Concept Of Navigation Research Articles

Navigation and communication network for the Valles Marineris Explorer (VaMEx)

With recent advances in robotics and space technology for the exploration of our Solar System, innovative mission concepts are being proposed to further extend our knowledge of our neighbouring planets and their satellites. VaMEx, abbreviation for Valles Marineris Explorer, is an example of such an initiative. VaMEx aims to survey the canyons of the Valles Marineris, for the duration of one year. A cluster of robotic elements is tasked with the planetary exploration activities. Due to the hazardous environment, it is required that these elements navigate autonomously, broadcast position information and exchange science data during the operational phase of the mission. To support these functions, a VaMEx space segment composed of one (or more) orbiter satellite(s) is proposed. Three possible swarm localization schemes were investigated: 1) radio positioning, 2) cartographic triangulation of ground features from optical images and 3) cartographic triangulation of radar persistent scatters. For each of the proposed navigation concepts, a suitable orbit constellation solution was assessed. Each solution was evaluated in terms of orbit stability, control effort and communications performance using metrics specific to each of the three concepts (length of pass, visibility gaps, geometry constraints, etc.). With the described navigation concept and mission analysis results, a preliminary operational architecture for the VaMEx space segment is conceived, taking into account existing technologies, communications performance, overall mission complexity and feasibility.

Concepts of GPCR-controlled navigation in the immune system.

SummaryG‐protein–coupled receptor (GPCR) signaling is essential for the spatiotemporal control of leukocyte dynamics during immune responses. For efficient navigation through mammalian tissues, most leukocyte types express more than one GPCR on their surface and sense a wide range of chemokines and chemoattractants, leading to basic forms of leukocyte movement (chemokinesis, haptokinesis, chemotaxis, haptotaxis, and chemorepulsion). How leukocytes integrate multiple GPCR signals and make directional decisions in lymphoid and inflamed tissues is still subject of intense research. Many of our concepts on GPCR‐controlled leukocyte navigation in the presence of multiple GPCR signals derive from in vitro chemotaxis studies and lower vertebrates. In this review, we refer to these concepts and critically contemplate their relevance for the directional movement of several leukocyte subsets (neutrophils, T cells, and dendritic cells) in the complexity of mouse tissues. We discuss how leukocyte navigation can be regulated at the level of only a single GPCR (surface expression, competitive antagonism, oligomerization, homologous desensitization, and receptor internalization) or multiple GPCRs (synergy, hierarchical and non‐hierarchical competition, sequential signaling, heterologous desensitization, and agonist scavenging). In particular, we will highlight recent advances in understanding GPCR‐controlled leukocyte navigation by intravital microscopy of immune cells in mice.

Path Planning Algorithms and Their Use in Robotic Navigation Systems

This paper serves as an introduction to the concept of path planning and navigation. Contents include path planning algorithms and their many applications. Specific applications include navigation systems in autonomous/semi-autonomous systems. Often these autonomous systems rely on several layers of sensor data, however at the root is a search-algorithm-based navigation system. This paper is to serve as an introduction to these algorithms and the use cases where young/new roboticists can develop path finding/path planning applications to fit their educational robotics needs. The A*, (A-Star), search algorithm and its applications will be the primary algorithm used within this paper. This paper is a portion of an ongoing research project for a robotic vehicle navigation system.

Rotorcraft in the Performance Based Navigation International Civil Aviation Organization Implementation

Abstract European Commision adopted in July new regulations about laying down airspace usage requirements and operating procedures concerning performance based navigation. It is next step in realization of the the global program PBN ICAO. At the 36th General Assembly of ICAO held in 2007, the Republic of Poland agreed to ICAO resolution A36-23 which urges all States to implement PBN. In future aviation concepts the use of Performance Based Navigation (PBN) is considered to be a major Air Traffic Management (ATM) concept element. ICAO has drafted standards and implementation guidance for PBN in the ICAO Doc 9613 “PBN Manual”. The Based Performance Navigation Concept represents and shift from sensor-based to performance based navigation connected with criteria for navigation: accuracy, integrity, availability, continuity and functionality depending on the phase of the flight. Through PBN and changes in the communication, surveillance and ATM domain, many advanced navigation applications are possible to improve airspace efficiency, improve airport sustainability, reduce the environmental impact of air transport in terms of noise and emission, increase safety and improve flight efficiency.

A hypothetical method for calculation of the access point, direction angle and access angle for percutaneous nephrolithotomy

Urinary stone disease has an increasing prevalence across the globe, and endoscopic treatment modalities have replaced open surgery. Percutaneous nephrolithotomy (PCNL) is a successful, safe and reliable minimally invasive method in the treatment of renal stones, especially big (≥2 cm) or complex ones. Gaining access is the most critical step of this procedure, which can affect the rest of the operation. Although previously described techniques, eye of the needle and triangulation techniques, are being used for gaining access, urologists (especially novice ones) can still have problems during this step. Some navigation concepts have been developed in order to make the access safer, easier and more successful, however, none of them has been incorporated in daily routine practice till now because of either complicated techniques or requirement of sophisticated equipment. Our hypothesis is that the access point, direction angle and access angle in order to touch a stone during PCNL can be calculated by the data obtained from the computed tomography images with the help of mathematical formulations, namely the theorem of the cosine.

Sensor-Based Hybrid Translational Observer For Underwater Navigation

Accurate underwater navigation systems are required for closed-loop guidance and control of unmanned underwater vehicles (UUV). This paper proposes a method for the design of a six degrees-of-freedom (DOF) sensor-based hybrid translational observer concept for underwater navigation using the hybrid dynamical systems framework, accounting for noisy, asynchronous and sporadically available sensor measurements. Sensor measurements from an acoustic positioning system, a Doppler Velocity Log (DVL), an Inertial Measurement Unit (IMU) and a pressure gauge are used in the proposed observer. A method for filtering high-frequency noise is proposed, where the estimated states are obtained by taking a weighted discounted average of a finite number of previous measurements predicted forwards to the current time. The attitude of the vehicle is assumed known, and acceleration measurements are assumed to be continuously available. Measurements of position, depth and linear velocity are assumed to be available sporadically with asynchronous sampling rates. Results from simulations are presented to demonstrate the performance of the proposed method.

METHOD OF DETERMINING THE ACCURACY CHARACTERISTICS OF THE SATELLITE NAVIGATION SYSTEM

The key actions for the implementation of the global navigation satellite systems are described in this article. At the testing stage, the conformity of the system with the operating standards is established, its accuracy characteristics are proved, the temperature of the control bodies and the units are measured, in addition, the composition of the aircraft explores the electromagnetic compatibility of the navigation satellite systems with the equipment of the aircraft.Failure to recognize the deficiencies at the testing stage will lead to significant economic losses in the implementation and refinement of already certified fleet of aircrafts, and worsening of safety flights. Therefore, it is very important to consider all the factors that may affect the work of the system, such as: the temperature of the outside air, the position of the aircraft in space, the connection of the navigation satellite systems with the equipment of the aircraft with partial and complete failure of this equipment, etc. The main but not the only parameter of the navigation satellite systems is precision characteristics, which together with the precise characteristics of manual or automatic control of the aircraft, allow us to meet the requirements of the concept of zonal navigation, which greatly expands the technical capabilities of the aircraft. Therefore, the article pays special attention to the precision characteristics of the navigation satellite systems, methods for increasing the accuracy of statistical analysis of data by: 1) the method of maximum likelihood or nonlinear least squares; 2) the method of simultaneous determination of state variables and Kalman filtration parameters and nonlinear estimation.

CONCEPTION OF THE COMBAT FACILITIES TO STRIKE FROM UNDER WATER BY DZHEVETSKYMAKAROV AND ITS IMPLEMENTATION IN ODESA

Previous researches focused only on Russian underwater navigation. This article examines the foundation of underwater navigation in Odesa Bay in the last quarter of the XIX century made by the Ukrainian and Polish people.Our methodology includes, firstly, observations, review of numerous documents concerning S. K. Dzhevetsky and S. O. Makarov; secondly, surveys their conception; and finally, the information about researcher V. P. Kreminsky and officer M. I. Tymchenko-Ruban;As a result, the main findings of Dzhevetsky-Makarov’s conception is using the super-small underwater piloted vehicle for contact battles against a big armor navy vessel.Moreover, we introduce the new term «Odessa underwater navigation cell» in the last quarter of the XIX century.Conclusion: The main thesis of the article is to history about implementation Dzhevetsky-Makarov’s conception in Odesa in the last quarter of the XIX century. Covered activity of S. K. Dzhevetsky in terms of the tests and demonstration of model-1 of the underwater vehicle of his own design in the Military Harbor of the Odesa and the implementation of model-3 (crew – 3 persons). The circle of likeminded people of S. K. Dzhevetsky is outlined as well as those who contributed to the implementation of his earlier inventions in the field of underwater navigation, namely: the breeder G. Blanchar, mechanic A. E. Garut (or Garuta), commander of the main serial underwater vehicle І.І. Chaikovsky, baron K.P. Bistrom, M.F. Loshchinsky, M.K. Weis (M.P. Vence), S.O. Makarov, V.K. Vitgeft, M.A. Arcas. The basic principles of the concept of the Dzhevetsky-Makarov submarine navigation in terms of combat use and operation of underwater vehicles under daily conditions and in case of damage are formed in tabular form. The range of people who slowed down or sabotaged the implementation of S.K. Dzhevetsky’s model-3 to the Navy, namely: K.P. Seleznev, O.M. Chizhov, lieutenant Andreyev, M.D. Novikov, M.V. Kopytov. The disadvantages of the design of the underwater vehicle model by Dzhevetsky, the main of which are the reliance on masonry force and the exclusion of the possibility to make changes in the crew for rest, and, accordingly, the disadvantages concept of Dzhevetsky-Makarov, which provoked the appearance of an alternative concept that belonged to V. P. Kreminsky of underwater navigation. The criteria for the term «cell» (quantity, location and target) are substantiated, allowing to introduce the term «Odessa submarine navigation cell» to scientific circulation.The prospect of further exploration is in investigating activities of other submarine cells of the Ukrainian seafaring scientific school, starting with the second half of the nineteenth century.

Long baseline navigation with explicit pseudo-range clock offset and propagation speed estimation

This paper proposes a novel one-way-travel-time (OWTT) long baseline (LBL) navigation concept that departs from previous approaches in that: (i) the clock of the receiver in the vehicle needs not to be synchronized with the clocks of the emitters; and (ii) the speed of propagation of the signals is assumed unknown. The nonlinear system dynamics are considered in a continuous-discrete time framework, taking advantage of the pseudo-range measurements obtained at low update rates and the data from other sensors obtained at high rates. An augmented system is proposed whose observability is analyzed and that is shown to be equivalent to the original nonlinear system under appropriate conditions. A Kalman filter provides the estimation solution, with globally exponentially stable error dynamics, in spite of the original nonlinear nature of the system dynamics. The performance of the proposed solution is evaluated with numerical simulations resorting to Monte Carlo runs. The comparison with the extended Kalman filter and the Bayesian Cramér-Rao bound are also included.

Following others through an information maze: The impact of social navigation on information seeking behavior

Abstract “Social Navigation” for the Web has been created in response to the problem of disorientation in an information space. It helps users tackle the information overload challenge by visualizing the traces of behavior of other users and adding social affordances to the information space. Despite the popularity of the concept of social navigation, very few studies of information systems with social navigation can be found in the research literature. In this paper, we report on our study of the impact of social navigation support in the context of task-centered information access. We explore the design of our information access interface which is designed to offer integrated social navigation support, as well as our experiment to systematically assess how social navigation support influenced participants’ information seeking behavior. This experiment will identify situations in which social navigation support is most useful and to investigate the effect of interpersonal trust as an individual factor on the likelihood of following social navigation cues. The results of the study show that social navigation support can successfully guide participants to relevant documents, enabling them to achieve higher search performance. The study also revealed that the effect of social navigation cues on participants’ information seeking behaviors varies under different circumstances, especially under time constraints and for those with high levels of interpersonal trust.

New Approach of High Sensitivity Techniques Using Collective Detection Method with Multiple GNSS Receivers.

The Collective Detection (CD) technique is a promising approach to meet the requirements for signal acquisition in GNSS-harsh environments. The CD approach has been proposed because of its potential to operate as both a direct positioning method and a high-sensitivity acquisition method. This paper is dedicated to the development of a new CD architecture for processing satellite signals in challenging environments. It proposes the best signal acquisition method used according to the reception conditions of the different receivers that can assist the user in difficulty. Knowing that the CD approach is beneficial in the case where the maximum of satellite signals can be combined, the proposed approach consists in choosing the best receiver(s) from several connected receivers to serve as a reference station, as smart cooperative navigation concept. New metrics of the CD with optimal weighting of visible satellites are exploited. Analysis of optimization method in order to use better satellites according to some defined parameters (elevation, , and GDOP) were carried out. Real GPS L1 C/A signals are exploited to analyze the efficiency of the proposed approach. A comparison of the results through the accumulation of some good satellites among all visible satellites have shown the effectiveness of this method.

Ephemeral Socialities: Social Navigation among Young Danes

This article analyses how young people get together in the spatial, temporal and social complexity of urban space. We suggest the term ephemeral urban socialities to understand how young people construct alternative socialities that are not embedded within an institutional mode of thinking or a formalised social setting. Based on anthropological fieldwork and empirical material generated in the Danish cities of Aarhus and Horsens by Anne-Lene Sand, we frame the analysis in a context where the development of urban space minimises social places that young people can define by and for themselves. This article investigates how young people come together socially in a context that seems to be highly regulated and planned, but that from another perspective is uncertain (Highmore, 2005; Lefebvre, 1994) and open to ludic interpretation (Stevens, 2007). The material is discussed through the lens of the Danish anthropologist Henrik Vigh’s concept of social navigation (2006, 2009) to understand young people’s mobile and changing social formations in the urban context. This article contributes knowledge about modern urban socialities in medium-sized northern European cities that, in the case of youth formations, cannot be described as groups or as territorial, but that are constructed through the desire to meet with “like-minded individuals”.

Narrative Navigation: HIV and (Good) Care in Aceh, Indonesia

In this article, I elaborate the concept of narrative navigation to analyze the subjective and intersubjective ways in which people struggle through experiences of illness by constructing multiple, ambiguous and non-linear narratives that may continuously change, as they reposition themselves within changing circumstances. Drawing on ethnographic material on HIV care in Aceh, Indonesia, I show how subjunctivity and open-endedness are crucial narrative ways in which people living with HIV, their relatives, medical doctors and support group workers adjust to possibilities and limitations of care over time, thereby continuously negotiating what good care may be. Unfolding within a changing Indonesian healthcare system, their narrative navigations reveal caregiving to be a complex and contradictory process, thereby problematizing boundaries between good care and neglect.

Barriers and Facilitators to Cervical Cancer Screening, Diagnosis, Follow-Up Care and Treatment: Perspectives of Human Immunodeficiency Virus-Positive Women and Health Care Practitioners in Tanzania.

This study was conducted to identify barriers and facilitators to cervical cancer screening, diagnosis, follow-up care, and treatment among human immunodeficiency virus (HIV)-infected women and clinicians and to explore the acceptability of patient navigators in Tanzania. In 2012, we conducted four focus groups, two with HIV-positive women and two with clinicians who perform cervical cancer screening, diagnosis, follow-up care, and treatment. Transcriptions were analyzed using thematic analysis. Findings from the patient focus groups indicate the prevalence of fear and stigma surrounding cervical cancer as well as a lack of information and access to screening and treatment. The clinician focus groups identified numerous barriers to screening, diagnosis, follow-up care, and treatment. Participants in both types of groups agreed that a patient navigation program would be an effective way to help women navigate across the cancer continuum of care including screening, diagnosis, follow-up care, and treatment. Given the fear, stigma, misinformation, and lack of resources surrounding cervical cancer, it is not surprising that patient navigation would be welcomed by patients and providers. This article identifies specific barriers to cervical cancer screening and treatment from the perspectives of both clinicians and patients in Tanzania and describes the acceptability of the concept of patient navigation.

2285 Patient navigation training: Community-engaged workforce development

OBJECTIVES/SPECIFIC AIMS: The goal of this initiative was to address this cancer health disparity in the Appalachian counties and help participants develop, implement and evaluate evidence-based “PN” that effectively and positively impacts patient and outcomes of the HealthyWomen Program. Following were the objectives of this training program: (1) To understand the broad range of roles and responsibilities associated with “PN”, including care coordination and case management, in the Pennsylvania HealthyWoman Program in Pennsylvania and the National Breast and Cervical Cancer Early Detection Program. (2) To identify and assess local resources and expertise for evidence-based “PN” in the HealthyWoman Program. (3) To utilize “PN” in association with public education and targeted outreach initiatives in the HealthyWoman Program. (4) To implement strategies to manage and evaluate “PN” for the HealthyWoman Program. METHODS/STUDY POPULATION: The series of PN training was held at Pittsburgh, Camp-Hill, Wilkes-Barre and Philadelphia during June 2017. In total, 86 participants attended the training program at one of these 4 locations. Attendees represented organizations that provided breast, cervical and colorectal cancer outreach, screening and treatment. The participants of the training were solicited by regional program managers of the HealthyWoman Program of the PA Department of Health. The Harold Freeman model for patient navigation model was used to train the participants on the concepts of patient navigation. The training was built upon the Health Belief Model and Chronic Care Model, which defined the specific program constructs. The curriculum covered 2 important aspects, that is, clinical knowledge related to breast and cervical cancer along with aspects of patient navigation. Participants represented small, and large academic institutions/health care systems, cancer centers, federally qualified health centers, health departments as well as community-based screening programs and organizations. RESULTS/ANTICIPATED RESULTS: A total of 86 participants were trained; 78% had formal education and training in health-related field. In total, 62% of the participants had previous experience of patient navigation; 42% had training in social service related field and 50% had prior experience as community health worker. The demographic details reflected that majority of the participants (94%) were female. Most of the participants (30%) belonged to 50–64 years of age group followed by 30–39 years (23%) and 40–49 years (22%) of age group, respectively. As part of ethnic distribution, 70% of the participants were White Americans followed by Black/African Americans (17%). Furthermore, association of previous training in health and social service field with and without experience as a community health worker (n=84) and Navigator (n=86) was also analyzed. Among the participants, 44% had both community health worker experiences along with a prior training in social service related field whereas 42% of the respondents only had prior social service related training. This association of previous training in social service related field and prior community health worker experience was statistically significant with a p value of <0.05. Additionally, 81% of the participants who had previous experience in health-related training also possessed the prior experience as community health worker. Also, 81% of the participants who had previous training in health-related field also had a prior experience of patient navigation. In all, 38% of the participants who had a previous experience in social service field also had a prior experience of patient navigation. DISCUSSION/SIGNIFICANCE OF IMPACT: The training program established a pool of patient navigators which will contribute towards reducing the cancer health disparity in the Appalachian region of Pennsylvania. The participants reflected a wide diversity in the navigators’ backgrounds and differences across programs in their choices of patient navigators. It is important to consider this diversity when designing curricula materials and the methods of delivery in a patient navigation training program. As PN training programs are developed and implemented, further data is needed to guide practitioners and administrators in their efforts to include separate curriculum and materials for experienced and lay navigators. In addition, it is also important to assess the role and involvement of patient navigators in research and clinical trials. In total, 82% of the participants when asked agreed to be contacted for participation in research studies. Specific curriculum which includes research could be designed for further development of patient navigators. PN training and implementation knowledge is critical to the development of standards and best practices in this emergent area of cancer care.

Sensory navigation guide for visually impaired sea kayakers

AbstractAt present, a visually impaired kayaker needs the assistance of a kayaker coach in charge of guiding him/her by using loud vocal instructions or a sound device during the sea ride. However, neither the coach nor the visually impaired kayaker feel at ease with such a guiding due to the amount of noise generated by the frequent vocal interactions. This paper describes a novel concept of sensory navigation guide meant to help kayakers with visual disabilities to practice sea kayaking in an autonomous way. The innovation here consists in providing kayakers with wristbands that automatically vibrate left or right, depending on the predefined trajectory to be followed. The main contributions of this work include an original navigation algorithm based on GPS feedback to track a corridor‐shaped path on the sea and the definition of specific metrics to analyze the performance of the kayakers along the ride. Experiments carried out on a population of 10 visually impaired kayakers and 10 sighted kayakers showed convincing results. A satisfaction survey confirmed that all participants acknowledged the added value of the system in terms of increased autonomy. Most of the visually impaired participants also enjoyed a greater sports entertainment experience thanks to this guiding system, which can be extended to other kinds of water sports.

Blind MuseumTourer: A System for Self-Guided Tours in Museums and Blind Indoor Navigation

Notably valuable efforts have focused on helping people with special needs. In this work, we build upon the experience from the BlindHelper smartphone outdoor pedestrian navigation app and present Blind MuseumTourer, a system for indoor interactive autonomous navigation for blind and visually impaired persons and groups (e.g., pupils), which has primarily addressed blind or visually impaired (BVI) accessibility and self-guided tours in museums. A pilot prototype has been developed and is currently under evaluation at the Tactual Museum with the collaboration of the Lighthouse for the Blind of Greece. This paper describes the functionality of the application and evaluates candidate indoor location determination technologies, such as wireless local area network (WLAN) and surface-mounted assistive tactile route indications combined with Bluetooth low energy (BLE) beacons and inertial dead-reckoning functionality, to come up with a reliable and highly accurate indoor positioning system adopting the latter solution. The developed concepts, including map matching, a key concept for indoor navigation, apply in a similar way to other indoor guidance use cases involving complex indoor places, such as in hospitals, shopping malls, airports, train stations, public and municipality buildings, office buildings, university buildings, hotel resorts, passenger ships, etc. The presented Android application is effectively a Blind IndoorGuide system for accurate and reliable blind indoor navigation.

Проблема ориентирования и навигации личности в антропологии: методологическая рамка

The paper introduces the concept of orientation and navigation of personality as a cultural practice. It draws a distinction between orientation and navigation. Orientation can be seen as a practice of checking with signs and landmarks existing in the space of culture, while navigation is understood as a practice of designing personal routes which one uses in order to find his/her place in the world. The paper explores the transition from orientation in traditional cultures in which the orientation practice was based on the con cept of the World Tree as the universal reference point, to modern societies in which the basic landmarks and foundations ceased to be generally accepted. Ideas and concepts of orientation in human philosophy and psychology are reviewed using the concepts of P.Ya. Gallperin and B.D. El’konin. It is revealed that an individual, navigating not only through the natural space-time, but also through the semantic symbolic field, forms those necessary scaffoldings that become parts of the architectonics of his/her personality.

Navigating Precarious Terrains: Reconceptualizing Refugee-Youth Settlement

Settlement is widely understood as the final stage of the refugee journey: a durable solution to forced displacement and a stable environment in which former refugees can rebuild their lives. However, settlement is shaped by rapidly changing socio-political forces producing contingent, unpredictable, and even hostile environments. This article draws upon Vigh’s concept of social navigation to reconceptualize settlement as a continuation of a fraught journey in which refugee settlers must continually seek new strategies to pursue viable futures. We illustrate with an in-depth case study of the settlement journey of one refugee-background young man over his first eight years in Melbourne, Australia.

Navigating the migration industry: migrants moving through an African-European web of facilitation/control

ABSTRACTThis paper approaches the African-European migration industry as a complex web of relations in which different actors liaise, objectives oppose each other, and roles overlap. Starting from this notion, the question emerges: How do migrants navigate this fuzzy web of migration facilitation/control? To answer this question, this paper uses a ‘trajectory ethnography’ that follows the im/mobility processes of migrants from West – and Central Africa to, and inside, Europe. In so doing, it particularly focuses on two practices that are related to the concept of social navigation. First, it concerns débrouillardise, a term that points to the power of improvisation, creativity and hustling. Second, it regards social negotiation, a term referring to the process of how migrants ‘massage’ their relations with important actors in the field. The findings stress the relational dimension of the migration industry in the sense that the functioning of one actor depends so much on the intentions and efforts of others. I conclude that we could enhance our knowledge on migration industries with studies that constantly shift between the perspective of the migrant, the social network, the facilitator and controller. Such a dynamic approach unpacks further the multiple efforts that produce migrant im/mobility.