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All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

The Integration and Mapping of an Open-Source National Well Resource to Inform Geologic Carbon Storage Site Selection and Risk Prevention: The CO2-Locate Database

Geologic carbon storage (GCS) offers a way to capture and permanently store CO₂ from fossil fuel operations in underground geologic structures, aiding in the transition to a carbon-neutral energy economy. However, CO₂ injection sites can experience gas leakage through existing wells that penetrate storage reservoirs, making knowledge of well locations and characteristics crucial for permitting, infrastructure reusability, and risk assessment in GCS. Currently, public wellbore data from state, federal, and tribal entities are inconsistent and fragmented, with gaps and redundancies. To address this, the National Energy Technology Laboratory (NETL) developed CO2-Locate, an open-source, geospatial database and online application. CO2-Locate integrates over 50 data sources from federal, state, and tribal entities, creating a standardized national well database. Funded by the Bipartisan Infrastructure Law, the database is publicly available through the Energy Data eXchange (EDX) and viewable via the CO2-Locate web mapping application. This tool allows users to query, filter, and visualize well data to support GCS planning, permitting, and risk assessments. This presentation covers the methods used to create CO2-Locate, including data acquisition, processing, attribute mapping, and integration, much of which is automated for future updates. The web mapping application and its role in GCS site selection will also be discussed.

Tetteh, Daniel A.↗
DOE OSTI2023

Hanford Waste Treatment Plant Effluent Management Facility Stack Effluent Monitoring: Sampling Probe Location Qualification Evaluation

The Hanford Tank Waste Treatment and Immobilization Plant Effluent Management Facility (EMF) stack monitor location was qualified using a combination of scale model stacks to mitigate the risk of identifying that the sampling location does not meet the qualification criteria on the full-scale stack. The LV-S1 scale model stack was used as a baseline, augmented by the LB-S1 and LV-S2 scale model stacks to address the Direct Feed Low Activity Waste Effluent Management Facility Vessel Vent Process (DVP) injection into the main Active Confinement Ventilation (ACV) system duct. As required by the American National Standards Institute/Health Physics Society (ANSI/HPS) N13.1-1999 standard, the scale model and its sampling locations were geometrically similar to the actual stack, and the Reynolds numbers for both the actual and model stacks were >10,000. An additional criterion is that the product of the hydraulic diameter and mean velocity (DV) of the full-scale stack must be between 1/6 DV and 6 DV of the scale model stack tests. The LV-S1, LB-S1, and LV-S2 scale model stack tests have met the criteria of the ANSI/HPS N13.1-1999 standard to demonstrate the stack sampling locations are well mixed. Verification tests of the EMF stack were performed at normal operating conditions. The minimum 1/6 DV value and the maximum 6 DV value from the scale model testing determine the range of stack flow rates for which the full-scale stack may be operated while remaining in compliance with the stack verification criterion. A practical range for the full-scale stack qualification uses the average DV through 6 DV from the scale model tests to compute the corresponding flow rates. Table S1 lists the operating flow rate along with the average and maximum qualified stack flow rate based on the LV-S1 scale model DV values. The operating flow is below the maximum qualified stack flow, which means that the scale model test results are acceptable for stack qualification. The remaining criteria for the stack verification to be considered valid involve the flow angle and velocity uniformity results. First, the flow angle at the full-scale stack must be ≤20°. Second, the velocity uniformity at the full-scale stack must be ≤20% coefficient of variance (COV). Finally, the velocity uniformity results for the actual and scale model stack tests must agree within 5% COV. These criteria were met through the full-scale stack test at the EMF. Flow angle results were <5°; all flow angle results were within the ≤20° criterion. The velocity uniformity results for each test condition ranged between 2.2% COV and 4.3% COV, all of which were within the range of the target % COV values from the scale model tests on the LV-S1, LB-S1, and LV S2 scale models. Based on these stack verification test results, the EMF filtered exhaust stack sampling location meets the qualification criteria provided in the ANSI/HPS N13.1-1999 standard for all planned fan operating configurations. This includes each combination of ACV fans with DVP exhausters. Further changes to the system configuration or operating conditions that are outside the qualified flow rates described in this report may require additional tests or analyses to determine compliance with the standard.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2024

Integrated Spatial, Spectral, & Temporal Optical Reflectance System for Precision Occupancy & Location Sensing to Improve Building Energy Efficiency

Buildings consume approximately 35% of the electricity used in the U.S. and building owners can significantly reduce this energy use by providing services like heating, electrical power and lighting only when people are present. The ARPAe funded program titled “INTEGRATED SPATIAL, SPECTRAL, & TEMPORAL OPTICAL REFLECTANCE SYSTEM FOR PRECISION OCCUPANCY & LOCATION SENSING TO IMPROVE BUILDING ENERGY EFFICIENCY” demonstrates how a low cost sensor technology developed for measuring distances can be used to count and locate occupants with a high degree of precision with a very low error rates. This platform tells a building control system where occupants are located (but not who they are) so that energy consuming services can be provided only when the services are needed by building occupants. The original proof of concept involved using low cost, commercially available time-of-flight (TOF) sensors that measure distance, but the performance of these existing sensors was lacking, as they could not operate properly in the presence of sunlight, which blinded the simple TOF sensors and limited their utility in buildings. This project proposed a powerful new class of TOF sensors that used state-of-the-art integrated circuit (IC) fabrication processes that combined advanced photonics with conventional silicon chip circuitry for improved sensor performance. An equally important part of this project was to find ways to maximize occupant count and location accuracy while using the fewest number of sensors possible, in order to keep costs low. By using building blueprints to create digital twins of commercial building spaces, the team developed new algorithms to maximize occupant count and tracking accuracy by properly locating the minimum number of sensors at just the right spots in the building. This capability not only minimizes system costs but also simplified sensor installation and system commissioning. Our simulations of our sensor networks for a range of commercial floorplan designs demonstrated that our installed cost target of $0.08/sqft was attainable, though not fully demonstrated during the project. Finally, we noted that the TOF sensor concept could provide a valuable role in health and eldercare by tracking patients without the need for worn sensors and would be useful for fall detection and other patient safety metrics, including tracking healthcare/patient interactions. We feel that, when fully developed, this new class of sophisticated TOF sensors and support software will be a powerful new approach to improving building energy efficiency based on occupant centric control platforms and will also open new levels of patient safety in healthcare operations. To realize this potential, the team formed the Troy Sensor Company LLC to oversee licensing of the programs patents and continue to seek commercialization of this program’s activity sensing technologies.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2024

Identifying Interaction Location in SuperCDMS Detectors

The Super Cryogenic Dark Matter Search (SuperCDMS) experiment uses silicon and germanium particle detectors operated at temperatures of ∼ 30 mK to search for Weakly Interacting Massive Particles (WIMPs), which are candidate dark matter particles that interact weakly with nuclei in the detectors. In operating these detectors, it is required not only to measure the energy of the interaction between the WIMP and the nuclei, but also to reconstruct where the interaction occurred, as the location can be used to separate background interactions from signal and to correct for variations with the location of the energy response. In this project, we, as a team from the University of Minnesota, aim to address the problem of accurately reconstructing the locations of interactions in the SuperCDMS detectors using machine learning methods. The dataset we provided here includes interactions at thirteen different locations from test data taken at the University of Minnesota. For each interaction, a set of parameters was extracted from the signals from each of the five sensors. These parameters represent information known to be sensitive to interaction location, including the relative timing between pulses in different channels, and features like the pulse shape. The relative amplitudes of the pulses are also relevant but due to instabilities in amplification during the test, this data is not included. The parameters included for each interaction are described in our project document. For more details, feel free to check our Github page: https://fair-umn.github.io/FAIR-UMN-CDMS/

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2025

Location-allocation and public transit: An update on UCL student teacher placements

Location-allocation is a key application of GIS, with many varied applications. We present further development of a location-allocation tool for a real-world case study with UCL using public transport. The location of UCL in Greater London (UK) means that the inclusion of public transport is vital for this case study. The location-allocation is implemented as a capacitated p-median location-allocation model, using spopt, a library in the Python Spatial Analysis Library (PySAL) ecosystem. The initial results of this work are promising, with calculation times reduced by up to 60%, and the majority of students allocated shorter journey times, with further testing ongoing.

Bearman, Nick [University College London (UCL), UK↗
NASA NTRS1973

Automatic vehicle location system

An automatic vehicle detection system is disclosed, in which each vehicle whose location is to be detected carries active means which interact with passive elements at each location to be identified. The passive elements comprise a plurality of passive loops arranged in a sequence along the travel direction. Each of the loops is tuned to a chosen frequency so that the sequence of the frequencies defines the location code. As the vehicle traverses the sequence of the loops as it passes over each loop, signals only at the frequency of the loop being passed over are coupled from a vehicle transmitter to a vehicle receiver. The frequencies of the received signals in the receiver produce outputs which together represent a code of the traversed location. The code location is defined by a painted pattern which reflects light to a vehicle carried detector whose output is used to derive the code defined by the pattern.

Hansen, G. R., Jr.↗
NASA NTRS1986

Some energy considerations in gamma ray burst location determinations by an anisotropic array of detectors

The anisotropic array of detectors to be used in the Burst and Transient Experiment (BATSE) for locating gamma ray burst sources is examined with respect to its ability to locate those sources by means of the relative response of its eight detectors. It was shown that the energy-dependent attenuation effects of the aluminum window covering each detector has a significant effect on source location determinations. Location formulas were derived as a function of detector counts and gamma ray energies in the range 50 to 150 keV. Deviation formulas were derived and serve to indicate the location error that would be cuased by ignoring the influence of the passive absorber.

Young, J. H.↗
NASA NTRS1987

Calculation and accuracy of ERBE scanner measurement locations

The Earth Radiation Budget Experiment (ERBE) uses scanning radiometers to measure shortwave and longwave components of the Earth's radiation field at about 40 km resolution. It is essential that these measurements be accurately located at the top of the Earth's atmosphere so they can be properly interpreted by users of the data. Before the launch of the ERBE instrument sets, a substantial emphasis was placed on understanding all factors which influence the determination of measurement locations and properly modeling those factors in the data processing system. After the launch of ERBE instruments on the Earth Radiation Budget Satellite and NOAA 9 spacecraft in 1984, a coastline projection method was developed to assess the accuracy of the algorithms and data used in the location calculations. Using inflight scanner data and the coastline detection technique, the measurement location errors are found to be smaller than the resolution of the scanner instruments. This accuracy is well within the required location knowledge for useful science analysis.

Hoffman, Lawrence H.↗
NASA NTRS1990

Delivery and application of precise timing for a traveling wave powerline fault locator system

The Bonneville Power Administration (BPA) has successfully operated an in-house developed powerline fault locator system since 1986. The BPA fault locator system consists of remotes installed at cardinal power transmission line system nodes and a central master which polls the remotes for traveling wave time-of-arrival data. A power line fault produces a fast rise-time traveling wave which emanates from the fault point and propagates throughout the power grid. The remotes time-tag the traveling wave leading edge as it passes through the power system cardinal substation nodes. A synchronizing pulse transmitted via the BPA analog microwave system on a wideband channel sychronizes the time-tagging counters in the remote units to a different accuracy of better than one microsecond. The remote units correct the raw time tags for synchronizing pulse propagation delay and return these corrected values to the fault locator master. The master then calculates the power system disturbance source using the collected time tags. The system design objective is a fault location accuracy of 300 meters. BPA's fault locator system operation, error producing phenomena, and method of distributing precise timing are described.

Street, Michael A.↗
NASA NTRS1990

Space Station location coding that makes sense

An alphanumeric interior and exterior location coding system for elements of the Space Station is presented as an aid in identifying specific locations aboard the Station and possibly in locating specific items of loose equipment stowed in these locations. Past experience with long-duration missions has demonstrated the difficulty of tracking loose equipment aboard spacecraft. Inasmuch as over 50,000 items of loose equipment must be accounted for aboard Space Station Freedom there is a high potential for continuing difficulties in this area. It is shown that the alphanumeric location coding system described is simple, logical, and easy to use.

Lew, Leong W.↗
NASA NTRS1993

Experimental effects of wing location on wing-body pressures at supersonic speeds

An experimental study was performed at supersonic speeds to measure wing and body spanwise pressure distributions on an axisymmetric-body delta wing model on which the wing vertical location on the body was systematically varied from low- to high-mounted positions. In addition, for two of these positions both horizontal and radial wing angular orientations relative to the body were tested, and roll angle effects were investigated for one of the positions. Seven different wing-body configurations and a body-alone configuration were studied. The test was conducted at Mach numbers from 1.70 to 2.86 at angles of attack from about -4 deg to 24 deg. Pressure orifices were located at three longitudinal stations on each wing-body model, and at each station the orifices were located completely around the body, along the lower surface of the right wing (looking upstream), and along the upper surface of the left wing. All pressure coefficient data are tabulated and selected samples are shown graphically to illustrate the effects of the test variables. The effects of angle of attack, roll angle, Mach number, longitudinal station, wing vertical location, wing angular orientation, and wing-body juncture are analyzed. The vertical location of the wing on the body had a very strong effect on the body pressures. For a given angle of attack at a roll angle of 0 deg, the pressures were virtually constant in the spanwise direction across the windward surfaces of the wing-body combination. Pressure-relieving, channeling, and vortex effects were noted in the data.

Allen, Jerry M.↗
NASA NTRS1933

Effect of stabilizer location upon pitching and yawing moments in spins as shown by tests with the spinning balance

Tests were made with the spinning balance in a 5-foot wind tunnel to study the effect of stabilizer location upon the pitching and yawing moments given by the tail surfaces in spinning attitudes. The tests revealed that the horizontal surfaces, when in a normal location, seriously reduced the effectiveness of the fin and rudder, particularly at angles of attack of 50 degrees or more. The tests also revealed that a more forward or more rearward location gave no consistent or decided improvement; that a lower location greatly increased the shielding so that the yawing moment from the combination was in general less than that given by the bare fuselage; and that a higher location decreased the shielding and gave a favorable interference effect, particularly at the high angles of attack. Additional results regarding the stabilizer and the elevator are given.

Bamber, M J↗
NASA NTRS1994

Locating buildings in aerial photos

Algorithms and techniques for use in the identification and location of large buildings in digitized copies of aerial photographs are developed and tested. The building data would be used in the simulation of objects located in the vicinity of an airport that may be detected by aircraft radar. Two distinct approaches are considered. Most building footprints are rectangular in form. The first approach studied is to search for right-angled corners that characterize rectangular objects and then to connect these corners to complete the building. This problem is difficult because many nonbuilding objects, such as street corners, parking lots, and ballparks often have well defined corners which are often difficult to distinguish from rooftops. Furthermore, rooftops come in a number of shapes, sizes, shadings, and textures which also limit the discrimination task. The strategy used linear sequences of different samples to detect straight edge segments at multiple angles and to determine when these segments meet at approximately right-angles with respect to each other. This technique is effective in locating corners. The test image used has a fairly rectangular block pattern oriented about thirty degrees clockwise from a vertical alignment, and the overall measurement data reflect this. However, this technique does not discriminate between buildings and other objects at an operationally suitable rate. In addition, since multiple paths are tested for each image pixel, this is a time consuming task. The process can be speeded up by preprocessing the image to locate the more optimal sampling paths. The second approach is to rely on a human operator to identify and select the building objects and then to have the computer determine the outline and location of the selected structures. When presented with a copy of a digitized aerial photograph, the operator uses a mouse and cursor to select a target building. After a button on the mouse is pressed, with the cursor fully within the perimeter of the building, the program scans from the position of the cursor to a perimeter position where a shift in grayscale is detected. Once at the perimeter, the process traces along it, around the building, until it eventually returns to the perimeter starting point. Spatial resolution limits cause the perimeter trace to be somewhat course so that a line straightening algorithm is employed. One result is that the building corner positions become more distinctly defined.

Green, James S.↗
NASA NTRS1995

Locations of termination shock and heliopause based on Voyager plasma and magnetic field data

The locations of the termination shock and the heliopause are studied taking into account the effects of pickup protons. The study uses available plasma and magnetic field data from Voyagers over a 14-year period (1978-1991) and Voyager observation of the 1992-93 radio emission event. Outside 30 AU, pickup protons have a significant influence on dynamical structures of the outer heliosphere. The solar wind is treated as a mixture of electrons, solar wind protons, and interstellar pickup protons. If the magnitude of the interstellar magnetic field B(sub int) is given, one can quantitatively study the motion and location of the termination shock. The location is anti-correlated with the sun spot number and the shock has an average speed of approx. 24 km/s. Because B(sub int) is poorly known, additional information is needed in studying the termination shock. Cummings, et al. have used observations of anomalous cosmic rays to estimate the location of the shock. The observations of the 1991 GMIR and GMIR shock and the 1992-93 radio emission event provide another handle for the study of the termination shock and the heliopause. After its penetration through the termination shock, the GMIR shock continued to propagate in the subsonic region of the solar wind and eventually interacted with the heliopause. This interaction produces a transmitted shock propagating outward in the interstellar medium and a reflected shock propagating inward toward the sun in the subsonic solar wind. The plasma frequencies behind the reflected and the transmitted shock can be, respectively, responsible for the 2- and 3-kHz radio emissions. Taking into account the effects of pickup protons we found that the average locations of the termination shock and the heliopause in 1991-92 are at approximately 66 AU and 150 AU, respectively.

Whang, Y. C.↗
NASA NTRS1998

Locations of Halide Ions in Tetragonal Lysozyme Crystals

Anions play an important role in the crystallization of lysozyme, and are known to bind to the crystalline protein. Previous studies employing X-ray crystallography had found one chloride ion binding site in the tetragonal crystal form of the protein and four nitrate ion binding sites in the monoclinic form. Studies using other approaches have reported more chloride ion binding sites, but their locations were not known. Knowing the precise location of these anions is also useful in determining the correct electrostatic fields surrounding the protein. In the first part of this study the anion positions in the tetragonal form were determined from the difference Fourier map obtained from the lysozyme crystals grown in bromide and chloride solutions under identical conditions. The anion locations were then obtained from standard crystallographic methods and five possible anion binding sites were found in this manner. The sole chloride ion binding site found in previous studies was confirmed. The remaining four sites were new ones for tetragonal lysozyme crystals. However, three of these new sites and the previously found one corresponded to the four unique binding sites found for nitrate ions in monoclinic crystals. This suggests that most of the anion binding sites in lysozyme remain unchanged, even when different anions and different crystal forms of lysozyme are employed. It is unlikely that there are many more anions in the tetragonal lysozyme crystal structure. Assuming osmotic equilibrium it can be shown that there are at most three more anions in the crystal channels. Some of the new anion binding sites found in this study were, as expected, in pockets containing basic residues. However, some of them were near neutral, but polar, residues. Thus, the study also showed the importance of uncharged, but polar groups, on the protein surface in determining its electrostatic field. This was important for the second part of this study where the electrostatic field surrounding the protein was accurately determined. This was achieved by solving the linearized version of the Poisson-Boltzmann equation for the protein in solution. The solution was computed employing the commercial code Delphi which uses a finite difference technique. This has recently become available as a module in the general protein visualization code Insight II. Partial charges were assigned to the polar groups of lysozyme for the calculations done here. The calculations showed the complexity of the electrostatic field surrounding the protein. Although most of the region near the protein surface had a positive field strength, the active site cleft was negatively charged and this was projected a considerable distance. This might explain the occurrence of "head-to-side" interactions in the formation of lysozyme aggregates in solution. Pockets of high positive field strength were also found in the vicinity of the anion locations obtained from the crystallographic part of this study, confirming the validity of these calculations. This study clearly shows not only the importance of determining the counterion locations in protein crystals and the electrostatic fields surrounding the protein, but also the advantage of performing them together.

Lim, Kap↗
NASA NTRS1995

Detection and Location of Transverse Matrix Cracks in Cross-Ply Gr/Ep Composites Using Acoustic Emission

Transverse matrix cracking in cross-ply gr/ep laminates was studied with advanced acoustic emission (AE) techniques. The primary goal of this research was to measure the load required to initiate the first transverse matrix crack in cross-ply laminates of different thicknesses. Other methods had been previously used for these measurements including penetrant enhanced radiography, optical microscopy, and audible acoustic microphone measurements. The former methods required that the mechanical test be paused for measurements at load intervals. This slowed the test procedure and did not provide the required resolution in load. With acoustic microphones, acoustic signals from cracks could not be clearly differentiated from other noise sources such as grip damage, specimen slippage, or test machine noise. A second goal for this work was to use the high resolution source location accuracy of the advanced acoustic emission techniques to determine whether the crack initiation site was at the specimen edge or in the interior of the specimen.In this research, advanced AE techniques using broad band sensors, high capture rate digital waveform acquisition, and plate wave propagation based analysis were applied to cross-ply composite coupons with different numbers of 0 and 90 degree plies. Noise signals, believed to be caused by grip damage or specimen slipping, were eliminated based on their plate wave characteristics. Such signals were always located outside the sensor gage length in the gripped region of the specimen. Cracks were confirmed post-test by microscopic analysis of a polished specimen edge, backscatter ultrasonic scans, and in limited cases, by penetrant enhanced radiography. For specimens with three or more 90 degree plies together, there was an exact 1-1 correlation between AE crack signals and observed cracks. The ultrasonic scans and some destructive sectioning analysis showed that the cracks extended across the full width of the specimen. Furthermore, the locations of the cracks from the AE data were in excellent agreement with the locations measured with the microscope. The high resolution source location capability of this technique, combined with an array of sensors, was able to determine that the cracks initiated at the specimen edges, rather than in the interior. For specimens with only one or two 90 degree plies, the crack-like signals were significantly smaller in amplitude and there was not a 1-1 correlation to observed cracks. This was similar to previous results. In this case, however, ultrasonic and destructive sectioning analysis revealed that the cracks did not extend across the specimen. They initiated at the edge, but did not propagate any appreciable distance into the specimen. This explains the much smaller AE signal amplitudes and the difficulty in correlating these signals to actual cracks in this, as well as in the previous study.

Prosser, W. H.↗
NASA NTRS2000

Magnetic back-to-back locator

A back-to-back locator instrument includes a first portion with an array of two or more magnetic sensors, and an indicator arrangement. A second portion of the instrument includes an array of correspondingly located magnets. Each of the first and second portions includes a marking arrangement, which either allows marking of the underlying surface, or viewing of a mark on the surface for properly locating the instrument portion thereon. When the two portions are congruent or registered, the indicator arrangement gives a maximum indication of corresponding locations. In a particular use, corresponding locations on the inside and outside of a tank are identified. The indicator arrangement may include a separate indicator for each magnetic sensor. A flux concentrator may be associated with each magnetic sensor.

Phillips, Scott G.↗
NASA NTRS2009

Determining Locations by Use of Networks of Passive Beacons

Networks of passive radio beacons spanning moderate-sized terrain areas have been proposed to aid navigation of small robotic aircraft that would be used to explore Saturn s moon Titan. Such networks could also be used on Earth to aid navigation of robotic aircraft, land vehicles, or vessels engaged in exploration or reconnaissance in situations or locations (e.g., underwater locations) in which Global Positioning System (GPS) signals are unreliable or unavailable. Prior to use, it would be necessary to pre-position the beacons at known locations that would be determined by use of one or more precise independent global navigation system(s). Thereafter, while navigating over the area spanned by a given network of passive beacons, an exploratory robot would use the beacons to determine its position precisely relative to the known beacon positions (see figure). If it were necessary for the robot to explore multiple, separated terrain areas spanned by different networks of beacons, the robot could use a long-haul, relatively coarse global navigation system for the lower-precision position determination needed during transit between such areas. The proposed method of precise determination of position of an exploratory robot relative to the positions of passive radio beacons is based partly on the principles of radar and partly on the principles of radio-frequency identification (RFID) tags. The robot would transmit radar-like signals that would be modified and reflected by the passive beacons. The distance to each beacon would be determined from the roundtrip propagation time and/or round-trip phase shift of the signal returning from that beacon. Signals returned from different beacons could be distinguished by means of their RFID characteristics. Alternatively or in addition, the antenna of each beacon could be designed to radiate in a unique pattern that could be identified by the navigation system. Also, alternatively or in addition, sets of identical beacons could be deployed in unique configurations such that the navigation system could identify their unique combinations of radio-frequency reflections as an alternative to leveraging the uniqueness of the RFID tags. The degree of dimensional accuracy would depend not only on the locations of the beacons but also on the number of beacon signals received, the number of samples of each signal, the motion of the robot, and the time intervals between samples. At one extreme, a single sample of the return signal from a single beacon could be used to determine the distance from that beacon and hence to determine that the robot is located somewhere on a sphere, the radius of which equals that distance and the center of which lies at the beacon. In a less extreme example, the three-dimensional position of the robot could be determined with fair precision from a single sample of the signal from each of three beacons. In intermediate cases, position estimates could be refined and/or position ambiguities could be resolved by use of supplementary readings of an altimeter and other instruments aboard the robot.

Okino, Clayton↗