Grant Baldwin

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This paper presents a coupled observer that uses accelerometer, gyrometer and vision sensors to provide estimates of pose and linear velocity for an aerial robotic vehicle. The observer is based on a non-linear complimentary filter framework and incorporates adaptive estimates of measurement bias in gyrometers and accelerometers commonly encountered in(More)
This paper considers the problem of estimating pose from inertial and bearing-only vision measurements. We present a non-linear observer that evolves directly on the Special Euclidean group SE(3) from inertial measurements and bearing measurements, such as provided by a visual system tracking known landmarks. Local asymptotic convergence of the observer is(More)
The field of environmental health promotion gained new prominence in recent years as awareness of physical environmental stressors and exposures increased in communities across the country and the world. Although many theories and conceptual models are used routinely to guide health promotion and health education interventions, they are rarely applied to(More)
This guideline provides recommendations for primary care providers who are prescribing opioids for chronic pain outside of active cancer treatment, palliative care, and end-of-life care. The guideline addresses: (a) when to initiate or continue opioids for chronic pain; (b) opioid selection, dosage, duration, follow-up, and discontinuation; and (c)(More)
In the first three decades of life, more individuals in the USA die from injuries and violence than from any other cause. Millions more people survive and are left with physical, emotional, and financial problems. Injuries and violence are not accidents; they are preventable. Prevention has a strong scientific foundation, yet efforts are not fully(More)
Unintentional falls among persons aged 65 years and older are an important public health issue, associated with significant mortality and morbidity. About one third of older adults fall annually and, although many fall outcomes are minor, between 10% and 20% cause serious injuries such as traumatic brain injury, contusions, and fractures. Therefore the U.S.(More)
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