Dinâmica ressonante de alguns satélites artificiais terrestres no sistema Terra-Lua-Sol

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Signal authentication and integrity schemes for next generation global navigation satellite systems

This paper describes a number of techniques for GNSS navigation message authentication. A detailed analysis of the security facilitated by navigation message authentication is given. The analysis takes into consideration the risk of critical applications that rely on GPS including transportation, finance and telecommunication networks. We propose a number of cryptographic authentication schemes for navigation data authentication. These authentication schemes provide authenticity and integrity of the navigation data to the receiver. Through software simulation, the performance of the schemes is quantified. The use of software simulation enables the collection of authentication performance data of different data channels, and the impact of various schemes on the infrastructure and receiver. Navigation message authentication schemes have been simulated at the proposed data rates of Galileo and GPS services, for which the resulting performance data is presented. This paper concludes by making recommendations for optimal implementation of navigation message authentication for Galileo and next generation GPS systems.

Uncertainty based online planning for UAV target finding in cluttered and GPS-denied environments

There are some scenarios in which Unmmaned Aerial Vehicle (UAV) navigation becomes a challenge due to the occlusion of GPS systems signal, the presence of obstacles and constraints in the space in which a UAV operates. An additional challenge is presented when a target whose location is unknown must be found within a confined space. In this paper we present a UAV navigation and target finding mission, modelled as a Partially Observable Markov Decision Process (POMDP) using a state-of-the-art online solver in a real scenario using a low cost commercial multi rotor UAV and a modular system architecture running under the Robotic Operative System (ROS). Using POMDP has several advantages to conventional approaches as they take into account uncertainties in sensor information. We present a framework for testing the mission with simulation tests and real flight tests in which we model the system dynamics and motion and perception uncertainties. The system uses a quad-copter aircraft with an board downwards looking camera without the need of GPS systems while avoiding obstacles within a confined area. Results indicate that the system has 100% success rate in simulation and 80% rate during flight test for finding targets located at different locations.

Wear Next: An Exploration into the Future of Wearable Technology

Technology is increasingly infiltrating all aspects of our lives and the rapid uptake of devices that live near, on or in our bodies are facilitating radical new ways of working, relating and socialising. This distribution of technology into the very fabric of our everyday life creates new possibilities, but also raises questions regarding our future relationship with data and the quantified self. By embedding technology into the fabric of our clothes and accessories, it becomes ‘wearable’. Such ‘wearables’ enable the acquisition of and the connection to vast amounts of data about people and environments in order to provide life-augmenting levels of interactivity. Wearable sensors for example, offer the potential for significant benefits in the future management of our wellbeing. Fitness trackers such as ‘Fitbit’ and ‘Garmen’ provide wearers with the ability to monitor their personal fitness indicators while other wearables provide healthcare professionals with information that improves diagnosis. While the rapid uptake of wearables may offer unique and innovative opportunities, there are also concerns surrounding the high levels of data sharing that come as a consequence of these technologies. As more ‘smart’ devices connect to the Internet, and as technology becomes increasingly available (e.g. via Wi-Fi, Bluetooth), more products, artefacts and things are becoming interconnected. This digital connection of devices is called The ‘Internet of Things’ (IoT). IoT is spreading rapidly, with many traditionally non-online devices becoming increasingly connected; products such as mobile phones, fridges, pedometers, coffee machines, video cameras, cars and clothing. The IoT is growing at a rapid rate with estimates indicating that by 2020 there will be over 25 billion connected things globally. As the number of devices connected to the Internet increases, so too does the amount of data collected and type of information that is stored and potentially shared. The ability to collect massive amounts of data - known as ‘big data’ - can be used to better understand and predict behaviours across all areas of research from societal and economic to environmental and biological. With this kind of information at our disposal, we have a more powerful lens with which to perceive the world, and the resulting insights can be used to design more appropriate products, services and systems. It can however, also be used as a method of surveillance, suppression and coercion by governments or large organisations. This is becoming particularly apparent in advertising that targets audiences based on the individual preferences revealed by the data collected from social media and online devices such as GPS systems or pedometers. This type of technology also provides fertile ground for public debates around future fashion, identity and broader social issues such as culture, politics and the environment. The potential implications of these type of technological interactions via wearables, through and with the IoT, have never been more real or more accessible. But, as highlighted, this interconnectedness also brings with it complex technical, ethical and moral challenges. Data security and the protection of privacy and personal information will become ever more present in current and future ethical and moral debates of the 21st century. This type of technology is also a stepping-stone to a future that includes implantable technology, biotechnologies, interspecies communication and augmented humans (cyborgs). Technologies that live symbiotically and perpetually in our bodies, the built environment and the natural environment are no longer the stuff of science fiction; it is in fact a reality. So, where next?... The works exhibited in Wear Next_ provide a snapshot into the broad spectrum of wearables in design and in development internationally. This exhibition has been curated to serve as a platform for enhanced broader debate around future technology, our mediated future-selves and the evolution of human interactions. As you explore the exhibition, may we ask that you pause and think to yourself, what might we... Wear Next_? WEARNEXT ONLINE LISTINGS AND MEDIA COVERAGE: http://indulgemagazine.net/wear-next/ http://www.weekendnotes.com/wear-next-exhibition-gallery-artisan/ http://concreteplayground.com/brisbane/event/wear-next_/ http://www.nationalcraftinitiative.com.au/news_and_events/event/48/wear-next http://bneart.com/whats-on/wear-next_/ http://creativelysould.tumblr.com/post/124899079611/creative-weekend-art-edition http://www.abc.net.au/radionational/programs/breakfast/smartly-dressed-the-future-of-wearable-technology/6744374 http://couriermail.newspaperdirect.com/epaper/viewer.aspx RADIO COVERAGE http://www.abc.net.au/radionational/programs/breakfast/wear-next-exhibition-whats-next-for-wearable-technology/6745986 TELEVISION COVERAGE http://www.abc.net.au/radionational/programs/breakfast/wear-next-exhibition-whats-next-for-wearable-technology/6745986 https://au.news.yahoo.com/video/watch/29439742/how-you-could-soon-be-wearing-smart-clothes/#page1

Step by step: reconstruction of terrestrial animal movement paths by dead-reckoning

BACKGROUND: Research on wild animal ecology is increasingly employing GPS telemetry in order to determine animal movement. However, GPS systems record position intermittently, providing no information on latent position or track tortuosity. High frequency GPS have high power requirements, which necessitates large batteries (often effectively precluding their use on small animals) or reduced deployment duration. Dead-reckoning is an alternative approach which has the potential to 'fill in the gaps' between less resolute forms of telemetry without incurring the power costs. However, although this method has been used in aquatic environments, no explicit demonstration of terrestrial dead-reckoning has been presented.

RESULTS: We perform a simple validation experiment to assess the rate of error accumulation in terrestrial dead-reckoning. In addition, examples of successful implementation of dead-reckoning are given using data from the domestic dog Canus lupus, horse Equus ferus, cow Bos taurus and wild badger Meles meles.

CONCLUSIONS: This study documents how terrestrial dead-reckoning can be undertaken, describing derivation of heading from tri-axial accelerometer and tri-axial magnetometer data, correction for hard and soft iron distortions on the magnetometer output, and presenting a novel correction procedure to marry dead-reckoned paths to ground-truthed positions. This study is the first explicit demonstration of terrestrial dead-reckoning, which provides a workable method of deriving the paths of animals on a step-by-step scale. The wider implications of this method for the understanding of animal movement ecology are discussed.

Control de movimientos en presas de hormigón mediante DGPS. Comparación con otros métodos de auscultación e implicaciones para la seguridad. Estudio de caso en la presa de La Aceña (Ávila)

Las normativas que regulan la seguridad de las presas en España han recogido la necesidad de conocer los desplazamientos y deformaciones de sus estructuras y cimientos. A día de hoy, son muchas las presas en explotación que no cuentan con un sistema de auscultación adecuado para controlar este tipo de variables, ya que la instalación de métodos clásicos de precisión en las mismas podría no ser viable técnicamente y, de serlo, supondría un coste económico importante y una dudosa garantía del proceso de ejecución de la obra civil correspondiente. Con el desarrollo de las nuevas tecnologías, la informática y las telecomunicaciones, han surgido nuevos sistemas de auscultación de desplazamientos. Los sistemas GPS actuales, diseñados para el control de estructuras, guiado de maquinaria, navegación y topografía, estabilidad de taludes, subsidencias, etc. permiten alcanzar precisiones centimétricas. El sistema de control de movimientos basado en la tecnología DGPS (GPS diferencial) combinada con un filtro estadístico con el que se alcanzan sensibilidades de hasta ±1 mm en el sistema, suficientes para una auscultación normal de presas según los requerimientos de la normativa actual. Esta exactitud se adapta a los desplazamientos radiales de las presas, donde son muy comunes valores de amplitudes en coronación de hasta 15 mm en las de gravedad y de hasta 45 mm en el caso de las presas bóveda o arco. La presente investigación tiene por objetivo analizar la viabilidad del sistema DGPS en el control de movimientos de presas de hormigón comparando los diferentes sistemas de auscultación y su correlación con las variables físicas y las vinculadas al propio sistema GPS diferencial. Ante la necesidad de dar respuesta a estas preguntas y de validar e incorporar a la mencionada tecnología en la ingeniería civil en España, se ha llevado a cabo un estudio de caso en La Aceña (Ávila). Esta es una de las pocas presas españolas que se está controlando con dicha tecnología y de forma simultánea con los sistemas clásicos de auscultación y algunos otros de reciente aplicación La presente investigación se ha organizado con idea de dar respuesta a varias preguntas que el explotador de presas se plantea y que no se analizan en el estado del arte de la técnica: cómo hacer la configuración espacial del sistema y cuáles son los puntos necesarios que se deben controlar, qué sistemas de comunicaciones son los más fiables, cuáles son los costes asociados, calibración del software, vida útil y mantenimientos requeridos, así como la posibilidad de telecontrolar los datos. Entre las ventajas del sistema DGPS, podemos señalar su bajo coste de implantación y posibilidad de controlarlo de forma remota, así como la exactitud y carácter absoluto de los datos. Además, está especialmente indicado para presas aisladas o mal comunicadas y para aquellas otras en las que el explotador no tiene referencia alguna de la magnitud de los desplazamientos o deformaciones propias de la presa en toda su historia. Entre los inconvenientes de cualquier sistema apoyado en las nuevas tecnologías, destaca la importancia de las telecomunicaciones ya sea en el nivel local en la propia presao desde su ubicación hasta el centro de control de la explotación. Con la experiencia alcanzada en la gestión de la seguridad de presas y sobre la base de la reciente implantación de los nuevos métodos de auscultación descritos, se ha podido analizar cada una de sus ventajas e inconvenientes. En el capítulo 5, se presenta una tabla de decisión para el explotador que servirá como punto de partida para futuras inversiones. El impacto de esta investigación se ha visto reflejado en la publicación de varios artículos en revistas indexadas y en el debate suscitado entre gestores y profesionales del sector en los congresos nacionales e internacionales en los que se han presentado resultados preliminares. All regulations on the safety of dams in Spain have collected the need to know the displacements and deformations of the structure and its foundation. Today there are many dams holding not have an adequate system of auscultation to control variables such as the installation of classical methods of precision in the same might not be technically feasible, and if so, would cost important economic and guarantee the implementation process of the dubious civil works. With the development of new technologies, computing and telecommunications, new displacements auscultation systems have emerged. Current GPS systems designed to control structures, machine guidance, navigation and topography, slope stability, subsidence, etc, allow to reach centimeter-level accuracies. The motion control system based on DGPS technology applies a statistical filter that sensitivities are achieved in the system to ± 1 mm, sufficient for normal auscultation of dams as required by current regulations. This accuracy is adapted to the radial displacement of dams, which are common values in coronation amplitudes up to 15 mm in gravity dams and up to 45 mm in arch or arc dams. This research aims to analyze the feasibility of DGPS system in controlling movements of concrete dams, comparing the different systems auscultation and its correlation with physical variables and linked to differential GPS system itself. Given the need to answer this question and to validate and incorporate this technology to civil engineering in Spain, has conducted a case study in real time at the dam La Aceña (Ávila). This dam is one of the few Spanish companies, which are controlling with this technology and simultaneously with the classic auscultation systems and some other recent application. This research has been organized with a view to responding to questions that the dam operator arises and in the state of the art technique not discussed: how to make spatial configuration of the system and what are the necessary control points what communication systems are the most reliable, what are the associated costs, calibration software, service life and maintenance requirements, possibility of monitoring, etc. Among the advantages we can point to its low cost of implementation, the possibility of remote, high accuracy and absolute nature of the data. It could also be suitable for those isolated or poorly communicated dams and those in which the operator has no reference to the magnitude of displacements or deformations own prey in its history. The disadvantages of any system based on the new technologies we highlight the importance of telecommunications, either locally or from this dam control center of the farm. With the experience gained in the management of dam safety and based on the recent introduction of new methods of auscultation described, it has been possible to analyze each of their advantages and disadvantages. A decision table for the operator, which will serve as a starting point for future investments is presented. The impact of research, has been reflected in the publication of several articles in refereed journals and discussion among managers and professionals in national and international conferences in which they participated.

Performance analysis in soccer: applications of player tracking technology

The aim of this thesis was threefold, firstly, to compare current player tracking technology in a single game of soccer. Secondly, to investigate the running requirements of elite women’s soccer, in particular the use and application of athlete tracking devices. Finally, how can game style be quantified and defined. Study One compared four different match analysis systems commonly used in both research and applied settings: video-based time-motion analysis, a semi-automated multiple camera based system, and two commercially available Global Positioning System (GPS) based player tracking systems at 1 Hertz (Hz) and 5 Hz respectively. A comparison was made between each of the systems when recording the same game. Total distance covered during the match for the four systems ranged from 10 830 ± 770 m (semi-automated multiple camera based system) to 9 510 ± 740m (video-based time-motion analysis). At running speeds categorised as high-intensity running (>15 km⋅h-1), the semi-automated multiple camera based system reported the highest distance of 2 650 ± 530 m with video-based time-motion analysis reporting the least amount of distance covered with 1 610 ± 370 m. At speeds considered to be sprinting (>20 km⋅h-1), the video-based time-motion analysis reported the highest value (420 ± 170 m) and 1 Hz GPS units the lowest value (230 ± 160 m). These results demonstrate there are differences in the determination of the absolute distances, and that comparison of results between match analysis systems should be made with caution. Currently, there is no criterion measure for these match analysis methods and as such it was not possible to determine if one system was more accurate than another. Study Two provided an opportunity to apply player-tracking technology (GPS) to measure activity profiles and determine the physical demands of Australian international level women soccer players. In four international women’s soccer games, data was collected on a total of 15 Australian women soccer players using a 5 Hz GPS based athlete tracking device. Results indicated that Australian women soccer players covered 9 140 ± 1 030 m during 90 min of play. The total distance covered by Australian women was less than the 10 300 m reportedly covered by female soccer players in the Danish First Division. However, there was no apparent difference in the estimated "#$%&', as measured by multi-stage shuttle tests, between these studies. This study suggests that contextual information, including the “game style” of both the team and opposition may influence physical performance in games. Study Three examined the effect the level of the opposition had on the physical output of Australian women soccer players. In total, 58 game files from 5 Hz athlete-tracking devices from 13 international matches were collected. These files were analysed to examine relationships between physical demands, represented by total distance covered, high intensity running (HIR) and distances covered sprinting, and the level of the opposition, as represented by the Fédération Internationale de Football Association (FIFA) ranking at the time of the match. Higher-ranking opponents elicited less high-speed running and greater low-speed activity compared to playing teams of similar or lower ranking. The results are important to coaches and practitioners in the preparation of players for international competition, and showed that the differing physical demands required were dependent on the level of the opponents. The results also highlighted the need for continued research in the area of integrating contextual information in team sports and demonstrated that soccer can be described as having dynamic and interactive systems. The influence of playing strategy, tactics and subsequently the overall game style was highlighted as playing a significant part in the physical demands of the players. Study Four explored the concept of game style in field sports such as soccer. The aim of this study was to provide an applied framework with suggested metrics for use by coaches, media, practitioners and sports scientists. Based on the findings of Studies 1- 3 and a systematic review of the relevant literature, a theoretical framework was developed to better understand how a team’s game style could be quantified. Soccer games can be broken into key moments of play, and for each of these moments we categorised metrics that provide insight to success or otherwise, to help quantify and measure different methods of playing styles. This study highlights that to date, there had been no clear definition of game style in team sports and as such a novel definition of game style is proposed that can be used by coaches, sport scientists, performance analysts, media and general public. Studies 1-3 outline four common methods of measuring the physical demands in soccer: video based time motion analysis, GPS at 1 Hz and at 5 Hz and semiautomated multiple camera based systems. As there are no semi-automated multiple camera based systems available in Australia, primarily due to cost and logistical reasons, GPS is widely accepted for use in team sports in tracking player movements in training and competition environments. This research identified that, although there are some limitations, GPS player-tracking technology may be a valuable tool in assessing running demands in soccer players and subsequently contribute to our understanding of game style. The results of the research undertaken also reinforce the differences between methods used to analyse player movement patterns in field sports such as soccer and demonstrate that the results from different systems such as GPS based athlete tracking devices and semi-automated multiple camera based systems cannot be used interchangeably. Indeed, the magnitude of measurement differences between methods suggests that significant measurement error is evident. This was apparent even when the same technologies are used which measure at different sampling rates, such as GPS systems using either 1 Hz or 5 Hz frequencies of measurement. It was also recognised that other factors influence how team sport athletes behave within an interactive system. These factors included the strength of the opposition and their style of play. In turn, these can impact the physical demands of players that change from game to game, and even within games depending on these contextual features. Finally, the concept of what is game style and how it might be measured was examined. Game style was defined as "the characteristic playing pattern demonstrated by a team during games. It will be regularly repeated in specific situational contexts such that measurement of variables reflecting game style will be relatively stable. Variables of importance are player and ball movements, interaction of players, and will generally involve elements of speed, time and space (location)".

Some Initial Conditions for Disposed Satellites of the Systems GPS and Galileo Constellations

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Secure tracking for critical applications : communications, GPS and future Galileo services

Tracking/remote monitoring systems using GNSS are a proven method to enhance the safety and security of personnel and vehicles carrying precious or hazardous cargo. While GNSS tracking appears to mitigate some of these threats, if not adequately secured, it can be a double-edged sword allowing adversaries to obtain sensitive shipment and vehicle position data to better coordinate their attacks, and to provide a false sense of security to monitoring centers. Tracking systems must be designed with the ability to perform route-compliance and thwart attacks ranging from low-level attacks such as the cutting of antenna cables to medium and high-level attacks involving radio jamming and signal / data-level simulation, especially where the goods transported have a potentially high value to terrorists. This paper discusses the use of GNSS in critical tracking applications, addressing the mitigation of GNSS security issues, augmentation systems and communication systems in order to provide highly robust and survivable tracking systems.

A spoofing detection method for civilian L1 GPS and the E1-B Galileo Safety of Life service

This paper describes an effective method for signal-authentication and spoofing detection for civilian GNSS receivers using the GPS L1 C/A and the Galileo E1-B Safety of Life service. The paper discusses various spoofing attack profiles and how the proposed method is able to detect these attacks. This method is relatively low-cost and can be suitable for numerous mass-market applications. This paper is the subject of a pending patent.

A runtime integrity monitoring framework for real-time relative positioning systems based on GPS and DSRC

This paper provides a three-layered framework to monitor the positioning performance requirements of Real-time Relative Positioning (RRP) systems of the Cooperative Intelligent Transport Systems (C-ITS) that support Cooperative Collision Warning (CCW) applications. These applications exploit state data of surrounding vehicles obtained solely from the Global Positioning System (GPS) and Dedicated Short-Range Communications (DSRC) units without using other sensors. To this end, the paper argues the need for the GPS/DSRC-based RRP systems to have an autonomous monitoring mechanism, since the operation of CCW applications is meant to augment safety on roads. The advantages of autonomous integrity monitoring are essential and integral to any safety-of-life system. The autonomous integrity monitoring framework proposed necessitates the RRP systems to detect/predict the unavailability of their sub-systems and of the integrity monitoring module itself, and, if available, to account for effects of data link delays and breakages of DSRC links, as well as of faulty measurement sources of GPS and/or integrated augmentation positioning systems, before the information used for safety warnings/alarms becomes unavailable, unreliable, inaccurate or misleading. Hence, a monitoring framework using a tight integration and correlation approach is proposed for instantaneous reliability assessment of the RRP systems. Ultimately, using the proposed framework, the RRP systems will provide timely alerts to users when the RRP solutions cannot be trusted or used for the intended operation.

Influência da combinação de dados GPS e GLONASS no georreferenciamento de imóveis rurais

The land question has been a widely discussed topic in Brazil, regarding land tenure. Law No. 10.267/01 was a major breakthrough for the agrarian issue. Since then on all rural properties must be georeferenced to the Brazilian Geodetic System (BGS). Therefore, satellite positioning and conventional methods are extensively used. Changes have been occurring in satellite positioning systems due to the addition of new signals in GPS (Global System Positioning), restructuring of GLONASS (Global Orbiting Navigation Satellite System), and the new systems like Galileo and Compass as well. To evaluate the effects of combining GPS and GLONASS data, several batches of processings were performed on different configurations. The data processing was performed to determine the coordinates of points of basic support and those materializing the neighborhood of the rural properties. As a result, it was found that the use of accurate ephemeris in transporting coordinates to support points has no significant influence, since transportation with broadcast ephemeris also meets the accuracy requirements for the Standard Technique for Georreferencing Rural Properties. On the other hand, when GPS and GLONASS data were used, such combination provides the best results. In the case of neighboring points, the use of GPS and GLONASS data is also recommended because such data meet the precision requirement and showed better results than those from where data were processed separately.