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Other (1)

  • Uijt de Haag, M. (2011). Navigating in Difficult Environments: Feature-Aided Inertial Systems. Proceedings of the NATO RTO Lecture Series SET-116.

Conference Proceeding (85)

  • Videmsek, A., Uijt de Haag, M. (2018). Assured UAS Navigation with Airborne Laser Range Scanners for Various Phases of Flight. Proceedings of the IEEE/AIAA 37th Digital Avionics Systems Conference (DASC).
  • Engelmann, J., Mourning, C., Uijt de Haag, M. (2018). Feasibility of Machine Learning Methods for Predictive Alerting of the Energy State for Aircraft. Proceedings of the IEEE/AIAA 37th Digital Avionics Systems Conference (DASC).
  • Gilabert, R., Dill, E., Uijt de Haag, M. (2018). Progress and Test Results for the Location Corrections through Differential Networks System (LOCD-IN). Proceedings of the 2018 GNSS+.
  • Gilabert, R., Uijt de Haag, M. (2018). Location Corrections through Differential Networks (LOCD-IN). 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS).
  • Zhen, Z., Vinande, E., Uijt de Haag, M. (2018). Multi-Constellation Time-Differenced Carrier Phase Solution with Protection from Multiple Failures. 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS).
  • Robinson, J., Huff, J., Schultz, A., Uijt de Haag, M. (2018). Assessing Indoor Environments with sUAS through Real-Time Virtual Reality and Assured Navigation.
  • Uijt de Haag, M., Huff, J. (2017). Assured Cooperative Navigation of a Small UAS Swarm.
  • Huff, J., Schultz, A., Uijt de Haag, M. (2017). Assured Relative and Absolute Navigation of a Swarm of Small UAS. Proceedings of the IEEE/AIAA 36th Digital Avionics Systems Conference.
  • Uijt de Haag, M. (2017). Comparison of Aircraft State Prediction Methods under Sensor Uncertainty.
  • Dautermann, T., Korn, B., Uijt de Haag, M. (2017). Using Code Based GNSS Double Differences as Beacon Landing System.
  • Belzer, J., Van Graas, F., Uijt de Haag, M. (2017). Wide-Scale Integration of Unmanned Aircraft Systems into the National Airspace System through a Fault Tree Analysis Approach.
  • Uijt de Haag, M., Engelmann, J., Mourning, C., Duan, P. (2017). Evaluation of Energy State Prediction and Predictive Alerting Methods under Sensor Uncertainty.
  • Dill, E., Young, S., Uijt de Haag, M. (2017). GPS/Optical/Inertial Integration for 3D Navigation Using Multi-Copter Platforms.
  • Uijt de Haag, M., Bharadwaj, A. (2017). Navigating Small-UAS in Tunnels for Maintenance and Surveillance Operations.
  • Duan, P., Uijt de Haag, M., Etherington, T., Smith-Velazquez, L. (2016). Energy State Prediction Methods for Airplane State Awareness. Proceedings of the IEEE/AIAA 35th Digital Avionics Systems Conference (DASC).
  • Young, S., Daniels, T., Evans, T., Dill, E., Uijt de Haag, M., Etherington, T. (2016). Flight Simulation Study of Airplane State Awareness and Prediction Technologies. Proceedings of the IEEE/AIAA 35th Digital Avionics Systems Conference (DASC).
  • Uijt de Haag, M., Bartone, C., Braasch, M. (2016). Flight-Test Evaluation of Small Form-Factor LiDAR and Radar Sensors for sUAS Detect-and-Avoid Applications. IEEE/AIAA Digital Avionics Systems Conference.
  • Schultz, A., Gilabert, R., Bharadwaj, A., Uijt de Haag, M. (2016). A Navigation and Collision Avoidance Method for UAS during Under-the-Canopy Forest Operations. Proceedings of IEEE/ION PLANS 2016.
  • Bharadwaj, A., Schultz, A., Gilabert, R., Huff, J., Uijt de Haag, M. (2016). Small-UAS Navigation using 3D Imager and Infrared Camera in Structured Environments. Proceedings of IEEE/ION PLANS 2016.
  • Kastelein, M., Schultz, A., Uijt de Haag, M. (2016). A Real-time Relative Navigation Capability for Multi-copter Collision Avoidance. Proceedings of the 2016 International Technical Meeting of the Institute of Navigation.
  • Young, S., Daniels, T., Evans, T., Shish, K., Shuet, S., Uijt de Haag, M., Kiggins, D. (2016). Evaluating Technologies for Improved Airplane State Awareness and Prediction. AIAA Infotech @ Aerospace.
  • Schultz, A., Gilabert, R., Uijt de Haag, M. (2016). Indoor Flight Demonstration Results of an Autonomous Multi-copter using Multiple Laser Inertial Navigation. Proceedings of the 2016 International Technical Meeting of the Institute of Navigation.
  • Duan, P., Uijt de Haag, M. (2015). A Multiple Hypothesis Predictive Alerting (MHPA) Method for Improved Aircraft State Awareness. IEEE/AIAA.
  • Zhu, Z., Uijt de Haag, M. (2015). Integrity Analysis in 3D LADAR Navigation.
  • Duan, P., Uijt de Haag, M. (2015). Predictive Alerting to Improve Aircraft State Awareness Using GNSS, Inertial, and Air Data.
  • Duan, P., Uijt de Haag, M. (2015). Improving Mode Awareness of the VNAV Function with a Multiple Hypotheses Prediction Method. IEEE.
  • Duan, P., Uijt de Haag, M., Miltner, M., Yocius, M., Engler, J., Schnell, T. (2015). Human-In-The-Loop Evaluation of an Information Management and Notification System to Improve Aircraft State Awareness. AIAA.
  • Duan, P., Miltner, M., Uijt de Haag, M. (2014). A Multiple Hypothesis Prediction Method for Improved Aircraft State Awareness.
  • Adami, T., Uijt de Haag, M., Theunissen, E., Sizoo, D., McGuire, R. (2014). An Energy Management Display for General Aviation Safety Enhancements.
  • Miltner, M., Duan, P., Uijt de Haag, M. (2014). Modeling and Utilization of Synthetic Data for Improved Automation and Human-Machine Interface Continuity.
  • Kastelein, M., Uijt de Haag, M. (2014). Preliminary Analysis of ADS-B Performance for Use in ACAS Systems.
  • Theunissen, E., Uijt de Haag, M., Suarez, B. (2014). Refinement of a Conflict Probe Algorithm and Display to Support Well Clear: Concept and Implementation.
  • Zhu, Z., Venters, C., Uijt de Haag, M. (2014). Navigation Application of 3D Corner Features Measured with a 2D Laser Scanner.
  • Vilardaga, S., Prats, X., Duan, P., Uijt de Haag, M. (2014). Conflict Free Trajectory Optimisation with Target Tracking and Conformance Monitoring.
  • Dill, E., Uijt de Haag, M., Duan, P. (2014). Seamless Indoor-Outdoor Navigation for Unmanned Multi-Sensor Aerial Platforms. ION/IEEE.
  • Theunissen, E., Suarez, B., Uijt de Haag, M. (2014). The Impact of a Quantitative Specification of a Well Clear Boundary on Pilot Displays for Self Separation.
  • Uijt de Haag, M., Duan, P. (2014). Flight Test and Simulation Results of an Integrated Dual Airborne Laser Scanner and Inertial Navigator for UAV Applications. IEEE.
  • Uijt de Haag, M., Dill, E., Duan, P. (2014). Seamless Indoor-Outdoor Navigation for Unmanned Multi-Sensor Aerial Platforms.
  • Duan, P., Uijt de Haag, M. (2013). A Track Search optimization method for implicit coordination. Proceedings of the AIAA/IEEE 32nd DASC.
  • Theunisses, E., Suarez, B., Uijt de Haag, M. (2013). From spatial conflict probes to spatial/temporal conflict probes: why and how. Proceedings of the AIAA/IEEE 32nd DASC.
  • Duan, P., Uijt de Haag, M. (2013). Real-Time Implementation Aspects of a Measurement-Based ADS-B System for Conflict Detection and Resolution. Proceedings of the ION GNSS+ 2013.
  • Craig, S., Naab-Levy, A., Li, K., Duan, P., Pelgrum, W., Van Graas, F., Uijt de Haag, M., , . (2013). Autonomous Snowplow Design. The Institute of Navigation; 2044-2057.
  • Young, S., Daniels, T., Evans, E., Duan, P., Uijt de Haag, M. (2013). Understanding Crew Decision-Making in the Presence of Complexity: A Flight Simulation Experiment. Proceedings of the AIAA InfoTech Aerospace Conference.
  • Peinecke, N., Uijt de Haag, M., Meysel, F., Duan, P., Kuppers, R., Beernink, B. (2013). Testing a Collision Avoidance Display with High-Precision Navigation. Proceedings of the SPIE Defense Security and Sensing Symposium, Conference on Degraded Visual Environments: Enhanced, Synthetic, and External Vision Solutions.
  • Peinecke, N., Uijt de Haag, M., Duan, P., Franzen, N. (2013). Data Link Requirements for Air-to-Air Collision Avoidance. Proceedings of the IEEE/AIAA/FAA/JPDO/NASA Integrated Communication Navigation and Surveillance (ICNS) Conference.
  • Duan, P., Uijt de Haag, M. (2013). Measurement-Based ADS-B System for Detection of Off-Nominal Intruder Operations. Proceedings of the ION Pacific Position Navigation and Timekeeping (Pacific PNT) Conference.
  • Duan, P., Uijt de Haag, M., Peinecke, N. (2013). Flight and Data link Performance Evaluation of a Real-time Measurement-based ADS-B System. Proceedings of the ION International Technical Meeting.
  • Duan, P., Uijt de Haag, M. (2012). A Simulation Environment for Evaluation of Integrated Alertting and Notification (IAN) Concepts. Proceedings of the AIAA/IEEE 31st Digital Avionics Systems Conference (DASC).
  • Duan, P., Uijt de Haag, M. (2012). Transmitting Raw GNSS Measurements as Part of ADS-B: Why, How, and Flight Test Results. Proceedings of the AIAA/IEEE 31st Digital Avionics Systems Conference (DASC).
  • Duan, P., Uijt de Haag, M. (2012). Flight Test Results of a Conflict Detection Method using ADS-B with Raw GNSS Measurements. Proceedings of the ION GNSS 2012.
  • Craig, S., Kollar, R., Lee, K., Duang, P., Pelgrum, W., Van Graas, F., Uijt de Haag, M. (2012). Laser-Guided Autonomous Snowplow Design. Proceedings of the 25th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS 2012).
  • Tappero, F., Ciurana, M., Batlle, J., Uijt de Haag, M., Martin, I., Fernandez, D. (2012). Enhanced Vehicle Navigation Unit with WiFi802.11 Ranging and Communication Capabilities. Proceedings of the 4th International Conference on Space Applications.
  • Vydhyanathan, A., Luinge, H., Uijt de Haag, M., Braasch, M. (2012). Integrating GPS/MEMS-based-IMU with single GPS baseline for improved heading performance. Proceedings of the 2012 IEEE Aerospace Conference.
  • Uijt de Haag, M. (2012). “Integration of GNSS, Electro-optical Sensors and Inertial for Navigation using a Plug-and-play Architecture Based on the Robotic Operating System (ROS). Proceedings of the EuroCow 2012.
  • Bezaweda, R., Duan, P., Uijt de Haag, M. (2011). Hazard Tracking with Integrity for Surveillance Applications. 30th IEEE/AIAA Digital Avionics Systems Conference.
  • Theunissen, E., Uijt de Haag, M. (2011). Towards a Seamless Integration of Awareness Support and Alerting Systems: Why and How. 30th IEEE/AIAA Digital Avionics Systems Conference.
  • Uijt de Haag, M., Vana, S., Farrell, J. (2011). Simulation Model to Evaluate Collision Avoidance Methods using Raw Measurements in the Automatic Dependent Surveillance – Broadcast. Proceedings of the 2011 GNSS - Institute of Navigation.
  • , N., Uijt de Haag, M. (2011). Multipath Analysis using Code-minus-Carrier for Dynamic Testing of GNSS Receivers. Proceedings of International Conference on Localization and GNSS.
  • Zhu, Z., Bhattacharya, S., Uijt de Haag, M., Pelgrum, W. (2010). Using Single-Camera Geometry to Perform Gyro-free Navigation and Attitude Determination. Proceedings of the 2010 IEEE/ION Position, Location and Navigation Symposium.
  • Bhattacharya, S., Arthur, T., Uijt de Haag, M., Zhu, Z., Scheff, K. (2008). An Evaluation of the Tight Optical Integration (TOI) Algorithm Sensitivity to Inertial and Camera Errors. IEEE PLANS.
  • Uijt de Haag, M., Zhu, Z., Arthur, T. (2008). Performance Analysis and Integrity Aspects of Tight Optical Integration (TOI) with GPS. IEEE PLANS.
  • Bhattacharya, S., Arthur, T., Zhu, Z., Uijt de Haag, M. (2008). An Algorithm for GPS Tight Optical Integration. ION NTM.
  • Vydhyanathan, A., Braasch, M., Uijt de Haag, M. (2007). Multi-Sensor Integration for Autonomous Vehicle Relative Navigation. Fort Worth, TX: Proceedings of the Twentieth International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS-2007).
  • Zhu, Z., Gunawardena, S., Uijt de Haag, M., Van Graas, F. (2007). Advanced GPS Performance Monitor. Fort-Worth, TX: Proceedings of the International Technical Meeting of the Institute of Navigation Satellite Division.
  • Zhu, Z., Gunawardena, S., Uijt de Haag, M., Van Graas, F. (2007). Satellite Anomaly and Interference Detection Using the GPS Anomalous Event Monitor. Cambridge, MA: Proceedings of the 63rd Annual Meeting of the Institute of Navigation.
  • Gunawardena, S., Uijt de Haag, M., Van Graas, F., Zhu, Z. (2006). Remote-Controlled, Continuously Operating GPS Anomalous Event Monitor. Fort-Worth, TX: Proceedings of the International Technical Meeting of the Institute of Navigation Satellite Division.
  • Braasch, M., Uijt de Haag, M. (2006). GNSS for LEO, GEO, HEO and Beyond. Breckenridge, CO: 2006 American Astronautical Society Guidance and Control Conference.
  • Van Graas, F., Soloviev, A., Uijt de Haag, M., Gunawardena, S., Braasch, M. (2005). Comparison of Two Approaches for GNSS Receiver Algorithms: Batch Processing and Sequential Processing Considerations. Long Beach, CA: Proceedings of the International Technical Meeting of the Institute of Navigation Satellite Division.
  • Campbell, J., Uijt de Haag, M., Van Graas, F. (2005). Terrain Referenced Precision Approach Guidance. San Diego, CA: Proceedings of the Institute of Navigation Technical Meeting.
  • Campbell, J., Uijt de Haag, M., Van Graas, F., Arthur, T., Dickman, J. (2004). DC-3 Flying Laboratory – Navigation Sensor and Remove Sensing Flight Test Results. Long Beach, CA: Proceedings of the International Meeting of the Satellite Division of The Institute of Navigation, GPS/GNSS 2004.
  • Campbell, J., Uijt de Haag, M., Van Graas, F. (2004). Terrain Referenced Navigation using Airborne Laser Scanner (ALASCA): Preliminary Flight Test Results. Dayton, OH: Proceedings of the Annual Meeting of The Institute of Navigation.
  • Campbell, J., Uijt de Haag, M., Van Graas, F., Young, S. (2003). Light Detection and Ranging-Based Terrain Navigation – A Concept Exploration. Portland, Oregon: Proceedings of the 16th International Technical Meeting of the Satellite Division of The Institute of Navigation.
  • Uijt de Haag, M., Thomas, R., Rankin, J. (2002). A 3-Dimensional Cockpit Display with Traffic and Terrain Information for the Small Aircraft Transportation System. Portland OR: Proceedings of the ION-GPS 2002.
  • Uijt de Haag, M., Thomas, R., Rankin, J. (2002). Initial Flight Test Results of Ohio University’s 3-Dimensional Cockpit Display of Traffic Information. Palm Springs, CA: Proceedings of the 2002 IEEE Position, Location, and Navigation Symposium (PLANS).
  • Dubinsky, J., Braasch, M., Uijt de Haag, M. (2001). Advanced Flight Display for General Aviation Aircraft: A Cost-Effective Means to Enhance Safety. Albuquerque, NM: Proceedings of the Institute of Navigation Annual Meeting.
  • Celenk, M., Uijt de Haag, M. (2000). Wavelet-based edge enhancement for color images. Las Vegas, NV: IS&T’s Eleventh Int. Symp. Photo-finishing Technologies; 5-9.
  • Celenk, M., Uijt de Haag, M. (2000). Edge-suppressed color clustering for image thresholding. San Jose, CA: Proc. SPIE, Nonlinear Image Processing XI; 3961: 116-125.
  • Uijt de Haag, M., Van Graas, F. (1999). GPS/IMU Integration Using Block-Processing Techniques. Cambridge, MA: Proceedings of the Annual Meeting of The Institute of Navigation.
  • Celenk, M., Uijt de Haag, M. (1999). Multivariate Gaussian modeling of object colors for image analysis. Savannah, GA: IS&T’s Image Processing, Image Quality, Image Capture Systems Conference; 364-366.
  • Celenk, M., Uijt de Haag, M. (1999). Automatic boundary detection in color images. Auburn, AL: 31st Southeastern Symp. System Theory; 75-79.
  • Skidmore, T., Van Graas, F., Uijt de Haag, M. (1998). Considerations for the FAA Category I Local Area Augmentation System Ground Specification. Denver, CO: Proceedings of the Institute of Navigation Annual Meeting.
  • Celenk, M., Uijt de Haag, M. (1998). Optimal thresholding for color images. San Jose, CA: Proc. SPIE, Nonlinear Image Processing IX; 3304: 250-259.
  • Skidmore, T., Van Graas, F., Uijt de Haag, M. (1997). Flight Test Results of the LAAS Navigation Augmentation Broadcast System. Kansas City, Missouri: Proceedings of the ION GPS-97 Meeting.
  • Van Graas, F., Diggle, D., Uijt de Haag, M., Skidmore, T., DiBenedetto, M., Wullschleger, V., Velez, R. (1997). Ohio University/FAA Flight Test Demonstration of Local Area Augmentation System (LAAS). Kansas City, Missouri: Proceedings of the ION GPS-97 Meeting.
  • Van Graas, F., Diggle, D., Uijt de Haag, M., Wullschleger, V., Velez, R., Lamb, D., Dimeo, M., Kuehl, G., Hilb, R. (1995). FAA/Ohio University/United Parcel Service DGPS Autoland Flight Test Demonstration. Palm Springs, CA: Proceedings of the ION GPS-95 Meeting.

Journal Article, Professional Journal (2)

  • Dill, E., Uijt de Haag, M., Young, S. (2017). Outdoor-to-Indoor UAV - GPS/Optical/Inertial Integration for 3D Navigation.
  • Stepaniak, M., Van Graas, F., Uijt de Haag, M. (2009). Design of an Electric Propulsion System for a Quadrotor Unmanned Aerial Vehicle. 3. AIAA Journal of Aircraft; 46.

Journal Article, Academic Journal (16)

  • Zhen, Z., Uijt de Haag, M. (2018). Attitude Correction Using Corner Landmarks in 3-D SLAM. 2. IEEE Transactions on Aerospace and Electronic Systems,; 54: 923 - 931.
  • Vilardaga, S., Prats, X., Duan, P., Uijt de Haag, M. (2018). Conflict-Free Trajectory Optimization with Target Tracking and Conformance Monitoring. 3. AIAA Journal of Aircraft; 55: pp. 1252-1260.
  • Zhu, Z., Uijt de Haag, M. (2017). Attitude Correction Using Corner Landmarks in 3-D SLAM. IEEE Transactions on Aerospace and Electronic Systems.
  • Zhu, Z., Uijt de Haag, M. (2017). A Robust and Efficient 3D LADAR Odometer with Outlier Detection. Journal of Navigation.
  • Yen, S., Van Graas, F., Uijt de Haag, M. (2016). Positioning with two satellites and known receiver clock, barometric pressure and radar elevation. GPS Solutions; 20:885.
  • Dill, E., Uijt de Haag, M. (2016). 3D Multi-copter Navigation and Mapping using GPS, Inertial and LiDAR. Summer. Institure of Navigation: NAVIGATION; 63.
  • Yen, S., Van Graas, F., Uijt de Haag, M. (2015). Positioning with two satellites and known receiver clock, barometric pressure and radar elevation. GPS Solutions; 1-15.
  • Duan, P., Uijt de Haag, M. (2013). Flight Test Results of a Measurement-Based ADS-B System for Separation Assurance. 3. NAVIGATION; 60: 221-234.
  • Stepaniak, M., Uijt de Haag, M., Van Graas, F. (2009). Field Programmable Gate Array-Based Attitude Stabilization. 7. AIAA Journal of Aerospace Computing, Information and Communication; 6.
  • Van Graas, F., Soloviev, A., Uijt de Haag, M., Gunawardena, S. (2009). Closed-Loop Sequential Signal Processing and Open-Loop Batch Processing Approaches for GNSS Receiver Design. 4. IEEE Journal of Selected Topics in Signal Processing; 3.
  • Gunawardena, S., Zhu, Z., Uijt de Haag, M., Van Graas, F. (2009). Remote-Controlled Continuously Operating GPS Anomalous Event Monitor. 2. NAVIGATION: Journal of The Institute of Navigation; 56.
  • Gunawardena, S., Zhu, Z., Uijt de Haag, M., Van Graas, F. (2008). Remote-Controlled, Continuously Operating GPS Anomalous Event Monitor. NAVIGATION, Journal of the Institute of Navigation.
  • Campbell, J., Uijt de Haag, M., Van Graas, F. (2007). Terrain-Referenced Precision Approach Guidance: Proof-of-Concept Flight Test Results. 1. Journal of The Institute of Navigation; 54.
  • Campbell, J., Uijt de Haag, M., Van Graas, F. (2006). Terrain-Referenced Navigation Using Airborne Laser Scanner. 4. Journal of The Institute of Navigation; 52.
  • Van Graas, F., Diggle, D., Uijt de Haag, M., Skidmore, T., DiBenedetto, M., Wullschleger, V., Velez, R. (1998). Ohio University/FAA Flight Test Demonstration Results of the Local Area Augmentation System (LAAS). Journal of The Institute of Navigation.
  • Van Graas, F., Diggle, D., Uijt de Haag, M., Skidmore, T., DiBenedetto, M. (1998). Ohio University/FAA Flight Test Demonstration of Local Area Augmentation System (LAAS). 2. Journal of the Institute of Navigation; 45.

Book, Chapter in Scholarly Book (3)

  • Uijt de Haag, M., Vadlamani, A., , . (2010). Feedback Coupled Dual ALS and IMU for Autonomous Aerial Vehicle Navigation. Institute of Navigation; 7.
  • Campbell, J., Uijt de Haag, M., Van Graas, F. (2010). Terrain-Referenced Precision Approach Guidance Proof-of-Concept Flight Test Results. Institute of Navigation; 7.
  • Campbell, J., Uijt de Haag, M. (2009). Integrated LADAR, INS and GNSS Navigation. Artech House.

Book, Chapter in Scholarly Book-Revised (4)

  • Uijt de Haag, M. (2017). Differential GNSS and Precise Point Positioning. Third. Boston: Understanding GPS/GNSS: Principles and Applications - Third Edition.
  • Uijt de Haag, M. (2014). Navigation and Tracking. Third. CRC Press.
  • Uijt de Haag, M., Diggle, D., Milbert, D., Nagle, J., , . (2005). Differential GPS. Boston: Understanding GPS: Principles and Applications, Second Edition, Artech House Publishers.
  • Uijt de Haag, M., Leva, J., Kaplan, E., Van Dyke, K. (2005). Performance of Standalone GPS. Boston: Understanding GPS: Principles and Applications, Second Edition, Artech House Publishers.

Patents

  • Uijt de Haag, M., Arthur, T., Zhu, Z., Bhattacharya, S., Scheff, K. Tight Optical Integration (TOI) of Images with GPS Range Measurements. 9,726,765 .
  • Zhu, J., Wilhelm, J., Williams II, R., Uijt de Haag, M., Bartone, C., Liu, J., Chelberg, D., Liu, C., DiBenedetto, M. An Integrated, Scalable All-Weather, All-Terrain, All-Time, Autonomous Perimeter Monitoring and Ground Inspection System, Provisional patent application. OU16018.
  • Uijt de Haag, M., Van Graas, F., Campbell, J. Precision approach guidance system and associated method . 7,920,943.