Guidance, Navigation and Control

Over the past two decades, advances in spacecraft technologies have prompted the development of autonomous onboard navigation systems. This paper presents the design of a novel Fuzzy Adaptive Extended Kalman Filter (FAEKF) suitable for estimating the relative position and velocity between two spacecraft flying in formation. A fuzzy adaptation architecture is embedded within a standard Extended Kalman Filter (EKF), thereby allowing the filter to adapt internal noise characteristics that would otherwise remain constant after the initial filter design. Inaccurate tuning of the process and measurement noise covariance matrices within an EKF are commonly a limiting factor in the estimation performance, especially in situations where the behaviour of the noise processes are poorly defined or subject to change. In this context, the proposed approach provides a method to update the process and measurement noise covariances online based on a covariance-matching analysis of the filter residuals. A demonstration of the technique is given through numerical simulations of a spacecraft formation in low-Earth orbit, which are used to compare state estimates from the FAEKF with those from measurement-only and non-adaptive EKF solutions.

In this paper, using the exponential parametrization of Lie group of orthogonal dual tensors , the problem of the decomposition of a rigid displacement by a sequence of three displacements with specified screw axis is solved. It will be determined either the closed form the dual angles of the screw displacements (translation and rotation) or the necessary and sufficient conditions when this decomposition is possible. The results are coordinate-free and they are obtained using only algebraic elements of tensor calculus. In the specific case of a screw axis is perpendicular to the other two, the decomposition is possible for any rigid displacement. So, a result that generalizes the Davenport decomposition in case of rotation is obtained. For rigid motion, the kinematic equations that links the instantaneous dual angular velocity to the time variation of a dual Davenport angle are deduced. The cases of singularity of the decomposition are identified and a physical interpretation of these cases is given. The results interest the inverse kinematic of robotics, control problems and astrodynamics (full body relative orbital motion problem).

We would like to invite you to join this exciting new project as a chapter contributor. Since this is a textbook, a great deal of this chapter entails a survey on the topic under the paradigm of cyber-physical systems, what can be done onboard and remotely, the distributed nature of the system and some exercises on futurology (anticipating trends can shed some light on upcoming designs). IET will bring great visibility to your work. You are welcome to suggest another topic/chapter title if you feel it would be more suitable. Each chapter should be around 20-25 pages each and can be submitted as a Word or Latex File. The IET will send you additional information (formatting, permission form, etc.) with the contributor's agreement once you have agreed to contribute to the book. Visit http:// www.theiet.org/resources/author-hub/books/index.cfm to get all information you need as a contributor to an IET research-level book. Each book is expected to have a total number of 500 printed pages (based on approximately 550 words per page with a 20% allowance for figures and tables). We have included a tentative schedule and list of topics below. If this is something you would consider, please send me the title of your chapter, a short description/abstract of the chapter content, and your full contact details. We will expect original content and new results for this book. You can, of course, reuse published material but the percentage of material reuse for the chapter should be less than 40%. The IET will run a piracy software on the full manuscript to control that you are including original material and will reject chapters who contain a large amount of already-published material so please do take this into consideration.

This paper investigates an augmented pure proportional navigation-based guidance strategy, which expands upon the need for precise control of the terminal approach and/or impact angle of an interceptor by also accounting for the maneuvering target's ability to counter attack, e.g., in air-to-air combat. Specifically, an anticipatory modulation of the augmentation parameter is presented and analyzed, which addresses the objective of ensuring that the pursuer avoids any approaches that would place it within the evader's own sights. Simulation results are developed and presented to support the theoretical findings.

Honeywell Commercial Aviation Systems -Sensor Products Opedon Minneapolis, h4N Gravity anomalies have long a major error source for gravity anomalies are so e the dominant error source No& Pacific airway. ies along this aimay not only are very larg in such a way as to Schder pump the inertial velocity erron when flying at esaibes the results of a recent led to the discovery of the wing 777D consistently large final distributed with an Rg5 gation revealed signifcant h up to 34,000 feet deep. associated with these flying along the airway at air transport pump the oscillation to h u t 10 knots. Tbis paper describes the "777 F-T AI3XRI.J perfornoan~e demonstration results and shows the actual real-time n and east velocity errors obsewed along tihe route. known north and east gravity deflections along westbound route as well as pardel eastbsund ropltes, as obtained from the National O c k c and Atmospheric Administration (MOM), are Short tUtQl%d On estimate the velocity to the actual errors confirming the deflections t~ be the source of the problem.

The International Marine Organization's (IMO) e-Navigation concept of an integrated onboard navigation system defines as a core element "high integrity electronic positioning". This positioning capability would demonstrate defined levels of accuracy, integrity and continuity appropriate to a safety critical system.

Honeywell has developed an algorithm that tightly integrates GPS and IRS into a hybrid navigation solution adequate to achieve 100% worldwide availability of RNP 0.1 without the use of differential corrections. This algorithm, referred to as Honeywell Inertial GPS Hybrid (HIGH), improves all four of the navigation characteristics critical for RNP operations -accuracy, integrity, continuity and availability. With its increased level of availability, HIGH can support RNP operations that are lower than can be achieved with stand-alone GPS. RNP operations require the navigation system provide an integrity bound called Horizontal Integrity Limit (HIL). An RNP operation can proceed as long as the HIL remains below the threshold required for that operational level. On average, stand-alone HILs are at least 50% worse than HIGH HILs under good satellite geometries, and become significantly degraded or unavailable when in RAIM holes or during GPS outages. HIGH enhances system continuity by coasting on the inertial when no satellite measurements are available. Honeywell has applied the HIGH technology on both military and commercial aircraft platforms. Operational benefits of HIGH are examined and contrasted with stand-alone GPS based solutions.

Safe separation of aircraft is a primary objective of all air traffic control systems. A probabilistic risk analysis of a next-generation air traffic control operational concept was conducted using Monte Carlo simulation. Results indicate that this safety-critical system would have a mean time between mid-air collisions of about 281 years in enroute airspace, which is around the desired target for an automated separation assurance function. Among the simulation trials that ended with mid-air collision, most involved failure to locate and track aircraft through radar or satellite positioning systems with the remainder due to conflict detection failure.

This paper describes an underwater robot navigation
strategy in flow. Our aim is to demonstrate that knowing
the relative flow speed is advantageous because it permits using
more energy efficient and stable control for trajectory following.
We use a biomimetic robot that moves in uniform flow using
a side-slipping maneuver. Side-slipping permits the robot to
move laterally with respect to the incoming flow by exploiting
its passive dynamics. The side-slipping maneuver is controlled
by adjusting the heading of the robot with respect to the flow.
We implement simple PID controllers for controlling the motion
of the side-slipping robot laterally and transversely. Also, we
compare the performance of the robot in the case where the
robot does not know the flow speed. In this latter case the
robot’s heading towards the waypoint is controlled and the
flow effect is considered as a disturbance compensated by the
control algorithm. Comparative experiments demonstrate that
it is advantageous for a robot to know not just its speed and
orientation with respect to the world’s frame of reference but
also its local flow-relative speed. It permits the robot to follow
trajectories more stable and using less energy. In the discussion
section we propose possible future directions

An assessment of the descending and landing phase of Marco Polo R and OSIRIS-REx missions is performed. A touch-and-go strategy has been analyzed for both scenarios of two distinct target asteroids with different landing requirements. In addition, a full landing with different requirements is also evaluated. The comparison of the different scenarios is done with Monte Carlo analyses using the GNC system and the MIL simulator developed for the previous Marco Polo mission. The result of these analyses is the first step in the research to improve and optimize the GNC requirements, strategy and algorithms for the proximity operations of missions to asteroids.

The practical problem of tracking a maneuvering aircraft during flight has always been a crucial task in order to safeguard airborne assets from unknown threats. Therefore, the need for an efficient target detection and identification technique is substantial and growing. The multiple model (MM) estimation have proven to be one of the most reliable and accurate among various filtering algorithms. In this paper we implemented the Interacting Multiple Model (IMM) estimation technique for the aforementioned purpose of target identification. This target's motion, though defined by predefined dynamics, is obscured due to the noises from tracking sensors. The algorithm intends to predict the location of target and provide simple feedback maneuver to the reference aircraft in order to avoid a conflict.

We would like to invite you to join this exciting new project as a chapter contributor on one of the topics listed below. Since this is a textbook, a great deal of this chapter entails a survey on the topic under the paradigm of cyber-physical systems, what can be done onboard and remotely, the distributed nature of the system and some exercises on futurology (anticipating trends can shed some light on upcoming designs). IET will bring great visibility to your work. Each chapter should be around 20-25 pages each and can be submitted as a Word or Latex File. The IET will send you additional info (formatting, permission form, etc.) with the contributor's agreement once you have decided to contribute to the book. Visit http://www.theiet.org/resources/author-hub/books/index.cfm to get all contributor's information to an IET research-level book. Each book is expected to have a total number of 500 printed pages (with approximately 550 words per page and a 20% allowance for figures and tables). We have included a tentative schedule and list of topics below. If this is something you would consider, please send us the title of your chapter, a short description/abstract of the chapter content, and your full contact details. We will expect original content and new insights for this book. You can, of course, reuse published material but the percentage of material reuse for the chapter should be less than 40%. The IET will run a piracy software on the full manuscript to control that you are including original material and will reject chapters who contain a large amount of already-published material so please do take this into consideration. We would appreciate your feedback by December 31, 2017. Please do not hesitate to contact us if you have any queries. We look forward to working with you towards the successful publication.

Two new spacecraft attitude determination algorithms, Douma and DUDE (Delta-Utec Douma Extension), have been developed for star pattern recognition from CCD camera data without a priori knowledge. They combine low memory requirements in the range from 50 to 500 kB and an extremely fast search strategy, independent of the size of the database. It supports a reliability >99.99 and accuracy of 1 arcsec level. This makes the algorithms especially interesting for compact real-time autonomous star sensor units. Goal of the study is to gain the necessary basis to develop a low cost autonomous star sensor for small satellites.
The Douma algorithm combines the advantages of the existing Liebe and Quine algorithms. Liebe searches a database of all star triangles that could possibly be observed as being the closest one. Quine includes only the brightest triangles around target stars. Douma searches a list of the triangles that are the 'most likely' ones to be observed by the camera that is selected. Performance is compared to earlier publications and shows considerable gain in both memory and reliability.
Using the DUDE algorithm performance is improved even further. Statistical analysis is performed to find a qualifier that sorts the Douma database uniformly. A likeliness correction is added taking into account the geometry of Field Of View (FOV) and triangle features. It includes various validation techniques and the option to store several patterns per star if necessary.
A Star Sensor Algorithm Test Tool (SSATT) was designed in order to test and optimize the algorithms, as well as to understand better the influence of hardware parameters and algorithm settings on the algorithm performance. It produces the triangle database, simulates camera pictures and provides automated testing and statistical processing. For comparison the principles of both Liebe and Quine triangles have been implemented in the SSATT.
Test cases are reported for high reliability >99.99%, and for low H/W requirements that could be supported by commercial technology.

ABSTRACT
The objective of the paper is to validate a prototype of an integrated, software-linked, satellite/inertial navigation system in Polish landborne and waterborne environment. The paper is divided into two distinctive parts. In its introductory part the paper briefly delineates the specific realisation of the DGPS/(Low-Cost IMU MotionPak) design describing the hardware and Kalman filter based software components with special emphasis on vehicular and waterborne real-time positioning.
In its second part the paper demonstrates an actual performance of the prototype mounted on a dedicated land vehicle and a research ship and boat moving in a variety of environments in Poland. The section first characterises the geographical distribution and the physical properties of the landborne and waterborne DGPS/IMU test-beds and presents the methodology and some results of the experiments addressing the issue of the accuracy and integrity of the navigation solution in function of the areas. The paper concludes presenting a rationale for a number of landborne vehicle and waterborne satellite/inertial navigation applications in Poland .
INTRODUCTION
The paper describes certain experimental work on the Differential Global Positioning System (DGPS) integrated with the Low-Cost Inertial Measurement Unit (IMU) MotionPak This system has been completed within the framework of the European Union Joint Research Project. The main scientific partners of the Project have been the Institute of Flight Guidance and Control of the Technical University Carolo-Wilhelmina in Braunschweig, Germany (TUBS.IFF) and the Polish Academy of Sciences, Space Research Centre (PLAS.SRC) in Warsaw and at Borowiec near Poznań Astrogeodynamic Observatory.
The aim of the initial conceptual work done during the Project has been to construct the most up-to-date integrated DGPS/(Low-Cost IMU) system. The goal of the experimental work done both during and after the Project, was to use the DGPS/IMU as a tool to investigate the so-called Required Navigation Performance Parameters (RNPPs) in various radio-environments during landborne, waterborne and airborne navigation. While the DGPS component provided the integrated system with the desired high accuracy, the IMU component helped the navigation solution to maintain high values of some RNPPs.
The paper has been concerned with the accuracy and integrity of the real-time DGPS/IMU landborne and waterborne positioning in Poland.

ABSTRACT The objective of Part Two of this paper is to validate a prototype of an integrated navigation system linking Differential Global Positioning System DGPS and Inertial Measurement Unit IMU, described in more detail in Part One of the sequence. Part Two demonstrates an actual performance of the prototype mounted on a dedicated land vehicle. The paper at first characterises the landborne test-beds. Then it presents the methodology and list some results from the vehicular DGPS/IMU navigation experiments. In the final part the paper addresses the issue of the accuracy and integrity of the navigation solution. It gives the accuracy-wise summary in function of the land-test areas and an institutional summary in terms of the prototype DGPS/IMU system efficiency appraisal. The paper concludes presenting a rationale for a number of vehicle satellite/inertial navigation applications in Poland.
INTRODUCTION Part Two of this paper describes some results of the theoretical and experimental work on the Differential Global Positioning System DGPS integrated with the Inertial Measurement Unit IMU which has been completed by the author in Poland since 1996 . Part of the work has been done within the framework of the European Union Polish-German Joint Research Project (JRP) entitled : "Modernisation and accuracy improvement of the avionic and maritime navigation in Poland" and co-ordinated by the Institute of Flight Guidance and Control of the Technical University, Braunschweig, German y (TUBS.IFF) .Project's main scientific partner has been the Space Research Centre, Polish Academy of Sciences, Warsaw, Poland (PLAS.SRC) . In due course the Project's original aims expressed in its title have been extended in order to address also the need for improvement of the landborne navigation in Poland. The integrated satellite/inertial system, conceived during the Project's duration has been the main research tool. The system has comprised the DGPS and the Low-Cost IMU hardware and the dedicated Kalman filter based integration software. The van based experiments enabled testing of all important issues connected not only with the landborne but also with both waterborne and airborne environments. While the introductory experiments conducted in Germany answered mainly technical questions concerning the system, more advanced experiments conducted in Poland were supposed to be tailored well to specific applications and to have a more institutional background. The experimental data allowed to draw conclusions about three major physical effects that is: signal shadowing and attenuation, signal multipath, and signal jamming or saturation. The accuracy and integrity results allowed to evaluate the prototype DGPS/(Low-Cost IMU) performance and to address the issue of the system application in the landbome navigation in Poland. Notice: below, whenever the abbreviation D or IMU is placed between brackets [ ] it conveys the option of the particular mode of navigation; D signifies Differential GPS mode, IMU is understood below as a Low-Cost-IMU MOTIONPAK.

- This paper reports the prototyping and testing of a compact multihead star sensor for which Delta-Utec developed multihead pattern recognition and attitude determination algorithms. A more advanced version of these algorithms for low-sensitivity and reduced FOV camera's has also been developed but is not reported here (Facet Nano project with ISIS), contact M. Kruijff or ISIS for more info.

In the frame of the Dutch Prequalification for ESA programs (PEP), as part of the efforts to design an integrated optical attitude control subsytem (IOPACS), a consortium of TNO and several SME's in the Netherlands have been working on a novel type of startracker called MABS (Multiple Aperture Baffled Startracker). The system comprises a single cast metal housing with four reflective optical telescopes which use only structural internal baffling.
Inherent to the design are a very high stability and excellent co-alignment between the apertures, a significant decrease in system size and low recurring production cost. The concept is a radical change from more common multiple startracker setups. The presentation will concentrate on the validity of the concept, the predicted performance and benefits for space applications, the produced breadboard and measured performances as well as the costing aspects.

In recent times, there has been a significant rise in usage of aircrafts in surveillance and reconnaissance missions. Not all the aircrafts survive the harsh testing conditions put forth by the enemy regions. Aircraft Survivability Analysis gives the measure of the chances of survival for different counter strategies. The mission would be recalculated if particular sortie does not fall within the physical boundary of the performance of an aircraft. This is required both for the success of the mission and the survivability of the aircraft in the harsh enemy conditions. A system is envisioned comprising of the accurate modeling of the physical world and the accurate model of control system. An interoperable system which can work seamlessly together will provide mission planners, System integrators, aeronautical/aerospace engineers a milieu wherein the Control System designer who is found wanted as far as the physical world is concerned is given a system which can simulate the real world in lab conditions. To achieve this, we combine the two most promising environments prevalent in the industry today namely Systems tool kit for modeling the operational environment MATLAB and LabVIEW for modeling the control system environment. Using a Math script window of LabVIEW, we have designed the aircraft model and controlling the variables of an aircraft using a simulation loop of a LabVIEW. The different flight conditions were arrived using Orthogonal Array (OA) based on different Aircraft weight, Altitude, Mach number configurations. This attempts to span the aircrafts across the regimes in aircrafts flight envelope. A system comprising of both, with seamless UDP based connection between the two is developed to expedite the process of development of feasible control system design and verification which allows the aircrafts to undertake complex mission. This system we believe would answer questions of limits of the aircrafts maneuverability and survivability in terms of its limitation concerning control system design and development of commercial fighter aircrafts, UAV's and

In the interests of enhancing autonomous navigation capabilities for Low Earth Orbit formation flying, this work presents the development of an Adaptive Extended Kalman Filter (AEKF) that estimates relative position and velocity states between two spacecraft. A standard EKF based on the nonlinear dynamics of relative motion is used to provide preliminary state estimates of the formation, which are then corrected through a fixed-window smoothing routine. Since uncertainties in the process and measurement noise covariances within the filter inherently limit the final accuracy of the EKF, an online tuning mechanism is derived using Maximum Likelihood Estimation (MLE) to optimize the noise covariances given an available set of measurements. Inclusion of these adaptations improves filter robustness by allowing the filter to handle situations where noise characteristics of the system are unknown or subject to change, while simultaneously eliminating the need for the initial manual covariance tuning process that accompanies EKF design. Numerical validation of the proposed algorithm is completed by comparing navigation solutions from the AEKF with those obtained from the non-adaptive EKF, using a realistic in-plane elliptical spacecraft formation.

In classical orbital mechanics, the Lambert problem consists of computing the full state of an orbiting body given two positions and the time elapsed between them. Similarly, a relative Lambert problem may cast to determine the relative velocity given two relative positions and the time elapsed between them. When considering linear relative dynamics, the relative Lambert problem may be solved analytically using matrix inversion. In this work, an analytic solution to the relative Lambert problem is derived using second-order Clohessy-Wiltshire equations and is applied directly in the relative frame. The problem is represented geometrically by the intersection of three quadric surfaces. The associated multivariate algebraic set is solved non-iteratively using Macaulay resultant expressions to high accuracy. The method is compared to the linear relative Lambert method as well as the classic Lambert routine.

Lecture invited by Prof. Dr. Christopher Rizos, Manager, Satellite Navigation and Positioning Group, School of Surveying and Spatial Information Systems (Formerly School of Geomatic Engineering), The University of New South Wales, Australia. The members of the Satellite and Positioning group in the School of Surveying and Spatial Information Systems were in attendance.

Energy-optimal 4D descent trajectories generated by Multi-Objective Trajectory Optimization (MOTO) are difficult to adhere to by aircraft equipped with current generation Flight Management Systems (FMS) and autopilot and flight director system (AFDS), even in a conventional two-pilot flight deck. The implementation of time and energy management/ optimisation in a fully-dynamic 4D trajectory context and the envisaged transition to single-pilot operations in civil transport aircraft require considerable system evolutions to support optimal human-machine teaming in the cockpit. This paper presents and discusses the results of some preliminary Human-in-the-Loop (HITL) experiments pertaining to the ability of a single-pilot to adhere to energy-optimal 4D trajectories, assisted by a prototype Human-Machine Interface (HMI) that recommends optimum control inputs and supports manual time and energy management in 4D descent operations. The precision and accuracy of the flown trajectory in varying environmental conditions are analysed to determine the effectiveness of the HMI in flying energy-efficient 4D descent trajectories.

The main goal of this research is the development of a new approach of Poisson-Darboux problem solution in dual Lie algebra. Using the isomorphism between the Lie group of the rigid displacements í µí±†í µí±†í µí±†í µí±† 3 and Lie group of the orthogonal dual tensors í µí±†í µí±†í µí±†í µí±† 3 a new solution of this problem is given by recovering the rigid motion knowing its twist. The solution is the replica of the classical Poisson-Darboux problem in the algebra of dual numbers. The results are applied for giving a representation theorem of the six degrees of freedom relative orbital motion problem. Using the n-th order Cayley transformation of dual vectors, the minimal representation of this problem is obtained. The novelty of the method over existing solutions is discussed and the main advantages are revealed.

In the last years GMV has led several ESA projects devoted to technology development of autonomous GNC for proximity operations and landing on asteroids. These activities allowed developing vision-based GNC and IP algorithms that are tested in several environments to increase its Test Readiness Level (TRL) road to a flight mission. The different validation steps involve tests from pure SW model simulation, up to HW in the Loop (HIL) in representative space environment. Embeddable code of the GNC and IP has been first developed and tested in SW in the Loop. Then, the GNC SW implementation has been embedded in LEON2 computer as real-time code and the IP has been codified in VHDL and embedded in an FPGA, thus allowing Processor In the Loop (PIL) and afterwards HIL validations, performed with a COTS camera HW model.
The last missing step, which is described in this paper, was to perform HIL testing using a real spacecraft camera, which improves testing realism and fidelity and gives further insights into the use of optical navigation, directly applicable to future ESA missions. The camera used for this purpose has been the ESA developed navigation camera NPAL (Navigation for Planetary Approach and Landing) breadboard. HIL validation has been performed in two different facilities at GMV premises. A first step has been realized in the HIL optical laboratory, in which the camera is stimulated through the use of an optical stimulator using images generated by a rendering SW. A second step has been performed in the HIL robotic facility (GMV’s platform-ART®), in which the camera is stimulated by a real scene of an asteroid mock-up and the kinematic and illumination conditions of the scenario are provided by the motion of two robotic arms.
The selected scenario for this validation has been the ESA’s Asteroid Impact Mission (AIM), targeted at the Dydimos binary asteroid system, whose purpose is to explore and demonstrate technologies for future asteroid missions. One of the main challenges for the AIM mission, is the delivery of the MASCOT-2 lander on the surface of the secondary asteroid, as it will be released from the AIM spacecraft at a short height from the surface, requiring a completely autonomous and advanced GNC system. This phase of the AIM mission, therefore, is particularly suited for testing the GNC system developed so far.
The HIL testing results showed that the performances obtained in the HIL tests are really consistent with the ones obtained from the simulations, thus demonstrating that the GNC and IP system is robust to the use of a space-representative navigation camera.

ESA has been developing on-board Guidance, Navigation, and Control technologies for characterization, sample-return, and deflection missions to asteroids and comets (Rosetta, Don-Quijote, Marco-Polo, AIM). GNC systems have been prototyped for all mission phases, from early detection until landing. The GNC technologies are based on vision-based navigation hybridized with other sensors. This paper provides an overview of the ESA activities and results in its effort to raise the Technology Readiness Level (TRL) for GNC systems on those complex missions.

This thesis provides the details of microprocessor software design for a single-gimbaled control moment gyroscope (SGCMG).  This paper shall describe various control methods for using the SGCMG in conjunction with a collocated angular velocity sensor for active vibration damping of a clamped-free cantilevered beam.  This actuator/sensor pair shall provide robust control using a strictly positive real negative feedback.  Asymptotic stability is possible using a direct feedback of the beam tip angular velocity rate with a constant gain.  A simple modification to the proportional law allows the final gimbal angle bias to vanish asymptotically.  This property becomes desirable for CMGs with limited gimbal travel.  An automated method is developed for continuously monitoring vibration and damping of flexible beams that may be implemented in practice.  The various concepts were implemented into a SGCMG hardware known as the GyroDamper.  The control methods are supported by experimental results.

The conference summary is as follows:

“The Basques established relations with Native Americans in the St. Lawrence River area over many centuries, and evidence of this appears in historical records. A wealth of historical, archaeological and even language records have been preserved as a result of these relations. One can therefore assume that the DNA lineages may also bear witness to these relations, owing to the contribution resulting from the constant trade established with the Native Americans by our whale hunters, cod fishermen and fur traders from the Lower Middle Ages and up until the 20th century.”

The list of participants includes: Dr. Marian M. de Pancorbo (UPV/EHU), Xabi Otero (JAUZARREA), Juan Antonio Urbeltz (IKERFOLK Institute), Dr. Stephen Augustine (Museum of Civilisation, Hull-Ottawa, Traditional Mi’kmaq Chief, Restigouche), Dr. Paul Charest (Laval University, Québec), Ghislain Picard (Head of the Assembly of the First Nations of Québec and Labrador), Dr. Charles A. Martin (University of Montreal), Dr. Stephen Oppenheimer (University of Oxford), Dr. Daniel G. Bradley (Trinity College, Dublin), Dr. Sergio Cardoso (UPV/EHU), Jon Maia and Amets Arzallus, Dr. Roldán Jimeno Aranguren (Public University of Navarre), Dr. Jacques Lacoursière (Laval University, Québec), Dr. Miren Egaña Goya (Aranzadi Scientific Society, Donostia), Dr. Brad Loewen (University of Montreal), Dr. Peter Bakker (University of Aarhus, Denmark), Dr. Robert Grenier (Parks Canada, UNESCO), Xabier Agote (ALBAOLA Association, Pasaia), Dr. Aurélie Arcocha-Scarcia (Université Michel de Montaigen-Bordeaux3, Centre de Recherche sur la Langue et les Textes).

Lecture invited by Prof. Dr. P.A. Whigham, Director of the Spatial Information Research Centre, and Prof. Dr. Nazim B. Madhavje, Spatial Information Research Centre, Department of Information Science, University of Otago, Dunedin, New Zealand. Members of the Information Science, Physics, Surveying and Geography departments were in attendance.