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This paper presents a unique outdoor aerial visual-inertial-LiDAR dataset captured using a multi-sensor payload to promote the global navigation satellite system (GNSS)-denied navigation research. The dataset features flight distances ranging from 300 m to 5 km, collected using a DJI-M600 hexacopter drone and the National Research Council (NRC) Bell412 Advanced Systems Research Aircraft (ASRA). The dataset consists of hardware-synchronized monocular images, inertial measurement unit (IMU) measurements, 3D light detection and ranging (LiDAR) point-clouds, and high-precision real-time kinematic (RTK)-GNSS based ground truth. Nine data sequences were collected as robot operating system (ROS) bags over 100 mins of outdoor environment footage ranging from urban areas, highways, airports, hillsides, prairies, and waterfronts. The dataset was collected to facilitate the development of visual-inertial-LiDAR odometry and mapping algorithms, visual-inertial navigation algorithms, object detection, segmentation, and landing zone detection algorithms based on real-world drone and full-scale helicopter data. All the data sequences contain raw sensor measurements, hardware timestamps, and spatio-temporally aligned ground truth. The intrinsic and extrinsic calibrations of the sensors are also provided, along with raw calibration datasets. A performance summary of state-of-the-art methods applied on the data sequences is also provided. [ABSTRACT FROM AUTHOR]

Through a case study in the offshore oil and gas sector, we provide evidence from client, vendor, and governance systems actors on how divergent logics between clients and vendors give rise to a logics boundary that reduces the client's propensity to outsource digital innovation. However, we found that different types of governance systems can institute boundary spanning activities to address the key logics' dimensions that can attenuate or amplify the logics barrier. [ABSTRACT FROM AUTHOR]

This paper presents a novel behavior-modulation technique using a fuzzy discrete event system (FDES) for behavior-based robotic control. The method exploits the multivalued feature of fuzzy logic (FL) and event-driven property of a discrete event system (DES) to generate the activity of a behavior using fuzzy state vectors. State-based prediction of an activity is accomplished using fuzzily defined event matrices. A central arbiter employs priority-based arbitration among the activity state vectors and generates new event matrices to modify the activity states of the behaviors. The method combines aspects of both command fusion and behavior arbitration. Furthermore, the proposed approach has the ability to define state-based observability and controllability to handle sensory uncertainty and environmental dynamics. Observability describes decision vagueness associated with sensory data, whereas controllability specifies undesirable state-reach within the observed environment. Real-time results of FDES-based mobile robot navigation are presented and compared against four different modulation methods to validate its superior performance. Index Terms--Behavior-based robotic control, behavior modulation, fuzzy discrete event system (FDES), mobile robot navigation, obstacle avoidance.

This correspondence describes the application of discrete event control methods to provide conflict-free plan execution in a multiagent environment. This work uses planning methods to generate plans for multiple robots, and the plans are then compiled into Petri nets for analysis, execution, and monitoring. Supervisory control techniques are applied to the Petri net controller for the purpose of dealing with conflicts that arise due to the presence of shared resources. Furthermore, by preserving the state of the system replanning can occur at any time during execution to deal with unforeseen events. Index Terms--Discrete event systems, mobile robotics, Petri nets, planning.

In this study, two types of soils with varying soil water potentials were used for evaluating the effect of gravity on water flow through unsaturated soils. Experiments were conducted in both 1- and 0-g environments. Water content distributions were evaluated as a function of distance from the source of water intake and time. The experimental results indicated that the capillary potential and the advective forces due to interfacial tension gradients are overshadowed by the gravitational potential in a 1-g environment. The fast water movement in the 0-g condition is attributed to the capillary potential as well as to the advective forces that developed. In addition, microstructural changes have contributed to water flow in the 0-g condition. Depending on soil type, the magnitude of such an effect (i.e., water movement) varies from three- to four-fold. To analyze the experimental results, a one-dimensional model, based on Darcy's law and the conservation of mass equations, was developed and solved numerically by the finite difference method. A nondimensional Bond number was extracted from the resulting flow equation and used as a basis for incorporating the gravitational component of the flow process into the formulation. The numerical results compare quite well in some instances with the experimental results. In other cases, significant departures are noted. The departure was attributed to the significant changes in microstructure of soil samples under the 0-g condition. Consequently, the requisite water retention and hydraulic conductivity functions used in the model may not apply in outer space. DOI: 10.1061/(ASCE)1090-0241(2002)128:10(814) CE Database keywords: Unsaturated soils; Water flow; Interfacial tension; Aggregation.

The eigenstructure method for sinusoidal signal retrieval in white noise was analyzed to determine its effects on estimation and pattern recognition. Sinusoidal signal retrieval involves the estimation of frequencies, amplitude and phases of sinusoidal components. Results indicated that the present method, based on the Hankel matrix, has preferable features as compared to the correlation matrix.