Dissertations / Theses on the topic 'Global Positioning System – Mathematical models'

Modelling ionospheric total electron content (TEC) is an important area of interest for radio wave propagation, geodesy, surveying, the understanding of space weather dynamics and error correction in relation to Global Navigation Satellite Systems (GNNS) applications. With the utilisation of improved ionosonde technology coupled with the use of GNSS, the response of technological systems due to changes in the ionosphere during both quiet and disturbed conditions can be historically inferred. TEC values are usually derived from GNSS measurements using mathematically intensive algorithms. However, the techniques used to estimate these TEC values depend heavily on the availability of near-real time GNSS data, and therefore, are sometimes unable to generate complete datasets. This thesis investigated possibilities for the modelling of TEC values derived from the South African Global Positioning System (GPS)receiver network using linear regression methods and artificial neural networks (NNs). GPS TEC values were derived using the Adjusted Spherical Harmonic Analysis (ASHA) algorithm. Considering TEC and the factors that influence its variability as “dependent and independent variables” respectively, the capabilities of linear regression methods and NNs for TEC modelling were first investigated using a small dataset from two GPS receiver stations. NN and regression models were separately developed and used to reproduce TEC fluctuations at different stations not included in the models’ development. For this purpose, TEC was modelled as a function of diurnal variation, seasonal variation, solar and magnetic activities. Comparative analysis showed that NN models provide predictions of GPS TEC that were an improvement on those predicted by the regression models developed. A separate study to empirically investigate the effects of solar wind on GPS TEC was carried out. Quantitative results indicated that solar wind does not have a significant influence on TEC variability. The final TEC simulation model developed makes use of the NN technique to find the relationship between historical TEC data variations and factors that are known to influence TEC variability (such as solar and magnetic activities, diurnal and seasonal variations and the geographical locations of the respective GPS stations) for the purposes of regional TEC modelling and mapping. The NN technique in conjunction with interpolation and extrapolation methods makes it possible to construct ionospheric TEC maps and to analyse the spatial and temporal TEC behaviour over Southern Africa. For independent validation, modelled TEC values were compared to ionosonde TEC and the International Reference Ionosphere (IRI) generated TEC values during both quiet and disturbed conditions. This thesis provides a comprehensive guide on the development of TEC models for predicting ionospheric variability over the South African region, and forms a significant contribution to ionospheric modelling efforts in Africa.

Recently, there has been increasing interest within the potential user community of Global Positioning System (GPS) for high precision navigation problems such as aircraft non precision approach, river and harbor navigation, real-time or kinematic surveying. In view of more and more GPS applications, the reliability of GPS is at this issue. The Global Positioning System (GPS) is a space-based radio navigation system that provides consistent positioning, navigation, and timing services to civilian users on a continuous worldwide basis. The GPS system receiver provides exact location and time information for an unlimited number of users in all weather, day and night, anywhere in the world. The work in this thesis will mainly focuss on how to model a Mathematical expression for tracking GPS Signal using Phase Locked Loop filter receiver. Mathematical formulation of the filter are of two types: the first order and the second order loops are tested successively in order to find out a compromised on which one best provide a zero steady state error that will likely minimize noise bandwidth to tracks frequency modulated signal and returns the phase comparator characteristic to the null point. Then the Z-transform is used to build a phase-locked loop in software for digitized data. Finally, a Numerical Methods approach is developed using either MATLAB or Mathematica containing the package for Gaussian elimination to provide the exact location or the tracking of a GPS in the space for a given a coarse/acquisition (C/A) code.

An Approach with Vertical Guidance (APV) is an instrument approach procedure which provides horizontal and vertical guidance to a pilot on approach to landing in reduced visibility conditions. APV approaches can greatly reduce the safety risk to general aviation by improving the pilot’s situational awareness. In particular the incidence of Controlled Flight Into Terrain (CFIT) which has occurred in a number of fatal air crashes in general aviation over the past decade in Australia, can be reduced. APV approaches can also improve general aviation operations. If implemented at Australian airports, APV approach procedures are expected to bring a cost saving of millions of dollars to the economy due to fewer missed approaches, diversions and an increased safety benefit. The provision of accurate horizontal and vertical guidance is achievable using the Global Positioning System (GPS). Because aviation is a safety of life application, an aviation-certified GPS receiver must have integrity monitoring or augmentation to ensure that its navigation solution can be trusted. However, the difficulty with the current GPS satellite constellation alone meeting APV integrity requirements, the susceptibility of GPS to jamming or interference and the potential shortcomings of proposed augmentation solutions for Australia such as the Ground-based Regional Augmentation System (GRAS) justifies the investigation of Aircraft Based Augmentation Systems (ABAS) as an alternative integrity solution for general aviation. ABAS augments GPS with other sensors at the aircraft to help it meet the integrity requirements. Typical ABAS designs assume high quality inertial sensors to provide an accurate reference trajectory for Kalman filters. Unfortunately high-quality inertial sensors are too expensive for general aviation. In contrast to these approaches the purpose of this research is to investigate fusing GPS with lower-cost Micro-Electro-Mechanical System (MEMS) Inertial Measurement Units (IMU) and a mathematical model of aircraft dynamics, referred to as an Aircraft Dynamic Model (ADM) in this thesis. Using a model of aircraft dynamics in navigation systems has been studied before in the available literature and shown to be useful particularly for aiding inertial coasting or attitude determination. In contrast to these applications, this thesis investigates its use in ABAS. This thesis presents an ABAS architecture concept which makes use of a MEMS IMU and ADM, named the General Aviation GPS Integrity System (GAGIS) for convenience. GAGIS includes a GPS, MEMS IMU, ADM, a bank of Extended Kalman Filters (EKF) and uses the Normalized Solution Separation (NSS) method for fault detection. The GPS, IMU and ADM information is fused together in a tightly-coupled configuration, with frequent GPS updates applied to correct the IMU and ADM. The use of both IMU and ADM allows for a number of different possible configurations. Three are investigated in this thesis; a GPS-IMU EKF, a GPS-ADM EKF and a GPS-IMU-ADM EKF. The integrity monitoring performance of the GPS-IMU EKF, GPS-ADM EKF and GPS-IMU-ADM EKF architectures are compared against each other and against a stand-alone GPS architecture in a series of computer simulation tests of an APV approach. Typical GPS, IMU, ADM and environmental errors are simulated. The simulation results show the GPS integrity monitoring performance achievable by augmenting GPS with an ADM and low-cost IMU for a general aviation aircraft on an APV approach. A contribution to research is made in determining whether a low-cost IMU or ADM can provide improved integrity monitoring performance over stand-alone GPS. It is found that a reduction of approximately 50% in protection levels is possible using the GPS-IMU EKF or GPS-ADM EKF as well as faster detection of a slowly growing ramp fault on a GPS pseudorange measurement. A second contribution is made in determining how augmenting GPS with an ADM compares to using a low-cost IMU. By comparing the results for the GPS-ADM EKF against the GPS-IMU EKF it is found that protection levels for the GPS-ADM EKF were only approximately 2% higher. This indicates that the GPS-ADM EKF may potentially replace the GPS-IMU EKF for integrity monitoring should the IMU ever fail. In this way the ADM may contribute to the navigation system robustness and redundancy. To investigate this further, a third contribution is made in determining whether or not the ADM can function as an IMU replacement to improve navigation system redundancy by investigating the case of three IMU accelerometers failing. It is found that the failed IMU measurements may be supplemented by the ADM and adequate integrity monitoring performance achieved. Besides treating the IMU and ADM separately as in the GPS-IMU EKF and GPS-ADM EKF, a fourth contribution is made in investigating the possibility of fusing the IMU and ADM information together to achieve greater performance than either alone. This is investigated using the GPS-IMU-ADM EKF. It is found that the GPS-IMU-ADM EKF can achieve protection levels approximately 3% lower in the horizontal and 6% lower in the vertical than a GPS-IMU EKF. However this small improvement may not justify the complexity of fusing the IMU with an ADM in practical systems. Affordable ABAS in general aviation may enhance existing GPS-only fault detection solutions or help overcome any outages in augmentation systems such as the Ground-based Regional Augmentation System (GRAS). Countries such as Australia which currently do not have an augmentation solution for general aviation could especially benefit from the economic savings and safety benefits of satellite navigation-based APV approaches.

Low speed urban streets are designed to provide both access and mobility, and accommodate multiple road users, such as bicyclists and pedestrians. However, speeds on these facilities often exceed the intended operating speeds as well as their design speeds. Several studies have indicated that the design speed concept, as implemented in the roadway design process in the United States, does not guarantee a consistent alignment that promotes uniform operating speeds less than design speeds. To overcome these apparent shortfalls of the design speed approach, a promising design approach is a performance-based design procedure with the incorporation of operating speeds. Under this procedure, the geometric parameters of the roadways are selected based on their influences on the desired operating speeds. However, this approach requires a clear understanding of the relationships between operating speeds and various road environments. Although numerous studies have developed operating speed models, most of these previous studies have concentrated on high speed rural two-lane highways. In contrast, highway designers and planners have very little information regarding the influence of low speed urban street environments on drivers' speeds. This dissertation investigated the relationship between drivers' speed choices and their associated low speed urban roadway environments by analyzing second-by-second in-vehicle GPS data from over 200 randomly selected vehicles in the Atlanta, Georgia area. The author developed operating speed models for low speed urban street segments based on roadway alignment, cross-section characteristics, roadside features, and adjacent land uses. The author found the number of lanes per direction of travel had the most significant influence on drivers' speeds on urban streets. Other significant variables include on-street parking, sidewalk presence, roadside object density and offset, T-intersection and driveway density, raised curb, and adjacent land use. The results of this research effort can help highway designers and planners better understand expected operating speeds when they design and evaluate low speed urban roadways.

Electricity service providers (ESP) worldwide have increased their interest in the use of electrical distribution, transmission, generation, storage, and responsive load resources as integrated systems. Referred to commonly as "smart grid," their interest is driven by widespread goals to improve the operations, management and control of large-scale power systems. In this thesis I provide research into a novel agent-based simulation (ABS) approach for exploring smart grid system (SGS) dispatch, schedule forecasting and resource coordination. I model an electrical grid and its assets as an adaptive ABS, assigning an agent construct to every SGS resource including demand response, energy storage, and distributed generation assets. Importantly, real time is represented as an environment variable within the simulation, such that each resource is characterized temporally by multiple agents that reside in different times. The simulation contains at least as many agents per resource as there are time intervals being investigated. These agents may communicate with each other during the simulation, but only agents assigned to represent the same unique resource may exchange information between time periods. Thus, confined within each time interval, each resource agent may also interact with other resource agents. As with any agent-based model, the agents may also interact with the environment, in this case, containing forecasted environment, load and price information specific to each time interval. The resulting model is a time-independent global approach capable of: (1) capturing time-variant local grid conditions and distribution grid load balancing constraints; (2) capturing time-variant resource availability and price constraints, and finally, (3) simulating efficient unit-commitment real-time dispatches and schedule forecasts considering time-variant forecasted transactive market prices. This thesis details the need for such a system, discusses the form of the ABS, and analyzes the predictive behavior of the model through a critical lens by applying the resulting proof-of-concept simulation to a set of comprehensive validation scenarios. The resulting analysis demonstrates ABS as an effective tool for real-time dispatch and SGS schedule forecasting as applied to research, short-term economic operations planning and transactive systems alike. The model is shown to converge on economic opportunities regardless of the price or load-forecast shape and to correctly perform least-cost dispatch and schedule forecasting functionality.

The advent of Global Positioning System (GPS) has revolutionized geodesy with high accuracy, fast speed, simple use, and low cost. This dissertation investigates three topics on volcano and earthquake-related deformation using GPS measurements and models to demonstrate the power of the new generation of geodetic methods. The three topics include the 2002-2003 continued episodic inflation at Long Valley Caldera in eastern California, the coseismic and postseismic response of the energetic 2008 MW 6.4 Achaia-Elia Earthquake in northwest Peloponnese, Greece, and the interseismic megathrust coupling and forearc sliver transport near the Nicoya Peninsula in northwest Costa Rica.

In this thesis, we study these models and design and analyze robust numerical methods to solve them. To proceed in this direction, first we study the sub-models and then the full model. The first sub-model describes the transmission dynamics of HIV that accounts for behavior change. The impact of HIV educational campaigns is also studied. Further, we explore the effects of behavior change and different responses of individuals to educational campaigns in a situation where individuals may not react immediately to these campaigns. This is done by considering a distributed time delay in the HIV sub-model. This leads to Hopf bifurcations around the endemic equilibria of the model. These bifurcations correspond to the existence of periodic solutions that oscillate around the equilibria at given thresholds. Further, we show how the delay can result in more HIV infections causing more increase in the HIV prevalence. Part of this study is then extended to study a co-infection model of HIV-TB. A thorough bifurcation analysis is carried out for this model. Robust numerical methods are then designed and analyzed for these models. Comparative numerical results are also provided for each model.

Thesis (PhD)--Stellenbosch University, 2002.
ENGLISH ABSTRACT: The traditional ways in which manufacturers of crop protection products exercised control over distribution systems have diminished in their impact. Control was based on quality products, the power of the brand, an installed customer base and a broad portfolio of mostly patented products. Manufacturers of crop protection products need to review the manner in which these products are marketed, which distribution system management models are to be used, and the importance that is placed on distribution system management in the marketing mix. The primary aim of this study was defined as: "The development of appropriate distribution system management models for application in South Africa and Australia~. The secondary aim was defined as: "Establishing the key factors which determine the relationship between manufacturers and distributorsn . The dominant economic characteristics of the global crop protection industry are deemed to consist of a global market valued at US $28,090 mio, a mature market in a decline phase, the rapid consolidation of industry players, increased generic product manufacturer activity and an overall decline in manufacturer profitability. In South Africa crop protection product manufacturers use approximately 46 independent distributors to market products on farms through 600 affiliated commissioned sales agents. In Australia the distribution of crop protection products is much more concentrated. Distribution is essentially controlled by five national distributors and their coupled salaried representatives. Manufacturers therefore rely on third parties for the marketing of their products to farmers in both countries. The applicable problem statement has been formulated to select a distribution system management model that will: (i) optimally balance direct distribution related cost and subsequent levels of control over distributors; (ii) maximise the probability that a distributor will buy and actively promote the complete product portfolio of a for high levels of interpersonal relationship maintenance; and (vi) manufacturers have to instill the philosophy that distribution system management is part of a manufacturer's strategic business and marketing focus and not simply a task to be performed by a third party.
AFRIKAANSE OPSOMMING: Die tradisionele maniare waarop die vervaardigers van oesbeskermingsprodukte beheer kan uitoefen oor verspreidingsisteme is nie meer so suksesvol nie. Beheer was gebaseer op kwaliteil produkte, die mag van die handelsmerk:n gevestigde klientebasis en 'n wye produktereeks,bestaande uit gepatenteerde produkte, Vervaardigers van oesbeskermingsprodulcte moet die wyse waarop hierdie produkte bemark word, watter verspreidingsisteem bestuursmodelle gebruik word en die belangrikheid wat geplaas word op die bestuur van die verspreidingsisteme in die totala bemarkingspoging in heroorweging neern. Die primere doelstelling van hierdie studie is: "Die ontwikkeling van toepaslike verspreidingsisteem bestuursmodelle vir toe passing in Suid-Afrika en Australia. "Die sekondere doelstelling is: "Die vas stelling van die sleutelfaktore wat die verhouding tussen velVaardigers (verskaffers) en verspreiders bepaar. Die dominante ekonomiese kenmerke van die globale oesbeskermingsindustrie is 'n markwaarde in VSA $ 28,090 miljoen, 'n stagnante mark in 'n agteruitgang lase, die drastiese konsolidasie van die industrie spelers, 'n toename in die aktiwiteite van die generiese produkvervaardigers en 'n algemene daling in die winsgewindheid van die vervaardigers. In Suid-Afrika gebruik die vervaardigers van die oesbeskermingsprodukte ongeveer 46 onafhanklike verspreiders om die produkte op plaasvlak te bemark met behulp van 600 geaffilieerde kommissie agente. Die verspreiding van oesbeskermingsprodukte is baie meer gekonsentreerd in Australie. Verspreiding word in wese beheer deur vyf nasionale verspreiders en hulle spanne van verkoopsteenwoordigers wat 'n salaris verdien. In beide lande moet velVaardigers van oesbeskermingsprodukte staatmaak op onafhanklike instansies vir die bemarking van hul produkte op plaasvlak. Die probleemsteiling is dus die uitdaging om 'n verspreidingsisteem bestuursmodel t9 ontwikkel wat: (i) . n optima Ie balans sal gee tussen direkte verspreidingskoste en gekoppelde vlakke van beheer oor verspreiders; (ii) die waarskynlikheid dat . n verspreider die betrokke produkreeks van die vervaardiger sal aankoop en aktief sal promoveer; (iii) dit kan bereik in . n mark waar verspreiders talle bronne het van soortgelyke produkte teen kompeterende pryse. Gebaseer op die sekondere navorsing wat gedoen is wit dit blyk dat daar 'n algemene konsensus is dat daar n nei9in9 weg is van transaksie spesifieke besigheidsverhoudings na besigheidsverhoudings gebaseer op vennootskap gebaseerde benaderings in die interaksie tussen vervaardigers (verskaffers) en verspreiders. Hierdie tipe besigheidsverhouding word gekenmerk deur hoe vlakke van onderlinge vertroue, wedersydse verbintenis, konflik hanteringsmeganismes en goeie wedersydse kommunikasie. Primere navorsing is in Suid-Afrika (253 respondente) en Australia (180 respondente) gedoen. Implikasies vir die konstruksie van verspreidingsisteem bestuursmodelle wat voortvloei uit hierdie navorsing sluit in die belangrikheid dat on vervaardiger on wye en gesogte produkreeks het, die vereiste dat produkte beproefde effektiwiteit het, produkte kompeterend geprys is, die vereiste vir hoe vlakke van verskaffer opvolgdiens en die vereiste vir goeie interpersoonlike verhouding tussen werknemers van beide die vervaardigers en die verspreiders. Hierdie elemente moet ondermeer gerugsteun word deur goeie kommunikasiesisteme. Die "idea Ie" verspreidingsisteem bestuursmodelle is vervolgens voorgestel vir beide Suid-Afrika en Australie, gebaseer op die bevindinge van ondermeer die sekondere- en primere navorsing. Hierdie mode lie het ten doel om toepaslike strukture en besigheidsbenaderings vir vervaardigers daar te stel om hulle behulpsaam te wees om die geidentifiseerde behoeftes van die verspreiders aan te spreek.

The mobile phone devices are still developing and they are gaining more functionality and are able to deal with more advanced tasks. One of the technologies timidly trying to approach the mobile phone market is the augmented reality, which does no longer require external equipment to be formed in a programming application. There is a limited number of sources trying to describe the accuracy of augmented reality applications implemented on mobile devices. Within this study an application of augmented reality visualising virtual models of buildings was implemented on a mobile phone device in order to evaluate the rate of the device explication. Several tests were conducted to evaluate the application total accuracy. The implemented application was visualising virtual models of the real existing buildings displaying them in the same place the original buildings were. The final position was calculated by the application and the discrepancy of the view between the model and the real building was measured. The results were gathered revealing the application’s real accuracy. For the purposes of this study the functional application of augmented reality has been created. The application was implemented on the mobile phone. The results of the application formed the tables with final measurements of accuracy. Also several photographs were taken from the areas of the real existing buildings. Transferring the functionality of augmented reality from the external devices to mobile phones is possible with some harm to the application accuracy. Visualising building models is one of the possible extensions of the mobile phone market. The improvements in Global Positioning System would significantly improve the application´s general accuracy.
The augmented reality represents one of the most current approach in implementing the artificial reality. Primarily required large extensive head-mounted-displays now follows the trend of minimising the necessary equipment. The study shows how is it done that a single mobile phone can be used as a device creating a new reality and also answers what calculations are required by such a system setting the augmented environment. Also a problem of mobile phone’s augmented reality systems accuracy is developed in reference to the commonly proclaimed 2-metres inaccuracy of the GPS device.
(+48) 506 403 407 (PL)

Thesis (M.S.)--Air Force Institute of Technology, 2003.
Title from title screen (viewed July 1, 2004). "March 2003." Vita. "AFIT/GCA/ENV/03-04." "ADA415257"--URL. Includes bibliographical references (p. 71-74). Also issued in paper format.

Marine search and rescue activities have been plagued with the problem of risking the lives of rescuers in rescue operations. With increasing developments in sensor technologies, it became a necessity in the marine search and rescue community to develop an autonomous marine craft to assist in rescue operations. Autonomy of marine craft requires a robust localization technique and process. To apply robust localization to marine craft, GPS technology was used to determine the position of the marine craft at any given point in time. Given that the operational environment of the marine was at open air, river, sea etc. GPS signal was always available to the marine craft as there are no obstructions to GPS signal. Adequate cognizance of the current position and states of an unmanned marine craft was a critical requirement for navigation of an unmanned surface vehicle (USV). The unmanned surface vehicle uses GPS in conjunction with state estimated solution provided by inertial sensors. In the absence of the GPS signal, navigation is resumed with a digital compass and inertial sensors to such a time when the GPS signal becomes accessible. GPS based navigation can be used for an unmanned marine craft with the mathematical modelling of the craft meeting the functional requirements of an unmanned marine craft. A low cost GPS unit was used in conjunction with a low cost inertial measurement unit (IMU) with sonar for obstacle detection. The use of sonar in navigation algorithm of marine craft was aimed at surveillance of the operational environment of the marine craft to detect obstacles on its path of motion. Inertial sensors were used to determine the attitude of the marine craft in motion.
Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2011.

M. Tech. (Engineering: Electrical; Department of Electronic Engineering, Faculty of Engineering and Technology )-- Vaal University of Technology
In the ever growing sport of model aircraft, pilots are challenged with many obstacles. In the division of gliders, one of the biggest problems is the loss of model aircraft. Pilots launch their aircraft off mountain tops and if the aircraft crashes below, the pilot must make use of his best estimates in order to locate the aircraft. This either takes several hours, or the aircraft is never recovered. Pilots are also at a loss with regard to real time data, such as, but not limited to, battery levels, fuel levels, altitude and speed. Model aircraft competitions are also limited to the best estimate of officials. In this work an attempt has been made to design and develop a remote tracking device for model aircraft. This device will retrieve Global Positioning System (GPS) co-ordinates from the aircraft and relay them to the pilot on the ground. In the event of a crash, the pilot will retrieve the last GPS co-ordinates and then proceed to the location to collect the aircraft. An attempt will also be made to design add-on telemetry components that will allow for measurement and transmission of battery levels, fuel levels, altitude, G-Force, orientation, acceleration, wind and ground speed. Some of the data retrieved from the Flight Data Recorder (FDR) in trial 1 are: maximum altitude above sea level of 2139.20 m, maximum speed over ground which was 57.34 m/s and the average battery voltage for transceiver and servos was 15.2 v.

Indiana University-Purdue University Indianapolis (IUPUI)
Magnetic resonance (MR) spectroscopy is a neuroimaging technique. It is widely used to quantify the concentration of important metabolites in a brain tissue. Imbalance in concentration of brain metabolites has been found to be associated with development of neurological impairment. There has been increasing trend of using MR spectroscopy as a diagnosis tool for neurological disorders. We established statistical methodology to analyze data obtained from the MR spectroscopy in the context of the HIV associated neurological disorder. First, we have developed novel methodology to study the association of marker of neurological disorder with MR spectrum from brain and how this association evolves with time. The entire problem fits into the framework of scalar-on-function regression model with individual spectrum being the functional predictor. We have extended one of the existing cross-sectional scalar-on-function regression techniques to longitudinal set-up. Advantage of proposed method includes: 1) ability to model flexible time-varying association between response and functional predictor and (2) ability to incorporate prior information. Second part of research attempts to study the influence of the clinical and demographic factors on the progression of brain metabolites over time. In order to understand the influence of these factors in fully non-parametric way, we proposed LongCART algorithm to construct regression tree with longitudinal data. Such a regression tree helps to identify smaller subpopulations (characterized by baseline factors) with differential longitudinal profile and hence helps us to identify influence of baseline factors. Advantage of LongCART algorithm includes: (1) it maintains of type-I error in determining best split, (2) substantially reduces computation time and (2) applicable even observations are taken at subject-specific time-points. Finally, we carried out an in-depth analysis of longitudinal changes in the brain metabolite concentrations in three brain regions, namely, white matter, gray matter and basal ganglia in chronically infected HIV patients enrolled in HIV Neuroimaging Consortium study. We studied the influence of important baseline factors (clinical and demographic) on these longitudinal profiles of brain metabolites using LongCART algorithm in order to identify subgroup of patients at higher risk of neurological impairment.
Partial research support was provided by the National Institutes of Health grants U01-MH083545, R01-CA126205 and U01-CA086368