Evaluation and Comparison of Ultrasonic and UWB Technology for Indoor Localization in an Industrial Environment.

Evaluations of different technologies and solutions for indoor localization exist but only a few are aimed at the industrial context. In this paper, we compare and analyze two prominent solutions based on Ultra Wide Band Radio (Pozyx) and Ultrasound (GoT), both installed in an industrial manufacturing laboratory. The comparison comprises a static and a dynamic case. The static case evaluates average localization errors over 90 s intervals for 100 ground-truth points at three different heights, corresponding to different relevant objects in an industrial environment: mobile robots, pallets, forklifts and worker helmets. The average error obtained across the laboratory is similar for both systems and is between 0.3 m and 0.6 m, with higher errors for low altitudes. The dynamic case is performed with a mobile robot travelling with an average speed of 0.5 m/s at a height of 0.3 m. In this case, low frequency error components are filtered out to focus the comparison on dynamic errors. Average dynamic errors are within 0.3-0.4 m for Pozyx and within 0.1-0.2 m for GoT. Results show an acceptable accuracy required for tracking people or objects and could serve as a guideline for the least achievable accuracy when applied for mobile robotics in conjunction with other elements of a robotic navigation stack.

Probability of Low-Altitude Midair Collision Between General Aviation and Unmanned Aircraft.

Unmanned aircrafts (UA) usually fly below 500 ft to be segregated from manned aircraft. However, while general aviation (GA) usually do fly above 500 ft in areas where UA are allowed to operate, GA will at times also fly below 500 ft. Consequently, there is a distinct risk of near-miss encounters as well as actual midair collisions (MACs). This work presents a model for determining this risk based on physical parameters of the aircraft and actual figures for the numbers of GA in a given airspace, as well as the probability of having GA below 500 ft. The aim is to achieve a prediction with a precision better than one order of magnitude relative to the true MAC rate value. The model is applied to Danish airspace and the MAC rate for unmitigated operations of UA is found to be approximately 10-6 MAC per flight hour. The model is particularly well suited for beyond visual line-of-sight operations, and is useful for UA operators for conducting risk assessment of planned operations as well as for regulators for determining appropriate operational requirements.

Mathematical modelling of SARS-CoV-2 variant outbreaks reveals their probability of extinction.

When a virus spreads, it may mutate into, e.g., vaccine resistant or fast spreading lineages, as was the case for the Danish Cluster-5 mink variant (belonging to the B.1.1.298 lineage), the British B.1.1.7 lineage, and the South African B.1.351 lineage of the SARS-CoV-2 virus. A way to handle such spreads is through a containment strategy, where the population in the affected area is isolated until the spread has been stopped. Under such circumstances, it is important to monitor whether the mutated virus is extinct via massive testing for the virus sub-type. If successful, the strategy will lead to lower and lower numbers of the sub-type, and it will eventually die out. An important question is, for how long time one should wait to be sure the sub-type is extinct? We use a hidden Markov model for infection spread and an approximation of a two stage sampling scheme to infer the probability of extinction. The potential of the method is illustrated via a simulation study. Finally, the model is used to assess the Danish containment strategy when SARS-CoV-2 spread from mink to man during the summer of 2020, including the Cluster-5 sub-type. In order to avoid further spread and mink being a large animal virus reservoir, this situation led to the isolation of seven municipalities in the Northern part of the country, the culling of the entire Danish 17 million large mink population, and a bill to interim ban Danish mink production until the end of 2021.