction matchings.

Accurate pedestrian indoor navigation by tightly coupling foot-mounted IMU and RFID measurements

We present a new method to accurately locate persons indoors by fusing inertial navigation system (INS) techniques with active RFID technology. A foot-mounted inertial measuring units (IMUs)-based position estimation method, is aided by the received signal strengths (RSSs) obtained from several active RFID tags placed at known locations in a building. In contrast to other authors that integrate IMUs and RSS with a loose Kalman filter (KF)-based coupling (by using the residuals of inertial- and RSS-calculated positions), we present a tight KF-based INS/RFID integration, using the residuals between the INS-predicted reader-to-tag ranges and the ranges derived from a generic RSS path-loss model. Our approach also includes other drift reduction methods such as zero velocity updates (ZUPTs) at foot stance detections, zero angular-rate updates (ZARUs) when the user is motionless, and heading corrections using magnetometers. A complementary extended Kalman filter (EKF), throughout its 15-element error state vector, compensates the position, velocity and attitude errors of the INS solution, as well as IMU biases. This methodology is valid for any kind of motion (forward, lateral or backward walk, at different speeds), and does not require an offline calibration for the user gait. The integrated INS+RFID methodology eliminates the typical drift of IMU-alone solutions (approximately 1% of the total traveled distance), resulting in typical positioning errors along the walking path (no matter its length) of approximately 1.5 m.