Augmented state Kalman filtering for AUV navigation

Addresses the problem of estimating the motion of an autonomous underwater vehicle (AUV), while it constructs a visual map ("mosaic" image) of the ocean floor. The vehicle is equipped with a down-looking camera which is used to compute its motion with respect to the seafloor. As the mosaic increases in size, a systematic bias is introduced in the alignment of the images which form the mosaic. Therefore, this accumulative error produces a drift in the estimation of the position of the vehicle. When the arbitrary trajectory of the AUV crosses over itself, it is possible to reduce this propagation of image alignment errors within the mosaic. A Kalman filter with augmented state is proposed to optimally estimate both the visual map and the vehicle position

Special investigation of the City of Garwin for the period January 1, 2001 through April 30, 2014

Special investigation of the City of Garwin for the period January 1, 2001 through April 30, 2014

Report on a special investigation of the Shenandoah Community School District for the period July 1, 2012 through September 30, 2014

Report on a special investigation of the Shenandoah Community School District for the period July 1, 2012 through September 30, 2014

Matrix-assisted laser desorption ionization-time of flight mass spectrometry as an alternative to 16S rRNA gene sequencing for identification of difficult-to-identify bacterial strains.

Conventional methods are sometimes insufficient to identify human bacterial pathogens, and alternative techniques, often molecular, are required. Matrix-assisted laser desorption ionization-time of flight mass spectrometry (MALDI-TOF MS) identified with a valid score 45.9% of 410 clinical isolates from 207 different difficult-to-identify species having required 16S rRNA gene sequencing. MALDI-TOF MS might represent an alternative to 16S rRNA gene sequencing.

Special Report on Alkali-Aggregate Reactivity in Iowa, MLR-80-03, 1980

The purpose of this investigation was to obtain information relative to the alkali-silica reaction in Iowa aggregates. Of particular concern were those aggregates in southwestern Iowa thought to be potentially alkali reactive. Further, should those aggregates have proven to be alkali-reactive, at what cement alkali content could these aggregates be considered to be deleteriously reactive? If the aggregates were proven to be reactive, what types of effects might show up in a structure in which an alkali-silica reaction has occurred? Also, what environmental conditions would cause the reaction? Finally, based on the information obtained from the investigation, would it be possible to raise the cement alkali content specifications? Would the Iowa DOT eliminate the alkali content limits altogether except for cement used with reactive aggregate in the same manner as AASHTO or ASTM? Also, would there be any other side effects that might occur as the result of using high alkali-cement?

Report on a special investigation of the City of Moorland for the period January 1, 2008 through October 31, 2013

Report on a special investigation of the City of Moorland for the period January 1, 2008 through October 31, 2013

Report on a special investigation of the West Des Moines Community School District - Western Hills Elementary School for the period May 22, 2012 through March 31, 2015

Report on a special investigation of the West Des Moines Community School District - Western Hills Elementary School for the period May 22, 2012 through March 31, 2015

Special investigation of the University of Iowa Health Care, Department of Orthopaedics and Rehabilitation, for the period July 1, 1999 through December 31, 2014

Special investigation of the University of Iowa Health Care, Department of Orthopaedics and Rehabilitation, for the period July 1, 1999 through December 31, 2014

Report on a special investigation of the University of Northern Iowa, College of Education – Curriculum and Instruction Department for the period January 1, 2012 through October 31, 2014

Report on a special investigation of the University of Northern Iowa, College of Education – Curriculum and Instruction Department for the period January 1, 2012 through October 31, 2014

Special investigation of the City of Casey for the period July 1, 2008 through October 31, 2014

Special investigation of the City of Casey for the period July 1, 2008 through October 31, 2014

Plates or Validation Sticker Furnished - Retained by Owner - Special Plates

This report is submitted in compliance with Administrative Rule 761-401.18(3), Discontinuance, and discusses seven special registration plates established by the legislature in 2011. This rule requires the department to report to the legislature if any of the special registration plates subject to this rule have not been placed into production because the department has not received the minimum number of paid applications (250) required to produce the plates under Iowa Code section 321.34, subsections 20C, 25 and 26 as amended by 2011 Iowa Acts, House File 651, section 2.

Report on a special investigation of the City of Dunkerton Police Department for the period January 1, 2013 through August 31, 2014

Report on a special investigation of the City of Dunkerton Police Department for the period January 1, 2013 through August 31, 2014

Report on a special investigation of the City of Neola for the period January 1, 2009 through December 31, 2013

Report on a special investigation of the City of Neola for the period January 1, 2009 through December 31, 2013

Special investigation of the City of Defiance for the period March 12, 2013 through April 30, 2015

Special investigation of the City of Defiance for the period March 12, 2013 through April 30, 2015

Special Events Planning, 2010

The Iowa Department of Transportation (Iowa DOT) Special Events Planning (SEP) document is a collection of Special Event Management Strategic Plans for individual events throughout the state of Iowa. The development of the SEP document focused on improving travel, safety and efficiency to and from Iowa’s largest traffic generating events through the review of event specific traffic management components. Initially, three events were selected from the state of Iowa for inclusion in the SEP document. As Strategic Plans are developed for additional events, those events will be included in the SEP document. The three initial events that are included in this SEP are: • Iowa State Fair; • Iowa State University Home Football Games; • University of Iowa Home Football Games. The Strategic Plan for each event documents existing transportation conditions for the event based on field observations, highlights positive existing practices and issues for consideration, and provides recommendations, both short and long term, to be considered as potential improvements to event operations. The objective of each Strategic Plan was, at a high-level, to analyze traffic and pedestrian flow at each event and to work with event staff, agencies and others in developing roadway, operations and safety improvements where appropriate. The SEP document is intended to be a “living” document with updates to the Strategic Plans occurring as warranted and additional Strategic Plans being incorporated for other events. The enacting of recommendations contained within each Strategic Plan is not a mandate for the responsible agency for a particular event. The Strategic Plans are intended to provide a basis for discussion between the Iowa DOT and agencies involved in the planning and implementation of transportation operations for large traffic events regarding opportunities to improve the event patron’s experience.