Autonomous Navigation for Robot-Assisted Intraluminal and Endovascular Procedures: A Systematic Review

Increased demand for less invasive procedures has accelerated the adoption of Intraluminal Procedures (IP) and Endovascular Interventions (EI) performed through body lumens and vessels. As navigation through lumens and vessels is quite complex, interest grows to establish autonomous navigation techniques for IP and EI for reaching the target...

Autonomous Crosslink Radionavigation for a Lunar CubeSat Mission

This study presents an autonomous orbit determination system based on crosslink radiometric measurements applied to a future lunar CubeSat mission to clearly highlight its advantages with respect to existing ground-based navigation strategies. This work is based on the Linked Autonomous Interplanetary Satellite Orbit Navigation (LiAISON) method...

A novel encoding element for robust pose estimation using planar fiducials

Pose estimation in robotics is often achieved using images from known and purposefully applied markers or fiducials taken by a monocular camera. This low-cost system architecture can provide accurate and precise pose estimation measurements. However, to prevent the restriction of robotic movement and occlusions of features, the fiducial markers...

Autonomous control for miniaturized mobile robots in unknown pipe networks

Despite recent advances in robotic technology, sewer pipe inspection is still limited to conventional approaches that use cable-tethered robots. Such commercially available tethered robots lack autonomy, and their operation must be manually controlled via their tethered cables. Consequently, they can only travel to a certain distance in pipe,...

Bank Erosion Processes in Regulated Navigable Rivers

Vessel-induced waves affect the morphology and ecology of banks and shorelines around the world. In rivers used as waterways, ship passages contribute to the erosion of unprotected banks, but their short- and long-term impacts remain unclear. This work investigates the effects of navigation on bank erosion along a reach of the regulated Meuse...

Supporting Indoor Navigation Using Access Rights to Spaces Based on Combined Use of IndoorGML and LADM Models

The aim of this research is to investigate the combined use of IndoorGML and the Land Administration Domain Model (LADM) to define the accessibility of the indoor spaces based on the ownership and/or the functional right for use. The users of the indoor spaces create a relationship with the space depending on the type of the building and the...

A stochastic model approach for optimisation of lowland river restoration works

Over the course of centuries, river systems have been heavily trained for the purpose of safe discharge of water, sediment and ice, and improves navigation. Traditionally, dikes are used to be reinforced and heightened to protect countries from ever higher flood levels. Other types of solutions than technical engineering solutions, such as...

Indoor Multi-Dimensional Location GML and Its Application for Ubiquitous Indoor Location Services

The Open Geospatial Consortium (OGC) Geography Markup Language (GML) standard provides basic types and a framework for defining geo-informational data models such as CityGML and IndoorGML, which provide standard information models for 3D city modelling and lightweight indoor network navigation. Location information, which is the semantic engine...

The Navigation Metaphor in Security Economics

The navigation metaphor for cybersecurity merges security architecture models and security economics. By identifying the most efficient routes for gaining access to assets from an attacker's viewpoint, an organization can optimize its defenses along these routes. The well-understood concept of navigation makes it easier to motivate and...

Examining egocentric and allocentric frames of reference in virtual space systems

The aim of this paper is to examine the egocentric and allocentric frames of reference, through evidence from both gesture and linguistic communication. The action of frames of reference, helps the user refer to the agent as a base for movement or to the object as a guiding point. We will show that although each uses different methods to convey...