INS

A single low cost inertial measurement unit (IMU) is often used in conjunction with GPS to increase the accuracy and improve the availability of the navigation solution for a pedestrian navigation system. This paper develops several fusion algorithms for using multiple IMUs to enhance performance. In particular, this research seeks to understand the benefits and detriments of each fusion method in the context of pedestrian navigation. Three fusion methods are proposed. First, all raw IMU measurements are mapped onto a common frame (i.e., a virtual frame) and processed in a typical combined GPS-IMU Kalman filter. Second, a large stacked filter is constructed of several IMUs. This filter construction allows for relative information between the IMUs to be used as updates. Third, a federated filter is used to process each IMU as a local filter. The output of each local filter is shared with a master filter, which in turn, shares information back with the local filters. The construction ...

In this research work, experiments were conducted followed by collection of materials and the data required for mix design obtained by sieve analysis and specific gravity test. Sieve analysis was carried out from various fine aggregates (FA) and coarse aggregates (CA) samples and the sample which suits the requirement was selected. Specific gravity tests were carried out for various samples of fine and coarse aggregate. The different materials used were tested as per Indian standard specification. Based on the experimental studies carried out on M30 grade concrete as partial replacement of coarse aggregates with sea shells and coconut shells, the following conclusions were drawn.Comparing to traditional concrete, compressive strength of 10% (5% + 5%) of coconut shells (5%) and sea shells (5%) was found to be increased wherein the compressive strength of the concrete cubes gradually decreased from addition of 10% (5% + 5%) of coconut shells and sea shells. 10% mix was considered to be the most preferable, so as to achieve both economic viability and optimum compressive strength. Thus, 10% replacement of coconut shells and sea shells were recommended for both heavy weight and light weight concrete production

A scrutiny of the existing time differencing carrier phase (TDCP) velocity estimation algorithms has revealed several shortcomings that could be further improved. One of these is that the velocity estimation at epoch t would require the receiver positions at epoch t+Δt or more are available. Another is the usage of satellite velocities in the calculations which would increase the receiver computational load and degrade the accuracy. In this paper, an improved TDCP velocity estimation approach has been proposed and tested. The new approach depends only on receiver position at epoch t and satellite positions at epoch t and t+Δt. Satellite velocities are not required in this calculation. This proposed algorithm has been validated using static and kinematic field test data, showing that equivalent velocity accuracy achievable by using differential GPS techniques can be made possible with the proposed standalone GPS method.

The effects of inbreeding, heterosis, recombination loss, and percentage Holstein on the estimation of predicted transmitting abilities for fertility traits (calving interval, number of days from calving to first insemination, nonreturn rate, number of inseminations) and correlated traits (milk yield at test nearest d 110 and body condition score) were examined in a mixed population of Holstein and Friesian cattle. An unfavorable effect of percentage Holstein on calving interval was observed, resulting in a 12-d increase for pure Holsteins compared with pure Friesians. Insemination traits were less affected by percentage Holstein, with 3% more animals returning to first service within 56 d and 0.1 more inseminations required for Holstein animals. Heterosis and recombination loss affected some of the traits. Heterosis had a favorable effect on yield, with a 0.35-kg difference between a pure and cross-bred animal for test milk. There was a reduction of 1 d to first insemination betwee...

With the fast development of artificial intelligence, robotics, and embedded system along with sensor technologies, the speed control mechanism is required in various other applications such as automatic or self-piloting aircraft, auto-driven vehicles, auto driven lifts and much other robotics based automation plants, etc. For each unpredictable and progressed vehicular framework accompanies a better route that is fit for utilizing the two GPS and INS related sign. There have been a noteworthy number of research works being completed towards creating sliding mode control framework. In case of inaccurate navigational data or no availability of navigational service, the cruise control could also stop working. Hence, there is a need to evolve up with a novel system offering reliable and fault tolerant navigation system in order to minimize the dependencies on GPS-based information and maximize the utilization of INS based information. This manuscript presents a dynamic cruise control system to achieve better navigation under uncertainties. The performance of the system is analyzed by incorporating sliding mode and fuzzy logic and achieves better accuracy in tracking error, computational complexity (28 sec of simulation time) under chattering and switching action operation. 1. INTRODUCTION The growing progression in communication mechanism has witnessed a proportionate increment in a navigation offering devices [1, 2]. Nowadays, both the inertial navigation system (INS) and global positioning system (GPS) were used for a better form of navigation system [3, 4]. From the various existing researches, it has been observed that significant quantities of research work have concentrated on joint usage of INS and GPS. Critical research suggests that the navigational data offered by the INS framework exhibits some of the issues related to the navigational system [5]. Even though these issues in navigational data of INS are of short duration, but it precipitously degrades after some time. Then again, navigational data offered by GPS is viewed as profoundly stable alongside a better arrangement of exact information identified with speed, area, and disposition [6]. Also, the identified information with all these physical and kinetic substances are given by INS while GPS provides data identified with just area and speed. There is additionally a potential reliance of the two INS as GPS together as a successful and dependable navigational data can't be offered by INS independent, and the principle purpose for it is more occurrences of issues related with inertial sensors. It has likewise been seen that INS can provide a constant stream of navigational information while information stream is always discontinuous for GPS inferable from different types of sign impedance causing blackout [7, 8]. Also, 95% of the current research-based work has thought about the two

In INS (Inertial Navigation System) /GPS (Global Positioning System) integration, nonlinear models should be properly handled. The most popular and commonly used method is the Extended Kalman Filter (EKF) which approximates the nonlinear state and measurement equations using the first order Taylor series expansion. On the other hand, recently, some nonlinear filtering methods such as Gaussian Sum filter, particle filter and unscented Kalman filter have been applied to the integrated systems. In this paper, we propose a modified Gaussian Sum filtering method and apply it to land-vehicle INS/GPS integrated navigation as well as the in-motion alignment systems. The modification of Gaussian Sum filter is based on a combination of Gaussian Sum filter and so-called unscented transformation which is utilized in the unscented Kalman filter in order to improve the treatment of the nonlinearity in Gaussian Sum filter. In this paper, the performance of modified Gaussian Sum filter based integr...

A single low cost inertial measurement unit (IMU) is often used in conjunction with GPS to increase the accuracy and improve the availability of the navigation solution for a pedestrian navigation system. This paper develops several fusion algorithms for using multiple IMUs to enhance performance. In particular, this research seeks to understand the benefits and detriments of each fusion method in the context of pedestrian navigation. Three fusion methods are proposed. First, all raw IMU measurements are mapped onto a common frame (i.e., a virtual frame) and processed in a typical combined GPS-IMU Kalman filter. Second, a large stacked filter is constructed of several IMUs. This filter construction allows for relative information between the IMUs to be used as updates. Third, a federated filter is used to process each IMU as a local filter. The output of each local filter is shared with a master filter, which in turn, shares information back with the local filters. The construction ...

The activity of tyrosine hydroxylase (TH, EC 1.14.16.2) gene and protein determines the catecholamine level, which, in turn, is crucial for the organism homeostasis. The TH gene expression is regulated by near all possible regulatory mechanisms on epigenetic, transcriptional and posttranscriptional levels. Ongoing molecular characteristic of the TH gene reveals some of the cis and trans elements necessary for its proper expression but most of them especially these responsible for tissue specific expression remain still obscure. This review will focus on some aspects of TH regulation including spatial chromatin organization of the TH locus and TH gene, regulatory elements mediating basal, induced and cell-specific activity, transcriptional elongation, alternative TH RNA processing, and the regulation of TH RNA stability in the cell.► Chromatin organization (including nuclear matrix–DNA interactions, DNA methylation and histone modifications) of whole region containing tyrosine hydroxylase gene is involved in its regulation. ► Cis-acting elements mediating developmental, tissue- and cell-specific transcription of the TH gene are found in promoter, coding sequence, first intron and 3′ UTR. ► Not only transcription initiation but also its elongation are regulated in case of TH gene. ► Posttranscriptional mechanisms of the TH gene regulation involve alternative splicing, differential mRNA stability and translatability.