caa a22 4500 445821574 CHVBK 20180317145245.0 cr unu---uuuuu 170323e20110101xx s 000 0 eng 10.1007/s00779-010-0298-4 doi (NATIONALLICENCE)springer-10.1007/s00779-010-0298-4 An embedded system for real-time navigation and remote command of a trained canine [Elektronische Daten] [Winard Britt, Jeffrey Miller, Paul Waggoner, David Bevly, John Hamilton Jr] This paper demonstrates a capability to use a developed embedded sensor suite to consistently track the position, motion behavior, and orientation of a canine. Quantifying and recording canine position and motion in real time provides a useful mechanism for objective analysis of canine trials and missions. We provide a detailed description of the sensor equipment, including the global position satellite (GPS) receiver and antenna, accelerometers, gyroscopes, and magnetometers. Sensors beyond GPS provide for higher frequency readings, a tolerance to GPS loss, and the ability to characterize canine orientation. We demonstrate integrating sensor measurements using an Extended Kalman Filter (EKF) to estimate the canine position and velocity during temporary GPS loss. The system supports the remote actuation of tone and vibration commands and reports commands in real time alongside sensor data. This extends the range at which a handler could monitor a canine and allows enhanced trial analysis using raw sensor data and visualizations. To illustrate the system capabilities, we performed a case study in the remote command and navigation of a trained canine by a professional trainer. The results of this case study are analyzed in terms of canine trial success, motion behavior analysis, and in the context of simulated GPS losses. We discuss other potential applications of the system in autonomous canine command, canine motion analysis, and non-canine applications. Springer-Verlag London Limited, 2010 Canine augmentation technology nationallicence Sensor navigation nationallicence Sensor aggregation nationallicence Embedded systems nationallicence Canine guidance nationallicence Britt Winard Department of Computer Science and Software Engineering Shelby Center, Auburn University, Auburn, AL, USA aut Miller Jeffrey Department of Mechanical Engineering Ross Hall, Auburn University, Auburn, AL, USA aut Waggoner Paul Canine and Detection Research Institute, McClellan, AL, USA aut Bevly David Department of Mechanical Engineering Ross Hall, Auburn University, Auburn, AL, USA aut Hamilton Jr John Department of Computer Science and Software Engineering Shelby Center, Auburn University, Auburn, AL, USA aut Personal and Ubiquitous Computing Springer-Verlag 15/1(2011-01-01), 61-74 1617-4909 15:1<61 2011 15 779 https://doi.org/10.1007/s00779-010-0298-4 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s00779-010-0298-4 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Britt Winard Department of Computer Science and Software Engineering Shelby Center, Auburn University, Auburn, AL, USA aut NATIONALLICENCE 700 1- Miller Jeffrey Department of Mechanical Engineering Ross Hall, Auburn University, Auburn, AL, USA aut NATIONALLICENCE 700 1- Waggoner Paul Canine and Detection Research Institute, McClellan, AL, USA aut NATIONALLICENCE 700 1- Bevly David Department of Mechanical Engineering Ross Hall, Auburn University, Auburn, AL, USA aut NATIONALLICENCE 700 1- Hamilton Jr John Department of Computer Science and Software Engineering Shelby Center, Auburn University, Auburn, AL, USA aut NATIONALLICENCE 773 0- Personal and Ubiquitous Computing Springer-Verlag 15/1(2011-01-01), 61-74 1617-4909 15:1<61 2011 15 779 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer