Tecniche GPS/INS per l'anilisi dinamica di un ciclomotore

Nel seguente elaborato si espone l’utilizzo del sistema GPS/INS per la valutazione del moto di un ciclomotore. Tale sistema è composto da sensori GPS ( Global Navigation System ) per la misurazione della posizione, e da sensori INS ( Inertial Navigation System) per la misurazione dell’accelerazione e delle velocità angolari rispetto a tre assi coordinati. Chiaramente le misure di accelerazioni e di velocità angolari da parte dei sensori, presentano dei minimi errori, che però si ripercuotono sul posizionamento finale. Per limitare questo fenomeno e rendere la misura di velocità e posizione utilizzabile, un filtro di Kalman viene impiegato per correggere il risultato dell'integrazione usando le misurazioni del GPS. Il connubio tra il sistema INS e il sistema GPS è molto efficacie anche quando si ha una assenza di ricezione satellitare o perdita parziale dei satelliti (cycle slip). Infine è stato utilizzato uno smartphone sfruttando i sensori in esso presenti : accelerometri, giroscopi, GPS, per analizzare la dinamica di un ciclomotore, concentrandosi sull’assetto in particolar modo l’angolo di rollio. Tale prova è stata affrontata non tanto per validare il sistema GPS/INS, ma per provare una soluzione comoda e di basso costo per analizzare il moto di un ciclomotore.

Sistema de localização de um veículo autónomo terrestre

Mestrado em Engenharia Electrotécnica e de Computadores.

Geração automática de estereomodelos a partir de imagens digitais georreferenciadas

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Geomatica in ambito forense

La geomatica è la disciplina che si occupa di acquisire, modellizzare, interpretare, elaborare, archiviare e divulgare informazioni georeferenziate, ovvero informazioni caratterizzate da una posizione in un prescelto sistema di riferimento. La geomatica ha i suoi fondamenti metodologici nelle discipline che si sono occupate di risolvere i problemi di posizionamento sulla superficie terrestre e nelle sue immediate vicinanze (geodesia, astronomia, matematica, statistica). Alla geomatica afferiscono pertanto le tecniche di posizionamento terrestri (storicamente ricomprese nella topografia) e spaziali (GPS), la fotogrammetria digitale, le tecniche di scansione laser da terra e da velivolo, il telerilevamento da aereo e da satellite, la cartografia numerica, la geostatica. Applicare la geomatica in ambito forense significa descrivere le metodologie e le tecniche che vengono utilizzate in presenza di indagini giudiziarie, quali ricostruzioni di scene del crimine o ricostruzioni di incidenti stradali a partire proprio da rilievi geomatici. Le argomentazioni della tesi si suddividono in tre parti. La prima in cui descrivo le principali tecniche di misura e strumenti utilizzati dalla geomatica in ambito forense; la seconda e la terza parte descrivono in particolare le metodologie e le tecniche che un perito forense può applicare in presenza di due contesti abbastanza frequenti: la ricostruzione di scene del crimine e la ricostruzione di incidenti stradali.

Sistemi navigazionali multi sensore per il posizionamento in presenza di brevi periodi di GPS outage

Il posizionamento terrestre negli ultimi anni è stato sempre più facilitato dallo sviluppo delle tecniche satellitari, che permettono di localizzare un punto sulla superficie terrestre con precisioni superiori a quelle richieste per la pura navigazione, tramite la comunicazione tra ricevitore e satelliti. Per la disponibilità del sistema satellitare è indispensabile l’intervisibilità ottica satellite - ricevitore, condizione che viene a mancare nel caso ad esempio di trekking sottobosco, a causa della copertura data da manto vegetale e chiome arboree che non permettono una corretta triangolazione geometrica satellitare. Rientrano nei sistemi navigazionali anche le piattaforme inerziali, sistemi che rilevano le accelerazioni impresse e l’orientamento della piattaforma stessa. Se montati su un veicolo possono fungere da ausilio alla determinazione dell’ “attitude”, cioè dell’atteggiamento del veicolo durante il suo movimento in uno spazio tridimensionale. In questo lavoro ci si propone di unire i benefici delle due tecnologie, satellitari e inerziali, grazie alla complementarietà delle loro caratteristiche sugli errori, unendone le potenzialità e verificando i benefici prodotti dal loro uso integrato. In particolare si utilizzeranno dispositivi di costo relativamente contenuto.

Equipamento microprocessado para geração de sinal de correção diferencial, em tempo real, para GPS

This work presents the development of low cost microprocessor-based equipment for generation of differential GPS correction signal, in real time, and configuration and supervision of the GPS base. The developed equipment contains a dedicated microcontroller connected to the GPS receiver, alphanumeric display and multifunction keyboard for configuration and operation of the system and communication interfaces. The electronic circuit has the function of receiving the information from GPS base; interpret them, converting the sentence in the RTCM SC-104 protocol. The microcontroller software makes the conversion of the signal received by the GPS base from the specific format to RTCM SC-104 protocol. The processing main board has two serials RS-232C standard interfaces. One of them is used for configuration and receiving the information generated by the GPS base. The other operates as output, sending the differential correction signal for the transmission system. The development of microprocessor-based equipment showed that it is possible the construction of a low cost private station for real time generation of differential GPS correction signal.

Caminhada de pessoas com deficiencia visual em areas naturais : um estudo com auxilio do GPS (Sistema de Posicionamento Global)

Universidade Estadual de Campinas . Faculdade de Educação Física

Hypothyroidism decreases proinsulin gene expression and the attachment of its mRNA and eEF1A protein to the actin cytoskeleton of INS-1E cells

The actions of thyroid hormone (TH) on pancreatic beta cells have not been thoroughly explored, with current knowledge being limited to the modulation of insulin secretion in response to glucose, and beta cell viability by regulation of pro-mitotic and pro-apoptotic factors. Therefore, the effects of TH on proinsulin gene expression are not known. This led us to measure: a) proinsulin mRNA expression, b) proinsulin transcripts and eEF1A protein binding to the actin cytoskeleton, c) actin cytoskeleton arrangement, and d) proinsulin mRNA poly(A) tail length modulation in INS-1E cells cultured in different media containing: i) normal fetal bovine serum - FBS (control); ii) normal FBS plus 1 µM or 10 nM T3, for 12 h, and iii) FBS depleted of TH for 24 h (Tx). A decrease in proinsulin mRNA content and attachment to the cytoskeleton were observed in hypothyroid (Tx) beta cells. The amount of eEF1A protein anchored to the cytoskeleton was also reduced in hypothyroidism, and it is worth mentioning that eEF1A is essential to attach transcripts to the cytoskeleton, which might modulate their stability and rate of translation. Proinsulin poly(A) tail length and cytoskeleton arrangement remained unchanged in hypothyroidism. T3 treatment of control cells for 12 h did not induce any changes in the parameters studied. The data indicate that TH is important for proinsulin mRNA expression and translation, since its total amount and attachment to the cytoskeleton are decreased in hypothyroid beta cells, providing evidence that effects of TH on carbohydrate metabolism also include the control of proinsulin gene expression.

FILTERING TECHNIQUES APPLIED ON RAW CARRIER PHASE FOR GPS DETECTING SMALL DYNAMIC DISPLACEMENTS

This work is part of a research under construction since 2000, in which the main objective is to measure small dynamic displacements by using L1 GPS receivers. A very sensible way to detect millimetric periodic displacements is based on the Phase Residual Method (PRM). This method is based on the frequency domain analysis of the phase residuals resulted from the L1 double difference static data processing of two satellites in almost orthogonal elevation angle. In this article, it is proposed to obtain the phase residuals directly from the raw phase observable collected in a short baseline during a limited time span, in lieu of obtaining the residual data file from regular GPS processing programs which not always allow the choice of the aimed satellites. In order to improve the ability to detect millimetric oscillations, two filtering techniques are introduced. One is auto-correlation which reduces the phase noise with random time behavior. The other is the running mean to separate low frequency from the high frequency phase sources. Two trials have been carried out to verify the proposed method and filtering techniques. One simulates a 2.5 millimeter vertical antenna displacement and the second uses the GPS data collected during a bridge load test. The results have shown a good consistency to detect millimetric oscillations.

Measuring Dynamic Oscillations of a Small Span Cable-Stayed Footbridge: Case Study Using L1 GPS Receivers

Highly redundant or statically undetermined structures, such as a cable-stayed bridge, have been of particular concern to the engineering community nowadays because of the complex parameters that must be taken into account for healthy monitoring. The purpose of this study was to verify the reliability and practicability of using GPS to characterize dynamic oscillations of small span bridges. The test was carried out on a cable-stayed wood footbridge at Escola de Engenharia de Sao Carlos-Universidade de Sao Paulo, Brazil. Initially a static load trial was carried out to get an idea of the deck amplitude and oscillation frequency. After that, a calibration trial was carried out by applying a well known oscillation on the rover antenna to check the environment detectable limits for the method used. Finally, a dynamic load trial was carried out by using GPS and a displacement transducer to measure the deck oscillation. The displacement transducer was used just to confirm the results obtained by the GPS. The results have shown that the frequencies and amplitude displacements obtained by the GPS are in good agreement with the displacement transducer responses. GPS can be used as a reliable tool to characterize the dynamic behavior of large structures such as cable-stayed footbridges undergoing dynamic loads.

Breastfeeding and the responsibilities of GPs: a qualitative study of general practice registrars

The most recent National Health Survey reports that more than 80% of women initiate breastfeeding, while recent studies describe initiation rates of more than 90%. Yet fewer than 50% of women continue to breastfeed for 6 months or longer. This is at odds with National Health and Medical Research Council recommendations that 80% of infants be exclusively breastfed for the first 6 months of life. Women are more likely to initiate and continue to breastfeed if their doctor supports and encourages them to do so. Conversely, women perceive a neutral attitude by doctors toward breastfeeding to be similar to a negative attitude. Therefore, while doctors may not perceive their support or encouragement to be a determining factor in a woman’s breastfeeding decisions, women often place great emphasis on their GP's attitude to breastfeeding and are much more likely to think that information provided by a doctor is important. No previous research in Australia has addressed the issue of how GPs perceive their roles and responsibilities regarding breastfeeding. As part of a larger research project investigating the breastfeeding skills and knowledge of general practice registrars, this article reports the results of qualitative interviews with eight general practice registrars and their views and beliefs about GPs’ responsibilities to breastfeeding women.

Appropriate surveying methods in the Philippines: Can modern GPS units help?

An investigation was undertaken to test the effectiveness of two procedures for recording boundaries and plot positions for scientific studies on farms on Leyte Island, the Philippines. The accuracy of a Garmin 76 Global Positioning System (GPS) unit and a compass and chain was checked under the same conditions. Tree canopies interfered with the ability of the satellite signal to reach the GPS and therefore the GPS survey was less accurate than the compass and chain survey. Where a high degree of accuracy is required, a compass and chain survey remains the most effective method of surveying land underneath tree canopies, providing operator error is minimised. For a large number of surveys and thus large amounts of data, a GPS is more appropriate than a compass and chain survey because data are easily up-loaded into a Geographic Information System (GIS). However, under dense canopies where satellite signals cannot reach the GPS, it may be necessary to revert to a compass survey or a combination of both methods.

GIS/GPS to document increased access to community-based treatment for tuberculosis in Africa

Application of geographic information system (GIS) and global positioning system (GPS) technology in the Hlabisa community-based tuberculosis treatment programme documents the increase in accessibility to treatment after the expansion of the service from health facilities to include community workers and volunteers.

A qualitative study of Australian GPs' attitudes and practices in the diagnosis and management of attention-deficit/hyperactivity disorder (ADHD)

Background. The importance of general practice involvement in the care of attention-deficit/hyperactivity disorder (ADHD) is increasing due to the rising numbers of patients who present with the disorder. It has been suggested by consensus bodies that GPs should be identifying and referring patients at the severe end of the ADHD spectrum and managing those with less severe symptoms. However, GPs' views of their role in ADHD care are unknown. Objective. Our aim was to explore the attitudes and practices of Australian GPs towards the diagnosis and management of ADHD. Methods. We conducted a series of focus groups to explore GPs' beliefs regarding the causes of ADHD, their perceived role in ADHD diagnosis and management and their views on the role of behaviour therapies and pharmacotherapies in ADHD management. The subjects were 28 GPs in six focus groups. Results. GPs in this study did not want to be the primary providers of care for patients with ADHD. Participants indicated a preference to refer the patient to medical specialists for diagnosis and treatment of ADHD, and expressed low levels of interest in becoming highly involved in ADHD care. Concerns about overdiagnosis and misdiagnosis of the disorder, diagnostic complexity, time constraints, insufficient education and training about the disorder, and concerns regarding misuse and diversion of stimulant medications were the reasons cited for their lack of willingness. Conclusions. The Australian GPs in this study identify a role for themselves in ADHD care which is largely supportive in nature, and involves close liaison with specialist services.