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Protection of Human Subjects of Biomedical and Behavioral Research. In The Belmont Report, three broad ethical principles relevant to research with human subjects were identified: 1. Respect for persons the obligation to respect the autonomy of individuals and protect individuals with diminished autonomy; 2. Beneficence the obligation to do no harm, to maximize possible benefits and minimize possible harm; and 3. Justice the obligation to ensure that all persons share equally in the burdens and benefits of research. The Belmont Report also included specific guidelines for the protection of human subjects. These guidelines were the basis for the regulations regarding the protection of human research participants issued by the Department of Health and Human Services (HHS) in 1981. Additional protections for children were added to the regulations in 1983 (45 C.F.R. Subtitle A, Part 46). Only institutions receiving federal research support are legally required to comply with the rules and regulations drafted under the National Research Act. However, as DeMers and Bersoff note, researchers should be familiar with the Act s regulations because they reflect current legal opinion of appropriate conduct in research activity (1985, p. 333).



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aR ; aP ; aY roll-, pitch-, and yaw-axis accelerometer outputs; oR ; oP ; oY roll-, pitch- and yaw-axis gyroscope outputs; ri GPS receiver pseudorange output for ith GPS satellite, if available; and _ ri GPS receiver Doppler output for ith GPS satellite, if available.

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For both public and secret key encryption, the problem arises as to how keys are distributed in a secure manner. For secret key methods this is an obvious problem. Both a client and a server object need to be equipped with the same key. They need to obtain the key in such a way that no other object gets access to the key. In military encryption applications, keys are distributed by non-networked means, such as a messenger, but this is not feasible in a distributed object system. H ence, for distributed object applications, keys need to be distributed via the network too. While in transit, however, the key must be secured against eavesdropping and tampering, otherwise third parties could use the key for successive eavesdropping or message tampering. Keydistribution is also a problem, though less obvious, for public keymethods. The request parameters that a client transmits should onlybecome known to the desired server object. It is therefore important that the public key that the client uses for encrypting the message is the public key of the desired server object rather than a public key that was generated by an attacker. This can be achieved if a trusted key distribution service is used. A key distribution service for both public and secret key encryption methods takes care of distributing keys between objects. A key distribution service has to be a trusted service and the registration of objects with that service has to be trustworthy, too. We now discuss the Needham/Schroeder protocol, upon which most keydistribution services are based. There are different versions of the Needham/Schroeder protocol for secret and for public keys. We first consider the secret key distribution protocol because it is simpler.

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example, if authorization were required, it would be necessary to specify all the public keys of the SLOs that were authorized to access that CI. The following scenarios illustrate the use of security mechanisms: An SLO asks for a CI: The CM nds in his CIS Registration Repository that authentication mechanisms are offered by the CIS for that Context Item and authenticates the CIS, making use of the CIS's keys. An SLO asks for a CI: The CM nds in the CIS Registration Repository that the CI requires encryption. The CM establishes a secure connection between intermediate CMs, as well as between the SLO and the destination CM using the appropriate keys in each case. An SLO asks for a CI: The CM nds in the CIS Registration Repository that authorization is required to access the CI. Making use of the appropriate mechanisms, the CM determines if the SLO is authorized to access the CI. In order to implement these security mechanisms it is fundamental that the distributed nature of context information is considered.

where b is the vector of biases and M is the calibration matrix of scale factors and misalignments. The 3 components of the bias vector b and 9 elements of the calibration matrix Mcal make up the 15 sensor parameters for each type of sensor (i.e., accelerometer or gyroscope), making a total of 30 sensor parameters in the system state vector used for analysis. For instrument compensation, it is usually preferred to have the model in compensation form, as vinput Mcomp vout b ; where the misalignment and scale factor compensation matrix would be Mcomp M 1 : cal However, for the purposes of covariance analysis, it will be more convenient to use the calibration form of the scale factor and misalignment matrix shown in Eq. 8.40. 8.6.3.2 Measurement Model The 30 equivalent sensors include 3 accelerometers, 3 gyroscopes, and 24 or more potential GPS receiver channels, the outputs of which are pseudoranges and Doppler rates to the satellites in view. The GPS receiver can only track the satellites in view, and we model this by setting to zero the measurement sensitivities of receiver channels to GPS satellites occluded by the earth. Measurement Variables will be The elements of the measurement vector for this model

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