17 research outputs found

    Trajectory reconstruction by integration of GPS and a swarm of MEMS accelerometers: model and analysis of observability

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    We consider the problem of trajectory reconstruction for the mobile mapping system Davide. Davide is equipped with a custom GPS/INS system and a number of dead-reckoning sensors, such as odometers, inclinometers, etc. We investigate the possibility of substituting the INS with a swarm of low cost MEMS accelerometers located in various positions on board the vehicle. An observability analysis shows the feasibility of the solution and the need of integrating the distributed MEMS sensing architecture with a positioning sensor such as the GPS

    Model based GPS/INS integration for high accuracy land vehicle applications

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    In this paper, we consider the problem of trajectory reconstruction for the mobile mapping system Davide. Davide is equipped with a custom GPS/INS system and a number of dead-reckoning sensors, such as odometers, inclinometers, etc. The application falls in the framework of state reconstruction with multi-sensor architectures, for which GPS/INS integration is a paradigmatic problem. In this paper, to maximize the accuracy of trajectory reconstruction, we propose to use a combination of two strategies, namely: a) to use a customized dynamical model of the vehicle, that includes nonholonomic constraints and load transfer in roll and pitch, and b) to use advanced nonlinear filtering techniques such as Montecarlo filters. The performance of proposed algorithm is illustrated by means of both simulations and real vehicle data

    Shoulder Instability

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    Diallel analysis of maize lines with contrasting responses to applied nitrogen.

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    Six S5 lines of maize, previously identified as having contrasting responses to nitrogen (N) supply, were used to carry out a complete series of diallel crosses. The resulting 15 hybrids were grown in a field at two N levels. The general combining ability (GCA) and specific combining ability (SCA) were estimated using the method 4, model I analysis of Griffing for grain yield kernel weight, grain number, harvest index, green leaf number, ear leaf area, N utilization efficiency, total plant N, grain N content, anthesis-silking interval, chlorophyll content and prolificacy. For the majority of the traits, GCA was more important than SCA and there was an increase of non-additive effects under low N. Significant interactions were observed between GCA and N levels for grain yield, grain number and chlorophyll content, indicating the selection of different lines for each N level. The lines with the largest effects of N supply per se on grain yield, were those with the largest effects of GCA for this trait. This association indicates that the response of the lines to N supply, should be considered in breeding programmes in order to achieve acceptable hybrids for environments with both high and low N

    0004

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    OAILY TALO AI.TO ?I**gS. THI.RSPAY, JVVY ' j,' ia>i*. TAGE n*,1> VARSITY THEATRE ParamtMirrf Program—SESSUE HAYAKAWA In "The Jaguar's Claws" A amsablD. flghtlos alorr .1 tbp bol-dar. a .lory ol a llaatcao bandit aod an "oil well'- low., wltb 100 hard-riding .tralitu .hooting Amancao powboy. laarlug lata, o Mp.l.ap low. to rpacwa tfcirp. ol thalr fallow roun'rymrn "PARAMOUNT BRAY WCTOGRAPH" lop magaalsp of tba acrwas, wllb 11. anltpatpd rartooo. A CHRISTIE COMEDY sdded tor »ood measure. LIMINCI K.1T1 RIIAV—Will Sp uapoaiwl lomorrow. ADXIS8IIIW IS CKXTS. I'HII.lilli:* s cksts HATIKEK SiSS sl I . s EVKMHO J: IS aa* SiSS. TAPS IN THE ARMY Story o, Ui« Bugl« Call, -Lirjtiti. Out" Mow In Um. WAS FIRST SOUNDED IN 1862. Mr, Tboma. Warrior aod «a»,p- HAVING A GREAT ANCESTOR. if Mlaa Mat>el Warrior, ar* tier* __ trom RUdni for a month's ootlns 11 Would B. An Right It ts. Man*/ Out « * * aider* D.dr'1 But! In J C PraDklln will sp*Dd iba **.*xt ** "•*■ A******-**--*-. 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M' I lia-ml* i.M-a-d tu a atrsalrrbt III*. To Ihr ainil . ' from c*tt1n*r ahtialT, T>. tin.. bitlUaiii and fs'- ■ifT.i uf tb* r3;;:, aba- otlru pre | rst-nU a rti 4.^ ;,!/.-■■ uf |t..rj li. tbs* ! abapa of a duii r. .-. .*. ;■;■*■*-.. ■ ; j tbe oar l»> Mra ta to rarrj th* nsi^. r<«-"a*-**i ti. otiut, s***tb«>r aud Dot to -ilaj f.riirltt • . ll: sirhani* (iul[ilta a, Mountain 'Ann<bw*r ft-anin- of tb* a<*sb*iD* tbat It kra-i-n ua al. lulrl*-ra(i*d Rur \is*w *»|th Ilr. <a«.ir,;,- A Hr*rr* _ . . ,. ,. ._. . ni-iasM aljoutid on all «sd*a Th*ra la H* -HI assom* Ihr month In hl. bona. Qo ^.^ warn [b# ^ gUal ^ ^ tn 1'slo aho | n^ fr^- * • a *! I mi I'laiurs .StJi«r-iI dsaugblei n' I'M J M Si,.*i-1- of Saii Frmuclafo '«tm*>r|r of Palo Alio who haa b«en ' p-***aaid#nt •' Waataa-n L *1altlna In Palo Alio for lh* -iaat Chs'»i a' ».a W.r*,. tsr.. -..-.-^. -.-luriii-,; lo b*r bom* to-, "* *"S'-- Minn Thr i-titlir dl-T-rtlou 'Ibi Mil. Hi-la-t: -mjiiI-i- Ifrotr.**. r.lrd hsv REBUILD FRENCH ROADS. fill Hsv. • • • Mla» llrHha Hrald has In. I.i'sfj*d Ftoni a flu- rl.vs . nnvnntlnn ''- Ot Hi. niUkli '-amsn s-..,a*pali,,ii of '*"** ' all'i.rnl* h-*4d '.n •*■< ■ a-'si.-nt«. Thl. •Sa a •talhr'IfiR nf >llal '.in i-,' >at» - • >l(riI, ■ • wall a* ..r sn-ai tflf*r-**si a' srhleh. ,r..,,i . mop-ram su , ■iti-.ii.il s.h!<-b will* a,n-k ■: >'3, (iriiiri i-i. .t.- .••.•. Ill thr iDOalral *1r of lbs* r-ra-taoalf-w-tl-H. ..f l'*w--*j.*h rail- trmym lw-bltxl tt>r , ... . ,,f ths* i.,-.-.-ri front has l-s*-rn |alars*.l .« Ihr lulnl- of" KltailH \1 Irlt.-n [.r.-ml.lr-li, (if fhr I Til IU wll. has a- full rliai**f» ut Ibr ar i ■,. >■■■■■ | ' ■ t>" ai-.i.Lir • |,l.l.Bi railroad Tin, i.a Ih- rr.rull.-il Imsj* a let Its* toot •nuntHlss. ..f -n»,^r*.»: ttial sltl ac ■.Piniaaiii llsa-ui aivl ,».•*.■ It la Bl*^*****- >»te mUto tirfo I. ia|r|«,,i.t«l I.t I wlrTiw aa a<l- Mlas. M«*ald I. a nia-nit-aa-ir ..' (hr at •■iriitlr.il .if rtiiisl,- tsai-hsr. * * * r»11r.B(us Studio "f Mu.la* PUfio filtna*. organ i'ij-;- -.-...-.' ut- I I » Addlaort * '■■ It Adsl TTir fOTa^ls rasa- ■ at la, Msl* 111 It.* ■ -"*a>r*s*fi,.n |.r**»-'*f- ■*b KnidBiid **a- ■a.r .anUbasrl .ar it.iiatrsl (iirm nf iaval* ami (aarlia. 0 a O trmtu whi-li thrj ran <*h*.sIn Iml a fr»i- Moii'ft, Tliuuiu A., ii.niri! bla law tlo-i "f thr sii-si-i':— Ita*-*** T..-.-1 nrllcv ,o aulla No *1l fnlraraJt/1 % Has>U, huildlns !'*!<- Alio »-*" ^f \d*t I ***"r>sd« i..-r--.-. at nti* [ • « * jWIIaoB Mstg Massjscr and IiJKl***.!' »36 t>0« ,.. l„ai, un Pain AH,. and!,""n Pmrlort tor Udlaa aaia r*-nt|« i.stttlDtn us-oiu-frl) m sums in auti ! ***** W-Wtrli tUbt r»Mn*t. *alt '">ifii*i"i *w-*r Mim-rsa TTiomas s*j|t« j p'''*" ns*s*d*r dourbr and showars. no :.t t'm-rar-slli ilralt. bulldln-j | '•*** *•'***•***-»* » s m to J p m * *- t? Ad.t j'.ants maasaaur I to i t. m Pbone a # j 'or appoiutni*ni »_*.J Moloruti, Artr-ntion' * ,i*" *tl" Spa*-ial rhtflsil <tliin-» I'I souUi • * • "ri1 "Olr Run da* r*i>*n '. io I p m j flan on t a*o*ral ■uturfsald C.m-ie-j*** th* Mala- dimitt Strain. Which Qui'VIr »*.* pi.-.tad tha OM and Unnssisical W**s* Paint Signal In • !>.*■>* of p*r*rtoii«l l*tt*r* abd -a*- sT*o-Uls prlblcd for rtiTuUtkm uaCAl till frisjfkb OIlTSrr W. Sort-*-*, * *r-*t rran of tb* arar ln-Iwecu tb* stair-. arbo At tb* tVj-Imilii*. of bis tullltar. carr-r waa brbj>(la bUfWr to tirn«*rs' Dsnlrl Iluttrrflt-M'i .imiitiaii.I. ln.-|u.l nd a lilt of historic*! Information tbat U of too widW an tnl«*ra*t to b* allowrd lo rrtnaln lo su- b cvitniiaratlr* o!-*c*jr1 t.v, suja tb* Youtfa'* < 'oini.aiili.n. G-msn-al Iliittrrneld bad ablllt* •» s musli-lati lb ailtllltou lo lila sl.illl.r i> I so ■r,n* OTsariltnT II* ,"iin-<'la1i; tie llja-ImiJ In lb* lin-fiitlnti or bu**l« ckU* Pwrbap* tb* iDo->t tni>sr*a*tinf u *r*H ss tb* tBostt lirautiral of tb*** call" Is tat,s wblcat. ar*-,irdlii-f (o ttw aatborl tatlr. -T'tt of thr jtr-iirral'- t>ar ' cams* Into rilatrii'* ln tb* followim* In ilia nioulb of J nit I**-*, tb* Am,' of Mm I'otomai' rraif-d In *inip al liar , rlmii i I-atidttii: s jiolnl uu lb* Js-nra rtrar In Vl-xtnU li was ItiimsVllairli 1 aftsjt lb* **>t>ii d-Ti or ns-btlu** Isrfora III. tini'.ni'. T*u.- i..--.'. liaO l-ra-t. lira * ) aud tba nrnij waa **-jci*utt1nc '*• •tr-.li|f1h aft.T Ibr l..|,*T *U**IC'*fl* I>a* and nljrl-1 tb* Imk. wlndlnf r«l ■ •■> and lIn- bllla mi rltli.-t «l.1>- r.-Ii.—.'. io (ba bugle * all* Ibat mar-k**] (ba M -.!!■.::. of tb* '.m(i IXtm Th* »■ >■:;- waa taora of ;■*-» r lb.u war In ariltr of mill!"""J dullra aud 11 n y ;iil.,-* Tlis- tutiii ibi am |>ia.***a in Mia ranka. in wlil. li iln- Iicw ami) bad not yet \f *Of*M n-.-usri.tu.-al and Ilia aolwrtint s.iiii- *>r s i.uii; Inil-rii.lltig struftl-lr thst was born ot [h. carlj ruraraar-s trosn wblcb ■•..■■< had Just aufforrd I'U' rhe eOldirn a, Ilw rlua* uf nil, da* itil., a stale of iiiaMlltatl.-n ■>..( onlum b .**! wllb aadoa-u Tlia »ld i.nl.-r .if 'llj|bt. ..ut. wblcb tia.ll iH-rn l4lb*nt*d ft*-Hi llir ,-afllrat H'*M I '-.It. 1 iiirmortra. .oijii.Jw' s dl. ciinlani aud uu.uliablc not* to lb** a**n altlra in,s*i. ■: rar nf ibr ci-naraL Hi- Immrdlatrl. .p.'"!. turulni •>»•* in bla iii in.l su- ti inns; b 'ibraa*. sa ir.'ii.<*! ii. b|m |ta i-aOuT-pa (b* augsea Eli.Ii nf Ibr i«-a.'i- and .julcl of tba •■atni> •>f 1.-! a'ti-r inl-nr IVilni- th* B[>lr- it .if ihe hour In » hi. 1. Dial immortal imiii. ■. ;.|irs*a- waa Ihicti mlgbt 1" :;..,r,. |trrfr->-tiT n iirrs.—'. aa a »w-tisr- of !*aue*. SMinrililiij; rrlata*d to tba wortla of Hbrll. ^ At) is •■.«■* !■ .:,-■-• Ilk* ',.• faarfu! rain* pas u>* [laMnji srt|lr<) iil*'i. . i'..i:il'ln = ti"i. at ti(*tr* ti.*,' s.*.-m.-d io him to U* la [,i*ne with tlir sri.tlitia-nt of a alavplni -amp ot eoUllrra br ius: ;;:.,.;.-'. hla tru glrr S.n-loxi «n.'. Is-s-can i„ tract, bltn tlir new call, wbuillni lb* note* "»*, mm] 1 intra and rorsras-ttni Iholr tlnin ■apd [ihrastiig Ai la.t. snti-.li.il with thr rr*,i,t br Ji.lH*d tti* iiote* d"W,, ■ Ml. a l-rli.'li Of. llir :.»<-k at mil Old rnrrl.^-a Thai aama nlgbl ItultrrOrld ■ own l>l*lgade w.S tb* fust Id llitri, to Ihr llligl-rlnc rrfrntn of lha nt-s call, alfd ibr nrll m. th ..is,: lbs* Is-Ugltit-a nf olbar aiup* nrar \sf- tm lie ninslr bad i*ar riod far among tb« hllU - Isagin to In "Itilrt* aa In Hi inr.lilng and Io aak |-rr inlssii.i; to laairti It. Wbf>r***r H wa. beard II arrr-arrd hnrii-llstr atteotlot. aod ,'ini-riT-.! IS th* memory ll [-»s«*-! fr-Ol-l arm., r-orjae to armj f-(.r|>. wltli a'rra! rniuill'i a 11(1 wa. fiiiall* aul-all tUtrO I'J genrral urdara for the old "lights OUI mil snd iirltil.-.! In Ibr artn, rrgustallou. ' It. ua* In rh* mllitari burial aarrtsc* '-.rli ti-* la-trr.ua of tb* war and br (hr In 11 r-l hrsirs ra-galar armj haa • ildcsl gr-ratlT In Ibe Irmjrrnms uf Ita .asaacls: lotiS I'licrr ar* f*w tiiu.l al nbraara In Ibr world hrlil In ii. — ;--' nsvrrrn.* I Is -Miundlng tods) will riil.ii Ib. nolalret and mml l-ailat.-r.ms ibftMf 'arurl-.t I>ai..r*1 Itnt I rrOriil was I - ■ -' « in I tlr-a S 1 . <Vt. Sl. ISSk Hr wa- gradual**! frop. In Ion c-ollat* In 1**IV and jolnrd Ibr *-...ri.lj first rrglinrul Of \rw York In IsSI tn 1HI>, br bad rlaru to Ibr rank at coiourl at the Tweirth r**jt*at>riit whlcb b* l*-I u* IVaablnrt.iO 111 A[>r1L llWl 1 0* hla rfBa-lrrsn-T as an orgmoXxet hr waa u»: ■■'.-■ ..r.iiii..:.-.'. and took 1*11*1 Ln matlj itt Ilw- inoal imt-urtaJit .-, znur niri.ts «>f lb* war Ilia tirlgadr waa »nr of Mar nmml fatuoUa of thr Arm. of Ilia I'ololuac am' hla l*rr*Miii*i I'luu-ri r::iir»r.-«' lilm (u hla own auk dl»ra \flas*r Ibr war bla orgauKt.-iS ;- sm mora rr*rsju«*ui1* ■ si.f-1 lnt-> -•-, ...s.ii..i. for tr.-.l ;.i:!.:i. [lara.;.-. and rilUMlli.ti. Ilr dloj Bt Told Spring N \ Jul) IT IMI AI*Ier Ilw war ulMrr Norti-i, I! ■■ .1! lu ■ lil. 11 pt-- * bnrr lir wa. un* uf th* |>l« oa-.r. in t!..- On ,,l»s. Induatrj Ps-Mn l*w 1 . a wbo an* is.innip,: In ga*-*t*IlsD< ar** orrrn rrvubiasl wltb p."i*«-ti 1*7 The* win n* gtrna to know Ibat ao*. -Bilk ml 1 a-.i with s ffrr-al d«a! Ot Ball ■s-fll. If It la apiilH-sl wltb tofl clocha rt-llnr Ih* pall, Stvd draw oui Lbs- (xil aon A sa.mti. s. of ,srj 1. ■■ sitsi wbk-b has l-si-r-n |*s.ure«* utat tilo**'•***• wlil bush, dr-aw nul and kljl Ibr '»>Le>.|. I nitxwt.'i.a* Isi-.i'-', Is a r-*rtao-i ansi ilmiiiii t>r ki-!*1 •-», from -blidlrii ' tir1atl.ii ll.-i-"l KHAKI PANTS AND SHIRTS FLANNEL SHIRTS AND PANTS Vacation-Clothes The All-Absorbing Question ? ? ? STEIN-BLOCH AND KUPPENHEIMER SUITS FOR MEN AND YOUNG MEN PANAMA AND STRAW HATS MUNSING AND B. V. D. UNDERWEAR Everything for Boys Christy=Rhodes & Go. PHONE 200 SPECIAL PRICES ON MENS AND BOYS' SUITS m„„, ........'.i:!!!!!!!!!!!!!!!! » .a..a».a.a.».aaaaa.a....ta.a.ai............... ...in... ,..,,..,,.,.'..„,,!W!?,V! llalMtpPptTO^^ >.,.a....aaiaaaa.a.....liliail.ll..lMl.ltlllMI.II*»l,ll*ll<<',Ma,t' • •WJa-VtrVsW aaa «***«••*« a s»**»B****B**a****»»***s*»**«»*>***»***««»»**»*'*'*'>'>*»JJ, Advertising Talks W >■ iitk ll.-..: 'in Inn 1 .oa Alloa Adrt *!-» ;*-nonocrapQS r*- \ I H *-boinb*rK g Son p^ j? (Ml Atet 15 -ubscribcrs again 'c read Al.I. 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