Robot and insect navigation by polarized skylight

A study of a large number of published experiments on the behaviour of insects navigating by skylight has led to the design of a system for navigation in lightly clouded skies, suitable for a robot or drone. The design is based on the measurement of the directions in the sky at which the polarization angle, i.e. the angle χ between the polarized E-vector and the meridian, equals ±π/4 or ±(π/4 + π/3) or ±(π/4 - π/3). For any one of these three options, at any given elevation, there are usually 4 such directions and these directions can give the azimuth of the sun accurately in a few short steps, as an insect can do. A simulation shows that this compass is accurate as well as simple and well suited for an insect or robot. A major advantage of this design is that it is close to being invariant to variable cloud cover. Also if at least two of these 12 directions are observed the solar azimuth can still be found by a robot, and possibly by an insect.

Electromagnetic Focusing and Imaging in Stratified Media Using Gradient Phase Profiled Conjugating Lens

High-resolution imaging of a dipole source in stratified medium based on negative refraction is presented in this paper. Compensation of the material parameter contrast at the stratified media interface is achieved using a gradient phase profiled conjugating lens (GPCL). It is shown both analytically and numerically that the phase gradient applied across the GPCL positioned at the interface of vertically stratified media enables a high-quality image of a dipole source in a mirror symmetric position with respect to the lens plane. The analytical closed form expression of the phase gradient function is derived using Huygens-Kirchhoff principle. The result is applicable to media with arbitrary stratification and material parameters, including lossy materials. The mechanism for formation of the dipole image in the stratified medium and aberration due to the dielectric contrast at the interface, particularly electromagnetic loss, is discussed in detail. The efficacy of gradient phase and amplitude aberration compensations mechanisms available through the GPCL is articulated. The results of the study are of importance in a wide range of imaging problems in stratified media for medical, civil, and military applications.

Do chitons have a compass? Evidence for magnetic sensitivity in Polyplacophora

Several animals and microbes have been shown to be sensitive to magnetic fields, though the exact mechanisms of this ability remain unclear in many animals. Chitons are marine molluscs which have high levels of biomineralised magnetite coating their radulae. This discovery led to persistent anecdotal suggestions that they too may be able to navigationally respond to magnetic fields. Several researchers have attempted to test this, but to date there have been no large-scale controlled empirical trials. In the current study, four chiton species (Katharina tunicata, Mopalia kennerleyi, Mopalia muscosa and Leptochiton rugatus, n=24 in each) were subjected to natural and artificially rotated magnetic fields while their movement through an arena was recorded over four hours. Field orientation did not influence the position of the chitons at the end of trials, possibly as a result of the primacy of other sensory cues (i.e. thigmotaxis). Under non-rotated magnetic field conditions, the orientation of subjects when they first reached the edge of an arena was clustered around 309-345 degrees (north-north-west) in all four species. However, orientations were random under the rotated magnetic field, which may indicate a disruptive effect of field rotation. This pattern suggests that chitons can detect and respond to magnetism.

Location-Awareness for Radios and Networks: Part I

The papers in this special issue focus on the topic of location awareness for radio and networks. Localization-awareness using radio signals stands to revolutionize the fields of navigation and communication engineering. It can be utilized to great effect in the next generation of cellular networks, mining applications, health-care monitoring, transportation and intelligent highways, multi-robot applications, first responders operations, military applications, factory automation, building and environmental controls, cognitive wireless networks, commercial and social network applications, and smart spaces. A multitude of technologies can be used in location-aware radios and networks, including GNSS, RFID, cellular, UWB, WLAN, Bluetooth, cooperative localization, indoor GPS, device-free localization, IR, Radar, and UHF. The performances of these technologies are measured by their accuracy, precision, complexity, robustness, scalability, and cost. Given the many application scenarios across different disciplines, there is a clear need for a broad, up-to-date and cogent treatment of radio-based location awareness. This special issue aims to provide a comprehensive overview of the state-of-the-art in technology, regulation, and theory. It also presents a holistic view of research challenges and opportunities in the emerging areas of localization.

A Low Radar Cross Section Dipole Antenna Simulation

This paper reports a new method for reducing theRadar Cross-Section (RCS) of a metal backed dipole antenna. Numerical simulations are used to show that when the Perfect Electrical Conductor (PEC) is replaced by a carefully designedFrequency Selective Surface (FSS), the electromagnetic performanceof the antenna is similar in band, but the RCS of the structure is significantly lower out of band. The design of the FSSand the return loss, radiation patterns and RCS are presentedfor an antenna which operates at a center frequency of 4 GHzand the results are compared with a conventional metal backed arrangement

Following instructions in a virtual school: Does working memory play a role?

Accumulating evidence that working memory supports the ability to follow instructions has so far been restricted to experimental paradigms that have greatly simplified the practical demands of performing actions to instructions in everyday tasks. The aim of the present study was to investigate whether working memory is involved in maintaining information over the longer periods of time that are more typical of everyday situations that require performing instructions to command. Forty-two children 7–11 years of age completed assessments of working memory, a real-world following-instructions task employing 3-D objects, and two new computerized instruction-following tasks involving navigation around a virtual school to complete a sequence of practical spoken commands. One task involved performing actions in a single classroom, and the other, performing actions in multiple locations in a virtual school building. Verbal working memory was closely linked with all three following-instructions paradigms, but with greater association to the virtual than to the real-world tasks. These results indicate that verbal working memory plays a key role in following instructions over extended periods of activity.

Autonomous COLREGs Compliant Ship Navigation, Using BridgeSimulators and an Unmanned Vessel

This paper presents an approach to COLREGs compliant ship navigation. A system architecture is proposed, which will be implemented and tested on two platforms: networked bridge simulators and at sea trials using an autonomous unmanned surface vessel. Attention is paid to collision avoidance software and its risk mitigation.

High-resolution seismic reflection investigation of gas accumulation and seepage in the tidal channels of the Ria of Aveiro barrier lagoon (Portugal)

O metano é um gás de estufa potente e uma importante fonte de energia. A importância global e impacto em zonas costeiras de acumulações e escape de gás metano são ainda pouco conhecidas. Esta tese investiga acumulações e escape de gás em canais de maré da Ria de Aveiro com dados de cinco campanhas de reflexão sísmica de alta resolução realizadas em 1986, 1999, 2002 e 2003. Estas incluem três campanhas de Chirp (RIAV99, RIAV02 e RIAV02A) e duas campanhas de Boomer (VOUGA86 e RIAV03). O processamento dos dados de navegação incluíram filtros de erros, correcções de sincronização de relógios de sistemas de aquisição de dados, ajuste de “layback” e estimativa da posição de “midpoint”. O processamento do sinal sísmico consistiu na correcção das amplitudes, remoção de ruído do tipo “burst”, correcções estáticas, correcção do “normal move-out”, filtragem passabanda, desconvolução da assinatura e migração Stolt F-K. A análise da regularidade do trajecto de navegação, dos desfasamentos entre horizontes e dos modelos de superfícies foi utilizada para controlo de qualidade, e permitiu a revisão e melhoria dos parâmetros de processamento. A heterogeneidade da cobertura sísmica, da qualidade do sinal, da penetração e da resolução, no seu conjunto constrangeram o uso dos dados a interpretações detalhadas, mas locais, de objectos geológicos da Ria. É apresentado um procedimento para determinar a escolha de escalas adequadas para modelar os objectos geológicos, baseado na resolução sísmica, erros de posicionamento conhecidos e desfasamentos médios entre horizontes. As evidências de acumulação e escape de gás na Ria de Aveiro incluem turbidez acústica, reflexões reforçadas, cortinas acústicas, domas, “pockmarks” e alinhamentos de “pockmarks” enterradas, horizontes perturbados e plumas acústicas na coluna de água (flares). A estratigrafia e a estrutura geológica controlam a distribuição e extensão das acumulações e escape de gás. Ainda assim, nestes sistemas de baixa profundidade de água, as variações da altura de maré têm um impacto significativo na detecção de gás com métodos acústicos, através de alterações nas amplitudes originais de reflexões reforçadas, turbidez acústica e branqueamento acústico em zonas com gás. Os padrões encontrados confirmam que o escape de bolhas de gás é desencadeado pela descida da maré. Há acumulações de gás em sedimentos Holocénicos e no substrato de argilas e calcários do Mesozóico. Evidências directas de escape de gás em sondagens em zonas vizinhas, mostraram gás essencialmente biogénico. A maioria do gás na área deve ter sido gerado em sedimentos lagunares Holocénicos. No entanto, a localização e geometria de estruturas de escape de fluidos em alguns canais de maré, seguem o padrão de fracturas do substrato Mesozóico, indicando uma possível fonte mais profunda de gás e que estas fracturas funcionam como condutas preferenciais de migração dos fluidos e exercem um controlo estrutural na ocorrência de gás na Ria.

Community response in disasters: an ecological learning framework

Natural disasters are frequently exacerbated by anthropogenic mechanisms and have social and political consequences for communities. The role of community learning in disasters is seen to be increasingly important. However, the ways in which such learning unfolds in a disaster can differ substantially from case to case. This article uses a comparative case study methodology to examine catastrophes and major disasters from five countries (Japan, New Zealand, UK, US and Germany) to consider how community learning and adaptation occurs. An ecological model of learning is considered, where community learning is of small loop (adaptive, incremental, experimental) type or large loop (paradigm changing) type. Using this model we consider that there are three types of community learning that occur in disasters (navigation, organisation, reframing). The type of community learning that actually develops in a disaster depends upon a range of social factors such as stress and trauma, civic innovation and coercion.

The SmartVision navigation prototype for the blind

The goal of the project "SmartVision: active vision for the blind" is to develop a small and portable but intelligent and reliable system for assisting the blind and visually impaired while navigating autonomously, both outdoor and indoor. In this paper we present an overview of the prototype, design issues, and its different modules which integrate a GIS with GPS, Wi-Fi, RFID tags and computer vision. The prototype addresses global navigation by following known landmarks, local navigation with path tracking and obstacle avoidance, and object recognition. The system does not replace the white cane, but extends it beyond its reach. The user-friendly interface consists of a 4-button hand-held box, a vibration actuator in the handle of the cane, and speech synthesis. A future version may also employ active RFID tags for marking navigation landmarks, and speech recognition may complement speech synthesis.

Blavigator: a navigation aid for blind persons

Blavigator (blind navigator) is a vision aid for blind and visuaIIy impaired persons. It supports local navigation by detecting waIkable paths in the immediate vicinity of the user. It guides the user for centering on the path.

Fast line, arc/circle and leg detection from laser scan data in a player driver

A feature detection system has been developed for real-time identification of lines, circles and people legs from laser range data. A new method sutable for arc/circle detection is proposed: the Inscribed Angle Variance (IAV). Lines are detected using a recursive line fitting method.

Biologically Inspired Vision for Indoor Robot Navigation

Ultrasonic, infrared, laser and other sensors are being applied in robotics. Although combinations of these have allowed robots to navigate, they are only suited for specific scenarios, depending on their limitations. Recent advances in computer vision are turning cameras into useful low-cost sensors that can operate in most types of environments. Cameras enable robots to detect obstacles, recognize objects, obtain visual odometry, detect and recognize people and gestures, among other possibilities. In this paper we present a completely biologically inspired vision system for robot navigation. It comprises stereo vision for obstacle detection, and object recognition for landmark-based navigation. We employ a novel keypoint descriptor which codes responses of cortical complex cells. We also present a biologically inspired saliency component, based on disparity and colour.